Quaternionfc (JOML 1.9.16 API)

All Known Implementing Classes:

Quaternionf
```
public interface Quaternionfc
```
Interface to a read-only view of a quaternion of single-precision floats.

Author:

Kai Burjack

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method and Description
`Quaternionf`	`add(float x, float y, float z, float w, Quaternionf dest)` Add the quaternion `(x, y, z, w)` to this quaternion and store the result in `dest`.
`Quaternionf`	`add(Quaternionfc q2, Quaternionf dest)` Add `q2` to this quaternion and store the result in `dest`.
`float`	`angle()` Return the angle in radians represented by this quaternion rotation.
`Quaternionf`	`conjugate(Quaternionf dest)` Conjugate this quaternion and store the result in `dest`.
`Quaternionf`	`difference(Quaternionf other, Quaternionf dest)` Compute the difference between `this` and the `other` quaternion and store the result in `dest`.
`Quaternionf`	`div(Quaternionfc b, Quaternionf dest)` Divide `this` quaternion by `b` and store the result in `dest`.
`AxisAngle4f`	`get(AxisAngle4f dest)` Set the given `AxisAngle4f` to represent the rotation of `this` quaternion.
`Matrix3d`	`get(Matrix3d dest)` Set the given destination matrix to the rotation represented by `this`.
`Matrix3f`	`get(Matrix3f dest)` Set the given destination matrix to the rotation represented by `this`.
`Matrix4d`	`get(Matrix4d dest)` Set the given destination matrix to the rotation represented by `this`.
`Matrix4f`	`get(Matrix4f dest)` Set the given destination matrix to the rotation represented by `this`.
`Matrix4x3d`	`get(Matrix4x3d dest)` Set the given destination matrix to the rotation represented by `this`.
`Matrix4x3f`	`get(Matrix4x3f dest)` Set the given destination matrix to the rotation represented by `this`.
`Quaterniond`	`get(Quaterniond dest)` Set the given `Quaterniond` to the values of `this`.
`Quaternionf`	`get(Quaternionf dest)` Set the given `Quaternionf` to the values of `this`.
`ByteBuffer`	`getAsMatrix3f(ByteBuffer dest)` Store the 3x3 float matrix representation of `this` quaternion in column-major order into the given `ByteBuffer`.
`FloatBuffer`	`getAsMatrix3f(FloatBuffer dest)` Store the 3x3 float matrix representation of `this` quaternion in column-major order into the given `FloatBuffer`.
`ByteBuffer`	`getAsMatrix4f(ByteBuffer dest)` Store the 4x4 float matrix representation of `this` quaternion in column-major order into the given `ByteBuffer`.
`FloatBuffer`	`getAsMatrix4f(FloatBuffer dest)` Store the 4x4 float matrix representation of `this` quaternion in column-major order into the given `FloatBuffer`.
`ByteBuffer`	`getAsMatrix4x3f(ByteBuffer dest)` Store the 4x3 float matrix representation of `this` quaternion in column-major order into the given `ByteBuffer`.
`FloatBuffer`	`getAsMatrix4x3f(FloatBuffer dest)` Store the 4x3 float matrix representation of `this` quaternion in column-major order into the given `FloatBuffer`.
`Vector3f`	`getEulerAnglesXYZ(Vector3f eulerAngles)` Get the euler angles in radians in rotation sequence `XYZ` of this quaternion and store them in the provided parameter `eulerAngles`.
`Quaternionf`	`integrate(float dt, float vx, float vy, float vz, Quaternionf dest)` Integrate the rotation given by the angular velocity `(vx, vy, vz)` around the x, y and z axis, respectively, with respect to the given elapsed time delta `dt` and add the differentiate rotation to the rotation represented by this quaternion and store the result into `dest`.
`Quaternionf`	`invert(Quaternionf dest)` Invert this quaternion and store the `normalized` result in `dest`.
`float`	`lengthSquared()` Return the square of the length of this quaternion.
`Quaternionf`	`lookAlong(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Quaternionf dest)` Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result in `dest`.
`Quaternionf`	`lookAlong(Vector3fc dir, Vector3fc up, Quaternionf dest)` Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result in `dest`.
`Quaternionf`	`mul(float qx, float qy, float qz, float qw, Quaternionf dest)` Multiply this quaternion by the quaternion represented via `(qx, qy, qz, qw)` and store the result in `dest`.
`Quaternionf`	`mul(Quaternionfc q, Quaternionf dest)` Multiply this quaternion by `q` and store the result in `dest`.
`Quaternionf`	`nlerp(Quaternionfc q, float factor, Quaternionf dest)` Compute a linear (non-spherical) interpolation of `this` and the given quaternion `q` and store the result in `dest`.
`Quaternionf`	`nlerpIterative(Quaternionfc q, float alpha, float dotThreshold, Quaternionf dest)` Compute linear (non-spherical) interpolations of `this` and the given quaternion `q` iteratively and store the result in `dest`.
`Quaternionf`	`normalize(Quaternionf dest)` Normalize this quaternion and store the result in `dest`.
`Vector3f`	`normalizedPositiveX(Vector3f dir)` Obtain the direction of `+X` before the rotation transformation represented by `this` normalized quaternion is applied.
`Vector3f`	`normalizedPositiveY(Vector3f dir)` Obtain the direction of `+Y` before the rotation transformation represented by `this` normalized quaternion is applied.
`Vector3f`	`normalizedPositiveZ(Vector3f dir)` Obtain the direction of `+Z` before the rotation transformation represented by `this` normalized quaternion is applied.
`Vector3f`	`positiveX(Vector3f dir)` Obtain the direction of `+X` before the rotation transformation represented by `this` quaternion is applied.
`Vector3f`	`positiveY(Vector3f dir)` Obtain the direction of `+Y` before the rotation transformation represented by `this` quaternion is applied.
`Vector3f`	`positiveZ(Vector3f dir)` Obtain the direction of `+Z` before the rotation transformation represented by `this` quaternion is applied.
`Quaternionf`	`premul(float qx, float qy, float qz, float qw, Quaternionf dest)` Pre-multiply this quaternion by the quaternion represented via `(qx, qy, qz, qw)` and store the result in `dest`.
`Quaternionf`	`premul(Quaternionfc q, Quaternionf dest)` Pre-multiply this quaternion by `q` and store the result in `dest`.
`Quaternionf`	`rotateAxis(float angle, float axisX, float axisY, float axisZ, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the specified axis and store the result in `dest`.
`Quaternionf`	`rotateAxis(float angle, Vector3fc axis, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the specified axis and store the result in `dest`.
`Quaternionf`	`rotateLocalX(float angle, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the local x axis and store the result in `dest`.
`Quaternionf`	`rotateLocalY(float angle, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the local y axis and store the result in `dest`.
`Quaternionf`	`rotateLocalZ(float angle, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the local z axis and store the result in `dest`.
`Quaternionf`	`rotateTo(float fromDirX, float fromDirY, float fromDirZ, float toDirX, float toDirY, float toDirZ, Quaternionf dest)` Apply a rotation to `this` that rotates the `fromDir` vector to point along `toDir` and store the result in `dest`.
`Quaternionf`	`rotateTo(Vector3fc fromDir, Vector3fc toDir, Quaternionf dest)` Apply a rotation to `this` that rotates the `fromDir` vector to point along `toDir` and store the result in `dest`.
`Quaternionf`	`rotateX(float angle, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the x axis and store the result in `dest`.
`Quaternionf`	`rotateXYZ(float angleX, float angleY, float angleZ, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the cartesian base unit axes, called the euler angles using rotation sequence `XYZ` and store the result in `dest`.
`Quaternionf`	`rotateY(float angle, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the y axis and store the result in `dest`.
`Quaternionf`	`rotateYXZ(float angleY, float angleX, float angleZ, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the cartesian base unit axes, called the euler angles, using the rotation sequence `YXZ` and store the result in `dest`.
`Quaternionf`	`rotateZ(float angle, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the z axis and store the result in `dest`.
`Quaternionf`	`rotateZYX(float angleZ, float angleY, float angleX, Quaternionf dest)` Apply a rotation to `this` quaternion rotating the given radians about the cartesian base unit axes, called the euler angles, using the rotation sequence `ZYX` and store the result in `dest`.
`Quaternionf`	`scale(float factor, Quaternionf dest)` Apply scaling to this quaternion, which results in any vector transformed by the quaternion to change its length by the given `factor`, and store the result in `dest`.
`Quaternionf`	`slerp(Quaternionfc target, float alpha, Quaternionf dest)` Interpolate between `this` `unit` quaternion and the specified `target` `unit` quaternion using spherical linear interpolation using the specified interpolation factor `alpha`, and store the result in `dest`.
`Vector3f`	`transform(float x, float y, float z, Vector3f dest)` Transform the given vector `(x, y, z)` by this quaternion and store the result in `dest`.
`Vector4f`	`transform(float x, float y, float z, Vector4f dest)` Transform the given vector `(x, y, z)` by this quaternion and store the result in `dest`.
`Vector3f`	`transform(Vector3f vec)` Transform the given vector by this quaternion.
`Vector3f`	`transform(Vector3fc vec, Vector3f dest)` Transform the given vector by this quaternion and store the result in `dest`.
`Vector4f`	`transform(Vector4f vec)` Transform the given vector by this quaternion.
`Vector4f`	`transform(Vector4fc vec, Vector4f dest)` Transform the given vector by this quaternion and store the result in `dest`.
`Vector3f`	`transformPositiveX(Vector3f dest)` Transform the vector `(1, 0, 0)` by this quaternion.
`Vector4f`	`transformPositiveX(Vector4f dest)` Transform the vector `(1, 0, 0)` by this quaternion.
`Vector3f`	`transformPositiveY(Vector3f dest)` Transform the vector `(0, 1, 0)` by this quaternion.
`Vector4f`	`transformPositiveY(Vector4f dest)` Transform the vector `(0, 1, 0)` by this quaternion.
`Vector3f`	`transformPositiveZ(Vector3f dest)` Transform the vector `(0, 0, 1)` by this quaternion.
`Vector4f`	`transformPositiveZ(Vector4f dest)` Transform the vector `(0, 0, 1)` by this quaternion.
`Vector3f`	`transformUnitPositiveX(Vector3f dest)` Transform the vector `(1, 0, 0)` by this unit quaternion.
`Vector4f`	`transformUnitPositiveX(Vector4f dest)` Transform the vector `(1, 0, 0)` by this unit quaternion.
`Vector3f`	`transformUnitPositiveY(Vector3f dest)` Transform the vector `(0, 1, 0)` by this unit quaternion.
`Vector4f`	`transformUnitPositiveY(Vector4f dest)` Transform the vector `(0, 1, 0)` by this unit quaternion.
`Vector3f`	`transformUnitPositiveZ(Vector3f dest)` Transform the vector `(0, 0, 1)` by this unit quaternion.
`Vector4f`	`transformUnitPositiveZ(Vector4f dest)` Transform the vector `(0, 0, 1)` by this unit quaternion.
`float`	`w()`
`float`	`x()`
`float`	`y()`
`float`	`z()`

- Method Detail
  - x
```
float x()
```
    Returns:
    
    the first component of the vector part
  - y
```
float y()
```
    Returns:
    
    the second component of the vector part
  - z
```
float z()
```
    Returns:
    
    the third component of the vector part
  - w
```
float w()
```
    Returns:
    
    the real/scalar part of the quaternion
  - normalize
```
Quaternionf normalize(Quaternionf dest)
```
    Normalize this quaternion and store the result in dest.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - add
```
Quaternionf add(float x,
                float y,
                float z,
                float w,
                Quaternionf dest)
```
    Add the quaternion (x, y, z, w) to this quaternion and store the result in dest.
    
    Parameters:
    
    x - the x component of the vector part
    
    y - the y component of the vector part
    
    z - the z component of the vector part
    
    w - the real/scalar component
    
    dest - will hold the result
    
    Returns:
    
    dest
  - add
```
Quaternionf add(Quaternionfc q2,
                Quaternionf dest)
```
    Add q2 to this quaternion and store the result in dest.
    
    Parameters:
    
    q2 - the quaternion to add to this
    
    dest - will hold the result
    
    Returns:
    
    dest
  - angle
```
float angle()
```
    Return the angle in radians represented by this quaternion rotation.
    
    Returns:
    
    the angle in radians
  - get
```
Matrix3f get(Matrix3f dest)
```
    Set the given destination matrix to the rotation represented by this.
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix3f.set(Quaternionfc)
  - get
```
Matrix3d get(Matrix3d dest)
```
    Set the given destination matrix to the rotation represented by this.
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix3d.set(Quaternionfc)
  - get
```
Matrix4f get(Matrix4f dest)
```
    Set the given destination matrix to the rotation represented by this.
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix4f.set(Quaternionfc)
  - get
```
Matrix4d get(Matrix4d dest)
```
    Set the given destination matrix to the rotation represented by this.
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix4d.set(Quaternionfc)
  - get
```
Matrix4x3f get(Matrix4x3f dest)
```
    Set the given destination matrix to the rotation represented by this.
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix4x3f.set(Quaternionfc)
  - get
```
Matrix4x3d get(Matrix4x3d dest)
```
    Set the given destination matrix to the rotation represented by this.
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix4x3d.set(Quaternionfc)
  - get
```
AxisAngle4f get(AxisAngle4f dest)
```
    Set the given AxisAngle4f to represent the rotation of this quaternion.
    
    Parameters:
    
    dest - the AxisAngle4f to set
    
    Returns:
    
    the passed in destination
  - get
```
Quaterniond get(Quaterniond dest)
```
    Set the given Quaterniond to the values of this.
    
    Parameters:
    
    dest - the Quaterniond to set
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Quaterniond.set(Quaternionfc)
  - get
```
Quaternionf get(Quaternionf dest)
```
    Set the given Quaternionf to the values of this.
    
    Parameters:
    
    dest - the Quaternionf to set
    
    Returns:
    
    the passed in destination
  - getAsMatrix3f
```
ByteBuffer getAsMatrix3f(ByteBuffer dest)
```
    Store the 3x3 float matrix representation of this quaternion in column-major order into the given ByteBuffer.
    This is equivalent to calling: this.get(new Matrix3f()).get(dest)
    
    Parameters:
    
    dest - the destination buffer
    
    Returns:
    
    dest
  - getAsMatrix3f
```
FloatBuffer getAsMatrix3f(FloatBuffer dest)
```
    Store the 3x3 float matrix representation of this quaternion in column-major order into the given FloatBuffer.
    This is equivalent to calling: this.get(new Matrix3f()).get(dest)
    
    Parameters:
    
    dest - the destination buffer
    
    Returns:
    
    dest
  - getAsMatrix4f
```
ByteBuffer getAsMatrix4f(ByteBuffer dest)
```
    Store the 4x4 float matrix representation of this quaternion in column-major order into the given ByteBuffer.
    This is equivalent to calling: this.get(new Matrix4f()).get(dest)
    
    Parameters:
    
    dest - the destination buffer
    
    Returns:
    
    dest
  - getAsMatrix4f
```
FloatBuffer getAsMatrix4f(FloatBuffer dest)
```
    Store the 4x4 float matrix representation of this quaternion in column-major order into the given FloatBuffer.
    This is equivalent to calling: this.get(new Matrix4f()).get(dest)
    
    Parameters:
    
    dest - the destination buffer
    
    Returns:
    
    dest
  - getAsMatrix4x3f
```
ByteBuffer getAsMatrix4x3f(ByteBuffer dest)
```
    Store the 4x3 float matrix representation of this quaternion in column-major order into the given ByteBuffer.
    This is equivalent to calling: this.get(new Matrix4x3f()).get(dest)
    
    Parameters:
    
    dest - the destination buffer
    
    Returns:
    
    dest
  - getAsMatrix4x3f
```
FloatBuffer getAsMatrix4x3f(FloatBuffer dest)
```
    Store the 4x3 float matrix representation of this quaternion in column-major order into the given FloatBuffer.
    This is equivalent to calling: this.get(new Matrix4x3f()).get(dest)
    
    Parameters:
    
    dest - the destination buffer
    
    Returns:
    
    dest
  - mul
```
Quaternionf mul(Quaternionfc q,
                Quaternionf dest)
```
    Multiply this quaternion by q and store the result in dest.
    If T is this and Q is the given quaternion, then the resulting quaternion R is:
    R = T * Q
    So, this method uses post-multiplication like the matrix classes, resulting in a vector to be transformed by Q first, and then by T.
    
    Parameters:
    
    q - the quaternion to multiply this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - mul
```
Quaternionf mul(float qx,
                float qy,
                float qz,
                float qw,
                Quaternionf dest)
```
    Multiply this quaternion by the quaternion represented via (qx, qy, qz, qw) and store the result in dest.
    If T is this and Q is the given quaternion, then the resulting quaternion R is:
    R = T * Q
    So, this method uses post-multiplication like the matrix classes, resulting in a vector to be transformed by Q first, and then by T.
    
    Parameters:
    
    qx - the x component of the quaternion to multiply this by
    
    qy - the y component of the quaternion to multiply this by
    
    qz - the z component of the quaternion to multiply this by
    
    qw - the w component of the quaternion to multiply this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - premul
```
Quaternionf premul(Quaternionfc q,
                   Quaternionf dest)
```
    Pre-multiply this quaternion by q and store the result in dest.
    If T is this and Q is the given quaternion, then the resulting quaternion R is:
    R = Q * T
    So, this method uses pre-multiplication, resulting in a vector to be transformed by T first, and then by Q.
    
    Parameters:
    
    q - the quaternion to pre-multiply this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - premul
```
Quaternionf premul(float qx,
                   float qy,
                   float qz,
                   float qw,
                   Quaternionf dest)
```
    Pre-multiply this quaternion by the quaternion represented via (qx, qy, qz, qw) and store the result in dest.
    If T is this and Q is the given quaternion, then the resulting quaternion R is:
    R = Q * T
    So, this method uses pre-multiplication, resulting in a vector to be transformed by T first, and then by Q.
    
    Parameters:
    
    qx - the x component of the quaternion to multiply this by
    
    qy - the y component of the quaternion to multiply this by
    
    qz - the z component of the quaternion to multiply this by
    
    qw - the w component of the quaternion to multiply this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
Vector3f transform(Vector3f vec)
```
    Transform the given vector by this quaternion. This will apply the rotation described by this quaternion to the given vector.
    
    Parameters:
    
    vec - the vector to transform
    
    Returns:
    
    vec
  - transformPositiveX
```
Vector3f transformPositiveX(Vector3f dest)
```
    Transform the vector (1, 0, 0) by this quaternion.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveX
```
Vector4f transformPositiveX(Vector4f dest)
```
    Transform the vector (1, 0, 0) by this quaternion.
    Only the first three components of the given 4D vector are modified.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveX
```
Vector3f transformUnitPositiveX(Vector3f dest)
```
    Transform the vector (1, 0, 0) by this unit quaternion.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveX
```
Vector4f transformUnitPositiveX(Vector4f dest)
```
    Transform the vector (1, 0, 0) by this unit quaternion.
    Only the first three components of the given 4D vector are modified.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveY
```
Vector3f transformPositiveY(Vector3f dest)
```
    Transform the vector (0, 1, 0) by this quaternion.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveY
```
Vector4f transformPositiveY(Vector4f dest)
```
    Transform the vector (0, 1, 0) by this quaternion.
    Only the first three components of the given 4D vector are modified.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveY
```
Vector3f transformUnitPositiveY(Vector3f dest)
```
    Transform the vector (0, 1, 0) by this unit quaternion.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveY
```
Vector4f transformUnitPositiveY(Vector4f dest)
```
    Transform the vector (0, 1, 0) by this unit quaternion.
    Only the first three components of the given 4D vector are modified.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveZ
```
Vector3f transformPositiveZ(Vector3f dest)
```
    Transform the vector (0, 0, 1) by this quaternion.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveZ
```
Vector4f transformPositiveZ(Vector4f dest)
```
    Transform the vector (0, 0, 1) by this quaternion.
    Only the first three components of the given 4D vector are modified.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveZ
```
Vector3f transformUnitPositiveZ(Vector3f dest)
```
    Transform the vector (0, 0, 1) by this unit quaternion.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveZ
```
Vector4f transformUnitPositiveZ(Vector4f dest)
```
    Transform the vector (0, 0, 1) by this unit quaternion.
    Only the first three components of the given 4D vector are modified.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
Vector4f transform(Vector4f vec)
```
    Transform the given vector by this quaternion. This will apply the rotation described by this quaternion to the given vector.
    Only the first three components of the given 4D vector are being used and modified.
    
    Parameters:
    
    vec - the vector to transform
    
    Returns:
    
    vec
  - transform
```
Vector3f transform(Vector3fc vec,
                   Vector3f dest)
```
    Transform the given vector by this quaternion and store the result in dest. This will apply the rotation described by this quaternion to the given vector.
    
    Parameters:
    
    vec - the vector to transform
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
Vector3f transform(float x,
                   float y,
                   float z,
                   Vector3f dest)
```
    Transform the given vector (x, y, z) by this quaternion and store the result in dest. This will apply the rotation described by this quaternion to the given vector.
    
    Parameters:
    
    x - the x coordinate of the vector to transform
    
    y - the y coordinate of the vector to transform
    
    z - the z coordinate of the vector to transform
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
Vector4f transform(Vector4fc vec,
                   Vector4f dest)
```
    Transform the given vector by this quaternion and store the result in dest. This will apply the rotation described by this quaternion to the given vector.
    Only the first three components of the given 4D vector are being used and set on the destination.
    
    Parameters:
    
    vec - the vector to transform
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
Vector4f transform(float x,
                   float y,
                   float z,
                   Vector4f dest)
```
    Transform the given vector (x, y, z) by this quaternion and store the result in dest. This will apply the rotation described by this quaternion to the given vector.
    
    Parameters:
    
    x - the x coordinate of the vector to transform
    
    y - the y coordinate of the vector to transform
    
    z - the z coordinate of the vector to transform
    
    dest - will hold the result
    
    Returns:
    
    dest
  - invert
```
Quaternionf invert(Quaternionf dest)
```
    Invert this quaternion and store the normalized result in dest.
    If this quaternion is already normalized, then conjugate(Quaternionf) should be used instead.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
    
    See Also:
    
    conjugate(Quaternionf)
  - div
```
Quaternionf div(Quaternionfc b,
                Quaternionf dest)
```
    Divide this quaternion by b and store the result in dest.
    The division expressed using the inverse is performed in the following way:
    dest = this * b^-1, where b^-1 is the inverse of b.
    
    Parameters:
    
    b - the Quaternionfc to divide this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - conjugate
```
Quaternionf conjugate(Quaternionf dest)
```
    Conjugate this quaternion and store the result in dest.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateXYZ
```
Quaternionf rotateXYZ(float angleX,
                      float angleY,
                      float angleZ,
                      Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the cartesian base unit axes, called the euler angles using rotation sequence XYZ and store the result in dest.
    This method is equivalent to calling: rotateX(angleX, dest).rotateY(angleY).rotateZ(angleZ)
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angleX - the angle in radians to rotate about the x axis
    
    angleY - the angle in radians to rotate about the y axis
    
    angleZ - the angle in radians to rotate about the z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateZYX
```
Quaternionf rotateZYX(float angleZ,
                      float angleY,
                      float angleX,
                      Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the cartesian base unit axes, called the euler angles, using the rotation sequence ZYX and store the result in dest.
    This method is equivalent to calling: rotateZ(angleZ, dest).rotateY(angleY).rotateX(angleX)
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angleZ - the angle in radians to rotate about the z axis
    
    angleY - the angle in radians to rotate about the y axis
    
    angleX - the angle in radians to rotate about the x axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateYXZ
```
Quaternionf rotateYXZ(float angleY,
                      float angleX,
                      float angleZ,
                      Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the cartesian base unit axes, called the euler angles, using the rotation sequence YXZ and store the result in dest.
    This method is equivalent to calling: rotateY(angleY, dest).rotateX(angleX).rotateZ(angleZ)
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angleY - the angle in radians to rotate about the y axis
    
    angleX - the angle in radians to rotate about the x axis
    
    angleZ - the angle in radians to rotate about the z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - getEulerAnglesXYZ
```
Vector3f getEulerAnglesXYZ(Vector3f eulerAngles)
```
    Get the euler angles in radians in rotation sequence XYZ of this quaternion and store them in the provided parameter eulerAngles.
    
    Parameters:
    
    eulerAngles - will hold the euler angles in radians
    
    Returns:
    
    the passed in vector
  - lengthSquared
```
float lengthSquared()
```
    Return the square of the length of this quaternion.
    
    Returns:
    
    the length
  - slerp
```
Quaternionf slerp(Quaternionfc target,
                  float alpha,
                  Quaternionf dest)
```
    Interpolate between this unit quaternion and the specified target unit quaternion using spherical linear interpolation using the specified interpolation factor alpha, and store the result in dest.
    This method resorts to non-spherical linear interpolation when the absolute dot product of this and target is below 1E-6f.
    Reference: http://fabiensanglard.net
    
    Parameters:
    
    target - the target of the interpolation, which should be reached with alpha = 1.0
    
    alpha - the interpolation factor, within [0..1]
    
    dest - will hold the result
    
    Returns:
    
    dest
  - scale
```
Quaternionf scale(float factor,
                  Quaternionf dest)
```
    Apply scaling to this quaternion, which results in any vector transformed by the quaternion to change its length by the given factor, and store the result in dest.
    
    Parameters:
    
    factor - the scaling factor
    
    dest - will hold the result
    
    Returns:
    
    dest
  - integrate
```
Quaternionf integrate(float dt,
                      float vx,
                      float vy,
                      float vz,
                      Quaternionf dest)
```
    Integrate the rotation given by the angular velocity (vx, vy, vz) around the x, y and z axis, respectively, with respect to the given elapsed time delta dt and add the differentiate rotation to the rotation represented by this quaternion and store the result into dest.
    This method pre-multiplies the rotation given by dt and (vx, vy, vz) by this, so the angular velocities are always relative to the local coordinate system of the rotation represented by this quaternion.
    This method is equivalent to calling: rotateLocal(dt * vx, dt * vy, dt * vz, dest)
    Reference: http://physicsforgames.blogspot.de/
    
    Parameters:
    
    dt - the delta time
    
    vx - the angular velocity around the x axis
    
    vy - the angular velocity around the y axis
    
    vz - the angular velocity around the z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - nlerp
```
Quaternionf nlerp(Quaternionfc q,
                  float factor,
                  Quaternionf dest)
```
    Compute a linear (non-spherical) interpolation of this and the given quaternion q and store the result in dest.
    Reference: http://fabiensanglard.net
    
    Parameters:
    
    q - the other quaternion
    
    factor - the interpolation factor. It is between 0.0 and 1.0
    
    dest - will hold the result
    
    Returns:
    
    dest
  - nlerpIterative
```
Quaternionf nlerpIterative(Quaternionfc q,
                           float alpha,
                           float dotThreshold,
                           Quaternionf dest)
```
    Compute linear (non-spherical) interpolations of this and the given quaternion q iteratively and store the result in dest.
    This method performs a series of small-step nlerp interpolations to avoid doing a costly spherical linear interpolation, like slerp, by subdividing the rotation arc between this and q via non-spherical linear interpolations as long as the absolute dot product of this and q is greater than the given dotThreshold parameter.
    Thanks to @theagentd at http://www.java-gaming.org/ for providing the code.
    
    Parameters:
    
    q - the other quaternion
    
    alpha - the interpolation factor, between 0.0 and 1.0
    
    dotThreshold - the threshold for the dot product of this and q above which this method performs another iteration of a small-step linear interpolation
    
    dest - will hold the result
    
    Returns:
    
    dest
  - lookAlong
```
Quaternionf lookAlong(Vector3fc dir,
                      Vector3fc up,
                      Quaternionf dest)
```
    Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result in dest.
    Because there are multiple possibilities for such a rotation, this method will choose the one that ensures the given up direction to remain parallel to the plane spanned by the up and dir vectors.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    Reference: http://answers.unity3d.com
    
    Parameters:
    
    dir - the direction to map to the positive Z axis
    
    up - the vector which will be mapped to a vector parallel to the plane spanned by the given dir and up
    
    dest - will hold the result
    
    Returns:
    
    dest
    
    See Also:
    
    lookAlong(float, float, float, float, float, float, Quaternionf)
  - lookAlong
```
Quaternionf lookAlong(float dirX,
                      float dirY,
                      float dirZ,
                      float upX,
                      float upY,
                      float upZ,
                      Quaternionf dest)
```
    Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result in dest.
    Because there are multiple possibilities for such a rotation, this method will choose the one that ensures the given up direction to remain parallel to the plane spanned by the up and dir vectors.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    Reference: http://answers.unity3d.com
    
    Parameters:
    
    dirX - the x-coordinate of the direction to look along
    
    dirY - the y-coordinate of the direction to look along
    
    dirZ - the z-coordinate of the direction to look along
    
    upX - the x-coordinate of the up vector
    
    upY - the y-coordinate of the up vector
    
    upZ - the z-coordinate of the up vector
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateTo
```
Quaternionf rotateTo(float fromDirX,
                     float fromDirY,
                     float fromDirZ,
                     float toDirX,
                     float toDirY,
                     float toDirZ,
                     Quaternionf dest)
```
    Apply a rotation to this that rotates the fromDir vector to point along toDir and store the result in dest.
    Since there can be multiple possible rotations, this method chooses the one with the shortest arc.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    Reference: stackoverflow.com
    
    Parameters:
    
    fromDirX - the x-coordinate of the direction to rotate into the destination direction
    
    fromDirY - the y-coordinate of the direction to rotate into the destination direction
    
    fromDirZ - the z-coordinate of the direction to rotate into the destination direction
    
    toDirX - the x-coordinate of the direction to rotate to
    
    toDirY - the y-coordinate of the direction to rotate to
    
    toDirZ - the z-coordinate of the direction to rotate to
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateTo
```
Quaternionf rotateTo(Vector3fc fromDir,
                     Vector3fc toDir,
                     Quaternionf dest)
```
    Apply a rotation to this that rotates the fromDir vector to point along toDir and store the result in dest.
    Because there can be multiple possible rotations, this method chooses the one with the shortest arc.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    fromDir - the starting direction
    
    toDir - the destination direction
    
    dest - will hold the result
    
    Returns:
    
    dest
    
    See Also:
    
    rotateTo(float, float, float, float, float, float, Quaternionf)
  - rotateX
```
Quaternionf rotateX(float angle,
                    Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the x axis and store the result in dest.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the x axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateY
```
Quaternionf rotateY(float angle,
                    Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the y axis and store the result in dest.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the y axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateZ
```
Quaternionf rotateZ(float angle,
                    Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the z axis and store the result in dest.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateLocalX
```
Quaternionf rotateLocalX(float angle,
                         Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the local x axis and store the result in dest.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be R * Q. So when transforming a vector v with the new quaternion by using R * Q * v, the rotation represented by this will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the local x axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateLocalY
```
Quaternionf rotateLocalY(float angle,
                         Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the local y axis and store the result in dest.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be R * Q. So when transforming a vector v with the new quaternion by using R * Q * v, the rotation represented by this will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the local y axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateLocalZ
```
Quaternionf rotateLocalZ(float angle,
                         Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the local z axis and store the result in dest.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be R * Q. So when transforming a vector v with the new quaternion by using R * Q * v, the rotation represented by this will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the local z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateAxis
```
Quaternionf rotateAxis(float angle,
                       float axisX,
                       float axisY,
                       float axisZ,
                       Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the specified axis and store the result in dest.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the specified axis
    
    axisX - the x coordinate of the rotation axis
    
    axisY - the y coordinate of the rotation axis
    
    axisZ - the z coordinate of the rotation axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateAxis
```
Quaternionf rotateAxis(float angle,
                       Vector3fc axis,
                       Quaternionf dest)
```
    Apply a rotation to this quaternion rotating the given radians about the specified axis and store the result in dest.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the specified axis
    
    axis - the rotation axis
    
    dest - will hold the result
    
    Returns:
    
    dest
    
    See Also:
    
    rotateAxis(float, float, float, float, Quaternionf)
  - difference
```
Quaternionf difference(Quaternionf other,
                       Quaternionf dest)
```
    Compute the difference between this and the other quaternion and store the result in dest.
    The difference is the rotation that has to be applied to get from this rotation to other. If T is this, Q is other and D is the computed difference, then the following equation holds:
    T * D = Q
    It is defined as: D = T^-1 * Q, where T^-1 denotes the inverse of T.
    
    Parameters:
    
    other - the other quaternion
    
    dest - will hold the result
    
    Returns:
    
    dest
  - positiveX
```
Vector3f positiveX(Vector3f dir)
```
    Obtain the direction of +X before the rotation transformation represented by this quaternion is applied.
    This method is equivalent to the following code:
```
 Quaternionf inv = new Quaternionf(this).invert();
 inv.transform(dir.set(1, 0, 0));
 
```
    Parameters:
    
    dir - will hold the direction of +X
    
    Returns:
    
    dir
  - normalizedPositiveX
```
Vector3f normalizedPositiveX(Vector3f dir)
```
    Obtain the direction of +X before the rotation transformation represented by this normalized quaternion is applied. The quaternion must be normalized for this method to work.
    This method is equivalent to the following code:
```
 Quaternionf inv = new Quaternionf(this).conjugate();
 inv.transform(dir.set(1, 0, 0));
 
```
    Parameters:
    
    dir - will hold the direction of +X
    
    Returns:
    
    dir
  - positiveY
```
Vector3f positiveY(Vector3f dir)
```
    Obtain the direction of +Y before the rotation transformation represented by this quaternion is applied.
    This method is equivalent to the following code:
```
 Quaternionf inv = new Quaternionf(this).invert();
 inv.transform(dir.set(0, 1, 0));
 
```
    Parameters:
    
    dir - will hold the direction of +Y
    
    Returns:
    
    dir
  - normalizedPositiveY
```
Vector3f normalizedPositiveY(Vector3f dir)
```
    Obtain the direction of +Y before the rotation transformation represented by this normalized quaternion is applied. The quaternion must be normalized for this method to work.
    This method is equivalent to the following code:
```
 Quaternionf inv = new Quaternionf(this).conjugate();
 inv.transform(dir.set(0, 1, 0));
 
```
    Parameters:
    
    dir - will hold the direction of +Y
    
    Returns:
    
    dir
  - positiveZ
```
Vector3f positiveZ(Vector3f dir)
```
    Obtain the direction of +Z before the rotation transformation represented by this quaternion is applied.
    This method is equivalent to the following code:
```
 Quaternionf inv = new Quaternionf(this).invert();
 inv.transform(dir.set(0, 0, 1));
 
```
    Parameters:
    
    dir - will hold the direction of +Z
    
    Returns:
    
    dir
  - normalizedPositiveZ
```
Vector3f normalizedPositiveZ(Vector3f dir)
```
    Obtain the direction of +Z before the rotation transformation represented by this normalized quaternion is applied. The quaternion must be normalized for this method to work.
    This method is equivalent to the following code:
```
 Quaternionf inv = new Quaternionf(this).conjugate();
 inv.transform(dir.set(0, 0, 1));
 
```
    Parameters:
    
    dir - will hold the direction of +Z
    
    Returns:
    
    dir

Interface Quaternionfc

Method Summary

Method Detail

x

y

z

w

normalize

add

add

angle

get

get

get

get

get

get

get

get

get

getAsMatrix3f

getAsMatrix3f

getAsMatrix4f

getAsMatrix4f

getAsMatrix4x3f

getAsMatrix4x3f

mul

mul

premul

premul

transform

transformPositiveX

transformPositiveX

transformUnitPositiveX

transformUnitPositiveX

transformPositiveY

transformPositiveY

transformUnitPositiveY

transformUnitPositiveY

transformPositiveZ

transformPositiveZ

transformUnitPositiveZ

transformUnitPositiveZ

transform

transform

transform

transform

transform

invert

div

conjugate

rotateXYZ

rotateZYX

rotateYXZ

getEulerAnglesXYZ

lengthSquared

slerp

scale

integrate

nlerp

nlerpIterative

lookAlong

lookAlong

rotateTo

rotateTo

rotateX

rotateY

rotateZ

rotateLocalX

rotateLocalY

rotateLocalZ

rotateAxis

rotateAxis

difference

positiveX

normalizedPositiveX

positiveY

normalizedPositiveY

positiveZ

normalizedPositiveZ