Quaterniond (JOML 1.9.17 API)

java.lang.Object
- org.joml.Quaterniond

All Implemented Interfaces:

Externalizable, Serializable, Quaterniondc
```
public class Quaterniond
extends Object
implements Externalizable, Quaterniondc
```
Quaternion of 4 double-precision floats which can represent rotation and uniform scaling.

Author:

Richard Greenlees, Kai Burjack

See Also:

Serialized Form

Field Summary

Fields
Modifier and Type	Field and Description
`double`	`w` The real/scalar part of the quaternion.
`double`	`x` The first component of the vector part.
`double`	`y` The second component of the vector part.
`double`	`z` The third component of the vector part.

Constructor Summary

Constructors
Constructor and Description
`Quaterniond()` Create a new `Quaterniond` and initialize it with `(x=0, y=0, z=0, w=1)`, where `(x, y, z)` is the vector part of the quaternion and `w` is the real/scalar part.
`Quaterniond(AxisAngle4d axisAngle)` Create a new `Quaterniond` and initialize it to represent the same rotation as the given `AxisAngle4d`.
`Quaterniond(AxisAngle4f axisAngle)` Create a new `Quaterniond` and initialize it to represent the same rotation as the given `AxisAngle4f`.
`Quaterniond(double x, double y, double z, double w)` Create a new `Quaterniond` and initialize its components to the given values.
`Quaterniond(Quaterniondc source)` Create a new `Quaterniond` and initialize its components to the same values as the given `Quaterniond`.
`Quaterniond(Quaternionfc source)` Create a new `Quaterniond` and initialize its components to the same values as the given `Quaternionfc`.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`Quaterniond`	`add(double x, double y, double z, double w)` Add the quaternion `(x, y, z, w)` to this quaternion.
`Quaterniond`	`add(double x, double y, double z, double w, Quaterniond dest)` Add the quaternion `(x, y, z, w)` to this quaternion and store the result in `dest`.
`Quaterniond`	`add(Quaterniondc q2)` Add `q2` to this quaternion.
`Quaterniond`	`add(Quaterniondc q2, Quaterniond dest)` Add `q2` to this quaternion and store the result in `dest`.
`double`	`angle()` Return the angle in radians represented by this quaternion rotation.
`Quaterniond`	`conjugate()` Conjugate this quaternion.
`Quaterniond`	`conjugate(Quaterniond dest)` Conjugate this quaternion and store the result in `dest`.
`Quaterniond`	`difference(Quaterniondc other)` Compute the difference between `this` and the `other` quaternion and store the result in `this`.
`Quaterniond`	`difference(Quaterniondc other, Quaterniond dest)` Compute the difference between `this` and the `other` quaternion and store the result in `dest`.
`Quaterniond`	`div(Quaterniondc b)` Divide `this` quaternion by `b`.
`Quaterniond`	`div(Quaterniondc b, Quaterniond dest)` Divide `this` quaternion by `b` and store the result in `dest`.
`double`	`dot(Quaterniondc otherQuat)` Return the dot product of this `Quaterniond` and `otherQuat`.
`boolean`	`equals(Object obj)`
`Quaterniond`	`fromAxisAngleDeg(double axisX, double axisY, double axisZ, double angle)` Set this quaternion to be a representation of the supplied axis and angle (in degrees).
`Quaterniond`	`fromAxisAngleDeg(Vector3dc axis, double angle)` Set this quaternion to be a representation of the supplied axis and angle (in degrees).
`Quaterniond`	`fromAxisAngleRad(double axisX, double axisY, double axisZ, double angle)` Set this quaternion to be a representation of the supplied axis and angle (in radians).
`Quaterniond`	`fromAxisAngleRad(Vector3dc axis, double angle)` Set this quaternion to be a representation of the supplied axis and angle (in radians).
`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`.
`Quaterniond`	`get(Quaterniond dest)` Set the given `Quaterniond` to the values of `this`.
`Vector3d`	`getEulerAnglesXYZ(Vector3d eulerAngles)` Get the euler angles in radians in rotation sequence `XYZ` of this quaternion and store them in the provided parameter `eulerAngles`.
`int`	`hashCode()`
`Quaterniond`	`identity()` Set this quaternion to the identity.
`Quaterniond`	`integrate(double dt, double vx, double vy, double vz)` 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.
`Quaterniond`	`integrate(double dt, double vx, double vy, double vz, Quaterniond 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`.
`Quaterniond`	`invert()` Invert this quaternion and `normalize` it.
`Quaterniond`	`invert(Quaterniond dest)` Invert this quaternion and store the `normalized` result in `dest`.
`double`	`lengthSquared()` Return the square of the length of this quaternion.
`Quaterniond`	`lookAlong(double dirX, double dirY, double dirZ, double upX, double upY, double upZ)` Apply a rotation to this quaternion that maps the given direction to the positive Z axis.
`Quaterniond`	`lookAlong(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Quaterniond dest)` Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result in `dest`.
`Quaterniond`	`lookAlong(Vector3dc dir, Vector3dc up)` Apply a rotation to this quaternion that maps the given direction to the positive Z axis.
`Quaterniond`	`lookAlong(Vector3dc dir, Vector3dc up, Quaterniond dest)` Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result in `dest`.
`Quaterniond`	`mul(double qx, double qy, double qz, double qw)` Multiply this quaternion by the quaternion represented via `(qx, qy, qz, qw)`.
`Quaterniond`	`mul(double qx, double qy, double qz, double qw, Quaterniond dest)` Multiply this quaternion by the quaternion represented via `(qx, qy, qz, qw)` and store the result in `dest`.
`Quaterniond`	`mul(Quaterniondc q)` Multiply this quaternion by `q`.
`Quaterniond`	`mul(Quaterniondc q, Quaterniond dest)` Multiply this quaternion by `q` and store the result in `dest`.
`static Quaterniondc`	`nlerp(Quaterniond[] qs, double[] weights, Quaterniond dest)` Interpolate between all of the quaternions given in `qs` via non-spherical linear interpolation using the specified interpolation factors `weights`, and store the result in `dest`.
`Quaterniond`	`nlerp(Quaterniondc q, double factor)` Compute a linear (non-spherical) interpolation of `this` and the given quaternion `q` and store the result in `this`.
`Quaterniond`	`nlerp(Quaterniondc q, double factor, Quaterniond dest)` Compute a linear (non-spherical) interpolation of `this` and the given quaternion `q` and store the result in `dest`.
`static Quaterniond`	`nlerpIterative(Quaterniondc[] qs, double[] weights, double dotThreshold, Quaterniond dest)` Interpolate between all of the quaternions given in `qs` via iterative non-spherical linear interpolation using the specified interpolation factors `weights`, and store the result in `dest`.
`Quaterniond`	`nlerpIterative(Quaterniondc q, double alpha, double dotThreshold)` Compute linear (non-spherical) interpolations of `this` and the given quaternion `q` iteratively and store the result in `this`.
`Quaterniond`	`nlerpIterative(Quaterniondc q, double alpha, double dotThreshold, Quaterniond dest)` Compute linear (non-spherical) interpolations of `this` and the given quaternion `q` iteratively and store the result in `dest`.
`Quaterniond`	`normalize()` Normalize this quaternion.
`Quaterniond`	`normalize(Quaterniond dest)` Normalize this quaternion and store the result in `dest`.
`Vector3d`	`normalizedPositiveX(Vector3d dir)` Obtain the direction of `+X` before the rotation transformation represented by `this` normalized quaternion is applied.
`Vector3d`	`normalizedPositiveY(Vector3d dir)` Obtain the direction of `+Y` before the rotation transformation represented by `this` normalized quaternion is applied.
`Vector3d`	`normalizedPositiveZ(Vector3d dir)` Obtain the direction of `+Z` before the rotation transformation represented by `this` normalized quaternion is applied.
`Vector3d`	`positiveX(Vector3d dir)` Obtain the direction of `+X` before the rotation transformation represented by `this` quaternion is applied.
`Vector3d`	`positiveY(Vector3d dir)` Obtain the direction of `+Y` before the rotation transformation represented by `this` quaternion is applied.
`Vector3d`	`positiveZ(Vector3d dir)` Obtain the direction of `+Z` before the rotation transformation represented by `this` quaternion is applied.
`Quaterniond`	`premul(double qx, double qy, double qz, double qw)` Pre-multiply this quaternion by the quaternion represented via `(qx, qy, qz, qw)`.
`Quaterniond`	`premul(double qx, double qy, double qz, double qw, Quaterniond dest)` Pre-multiply this quaternion by the quaternion represented via `(qx, qy, qz, qw)` and store the result in `dest`.
`Quaterniond`	`premul(Quaterniondc q)` Pre-multiply this quaternion by `q`.
`Quaterniond`	`premul(Quaterniondc q, Quaterniond dest)` Pre-multiply this quaternion by `q` and store the result in `dest`.
`void`	`readExternal(ObjectInput in)`
`Quaterniond`	`rotateAxis(double angle, double axisX, double axisY, double axisZ)` Apply a rotation to `this` quaternion rotating the given radians about the specified axis.
`Quaterniond`	`rotateAxis(double angle, double axisX, double axisY, double axisZ, Quaterniond dest)` Apply a rotation to `this` quaternion rotating the given radians about the specified axis and store the result in `dest`.
`Quaterniond`	`rotateAxis(double angle, Vector3dc axis)` Apply a rotation to `this` quaternion rotating the given radians about the specified axis.
`Quaterniond`	`rotateAxis(double angle, Vector3dc axis, Quaterniond dest)` Apply a rotation to `this` quaternion rotating the given radians about the specified axis and store the result in `dest`.
`Quaterniond`	`rotateLocalX(double angle)` Apply a rotation to `this` quaternion rotating the given radians about the local x axis.
`Quaterniond`	`rotateLocalX(double angle, Quaterniond dest)` Apply a rotation to `this` quaternion rotating the given radians about the local x axis and store the result in `dest`.
`Quaterniond`	`rotateLocalY(double angle)` Apply a rotation to `this` quaternion rotating the given radians about the local y axis.
`Quaterniond`	`rotateLocalY(double angle, Quaterniond dest)` Apply a rotation to `this` quaternion rotating the given radians about the local y axis and store the result in `dest`.
`Quaterniond`	`rotateLocalZ(double angle)` Apply a rotation to `this` quaternion rotating the given radians about the local z axis.
`Quaterniond`	`rotateLocalZ(double angle, Quaterniond dest)` Apply a rotation to `this` quaternion rotating the given radians about the local z axis and store the result in `dest`.
`Quaterniond`	`rotateTo(double fromDirX, double fromDirY, double fromDirZ, double toDirX, double toDirY, double toDirZ)` Apply a rotation to `this` that rotates the `fromDir` vector to point along `toDir`.
`Quaterniond`	`rotateTo(double fromDirX, double fromDirY, double fromDirZ, double toDirX, double toDirY, double toDirZ, Quaterniond dest)` Apply a rotation to `this` that rotates the `fromDir` vector to point along `toDir` and store the result in `dest`.
`Quaterniond`	`rotateTo(Vector3dc fromDir, Vector3dc toDir)` Apply a rotation to `this` that rotates the `fromDir` vector to point along `toDir`.
`Quaterniond`	`rotateTo(Vector3dc fromDir, Vector3dc toDir, Quaterniond dest)` Apply a rotation to `this` that rotates the `fromDir` vector to point along `toDir` and store the result in `dest`.
`Quaterniond`	`rotateX(double angle)` Apply a rotation to `this` quaternion rotating the given radians about the x axis.
`Quaterniond`	`rotateX(double angle, Quaterniond dest)` Apply a rotation to `this` quaternion rotating the given radians about the x axis and store the result in `dest`.
`Quaterniond`	`rotateXYZ(double angleX, double angleY, double angleZ)` Apply a rotation to `this` quaternion rotating the given radians about the cartesian base unit axes, called the euler angles using rotation sequence `XYZ`.
`Quaterniond`	`rotateXYZ(double angleX, double angleY, double angleZ, Quaterniond 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`.
`Quaterniond`	`rotateY(double angle)` Apply a rotation to `this` quaternion rotating the given radians about the y axis.
`Quaterniond`	`rotateY(double angle, Quaterniond dest)` Apply a rotation to `this` quaternion rotating the given radians about the y axis and store the result in `dest`.
`Quaterniond`	`rotateYXZ(double angleZ, double angleY, double angleX)` 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`.
`Quaterniond`	`rotateYXZ(double angleY, double angleX, double angleZ, Quaterniond 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`.
`Quaterniond`	`rotateZ(double angle)` Apply a rotation to `this` quaternion rotating the given radians about the z axis.
`Quaterniond`	`rotateZ(double angle, Quaterniond dest)` Apply a rotation to `this` quaternion rotating the given radians about the z axis and store the result in `dest`.
`Quaterniond`	`rotateZYX(double angleZ, double angleY, double angleX)` 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`.
`Quaterniond`	`rotateZYX(double angleZ, double angleY, double angleX, Quaterniond 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`.
`Quaterniond`	`rotationAxis(AxisAngle4f axisAngle)` Set this `Quaterniond` to a rotation of the given angle in radians about the supplied axis, all of which are specified via the `AxisAngle4f`.
`Quaterniond`	`rotationAxis(double angle, double axisX, double axisY, double axisZ)` Set this quaternion to a rotation of the given angle in radians about the supplied axis.
`Quaterniond`	`rotationTo(double fromDirX, double fromDirY, double fromDirZ, double toDirX, double toDirY, double toDirZ)` Set `this` quaternion to a rotation that rotates the `fromDir` vector to point along `toDir`.
`Quaterniond`	`rotationTo(Vector3dc fromDir, Vector3dc toDir)` Set `this` quaternion to a rotation that rotates the `fromDir` vector to point along `toDir`.
`Quaterniond`	`rotationX(double angle)` Set this quaternion to represent a rotation of the given radians about the x axis.
`Quaterniond`	`rotationXYZ(double angleX, double angleY, double angleZ)` Set this quaternion from the supplied euler angles (in radians) with rotation order XYZ.
`Quaterniond`	`rotationY(double angle)` Set this quaternion to represent a rotation of the given radians about the y axis.
`Quaterniond`	`rotationYXZ(double angleY, double angleX, double angleZ)` Set this quaternion from the supplied euler angles (in radians) with rotation order YXZ.
`Quaterniond`	`rotationZ(double angle)` Set this quaternion to represent a rotation of the given radians about the z axis.
`Quaterniond`	`rotationZYX(double angleZ, double angleY, double angleX)` Set this quaternion from the supplied euler angles (in radians) with rotation order ZYX.
`Quaterniond`	`scale(double factor)` Apply scaling to this quaternion, which results in any vector transformed by this quaternion to change its length by the given `factor`.
`Quaterniond`	`scale(double factor, Quaterniond 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`.
`Quaterniond`	`scaling(double factor)` Set this quaternion to represent scaling, which results in a transformed vector to change its length by the given `factor`.
`Quaterniond`	`set(AxisAngle4d axisAngle)` Set this `Quaterniond` to be equivalent to the given `AxisAngle4d`.
`Quaterniond`	`set(AxisAngle4f axisAngle)` Set this `Quaterniond` to be equivalent to the given `AxisAngle4f`.
`Quaterniond`	`set(double x, double y, double z, double w)` Set this quaternion to the new values.
`Quaterniond`	`set(Quaterniondc q)` Set this quaternion to be a copy of q.
`Quaterniond`	`set(Quaternionfc q)` Set this quaternion to be a copy of q.
`Quaterniond`	`setAngleAxis(double angle, double x, double y, double z)` Set this quaternion to a rotation equivalent to the supplied axis and angle (in radians).
`Quaterniond`	`setAngleAxis(double angle, Vector3dc axis)` Set this quaternion to be a representation of the supplied axis and angle (in radians).
`Quaterniond`	`setFromNormalized(Matrix3dc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromNormalized(Matrix3fc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromNormalized(Matrix4dc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromNormalized(Matrix4fc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromNormalized(Matrix4x3dc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromNormalized(Matrix4x3fc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromUnnormalized(Matrix3dc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromUnnormalized(Matrix3fc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromUnnormalized(Matrix4dc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromUnnormalized(Matrix4fc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromUnnormalized(Matrix4x3dc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`Quaterniond`	`setFromUnnormalized(Matrix4x3fc mat)` Set this quaternion to be a representation of the rotational component of the given matrix.
`static Quaterniondc`	`slerp(Quaterniond[] qs, double[] weights, Quaterniond dest)` Interpolate between all of the quaternions given in `qs` via spherical linear interpolation using the specified interpolation factors `weights`, and store the result in `dest`.
`Quaterniond`	`slerp(Quaterniondc target, double alpha)` Interpolate between `this` `unit` quaternion and the specified `target` `unit` quaternion using spherical linear interpolation using the specified interpolation factor `alpha`.
`Quaterniond`	`slerp(Quaterniondc target, double alpha, Quaterniond 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`.
`String`	`toString()` Return a string representation of this quaternion.
`String`	`toString(NumberFormat formatter)` Return a string representation of this quaternion by formatting the components with the given `NumberFormat`.
`Vector3d`	`transform(double x, double y, double z, Vector3d dest)` Transform the given vector `(x, y, z)` by this quaternion and store the result in `dest`.
`Vector4d`	`transform(double x, double y, double z, Vector4d dest)` Transform the given vector `(x, y, z)` by this quaternion and store the result in `dest`.
`Vector3d`	`transform(Vector3d vec)` Transform the given vector by this quaternion.
`Vector3d`	`transform(Vector3dc vec, Vector3d dest)` Transform the given vector by this quaternion and store the result in `dest`.
`Vector4d`	`transform(Vector4d vec)` Transform the given vector by this quaternion.
`Vector4d`	`transform(Vector4dc vec, Vector4d dest)` Transform the given vector by this quaternion and store the result in `dest`.
`Vector3d`	`transformPositiveX(Vector3d dest)` Transform the vector `(1, 0, 0)` by this quaternion.
`Vector4d`	`transformPositiveX(Vector4d dest)` Transform the vector `(1, 0, 0)` by this quaternion.
`Vector3d`	`transformPositiveY(Vector3d dest)` Transform the vector `(0, 1, 0)` by this quaternion.
`Vector4d`	`transformPositiveY(Vector4d dest)` Transform the vector `(0, 1, 0)` by this quaternion.
`Vector3d`	`transformPositiveZ(Vector3d dest)` Transform the vector `(0, 0, 1)` by this quaternion.
`Vector4d`	`transformPositiveZ(Vector4d dest)` Transform the vector `(0, 0, 1)` by this quaternion.
`Vector3d`	`transformUnitPositiveX(Vector3d dest)` Transform the vector `(1, 0, 0)` by this unit quaternion.
`Vector4d`	`transformUnitPositiveX(Vector4d dest)` Transform the vector `(1, 0, 0)` by this unit quaternion.
`Vector3d`	`transformUnitPositiveY(Vector3d dest)` Transform the vector `(0, 1, 0)` by this unit quaternion.
`Vector4d`	`transformUnitPositiveY(Vector4d dest)` Transform the vector `(0, 1, 0)` by this unit quaternion.
`Vector3d`	`transformUnitPositiveZ(Vector3d dest)` Transform the vector `(0, 0, 1)` by this unit quaternion.
`Vector4d`	`transformUnitPositiveZ(Vector4d dest)` Transform the vector `(0, 0, 1)` by this unit quaternion.
`double`	`w()`
`void`	`writeExternal(ObjectOutput out)`
`double`	`x()`
`double`	`y()`
`double`	`z()`

Methods inherited from class java.lang.Object
clone, finalize, getClass, notify, notifyAll, wait, wait, wait

- Field Detail
  - x
```
public double x
```
    The first component of the vector part.
  - y
```
public double y
```
    The second component of the vector part.
  - z
```
public double z
```
    The third component of the vector part.
  - w
```
public double w
```
    The real/scalar part of the quaternion.
- Constructor Detail
  - Quaterniond
```
public Quaterniond()
```
    Create a new Quaterniond and initialize it with (x=0, y=0, z=0, w=1), where (x, y, z) is the vector part of the quaternion and w is the real/scalar part.
  - Quaterniond
```
public Quaterniond(double x,
                   double y,
                   double z,
                   double w)
```
    Create a new Quaterniond and initialize its components to the given values.
    
    Parameters:
    
    x - the first component of the imaginary part
    
    y - the second component of the imaginary part
    
    z - the third component of the imaginary part
    
    w - the real part
  - Quaterniond
```
public Quaterniond(Quaterniondc source)
```
    Create a new Quaterniond and initialize its components to the same values as the given Quaterniond.
    
    Parameters:
    
    source - the Quaterniond to take the component values from
  - Quaterniond
```
public Quaterniond(Quaternionfc source)
```
    Create a new Quaterniond and initialize its components to the same values as the given Quaternionfc.
    
    Parameters:
    
    source - the Quaternionfc to take the component values from
  - Quaterniond
```
public Quaterniond(AxisAngle4f axisAngle)
```
    Create a new Quaterniond and initialize it to represent the same rotation as the given AxisAngle4f.
    
    Parameters:
    
    axisAngle - the axis-angle to initialize this quaternion with
  - Quaterniond
```
public Quaterniond(AxisAngle4d axisAngle)
```
    Create a new Quaterniond and initialize it to represent the same rotation as the given AxisAngle4d.
    
    Parameters:
    
    axisAngle - the axis-angle to initialize this quaternion with
- Method Detail
  - x
```
public double x()
```
    Specified by:
    
    x in interface Quaterniondc
    
    Returns:
    
    the first component of the vector part
  - y
```
public double y()
```
    Specified by:
    
    y in interface Quaterniondc
    
    Returns:
    
    the second component of the vector part
  - z
```
public double z()
```
    Specified by:
    
    z in interface Quaterniondc
    
    Returns:
    
    the third component of the vector part
  - w
```
public double w()
```
    Specified by:
    
    w in interface Quaterniondc
    
    Returns:
    
    the real/scalar part of the quaternion
  - normalize
```
public Quaterniond normalize()
```
    Normalize this quaternion.
    
    Returns:
    
    this
  - normalize
```
public Quaterniond normalize(Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    Normalize this quaternion and store the result in dest.
    
    Specified by:
    
    normalize in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - add
```
public Quaterniond add(double x,
                       double y,
                       double z,
                       double w)
```
    Add the quaternion (x, y, z, w) to this quaternion.
    
    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
    
    Returns:
    
    this
  - add
```
public Quaterniond add(double x,
                       double y,
                       double z,
                       double w,
                       Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    Add the quaternion (x, y, z, w) to this quaternion and store the result in dest.
    
    Specified by:
    
    add in interface Quaterniondc
    
    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
```
public Quaterniond add(Quaterniondc q2)
```
    Add q2 to this quaternion.
    
    Parameters:
    
    q2 - the quaternion to add to this
    
    Returns:
    
    this
  - add
```
public Quaterniond add(Quaterniondc q2,
                       Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    Add q2 to this quaternion and store the result in dest.
    
    Specified by:
    
    add in interface Quaterniondc
    
    Parameters:
    
    q2 - the quaternion to add to this
    
    dest - will hold the result
    
    Returns:
    
    dest
  - dot
```
public double dot(Quaterniondc otherQuat)
```
    Description copied from interface: Quaterniondc
    
    Return the dot product of this Quaterniond and otherQuat.
    
    Specified by:
    
    dot in interface Quaterniondc
    
    Parameters:
    
    otherQuat - the other quaternion
    
    Returns:
    
    the dot product
  - angle
```
public double angle()
```
    Description copied from interface: Quaterniondc
    
    Return the angle in radians represented by this quaternion rotation.
    
    Specified by:
    
    angle in interface Quaterniondc
    
    Returns:
    
    the angle in radians
  - get
```
public Matrix3d get(Matrix3d dest)
```
    Description copied from interface: Quaterniondc
    
    Set the given destination matrix to the rotation represented by this.
    
    Specified by:
    
    get in interface Quaterniondc
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix3d.set(Quaterniondc)
  - get
```
public Matrix3f get(Matrix3f dest)
```
    Description copied from interface: Quaterniondc
    
    Set the given destination matrix to the rotation represented by this.
    
    Specified by:
    
    get in interface Quaterniondc
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix3f.set(Quaterniondc)
  - get
```
public Matrix4d get(Matrix4d dest)
```
    Description copied from interface: Quaterniondc
    
    Set the given destination matrix to the rotation represented by this.
    
    Specified by:
    
    get in interface Quaterniondc
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix4d.set(Quaterniondc)
  - get
```
public Matrix4f get(Matrix4f dest)
```
    Description copied from interface: Quaterniondc
    
    Set the given destination matrix to the rotation represented by this.
    
    Specified by:
    
    get in interface Quaterniondc
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix4f.set(Quaterniondc)
  - get
```
public Quaterniond get(Quaterniond dest)
```
    Set the given Quaterniond to the values of this.
    
    Specified by:
    
    get in interface Quaterniondc
    
    Parameters:
    
    dest - the Quaterniond to set
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    set(Quaterniondc)
  - set
```
public Quaterniond set(double x,
                       double y,
                       double z,
                       double w)
```
    Set this quaternion to the new values.
    
    Parameters:
    
    x - the new value of x
    
    y - the new value of y
    
    z - the new value of z
    
    w - the new value of w
    
    Returns:
    
    this
  - set
```
public Quaterniond set(Quaterniondc q)
```
    Set this quaternion to be a copy of q.
    
    Parameters:
    
    q - the Quaterniondc to copy
    
    Returns:
    
    this
  - set
```
public Quaterniond set(Quaternionfc q)
```
    Set this quaternion to be a copy of q.
    
    Parameters:
    
    q - the Quaternionfc to copy
    
    Returns:
    
    this
  - set
```
public Quaterniond set(AxisAngle4f axisAngle)
```
    Set this Quaterniond to be equivalent to the given AxisAngle4f.
    
    Parameters:
    
    axisAngle - the AxisAngle4f
    
    Returns:
    
    this
  - set
```
public Quaterniond set(AxisAngle4d axisAngle)
```
    Set this Quaterniond to be equivalent to the given AxisAngle4d.
    
    Parameters:
    
    axisAngle - the AxisAngle4d
    
    Returns:
    
    this
  - setAngleAxis
```
public Quaterniond setAngleAxis(double angle,
                                double x,
                                double y,
                                double z)
```
    Set this quaternion to a rotation equivalent to the supplied axis and angle (in radians).
    This method assumes that the given rotation axis (x, y, z) is already normalized
    
    Parameters:
    
    angle - the angle in radians
    
    x - the x-component of the normalized rotation axis
    
    y - the y-component of the normalized rotation axis
    
    z - the z-component of the normalized rotation axis
    
    Returns:
    
    this
  - setAngleAxis
```
public Quaterniond setAngleAxis(double angle,
                                Vector3dc axis)
```
    Set this quaternion to be a representation of the supplied axis and angle (in radians).
    
    Parameters:
    
    angle - the angle in radians
    
    axis - the rotation axis
    
    Returns:
    
    this
  - setFromUnnormalized
```
public Quaterniond setFromUnnormalized(Matrix4fc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are no unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromUnnormalized
```
public Quaterniond setFromUnnormalized(Matrix4x3fc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are no unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromUnnormalized
```
public Quaterniond setFromUnnormalized(Matrix4x3dc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are no unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromNormalized
```
public Quaterniond setFromNormalized(Matrix4fc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromNormalized
```
public Quaterniond setFromNormalized(Matrix4x3fc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromNormalized
```
public Quaterniond setFromNormalized(Matrix4x3dc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromUnnormalized
```
public Quaterniond setFromUnnormalized(Matrix4dc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are no unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromNormalized
```
public Quaterniond setFromNormalized(Matrix4dc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromUnnormalized
```
public Quaterniond setFromUnnormalized(Matrix3fc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are no unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromNormalized
```
public Quaterniond setFromNormalized(Matrix3fc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromUnnormalized
```
public Quaterniond setFromUnnormalized(Matrix3dc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    This method assumes that the first three columns of the upper left 3x3 submatrix are no unit vectors.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - setFromNormalized
```
public Quaterniond setFromNormalized(Matrix3dc mat)
```
    Set this quaternion to be a representation of the rotational component of the given matrix.
    
    Parameters:
    
    mat - the matrix whose rotational component is used to set this quaternion
    
    Returns:
    
    this
  - fromAxisAngleRad
```
public Quaterniond fromAxisAngleRad(Vector3dc axis,
                                    double angle)
```
    Set this quaternion to be a representation of the supplied axis and angle (in radians).
    
    Parameters:
    
    axis - the rotation axis
    
    angle - the angle in radians
    
    Returns:
    
    this
  - fromAxisAngleRad
```
public Quaterniond fromAxisAngleRad(double axisX,
                                    double axisY,
                                    double axisZ,
                                    double angle)
```
    Set this quaternion to be a representation of the supplied axis and angle (in radians).
    
    Parameters:
    
    axisX - the x component of the rotation axis
    
    axisY - the y component of the rotation axis
    
    axisZ - the z component of the rotation axis
    
    angle - the angle in radians
    
    Returns:
    
    this
  - fromAxisAngleDeg
```
public Quaterniond fromAxisAngleDeg(Vector3dc axis,
                                    double angle)
```
    Set this quaternion to be a representation of the supplied axis and angle (in degrees).
    
    Parameters:
    
    axis - the rotation axis
    
    angle - the angle in degrees
    
    Returns:
    
    this
  - fromAxisAngleDeg
```
public Quaterniond fromAxisAngleDeg(double axisX,
                                    double axisY,
                                    double axisZ,
                                    double angle)
```
    Set this quaternion to be a representation of the supplied axis and angle (in degrees).
    
    Parameters:
    
    axisX - the x component of the rotation axis
    
    axisY - the y component of the rotation axis
    
    axisZ - the z component of the rotation axis
    
    angle - the angle in radians
    
    Returns:
    
    this
  - mul
```
public Quaterniond mul(Quaterniondc q)
```
    Multiply this quaternion by q.
    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
    
    Returns:
    
    this
  - mul
```
public Quaterniond mul(Quaterniondc q,
                       Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    mul in interface Quaterniondc
    
    Parameters:
    
    q - the quaternion to multiply this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - mul
```
public Quaterniond mul(double qx,
                       double qy,
                       double qz,
                       double qw)
```
    Multiply this quaternion by the quaternion represented via (qx, qy, qz, qw).
    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
    
    Returns:
    
    this
  - mul
```
public Quaterniond mul(double qx,
                       double qy,
                       double qz,
                       double qw,
                       Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    mul in interface Quaterniondc
    
    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
```
public Quaterniond premul(Quaterniondc q)
```
    Pre-multiply this quaternion by q.
    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
    
    Returns:
    
    this
  - premul
```
public Quaterniond premul(Quaterniondc q,
                          Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    premul in interface Quaterniondc
    
    Parameters:
    
    q - the quaternion to pre-multiply this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - premul
```
public Quaterniond premul(double qx,
                          double qy,
                          double qz,
                          double qw)
```
    Pre-multiply this quaternion by the quaternion represented via (qx, qy, qz, qw).
    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
    
    Returns:
    
    this
  - premul
```
public Quaterniond premul(double qx,
                          double qy,
                          double qz,
                          double qw,
                          Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    premul in interface Quaterniondc
    
    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
```
public Vector3d transform(Vector3d vec)
```
    Description copied from interface: Quaterniondc
    
    Transform the given vector by this quaternion. This will apply the rotation described by this quaternion to the given vector.
    
    Specified by:
    
    transform in interface Quaterniondc
    
    Parameters:
    
    vec - the vector to transform
    
    Returns:
    
    vec
  - transformPositiveX
```
public Vector3d transformPositiveX(Vector3d dest)
```
    Description copied from interface: Quaterniondc
    
    Transform the vector (1, 0, 0) by this quaternion.
    
    Specified by:
    
    transformPositiveX in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveX
```
public Vector4d transformPositiveX(Vector4d dest)
```
    Description copied from interface: Quaterniondc
    
    Transform the vector (1, 0, 0) by this quaternion.
    Only the first three components of the given 4D vector are modified.
    
    Specified by:
    
    transformPositiveX in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveX
```
public Vector3d transformUnitPositiveX(Vector3d dest)
```
    Description copied from interface: Quaterniondc
    
    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/
    
    Specified by:
    
    transformUnitPositiveX in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveX
```
public Vector4d transformUnitPositiveX(Vector4d dest)
```
    Description copied from interface: Quaterniondc
    
    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/
    
    Specified by:
    
    transformUnitPositiveX in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveY
```
public Vector3d transformPositiveY(Vector3d dest)
```
    Description copied from interface: Quaterniondc
    
    Transform the vector (0, 1, 0) by this quaternion.
    
    Specified by:
    
    transformPositiveY in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveY
```
public Vector4d transformPositiveY(Vector4d dest)
```
    Description copied from interface: Quaterniondc
    
    Transform the vector (0, 1, 0) by this quaternion.
    Only the first three components of the given 4D vector are modified.
    
    Specified by:
    
    transformPositiveY in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveY
```
public Vector4d transformUnitPositiveY(Vector4d dest)
```
    Description copied from interface: Quaterniondc
    
    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/
    
    Specified by:
    
    transformUnitPositiveY in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveY
```
public Vector3d transformUnitPositiveY(Vector3d dest)
```
    Description copied from interface: Quaterniondc
    
    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/
    
    Specified by:
    
    transformUnitPositiveY in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveZ
```
public Vector3d transformPositiveZ(Vector3d dest)
```
    Description copied from interface: Quaterniondc
    
    Transform the vector (0, 0, 1) by this quaternion.
    
    Specified by:
    
    transformPositiveZ in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveZ
```
public Vector4d transformPositiveZ(Vector4d dest)
```
    Description copied from interface: Quaterniondc
    
    Transform the vector (0, 0, 1) by this quaternion.
    Only the first three components of the given 4D vector are modified.
    
    Specified by:
    
    transformPositiveZ in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveZ
```
public Vector4d transformUnitPositiveZ(Vector4d dest)
```
    Description copied from interface: Quaterniondc
    
    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/
    
    Specified by:
    
    transformUnitPositiveZ in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveZ
```
public Vector3d transformUnitPositiveZ(Vector3d dest)
```
    Description copied from interface: Quaterniondc
    
    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/
    
    Specified by:
    
    transformUnitPositiveZ in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
public Vector4d transform(Vector4d vec)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    transform in interface Quaterniondc
    
    Parameters:
    
    vec - the vector to transform
    
    Returns:
    
    vec
  - transform
```
public Vector3d transform(Vector3dc vec,
                          Vector3d dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    transform in interface Quaterniondc
    
    Parameters:
    
    vec - the vector to transform
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
public Vector3d transform(double x,
                          double y,
                          double z,
                          Vector3d dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    transform in interface Quaterniondc
    
    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
```
public Vector4d transform(Vector4dc vec,
                          Vector4d dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    transform in interface Quaterniondc
    
    Parameters:
    
    vec - the vector to transform
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
public Vector4d transform(double x,
                          double y,
                          double z,
                          Vector4d dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    transform in interface Quaterniondc
    
    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
```
public Quaterniond invert(Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    Invert this quaternion and store the normalized result in dest.
    If this quaternion is already normalized, then Quaterniondc.conjugate(Quaterniond) should be used instead.
    
    Specified by:
    
    invert in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
    
    See Also:
    
    Quaterniondc.conjugate(Quaterniond)
  - invert
```
public Quaterniond invert()
```
    Invert this quaternion and normalize it.
    If this quaternion is already normalized, then conjugate() should be used instead.
    
    Returns:
    
    this
    
    See Also:
    
    conjugate()
  - div
```
public Quaterniond div(Quaterniondc b,
                       Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    div in interface Quaterniondc
    
    Parameters:
    
    b - the Quaterniondc to divide this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - div
```
public Quaterniond div(Quaterniondc b)
```
    Divide this quaternion by b.
    The division expressed using the inverse is performed in the following way:
    this = this * b^-1, where b^-1 is the inverse of b.
    
    Parameters:
    
    b - the Quaterniondc to divide this by
    
    Returns:
    
    this
  - conjugate
```
public Quaterniond conjugate()
```
    Conjugate this quaternion.
    
    Returns:
    
    this
  - conjugate
```
public Quaterniond conjugate(Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    Conjugate this quaternion and store the result in dest.
    
    Specified by:
    
    conjugate in interface Quaterniondc
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - identity
```
public Quaterniond identity()
```
    Set this quaternion to the identity.
    
    Returns:
    
    this
  - lengthSquared
```
public double lengthSquared()
```
    Description copied from interface: Quaterniondc
    
    Return the square of the length of this quaternion.
    
    Specified by:
    
    lengthSquared in interface Quaterniondc
    
    Returns:
    
    the length
  - rotationXYZ
```
public Quaterniond rotationXYZ(double angleX,
                               double angleY,
                               double angleZ)
```
    Set this quaternion from the supplied euler angles (in radians) with rotation order XYZ.
    This method is equivalent to calling: rotationX(angleX).rotateY(angleY).rotateZ(angleZ)
    Reference: this stackexchange answer
    
    Parameters:
    
    angleX - the angle in radians to rotate about x
    
    angleY - the angle in radians to rotate about y
    
    angleZ - the angle in radians to rotate about z
    
    Returns:
    
    this
  - rotationZYX
```
public Quaterniond rotationZYX(double angleZ,
                               double angleY,
                               double angleX)
```
    Set this quaternion from the supplied euler angles (in radians) with rotation order ZYX.
    This method is equivalent to calling: rotationZ(angleZ).rotateY(angleY).rotateX(angleX)
    Reference: this stackexchange answer
    
    Parameters:
    
    angleX - the angle in radians to rotate about x
    
    angleY - the angle in radians to rotate about y
    
    angleZ - the angle in radians to rotate about z
    
    Returns:
    
    this
  - rotationYXZ
```
public Quaterniond rotationYXZ(double angleY,
                               double angleX,
                               double angleZ)
```
    Set this quaternion from the supplied euler angles (in radians) with rotation order YXZ.
    This method is equivalent to calling: rotationY(angleY).rotateX(angleX).rotateZ(angleZ)
    Reference: https://en.wikipedia.org
    
    Parameters:
    
    angleY - the angle in radians to rotate about y
    
    angleX - the angle in radians to rotate about x
    
    angleZ - the angle in radians to rotate about z
    
    Returns:
    
    this
  - slerp
```
public Quaterniond slerp(Quaterniondc target,
                         double alpha)
```
    Interpolate between this unit quaternion and the specified target unit quaternion using spherical linear interpolation using the specified interpolation factor alpha.
    This method resorts to non-spherical linear interpolation when the absolute dot product between this and target is below 1E-6.
    
    Parameters:
    
    target - the target of the interpolation, which should be reached with alpha = 1.0
    
    alpha - the interpolation factor, within [0..1]
    
    Returns:
    
    this
  - slerp
```
public Quaterniond slerp(Quaterniondc target,
                         double alpha,
                         Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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 between this and target is below 1E-6.
    Reference: http://fabiensanglard.net
    
    Specified by:
    
    slerp in interface Quaterniondc
    
    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
  - slerp
```
public static Quaterniondc slerp(Quaterniond[] qs,
                                 double[] weights,
                                 Quaterniond dest)
```
    Interpolate between all of the quaternions given in qs via spherical linear interpolation using the specified interpolation factors weights, and store the result in dest.
    This method will interpolate between each two successive quaternions via slerp(Quaterniondc, double) using their relative interpolation weights.
    This method resorts to non-spherical linear interpolation when the absolute dot product of any two interpolated quaternions is below 1E-6f.
    Reference: http://gamedev.stackexchange.com/
    
    Parameters:
    
    qs - the quaternions to interpolate over
    
    weights - the weights of each individual quaternion in qs
    
    dest - will hold the result
    
    Returns:
    
    dest
  - scale
```
public Quaterniond scale(double factor)
```
    Apply scaling to this quaternion, which results in any vector transformed by this quaternion to change its length by the given factor.
    
    Parameters:
    
    factor - the scaling factor
    
    Returns:
    
    this
  - scale
```
public Quaterniond scale(double factor,
                         Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    scale in interface Quaterniondc
    
    Parameters:
    
    factor - the scaling factor
    
    dest - will hold the result
    
    Returns:
    
    dest
  - scaling
```
public Quaterniond scaling(double factor)
```
    Set this quaternion to represent scaling, which results in a transformed vector to change its length by the given factor.
    
    Parameters:
    
    factor - the scaling factor
    
    Returns:
    
    this
  - integrate
```
public Quaterniond integrate(double dt,
                             double vx,
                             double vy,
                             double vz)
```
    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.
    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)
    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
    
    Returns:
    
    this
  - integrate
```
public Quaterniond integrate(double dt,
                             double vx,
                             double vy,
                             double vz,
                             Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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/
    
    Specified by:
    
    integrate in interface Quaterniondc
    
    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
```
public Quaterniond nlerp(Quaterniondc q,
                         double factor)
```
    Compute a linear (non-spherical) interpolation of this and the given quaternion q and store the result in this.
    
    Parameters:
    
    q - the other quaternion
    
    factor - the interpolation factor. It is between 0.0 and 1.0
    
    Returns:
    
    this
  - nlerp
```
public Quaterniond nlerp(Quaterniondc q,
                         double factor,
                         Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    Compute a linear (non-spherical) interpolation of this and the given quaternion q and store the result in dest.
    Reference: http://fabiensanglard.net
    
    Specified by:
    
    nlerp in interface Quaterniondc
    
    Parameters:
    
    q - the other quaternion
    
    factor - the interpolation factor. It is between 0.0 and 1.0
    
    dest - will hold the result
    
    Returns:
    
    dest
  - nlerp
```
public static Quaterniondc nlerp(Quaterniond[] qs,
                                 double[] weights,
                                 Quaterniond dest)
```
    Interpolate between all of the quaternions given in qs via non-spherical linear interpolation using the specified interpolation factors weights, and store the result in dest.
    This method will interpolate between each two successive quaternions via nlerp(Quaterniondc, double) using their relative interpolation weights.
    Reference: http://gamedev.stackexchange.com/
    
    Parameters:
    
    qs - the quaternions to interpolate over
    
    weights - the weights of each individual quaternion in qs
    
    dest - will hold the result
    
    Returns:
    
    dest
  - nlerpIterative
```
public Quaterniond nlerpIterative(Quaterniondc q,
                                  double alpha,
                                  double dotThreshold,
                                  Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    nlerpIterative in interface Quaterniondc
    
    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
  - nlerpIterative
```
public Quaterniond nlerpIterative(Quaterniondc q,
                                  double alpha,
                                  double dotThreshold)
```
    Compute linear (non-spherical) interpolations of this and the given quaternion q iteratively and store the result in this.
    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
    
    Returns:
    
    this
  - nlerpIterative
```
public static Quaterniond nlerpIterative(Quaterniondc[] qs,
                                         double[] weights,
                                         double dotThreshold,
                                         Quaterniond dest)
```
    Interpolate between all of the quaternions given in qs via iterative non-spherical linear interpolation using the specified interpolation factors weights, and store the result in dest.
    This method will interpolate between each two successive quaternions via nlerpIterative(Quaterniondc, double, double) using their relative interpolation weights.
    Reference: http://gamedev.stackexchange.com/
    
    Parameters:
    
    qs - the quaternions to interpolate over
    
    weights - the weights of each individual quaternion in qs
    
    dotThreshold - the threshold for the dot product of each two interpolated quaternions above which nlerpIterative(Quaterniondc, double, double) performs another iteration of a small-step linear interpolation
    
    dest - will hold the result
    
    Returns:
    
    dest
  - lookAlong
```
public Quaterniond lookAlong(Vector3dc dir,
                             Vector3dc up)
```
    Apply a rotation to this quaternion that maps the given direction to the positive Z axis.
    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
    
    Returns:
    
    this
    
    See Also:
    
    lookAlong(double, double, double, double, double, double, Quaterniond)
  - lookAlong
```
public Quaterniond lookAlong(Vector3dc dir,
                             Vector3dc up,
                             Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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
    
    Specified by:
    
    lookAlong in interface Quaterniondc
    
    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:
    
    Quaterniondc.lookAlong(double, double, double, double, double, double, Quaterniond)
  - lookAlong
```
public Quaterniond lookAlong(double dirX,
                             double dirY,
                             double dirZ,
                             double upX,
                             double upY,
                             double upZ)
```
    Apply a rotation to this quaternion that maps the given direction to the positive Z axis.
    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
    
    Returns:
    
    this
    
    See Also:
    
    lookAlong(double, double, double, double, double, double, Quaterniond)
  - lookAlong
```
public Quaterniond lookAlong(double dirX,
                             double dirY,
                             double dirZ,
                             double upX,
                             double upY,
                             double upZ,
                             Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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
    
    Specified by:
    
    lookAlong in interface Quaterniondc
    
    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
  - toString
```
public String toString()
```
    Return a string representation of this quaternion.
    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 quaternion by formatting the components with the given NumberFormat.
    
    Parameters:
    
    formatter - the NumberFormat used to format the quaternion components with
    
    Returns:
    
    the string representation
  - 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
  - hashCode
```
public int hashCode()
```
    Overrides:
    
    hashCode in class Object
  - equals
```
public boolean equals(Object obj)
```
    Overrides:
    
    equals in class Object
  - difference
```
public Quaterniond difference(Quaterniondc other)
```
    Compute the difference between this and the other quaternion and store the result in this.
    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
    
    Returns:
    
    this
  - difference
```
public Quaterniond difference(Quaterniondc other,
                              Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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.
    
    Specified by:
    
    difference in interface Quaterniondc
    
    Parameters:
    
    other - the other quaternion
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotationTo
```
public Quaterniond rotationTo(double fromDirX,
                              double fromDirY,
                              double fromDirZ,
                              double toDirX,
                              double toDirY,
                              double toDirZ)
```
    Set this quaternion to a rotation that rotates the fromDir vector to point along toDir.
    Since there can be multiple possible rotations, this method chooses the one with the shortest arc.
    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
    
    Returns:
    
    this
  - rotationTo
```
public Quaterniond rotationTo(Vector3dc fromDir,
                              Vector3dc toDir)
```
    Set this quaternion to a rotation that rotates the fromDir vector to point along toDir.
    Because there can be multiple possible rotations, this method chooses the one with the shortest arc.
    
    Parameters:
    
    fromDir - the starting direction
    
    toDir - the destination direction
    
    Returns:
    
    this
    
    See Also:
    
    rotationTo(double, double, double, double, double, double)
  - rotateTo
```
public Quaterniond rotateTo(double fromDirX,
                            double fromDirY,
                            double fromDirZ,
                            double toDirX,
                            double toDirY,
                            double toDirZ,
                            Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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
    
    Specified by:
    
    rotateTo in interface Quaterniondc
    
    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
  - rotationAxis
```
public Quaterniond rotationAxis(AxisAngle4f axisAngle)
```
    Set this Quaterniond to a rotation of the given angle in radians about the supplied axis, all of which are specified via the AxisAngle4f.
    
    Parameters:
    
    axisAngle - the AxisAngle4f giving the rotation angle in radians and the axis to rotate about
    
    Returns:
    
    this
    
    See Also:
    
    rotationAxis(double, double, double, double)
  - rotationAxis
```
public Quaterniond rotationAxis(double angle,
                                double axisX,
                                double axisY,
                                double axisZ)
```
    Set this quaternion to a rotation of the given angle in radians about the supplied axis.
    
    Parameters:
    
    angle - the rotation angle in radians
    
    axisX - the x-coordinate of the rotation axis
    
    axisY - the y-coordinate of the rotation axis
    
    axisZ - the z-coordinate of the rotation axis
    
    Returns:
    
    this
  - rotationX
```
public Quaterniond rotationX(double angle)
```
    Set this quaternion to represent a rotation of the given radians about the x axis.
    
    Parameters:
    
    angle - the angle in radians to rotate about the x axis
    
    Returns:
    
    this
  - rotationY
```
public Quaterniond rotationY(double angle)
```
    Set this quaternion to represent a rotation of the given radians about the y axis.
    
    Parameters:
    
    angle - the angle in radians to rotate about the y axis
    
    Returns:
    
    this
  - rotationZ
```
public Quaterniond rotationZ(double angle)
```
    Set this quaternion to represent a rotation of the given radians about the z axis.
    
    Parameters:
    
    angle - the angle in radians to rotate about the z axis
    
    Returns:
    
    this
  - rotateTo
```
public Quaterniond rotateTo(double fromDirX,
                            double fromDirY,
                            double fromDirZ,
                            double toDirX,
                            double toDirY,
                            double toDirZ)
```
    Apply a rotation to this that rotates the fromDir vector to point along toDir.
    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!
    
    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
    
    Returns:
    
    this
    
    See Also:
    
    rotateTo(double, double, double, double, double, double, Quaterniond)
  - rotateTo
```
public Quaterniond rotateTo(Vector3dc fromDir,
                            Vector3dc toDir,
                            Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateTo in interface Quaterniondc
    
    Parameters:
    
    fromDir - the starting direction
    
    toDir - the destination direction
    
    dest - will hold the result
    
    Returns:
    
    dest
    
    See Also:
    
    Quaterniondc.rotateTo(double, double, double, double, double, double, Quaterniond)
  - rotateTo
```
public Quaterniond rotateTo(Vector3dc fromDir,
                            Vector3dc toDir)
```
    Apply a rotation to this that rotates the fromDir vector to point along toDir.
    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
    
    Returns:
    
    this
    
    See Also:
    
    rotateTo(double, double, double, double, double, double, Quaterniond)
  - rotateX
```
public Quaterniond rotateX(double angle)
```
    Apply a rotation to this quaternion rotating the given radians about the x axis.
    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
    
    Returns:
    
    this
  - rotateX
```
public Quaterniond rotateX(double angle,
                           Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateX in interface Quaterniondc
    
    Parameters:
    
    angle - the angle in radians to rotate about the x axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateY
```
public Quaterniond rotateY(double angle)
```
    Apply a rotation to this quaternion rotating the given radians about the y axis.
    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
    
    Returns:
    
    this
  - rotateY
```
public Quaterniond rotateY(double angle,
                           Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateY in interface Quaterniondc
    
    Parameters:
    
    angle - the angle in radians to rotate about the y axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateZ
```
public Quaterniond rotateZ(double angle)
```
    Apply a rotation to this quaternion rotating the given radians about the z axis.
    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
    
    Returns:
    
    this
  - rotateZ
```
public Quaterniond rotateZ(double angle,
                           Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateZ in interface Quaterniondc
    
    Parameters:
    
    angle - the angle in radians to rotate about the z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateLocalX
```
public Quaterniond rotateLocalX(double angle)
```
    Apply a rotation to this quaternion rotating the given radians about the local x axis.
    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
    
    Returns:
    
    this
  - rotateLocalX
```
public Quaterniond rotateLocalX(double angle,
                                Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateLocalX in interface Quaterniondc
    
    Parameters:
    
    angle - the angle in radians to rotate about the local x axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateLocalY
```
public Quaterniond rotateLocalY(double angle)
```
    Apply a rotation to this quaternion rotating the given radians about the local y axis.
    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
    
    Returns:
    
    this
  - rotateLocalY
```
public Quaterniond rotateLocalY(double angle,
                                Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateLocalY in interface Quaterniondc
    
    Parameters:
    
    angle - the angle in radians to rotate about the local y axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateLocalZ
```
public Quaterniond rotateLocalZ(double angle)
```
    Apply a rotation to this quaternion rotating the given radians about the local z axis.
    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
    
    Returns:
    
    this
  - rotateLocalZ
```
public Quaterniond rotateLocalZ(double angle,
                                Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateLocalZ in interface Quaterniondc
    
    Parameters:
    
    angle - the angle in radians to rotate about the local z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateXYZ
```
public Quaterniond rotateXYZ(double angleX,
                             double angleY,
                             double angleZ)
```
    Apply a rotation to this quaternion rotating the given radians about the cartesian base unit axes, called the euler angles using rotation sequence XYZ.
    This method is equivalent to calling: rotateX(angleX).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
    
    Returns:
    
    this
  - rotateXYZ
```
public Quaterniond rotateXYZ(double angleX,
                             double angleY,
                             double angleZ,
                             Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateXYZ in interface Quaterniondc
    
    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
```
public Quaterniond rotateZYX(double angleZ,
                             double angleY,
                             double angleX)
```
    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.
    This method is equivalent to calling: rotateZ(angleZ).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
    
    Returns:
    
    this
  - rotateZYX
```
public Quaterniond rotateZYX(double angleZ,
                             double angleY,
                             double angleX,
                             Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateZYX in interface Quaterniondc
    
    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
```
public Quaterniond rotateYXZ(double angleZ,
                             double angleY,
                             double angleX)
```
    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.
    This method is equivalent to calling: rotateY(angleY).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
    
    Returns:
    
    this
  - rotateYXZ
```
public Quaterniond rotateYXZ(double angleY,
                             double angleX,
                             double angleZ,
                             Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateYXZ in interface Quaterniondc
    
    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
```
public Vector3d getEulerAnglesXYZ(Vector3d eulerAngles)
```
    Description copied from interface: Quaterniondc
    
    Get the euler angles in radians in rotation sequence XYZ of this quaternion and store them in the provided parameter eulerAngles.
    
    Specified by:
    
    getEulerAnglesXYZ in interface Quaterniondc
    
    Parameters:
    
    eulerAngles - will hold the euler angles in radians
    
    Returns:
    
    the passed in vector
  - rotateAxis
```
public Quaterniond rotateAxis(double angle,
                              double axisX,
                              double axisY,
                              double axisZ,
                              Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateAxis in interface Quaterniondc
    
    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
```
public Quaterniond rotateAxis(double angle,
                              Vector3dc axis,
                              Quaterniond dest)
```
    Description copied from interface: Quaterniondc
    
    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!
    
    Specified by:
    
    rotateAxis in interface Quaterniondc
    
    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:
    
    Quaterniondc.rotateAxis(double, double, double, double, Quaterniond)
  - rotateAxis
```
public Quaterniond rotateAxis(double angle,
                              Vector3dc axis)
```
    Apply a rotation to this quaternion rotating the given radians about the specified axis.
    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
    
    Returns:
    
    this
    
    See Also:
    
    rotateAxis(double, double, double, double, Quaterniond)
  - rotateAxis
```
public Quaterniond rotateAxis(double angle,
                              double axisX,
                              double axisY,
                              double axisZ)
```
    Apply a rotation to this quaternion rotating the given radians about the specified axis.
    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
    
    Returns:
    
    this
    
    See Also:
    
    rotateAxis(double, double, double, double, Quaterniond)
  - positiveX
```
public Vector3d positiveX(Vector3d dir)
```
    Description copied from interface: Quaterniondc
    Obtain the direction of +X before the rotation transformation represented by this quaternion is applied.
    This method is equivalent to the following code:
```
 Quaterniond inv = new Quaterniond(this).invert();
 inv.transform(dir.set(1, 0, 0));
 
```
    Specified by:
    
    positiveX in interface Quaterniondc
    
    Parameters:
    
    dir - will hold the direction of +X
    
    Returns:
    
    dir
  - normalizedPositiveX
```
public Vector3d normalizedPositiveX(Vector3d dir)
```
    Description copied from interface: Quaterniondc
    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:
```
 Quaterniond inv = new Quaterniond(this).conjugate();
 inv.transform(dir.set(1, 0, 0));
 
```
    Specified by:
    
    normalizedPositiveX in interface Quaterniondc
    
    Parameters:
    
    dir - will hold the direction of +X
    
    Returns:
    
    dir
  - positiveY
```
public Vector3d positiveY(Vector3d dir)
```
    Description copied from interface: Quaterniondc
    Obtain the direction of +Y before the rotation transformation represented by this quaternion is applied.
    This method is equivalent to the following code:
```
 Quaterniond inv = new Quaterniond(this).invert();
 inv.transform(dir.set(0, 1, 0));
 
```
    Specified by:
    
    positiveY in interface Quaterniondc
    
    Parameters:
    
    dir - will hold the direction of +Y
    
    Returns:
    
    dir
  - normalizedPositiveY
```
public Vector3d normalizedPositiveY(Vector3d dir)
```
    Description copied from interface: Quaterniondc
    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:
```
 Quaterniond inv = new Quaterniond(this).conjugate();
 inv.transform(dir.set(0, 1, 0));
 
```
    Specified by:
    
    normalizedPositiveY in interface Quaterniondc
    
    Parameters:
    
    dir - will hold the direction of +Y
    
    Returns:
    
    dir
  - positiveZ
```
public Vector3d positiveZ(Vector3d dir)
```
    Description copied from interface: Quaterniondc
    Obtain the direction of +Z before the rotation transformation represented by this quaternion is applied.
    This method is equivalent to the following code:
```
 Quaterniond inv = new Quaterniond(this).invert();
 inv.transform(dir.set(0, 0, 1));
 
```
    Specified by:
    
    positiveZ in interface Quaterniondc
    
    Parameters:
    
    dir - will hold the direction of +Z
    
    Returns:
    
    dir
  - normalizedPositiveZ
```
public Vector3d normalizedPositiveZ(Vector3d dir)
```
    Description copied from interface: Quaterniondc
    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:
```
 Quaterniond inv = new Quaterniond(this).conjugate();
 inv.transform(dir.set(0, 0, 1));
 
```
    Specified by:
    
    normalizedPositiveZ in interface Quaterniondc
    
    Parameters:
    
    dir - will hold the direction of +Z
    
    Returns:
    
    dir

Class Quaterniond

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

x

y

z

w

Constructor Detail

Quaterniond

Quaterniond

Quaterniond

Quaterniond

Quaterniond

Quaterniond

Method Detail

x

y

z

w

normalize

normalize

add

add

add

add

dot

angle

get

get

get

get

get

set

set

set

set

set

setAngleAxis

setAngleAxis

setFromUnnormalized

setFromUnnormalized

setFromUnnormalized

setFromNormalized

setFromNormalized

setFromNormalized

setFromUnnormalized

setFromNormalized

setFromUnnormalized

setFromNormalized

setFromUnnormalized

setFromNormalized

fromAxisAngleRad

fromAxisAngleRad

fromAxisAngleDeg

fromAxisAngleDeg

mul

mul

mul

mul

premul

premul

premul

premul

transform

transformPositiveX

transformPositiveX

transformUnitPositiveX

transformUnitPositiveX

transformPositiveY

transformPositiveY

transformUnitPositiveY

transformUnitPositiveY

transformPositiveZ

transformPositiveZ

transformUnitPositiveZ

transformUnitPositiveZ

transform