org.joml

Class AxisAngle4d

java.lang.Object

org.joml.AxisAngle4d

All Implemented Interfaces:

Externalizable, Serializable

public class AxisAngle4d
extends Object
implements Externalizable

Represents a 3D rotation of a given radians about an axis represented as an unit 3D vector.

This class uses double-precision components.

Author:

Kai Burjack

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
double	angle The angle in radians.
double	x The x-component of the rotation axis.
double	y The y-component of the rotation axis.
double	z The z-component of the rotation axis.

Constructor Summary

Constructors

Constructor and Description
AxisAngle4d() Create a new AxisAngle4d with zero rotation about (0, 0, 1).
AxisAngle4d(AxisAngle4d a) Create a new AxisAngle4d with the same values of a.
AxisAngle4d(AxisAngle4f a) Create a new AxisAngle4d with the same values of a.
AxisAngle4d(double angle, double x, double y, double z) Create a new AxisAngle4d with the given values.
AxisAngle4d(double angle, Vector3dc v) Create a new AxisAngle4d with the given values.
AxisAngle4d(double angle, Vector3f v) Create a new AxisAngle4d with the given values.
AxisAngle4d(Quaterniondc q) Create a new AxisAngle4d from the given Quaterniondc.
AxisAngle4d(Quaternionfc q) Create a new AxisAngle4d from the given Quaternionfc.

Method Summary

Modifier and Type	Method and Description
boolean	equals(Object obj)
Matrix3d	get(Matrix3d m) Set the given Matrix3d to a rotation transformation equivalent to this AxisAngle4d.
Matrix3f	get(Matrix3f m) Set the given Matrix3f to a rotation transformation equivalent to this AxisAngle4d.
Matrix4d	get(Matrix4d m) Set the given Matrix4d to a rotation transformation equivalent to this AxisAngle4d.
Matrix4f	get(Matrix4f m) Set the given Matrix4f to a rotation transformation equivalent to this AxisAngle4d.
Quaterniond	get(Quaterniond q) Set the given Quaterniond to be equivalent to this AxisAngle4d rotation.
Quaternionf	get(Quaternionf q) Set the given Quaternionf to be equivalent to this AxisAngle4d rotation.
int	hashCode()
AxisAngle4d	normalize() Normalize the axis vector.
void	readExternal(ObjectInput in)
AxisAngle4d	rotate(double ang) Increase the rotation angle by the given amount.
AxisAngle4d	set(AxisAngle4d a) Set this AxisAngle4d to the values of a.
AxisAngle4d	set(AxisAngle4f a) Set this AxisAngle4d to the values of a.
AxisAngle4d	set(double angle, double x, double y, double z) Set this AxisAngle4d to the given values.
AxisAngle4d	set(double angle, Vector3dc v) Set this AxisAngle4d to the given values.
AxisAngle4d	set(double angle, Vector3f v) Set this AxisAngle4d to the given values.
AxisAngle4d	set(Matrix3dc m) Set this AxisAngle4d to be equivalent to the rotation of the given Matrix3dc.
AxisAngle4d	set(Matrix3fc m) Set this AxisAngle4d to be equivalent to the rotation of the given Matrix3fc.
AxisAngle4d	set(Matrix4dc m) Set this AxisAngle4d to be equivalent to the rotational component of the given Matrix4dc.
AxisAngle4d	set(Matrix4fc m) Set this AxisAngle4d to be equivalent to the rotational component of the given Matrix4fc.
AxisAngle4d	set(Matrix4x3fc m) Set this AxisAngle4d to be equivalent to the rotational component of the given Matrix4x3fc.
AxisAngle4d	set(Quaterniondc q) Set this AxisAngle4d to be equivalent to the given Quaterniondc.
AxisAngle4d	set(Quaternionfc q) Set this AxisAngle4d to be equivalent to the given Quaternionfc.
String	toString() Return a string representation of this AxisAngle4d.
String	toString(NumberFormat formatter) Return a string representation of this AxisAngle4d by formatting the components with the given NumberFormat.
Vector3d	transform(Vector3d v) Transform the given vector by the rotation transformation described by this AxisAngle4d.
Vector3d	transform(Vector3dc v, Vector3d dest) Transform the given vector by the rotation transformation described by this AxisAngle4d and store the result in dest.
Vector3f	transform(Vector3f v) Transform the given vector by the rotation transformation described by this AxisAngle4d.
Vector3f	transform(Vector3fc v, Vector3f dest) Transform the given vector by the rotation transformation described by this AxisAngle4d and store the result in dest.
Vector4d	transform(Vector4d v) Transform the given vector by the rotation transformation described by this AxisAngle4d.
Vector4d	transform(Vector4dc v, Vector4d dest) Transform the given vector by the rotation transformation described by this AxisAngle4d and store the result in dest.
void	writeExternal(ObjectOutput out)

Methods inherited from class java.lang.Object

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

Field Detail

angle

public double angle

The angle in radians.

x

public double x

The x-component of the rotation axis.

y

public double y

The y-component of the rotation axis.

z

public double z

The z-component of the rotation axis.

Constructor Detail

AxisAngle4d

public AxisAngle4d()

Create a new AxisAngle4d with zero rotation about (0, 0, 1).

AxisAngle4d

public AxisAngle4d(AxisAngle4d a)

Create a new AxisAngle4d with the same values of a.

Parameters:

a - the AngleAxis4d to copy the values from

AxisAngle4d

public AxisAngle4d(AxisAngle4f a)

Create a new AxisAngle4d with the same values of a.

Parameters:

a - the AngleAxis4f to copy the values from

AxisAngle4d

public AxisAngle4d(Quaternionfc q)

Create a new AxisAngle4d from the given Quaternionfc.

Reference: http://www.euclideanspace.com

Parameters:

q - the quaternion from which to create the new AngleAxis4f

AxisAngle4d

public AxisAngle4d(Quaterniondc q)

Create a new AxisAngle4d from the given Quaterniondc.

Reference: http://www.euclideanspace.com

Parameters:

q - the quaternion from which to create the new AngleAxis4d

AxisAngle4d

public AxisAngle4d(double angle,
                   double x,
                   double y,
                   double z)

Create a new AxisAngle4d with the given values.

Parameters:

angle - the angle in radians

x - the x-coordinate of the rotation axis

y - the y-coordinate of the rotation axis

z - the z-coordinate of the rotation axis

AxisAngle4d

public AxisAngle4d(double angle,
                   Vector3dc v)

Create a new AxisAngle4d with the given values.

Parameters:

angle - the angle in radians

v - the rotation axis as a Vector3dc

AxisAngle4d

public AxisAngle4d(double angle,
                   Vector3f v)

Create a new AxisAngle4d with the given values.

Parameters:

angle - the angle in radians

v - the rotation axis as a Vector3f

Method Detail

set

public AxisAngle4d set(AxisAngle4d a)

Set this AxisAngle4d to the values of a.

Parameters:

a - the AngleAxis4f to copy the values from

Returns:

this

set

public AxisAngle4d set(AxisAngle4f a)

Set this AxisAngle4d to the values of a.

Parameters:

a - the AngleAxis4f to copy the values from

Returns:

this

set

public AxisAngle4d set(double angle,
                       double x,
                       double y,
                       double z)

Set this AxisAngle4d to the given values.

Parameters:

angle - the angle in radians

x - the x-coordinate of the rotation axis

y - the y-coordinate of the rotation axis

z - the z-coordinate of the rotation axis

Returns:

this

set

public AxisAngle4d set(double angle,
                       Vector3dc v)

Set this AxisAngle4d to the given values.

Parameters:

angle - the angle in radians

v - the rotation axis as a Vector3dc

Returns:

this

set

public AxisAngle4d set(double angle,
                       Vector3f v)

Set this AxisAngle4d to the given values.

Parameters:

angle - the angle in radians

v - the rotation axis as a Vector3f

Returns:

this

set

public AxisAngle4d set(Quaternionfc q)

Set this AxisAngle4d to be equivalent to the given Quaternionfc.

Parameters:

q - the quaternion to set this AngleAxis4d from

Returns:

this

set

public AxisAngle4d set(Quaterniondc q)

Set this AxisAngle4d to be equivalent to the given Quaterniondc.

Parameters:

q - the quaternion to set this AngleAxis4d from

Returns:

this

set

public AxisAngle4d set(Matrix3fc m)

Set this AxisAngle4d to be equivalent to the rotation of the given Matrix3fc.

Reference: http://www.euclideanspace.com

Parameters:

m - the Matrix3fc to set this AngleAxis4d from

Returns:

this

set

public AxisAngle4d set(Matrix3dc m)

Set this AxisAngle4d to be equivalent to the rotation of the given Matrix3dc.

Reference: http://www.euclideanspace.com

Parameters:

m - the Matrix3dc to set this AngleAxis4d from

Returns:

this

set

public AxisAngle4d set(Matrix4fc m)

Set this AxisAngle4d to be equivalent to the rotational component of the given Matrix4fc.

Reference: http://www.euclideanspace.com

Parameters:

m - the Matrix4fc to set this AngleAxis4d from

Returns:

this

set

public AxisAngle4d set(Matrix4x3fc m)

Set this AxisAngle4d to be equivalent to the rotational component of the given Matrix4x3fc.

Reference: http://www.euclideanspace.com

Parameters:

m - the Matrix4x3fc to set this AngleAxis4d from

Returns:

this

set

public AxisAngle4d set(Matrix4dc m)

Set this AxisAngle4d to be equivalent to the rotational component of the given Matrix4dc.

Reference: http://www.euclideanspace.com

Parameters:

m - the Matrix4dc to set this AngleAxis4d from

Returns:

this

get

public Quaternionf get(Quaternionf q)

Set the given Quaternionf to be equivalent to this AxisAngle4d rotation.

Parameters:

q - the quaternion to set

Returns:

q

See Also:

Quaternionf.set(AxisAngle4d)

get

public Quaterniond get(Quaterniond q)

Set the given Quaterniond to be equivalent to this AxisAngle4d rotation.

Parameters:

q - the quaternion to set

Returns:

q

See Also:

Quaterniond.set(AxisAngle4d)

get

public Matrix4f get(Matrix4f m)

Set the given Matrix4f to a rotation transformation equivalent to this AxisAngle4d.

Parameters:

m - the matrix to set

Returns:

m

See Also:

Matrix4f.set(AxisAngle4d)

get

public Matrix3f get(Matrix3f m)

Set the given Matrix3f to a rotation transformation equivalent to this AxisAngle4d.

Parameters:

m - the matrix to set

Returns:

m

See Also:

Matrix3f.set(AxisAngle4d)

get

public Matrix4d get(Matrix4d m)

Set the given Matrix4d to a rotation transformation equivalent to this AxisAngle4d.

Parameters:

m - the matrix to set

Returns:

m

See Also:

Matrix4f.set(AxisAngle4d)

get

public Matrix3d get(Matrix3d m)

Set the given Matrix3d to a rotation transformation equivalent to this AxisAngle4d.

Parameters:

m - the matrix to set

Returns:

m

See Also:

Matrix3f.set(AxisAngle4d)

writeExternal

public void writeExternal(ObjectOutput out)
                   throws IOException

Specified by:

writeExternal in interface Externalizable

Throws:

IOException

readExternal

public void readExternal(ObjectInput in)
                  throws IOException,
                         ClassNotFoundException

Specified by:

readExternal in interface Externalizable

Throws:

IOException

ClassNotFoundException

normalize

public AxisAngle4d normalize()

Normalize the axis vector.

Returns:

this

rotate

public AxisAngle4d rotate(double ang)

Increase the rotation angle by the given amount.

This method also takes care of wrapping around.

Parameters:

ang - the angle increase

Returns:

this

transform

public Vector3d transform(Vector3d v)

Transform the given vector by the rotation transformation described by this AxisAngle4d.

Parameters:

v - the vector to transform

Returns:

v

transform

public Vector3d transform(Vector3dc v,
                          Vector3d dest)

Transform the given vector by the rotation transformation described by this AxisAngle4d and store the result in dest.

Parameters:

v - the vector to transform

dest - will hold the result

Returns:

dest

transform

public Vector3f transform(Vector3f v)

Transform the given vector by the rotation transformation described by this AxisAngle4d.

Parameters:

v - the vector to transform

Returns:

v

transform

public Vector3f transform(Vector3fc v,
                          Vector3f dest)

Transform the given vector by the rotation transformation described by this AxisAngle4d and store the result in dest.

Parameters:

v - the vector to transform

dest - will hold the result

Returns:

dest

transform

public Vector4d transform(Vector4d v)

Transform the given vector by the rotation transformation described by this AxisAngle4d.

Parameters:

v - the vector to transform

Returns:

v

transform

public Vector4d transform(Vector4dc v,
                          Vector4d dest)

Transform the given vector by the rotation transformation described by this AxisAngle4d and store the result in dest.

Parameters:

v - the vector to transform

dest - will hold the result

Returns:

dest

toString

public String toString()

Return a string representation of this AxisAngle4d.

This method creates a new DecimalFormat on every invocation with the format string " 0.000E0;-".

Overrides:

toString in class Object

Returns:

the string representation

toString

public String toString(NumberFormat formatter)

Return a string representation of this AxisAngle4d by formatting the components with the given NumberFormat.

Parameters:

formatter - the NumberFormat used to format the vector components with

Returns:

the string representation

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object