org.bytedeco.bullet.LinearMath

Class btQuaternion

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.LinearMath.btQuadWord

org.bytedeco.bullet.LinearMath.btQuaternion

All Implemented Interfaces:

AutoCloseable

@Properties(inherit=LinearMath.class)
public class btQuaternion
extends btQuadWord

\brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform.

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
btQuaternion() \brief No initialization constructor
btQuaternion(btVector3 _axis, double _angle) \brief Axis angle Constructor
btQuaternion(double yaw, double pitch, double roll) \brief Constructor from Euler angles
btQuaternion(double _x, double _y, double _z, double _w) \brief Constructor from scalars
btQuaternion(long size) Native array allocator.
btQuaternion(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
btQuaternion	add(btQuaternion q2) \brief Return the sum of this quaternion and the other
btQuaternion	addPut(btQuaternion q) \brief Add two quaternions
double	angle(btQuaternion q) \brief Return the ***half*** angle between this quaternion and the other
double	angleShortestPath(btQuaternion q) \brief Return the angle between this quaternion and the other along the shortest path
void	deSerialize(btQuaternionDoubleData dataIn)
void	deSerialize(btQuaternionFloatData dataIn)
void	deSerializeDouble(btQuaternionDoubleData dataIn)
void	deSerializeFloat(btQuaternionFloatData dataIn)
btQuaternion	divide(double s) \brief Return an inversely scaled versionof this quaternion
btQuaternion	dividePut(double s) \brief Inversely scale this quaternion
double	dot(btQuaternion q) \brief Return the dot product between this quaternion and another
btQuaternion	farthest(btQuaternion qd) \todo document this and it's use
double	getAngle() \brief Return the angle [0, 2Pi] of rotation represented by this quaternion
double	getAngleShortestPath() \brief Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path
btVector3	getAxis() \brief Return the axis of the rotation represented by this quaternion
void	getEulerZYX(double[] yawZ, double[] pitchY, double[] rollX)
void	getEulerZYX(DoubleBuffer yawZ, DoubleBuffer pitchY, DoubleBuffer rollX)
void	getEulerZYX(DoublePointer yawZ, DoublePointer pitchY, DoublePointer rollX) \brief Get the euler angles from this quaternion
static btQuaternion	getIdentity()
btQuaternion	getPointer(long i)
double	getW()
btQuaternion	inverse() \brief Return the inverse of this quaternion
double	length() \brief Return the length of the quaternion
double	length2() \brief Return the length squared of the quaternion
btQuaternion	multiply(double s) \brief Return a scaled version of this quaternion
btQuaternion	multiplyPut(btQuaternion q) \brief Multiply this quaternion by q on the right
btQuaternion	multiplyPut(double s) \brief Scale this quaternion
btQuaternion	nearest(btQuaternion qd) \todo document this and it's use
btQuaternion	normalize() \brief Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1
btQuaternion	normalized() \brief Return a normalized version of this quaternion
btQuaternion	position(long position)
btQuaternion	safeNormalize()
void	serialize(btQuaternionDoubleData dataOut)
void	serializeDouble(btQuaternionDoubleData dataOut)
void	serializeFloat(btQuaternionFloatData dataOut)
void	setEuler(double yaw, double pitch, double roll) \brief Set the quaternion using Euler angles
void	setEulerZYX(double yawZ, double pitchY, double rollX) \brief Set the quaternion using euler angles
void	setRotation(btVector3 axis, double _angle) \brief Set the rotation using axis angle notation
btQuaternion	slerp(btQuaternion q, double t) \brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
btQuaternion	subtract() \brief Return the negative of this quaternion This simply negates each element
btQuaternion	subtract(btQuaternion q2) \brief Return the difference between this quaternion and the other
btQuaternion	subtractPut(btQuaternion q) \brief Subtract out a quaternion

Methods inherited from class org.bytedeco.bullet.LinearMath.btQuadWord

asDoublePointer, equals, getX, getY, getZ, notEquals, setMax, setMin, setValue, setValue, setW, setX, setY, setZ, w, x, y, z

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

btQuaternion

public btQuaternion(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btQuaternion

public btQuaternion(long size)

Native array allocator. Access with Pointer.position(long).

btQuaternion

public btQuaternion()

\brief No initialization constructor

btQuaternion

public btQuaternion(@Cast(value="const btScalar")
                    double _x,
                    @Cast(value="const btScalar")
                    double _y,
                    @Cast(value="const btScalar")
                    double _z,
                    @Cast(value="const btScalar")
                    double _w)

\brief Constructor from scalars

btQuaternion

public btQuaternion(@Const @ByRef
                    btVector3 _axis,
                    @Cast(value="const btScalar")
                    double _angle)

\brief Axis angle Constructor

Parameters:

axis - The axis which the rotation is around

angle - The magnitude of the rotation around the angle (Radians)

btQuaternion

public btQuaternion(@Cast(value="const btScalar")
                    double yaw,
                    @Cast(value="const btScalar")
                    double pitch,
                    @Cast(value="const btScalar")
                    double roll)

\brief Constructor from Euler angles

Parameters:

yaw - Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z

pitch - Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y

roll - Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X

Method Detail

position

public btQuaternion position(long position)

Overrides:

position in class btQuadWord

getPointer

public btQuaternion getPointer(long i)

Overrides:

getPointer in class btQuadWord

setRotation

public void setRotation(@Const @ByRef
                        btVector3 axis,
                        @Cast(value="const btScalar")
                        double _angle)

\brief Set the rotation using axis angle notation

Parameters:

axis - The axis around which to rotate

angle - The magnitude of the rotation in Radians

setEuler

public void setEuler(@Cast(value="const btScalar")
                     double yaw,
                     @Cast(value="const btScalar")
                     double pitch,
                     @Cast(value="const btScalar")
                     double roll)

\brief Set the quaternion using Euler angles

Parameters:

yaw - Angle around Y

pitch - Angle around X

roll - Angle around Z

setEulerZYX

public void setEulerZYX(@Cast(value="const btScalar")
                        double yawZ,
                        @Cast(value="const btScalar")
                        double pitchY,
                        @Cast(value="const btScalar")
                        double rollX)

\brief Set the quaternion using euler angles

Parameters:

yaw - Angle around Z

pitch - Angle around Y

roll - Angle around X

getEulerZYX

public void getEulerZYX(@Cast(value="btScalar*") @ByRef
                        DoublePointer yawZ,
                        @Cast(value="btScalar*") @ByRef
                        DoublePointer pitchY,
                        @Cast(value="btScalar*") @ByRef
                        DoublePointer rollX)

\brief Get the euler angles from this quaternion

Parameters:

yaw - Angle around Z

pitch - Angle around Y

roll - Angle around X

getEulerZYX

public void getEulerZYX(@Cast(value="btScalar*") @ByRef
                        DoubleBuffer yawZ,
                        @Cast(value="btScalar*") @ByRef
                        DoubleBuffer pitchY,
                        @Cast(value="btScalar*") @ByRef
                        DoubleBuffer rollX)

getEulerZYX

public void getEulerZYX(@Cast(value="btScalar*") @ByRef
                        double[] yawZ,
                        @Cast(value="btScalar*") @ByRef
                        double[] pitchY,
                        @Cast(value="btScalar*") @ByRef
                        double[] rollX)

addPut

@ByRef
 @Name(value="operator +=")
public btQuaternion addPut(@Const @ByRef
                                                              btQuaternion q)

\brief Add two quaternions

Parameters:

q - The quaternion to add to this one

subtractPut

@ByRef
 @Name(value="operator -=")
public btQuaternion subtractPut(@Const @ByRef
                                                                   btQuaternion q)

\brief Subtract out a quaternion

Parameters:

q - The quaternion to subtract from this one

multiplyPut

@ByRef
 @Name(value="operator *=")
public btQuaternion multiplyPut(@Cast(value="const btScalar")
                                                                   double s)

\brief Scale this quaternion

Parameters:

s - The scalar to scale by

multiplyPut

@ByRef
 @Name(value="operator *=")
public btQuaternion multiplyPut(@Const @ByRef
                                                                   btQuaternion q)

\brief Multiply this quaternion by q on the right

Parameters:

q - The other quaternion Equivilant to this = this * q

dot

@Cast(value="btScalar")
public double dot(@Const @ByRef
                                          btQuaternion q)

\brief Return the dot product between this quaternion and another

Parameters:

q - The other quaternion

length2

@Cast(value="btScalar")
public double length2()

\brief Return the length squared of the quaternion

length

@Cast(value="btScalar")
public double length()

\brief Return the length of the quaternion

safeNormalize

@ByRef
public btQuaternion safeNormalize()

normalize

@ByRef
public btQuaternion normalize()

\brief Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1

multiply

@ByVal
 @Name(value="operator *")
public btQuaternion multiply(@Cast(value="const btScalar")
                                                               double s)

\brief Return a scaled version of this quaternion

Parameters:

s - The scale factor

divide

@ByVal
 @Name(value="operator /")
public btQuaternion divide(@Cast(value="const btScalar")
                                                             double s)

\brief Return an inversely scaled versionof this quaternion

Parameters:

s - The inverse scale factor

dividePut

@ByRef
 @Name(value="operator /=")
public btQuaternion dividePut(@Cast(value="const btScalar")
                                                                 double s)

\brief Inversely scale this quaternion

Parameters:

s - The scale factor

normalized

@ByVal
public btQuaternion normalized()

\brief Return a normalized version of this quaternion

angle

@Cast(value="btScalar")
public double angle(@Const @ByRef
                                            btQuaternion q)

\brief Return the ***half*** angle between this quaternion and the other

Parameters:

q - The other quaternion

angleShortestPath

@Cast(value="btScalar")
public double angleShortestPath(@Const @ByRef
                                                        btQuaternion q)

\brief Return the angle between this quaternion and the other along the shortest path

Parameters:

q - The other quaternion

getAngle

@Cast(value="btScalar")
public double getAngle()

\brief Return the angle [0, 2Pi] of rotation represented by this quaternion

getAngleShortestPath

@Cast(value="btScalar")
public double getAngleShortestPath()

\brief Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path

getAxis

@ByVal
public btVector3 getAxis()

\brief Return the axis of the rotation represented by this quaternion

inverse

@ByVal
public btQuaternion inverse()

\brief Return the inverse of this quaternion

add

@ByVal
 @Name(value="operator +")
public btQuaternion add(@Const @ByRef
                                                          btQuaternion q2)

\brief Return the sum of this quaternion and the other

Parameters:

q2 - The other quaternion

subtract

@ByVal
 @Name(value="operator -")
public btQuaternion subtract(@Const @ByRef
                                                               btQuaternion q2)

\brief Return the difference between this quaternion and the other

Parameters:

q2 - The other quaternion

subtract

@ByVal
 @Name(value="operator -")
public btQuaternion subtract()

\brief Return the negative of this quaternion This simply negates each element

farthest

@ByVal
public btQuaternion farthest(@Const @ByRef
                                    btQuaternion qd)

\todo document this and it's use

nearest

@ByVal
public btQuaternion nearest(@Const @ByRef
                                   btQuaternion qd)

\todo document this and it's use

slerp

@ByVal
public btQuaternion slerp(@Const @ByRef
                                 btQuaternion q,
                                 @Cast(value="const btScalar")
                                 double t)

\brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion

Parameters:

q - The other quaternion to interpolate with

t - The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. Slerp interpolates assuming constant velocity.

getIdentity

@Const
 @ByRef
public static btQuaternion getIdentity()

getW

@Cast(value="const btScalar")
public double getW()

serialize

public void serialize(@ByRef
                      btQuaternionDoubleData dataOut)

deSerialize

public void deSerialize(@Const @ByRef
                        btQuaternionFloatData dataIn)

deSerialize

public void deSerialize(@Const @ByRef
                        btQuaternionDoubleData dataIn)

serializeFloat

public void serializeFloat(@ByRef
                           btQuaternionFloatData dataOut)

deSerializeFloat

public void deSerializeFloat(@Const @ByRef
                             btQuaternionFloatData dataIn)

serializeDouble

public void serializeDouble(@ByRef
                            btQuaternionDoubleData dataOut)

deSerializeDouble

public void deSerializeDouble(@Const @ByRef
                              btQuaternionDoubleData dataIn)