Quaterniondc (JOML 1.9.17 API)

All Known Implementing Classes:

Quaterniond
```
public interface Quaterniondc
```
Interface to a read-only view of a quaternion of double-precision floats.

Author:

Kai Burjack

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method and Description
`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, 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(Quaterniond dest)` Conjugate this quaternion and store the result in `dest`.
`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, 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`.
`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`.
`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(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, 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, 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, Quaterniond dest)` Multiply this quaternion by the quaternion represented via `(qx, qy, qz, qw)` and store the result in `dest`.
`Quaterniond`	`mul(Quaterniondc q, Quaterniond dest)` Multiply this quaternion by `q` and store the result in `dest`.
`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`.
`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(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, 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, Quaterniond dest)` Pre-multiply this quaternion by `q` and store the result in `dest`.
`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, 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, 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, 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, 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, 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, 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, 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, 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, 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 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, 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, 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`	`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`	`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`.
`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()`
`double`	`x()`
`double`	`y()`
`double`	`z()`

- Method Detail
  - x
```
double x()
```
    Returns:
    
    the first component of the vector part
  - y
```
double y()
```
    Returns:
    
    the second component of the vector part
  - z
```
double z()
```
    Returns:
    
    the third component of the vector part
  - w
```
double w()
```
    Returns:
    
    the real/scalar part of the quaternion
  - normalize
```
Quaterniond normalize(Quaterniond dest)
```
    Normalize this quaternion and store the result in dest.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - add
```
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.
    
    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
```
Quaterniond add(Quaterniondc q2,
                Quaterniond dest)
```
    Add q2 to this quaternion and store the result in dest.
    
    Parameters:
    
    q2 - the quaternion to add to this
    
    dest - will hold the result
    
    Returns:
    
    dest
  - dot
```
double dot(Quaterniondc otherQuat)
```
    Return the dot product of this Quaterniond and otherQuat.
    
    Parameters:
    
    otherQuat - the other quaternion
    
    Returns:
    
    the dot product
  - angle
```
double angle()
```
    Return the angle in radians represented by this quaternion rotation.
    
    Returns:
    
    the angle in radians
  - get
```
Matrix3d get(Matrix3d dest)
```
    Set the given destination matrix to the rotation represented by this.
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix3d.set(Quaterniondc)
  - get
```
Matrix3f get(Matrix3f dest)
```
    Set the given destination matrix to the rotation represented by this.
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix3f.set(Quaterniondc)
  - get
```
Matrix4d get(Matrix4d dest)
```
    Set the given destination matrix to the rotation represented by this.
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix4d.set(Quaterniondc)
  - get
```
Matrix4f get(Matrix4f dest)
```
    Set the given destination matrix to the rotation represented by this.
    
    Parameters:
    
    dest - the matrix to write the rotation into
    
    Returns:
    
    the passed in destination
    
    See Also:
    
    Matrix4f.set(Quaterniondc)
  - get
```
Quaterniond get(Quaterniond dest)
```
    Set the given Quaterniond to the values of this.
    
    Parameters:
    
    dest - the Quaterniond to set
    
    Returns:
    
    the passed in destination
  - mul
```
Quaterniond mul(Quaterniondc q,
                Quaterniond dest)
```
    Multiply this quaternion by q and store the result in dest.
    If T is this and Q is the given quaternion, then the resulting quaternion R is:
    R = T * Q
    So, this method uses post-multiplication like the matrix classes, resulting in a vector to be transformed by Q first, and then by T.
    
    Parameters:
    
    q - the quaternion to multiply this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - mul
```
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.
    If T is this and Q is the given quaternion, then the resulting quaternion R is:
    R = T * Q
    So, this method uses post-multiplication like the matrix classes, resulting in a vector to be transformed by Q first, and then by T.
    
    Parameters:
    
    qx - the x component of the quaternion to multiply this by
    
    qy - the y component of the quaternion to multiply this by
    
    qz - the z component of the quaternion to multiply this by
    
    qw - the w component of the quaternion to multiply this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - premul
```
Quaterniond premul(Quaterniondc q,
                   Quaterniond dest)
```
    Pre-multiply this quaternion by q and store the result in dest.
    If T is this and Q is the given quaternion, then the resulting quaternion R is:
    R = Q * T
    So, this method uses pre-multiplication, resulting in a vector to be transformed by T first, and then by Q.
    
    Parameters:
    
    q - the quaternion to pre-multiply this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - premul
```
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.
    If T is this and Q is the given quaternion, then the resulting quaternion R is:
    R = Q * T
    So, this method uses pre-multiplication, resulting in a vector to be transformed by T first, and then by Q.
    
    Parameters:
    
    qx - the x component of the quaternion to multiply this by
    
    qy - the y component of the quaternion to multiply this by
    
    qz - the z component of the quaternion to multiply this by
    
    qw - the w component of the quaternion to multiply this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
Vector3d transform(Vector3d vec)
```
    Transform the given vector by this quaternion. This will apply the rotation described by this quaternion to the given vector.
    
    Parameters:
    
    vec - the vector to transform
    
    Returns:
    
    vec
  - transformPositiveX
```
Vector3d transformPositiveX(Vector3d dest)
```
    Transform the vector (1, 0, 0) by this quaternion.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveX
```
Vector4d transformPositiveX(Vector4d dest)
```
    Transform the vector (1, 0, 0) by this quaternion.
    Only the first three components of the given 4D vector are modified.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveX
```
Vector3d transformUnitPositiveX(Vector3d dest)
```
    Transform the vector (1, 0, 0) by this unit quaternion.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveX
```
Vector4d transformUnitPositiveX(Vector4d dest)
```
    Transform the vector (1, 0, 0) by this unit quaternion.
    Only the first three components of the given 4D vector are modified.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveY
```
Vector3d transformPositiveY(Vector3d dest)
```
    Transform the vector (0, 1, 0) by this quaternion.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveY
```
Vector4d transformPositiveY(Vector4d dest)
```
    Transform the vector (0, 1, 0) by this quaternion.
    Only the first three components of the given 4D vector are modified.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveY
```
Vector3d transformUnitPositiveY(Vector3d dest)
```
    Transform the vector (0, 1, 0) by this unit quaternion.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveY
```
Vector4d transformUnitPositiveY(Vector4d dest)
```
    Transform the vector (0, 1, 0) by this unit quaternion.
    Only the first three components of the given 4D vector are modified.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveZ
```
Vector3d transformPositiveZ(Vector3d dest)
```
    Transform the vector (0, 0, 1) by this quaternion.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformPositiveZ
```
Vector4d transformPositiveZ(Vector4d dest)
```
    Transform the vector (0, 0, 1) by this quaternion.
    Only the first three components of the given 4D vector are modified.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveZ
```
Vector3d transformUnitPositiveZ(Vector3d dest)
```
    Transform the vector (0, 0, 1) by this unit quaternion.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transformUnitPositiveZ
```
Vector4d transformUnitPositiveZ(Vector4d dest)
```
    Transform the vector (0, 0, 1) by this unit quaternion.
    Only the first three components of the given 4D vector are modified.
    This method is only applicable when this is a unit quaternion.
    Reference: https://de.mathworks.com/
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
Vector4d transform(Vector4d vec)
```
    Transform the given vector by this quaternion. This will apply the rotation described by this quaternion to the given vector.
    Only the first three components of the given 4D vector are being used and modified.
    
    Parameters:
    
    vec - the vector to transform
    
    Returns:
    
    vec
  - transform
```
Vector3d transform(Vector3dc vec,
                   Vector3d dest)
```
    Transform the given vector by this quaternion and store the result in dest. This will apply the rotation described by this quaternion to the given vector.
    
    Parameters:
    
    vec - the vector to transform
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
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. This will apply the rotation described by this quaternion to the given vector.
    
    Parameters:
    
    x - the x coordinate of the vector to transform
    
    y - the y coordinate of the vector to transform
    
    z - the z coordinate of the vector to transform
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
Vector4d transform(Vector4dc vec,
                   Vector4d dest)
```
    Transform the given vector by this quaternion and store the result in dest. This will apply the rotation described by this quaternion to the given vector.
    Only the first three components of the given 4D vector are being used and set on the destination.
    
    Parameters:
    
    vec - the vector to transform
    
    dest - will hold the result
    
    Returns:
    
    dest
  - transform
```
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. This will apply the rotation described by this quaternion to the given vector.
    
    Parameters:
    
    x - the x coordinate of the vector to transform
    
    y - the y coordinate of the vector to transform
    
    z - the z coordinate of the vector to transform
    
    dest - will hold the result
    
    Returns:
    
    dest
  - invert
```
Quaterniond invert(Quaterniond dest)
```
    Invert this quaternion and store the normalized result in dest.
    If this quaternion is already normalized, then conjugate(Quaterniond) should be used instead.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
    
    See Also:
    
    conjugate(Quaterniond)
  - div
```
Quaterniond div(Quaterniondc b,
                Quaterniond dest)
```
    Divide this quaternion by b and store the result in dest.
    The division expressed using the inverse is performed in the following way:
    dest = this * b^-1, where b^-1 is the inverse of b.
    
    Parameters:
    
    b - the Quaterniondc to divide this by
    
    dest - will hold the result
    
    Returns:
    
    dest
  - conjugate
```
Quaterniond conjugate(Quaterniond dest)
```
    Conjugate this quaternion and store the result in dest.
    
    Parameters:
    
    dest - will hold the result
    
    Returns:
    
    dest
  - lengthSquared
```
double lengthSquared()
```
    Return the square of the length of this quaternion.
    
    Returns:
    
    the length
  - slerp
```
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.
    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
    
    Parameters:
    
    target - the target of the interpolation, which should be reached with alpha = 1.0
    
    alpha - the interpolation factor, within [0..1]
    
    dest - will hold the result
    
    Returns:
    
    dest
  - scale
```
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.
    
    Parameters:
    
    factor - the scaling factor
    
    dest - will hold the result
    
    Returns:
    
    dest
  - integrate
```
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.
    This method pre-multiplies the rotation given by dt and (vx, vy, vz) by this, so the angular velocities are always relative to the local coordinate system of the rotation represented by this quaternion.
    This method is equivalent to calling: rotateLocal(dt * vx, dt * vy, dt * vz, dest)
    Reference: http://physicsforgames.blogspot.de/
    
    Parameters:
    
    dt - the delta time
    
    vx - the angular velocity around the x axis
    
    vy - the angular velocity around the y axis
    
    vz - the angular velocity around the z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - nlerp
```
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.
    Reference: http://fabiensanglard.net
    
    Parameters:
    
    q - the other quaternion
    
    factor - the interpolation factor. It is between 0.0 and 1.0
    
    dest - will hold the result
    
    Returns:
    
    dest
  - nlerpIterative
```
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.
    This method performs a series of small-step nlerp interpolations to avoid doing a costly spherical linear interpolation, like slerp, by subdividing the rotation arc between this and q via non-spherical linear interpolations as long as the absolute dot product of this and q is greater than the given dotThreshold parameter.
    Thanks to @theagentd at http://www.java-gaming.org/ for providing the code.
    
    Parameters:
    
    q - the other quaternion
    
    alpha - the interpolation factor, between 0.0 and 1.0
    
    dotThreshold - the threshold for the dot product of this and q above which this method performs another iteration of a small-step linear interpolation
    
    dest - will hold the result
    
    Returns:
    
    dest
  - lookAlong
```
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.
    Because there are multiple possibilities for such a rotation, this method will choose the one that ensures the given up direction to remain parallel to the plane spanned by the up and dir vectors.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    Reference: http://answers.unity3d.com
    
    Parameters:
    
    dir - the direction to map to the positive Z axis
    
    up - the vector which will be mapped to a vector parallel to the plane spanned by the given dir and up
    
    dest - will hold the result
    
    Returns:
    
    dest
    
    See Also:
    
    lookAlong(double, double, double, double, double, double, Quaterniond)
  - lookAlong
```
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.
    Because there are multiple possibilities for such a rotation, this method will choose the one that ensures the given up direction to remain parallel to the plane spanned by the up and dir vectors.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    Reference: http://answers.unity3d.com
    
    Parameters:
    
    dirX - the x-coordinate of the direction to look along
    
    dirY - the y-coordinate of the direction to look along
    
    dirZ - the z-coordinate of the direction to look along
    
    upX - the x-coordinate of the up vector
    
    upY - the y-coordinate of the up vector
    
    upZ - the z-coordinate of the up vector
    
    dest - will hold the result
    
    Returns:
    
    dest
  - difference
```
Quaterniond difference(Quaterniondc other,
                       Quaterniond dest)
```
    Compute the difference between this and the other quaternion and store the result in dest.
    The difference is the rotation that has to be applied to get from this rotation to other. If T is this, Q is other and D is the computed difference, then the following equation holds:
    T * D = Q
    It is defined as: D = T^-1 * Q, where T^-1 denotes the inverse of T.
    
    Parameters:
    
    other - the other quaternion
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateTo
```
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.
    Since there can be multiple possible rotations, this method chooses the one with the shortest arc.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    Reference: stackoverflow.com
    
    Parameters:
    
    fromDirX - the x-coordinate of the direction to rotate into the destination direction
    
    fromDirY - the y-coordinate of the direction to rotate into the destination direction
    
    fromDirZ - the z-coordinate of the direction to rotate into the destination direction
    
    toDirX - the x-coordinate of the direction to rotate to
    
    toDirY - the y-coordinate of the direction to rotate to
    
    toDirZ - the z-coordinate of the direction to rotate to
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateTo
```
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.
    Because there can be multiple possible rotations, this method chooses the one with the shortest arc.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    fromDir - the starting direction
    
    toDir - the destination direction
    
    dest - will hold the result
    
    Returns:
    
    dest
    
    See Also:
    
    rotateTo(double, double, double, double, double, double, Quaterniond)
  - rotateX
```
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.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the x axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateY
```
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.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the y axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateZ
```
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.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateLocalX
```
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.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be R * Q. So when transforming a vector v with the new quaternion by using R * Q * v, the rotation represented by this will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the local x axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateLocalY
```
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.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be R * Q. So when transforming a vector v with the new quaternion by using R * Q * v, the rotation represented by this will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the local y axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateLocalZ
```
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.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be R * Q. So when transforming a vector v with the new quaternion by using R * Q * v, the rotation represented by this will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the local z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateXYZ
```
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.
    This method is equivalent to calling: rotateX(angleX, dest).rotateY(angleY).rotateZ(angleZ)
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angleX - the angle in radians to rotate about the x axis
    
    angleY - the angle in radians to rotate about the y axis
    
    angleZ - the angle in radians to rotate about the z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateZYX
```
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.
    This method is equivalent to calling: rotateZ(angleZ, dest).rotateY(angleY).rotateX(angleX)
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angleZ - the angle in radians to rotate about the z axis
    
    angleY - the angle in radians to rotate about the y axis
    
    angleX - the angle in radians to rotate about the x axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateYXZ
```
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.
    This method is equivalent to calling: rotateY(angleY, dest).rotateX(angleX).rotateZ(angleZ)
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angleY - the angle in radians to rotate about the y axis
    
    angleX - the angle in radians to rotate about the x axis
    
    angleZ - the angle in radians to rotate about the z axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - getEulerAnglesXYZ
```
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.
    
    Parameters:
    
    eulerAngles - will hold the euler angles in radians
    
    Returns:
    
    the passed in vector
  - rotateAxis
```
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.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the specified axis
    
    axisX - the x coordinate of the rotation axis
    
    axisY - the y coordinate of the rotation axis
    
    axisZ - the z coordinate of the rotation axis
    
    dest - will hold the result
    
    Returns:
    
    dest
  - rotateAxis
```
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.
    If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!
    
    Parameters:
    
    angle - the angle in radians to rotate about the specified axis
    
    axis - the rotation axis
    
    dest - will hold the result
    
    Returns:
    
    dest
    
    See Also:
    
    rotateAxis(double, double, double, double, Quaterniond)
  - positiveX
```
Vector3d positiveX(Vector3d dir)
```
    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));
 
```
    Parameters:
    
    dir - will hold the direction of +X
    
    Returns:
    
    dir
  - normalizedPositiveX
```
Vector3d normalizedPositiveX(Vector3d dir)
```
    Obtain the direction of +X before the rotation transformation represented by this normalized quaternion is applied. The quaternion must be normalized for this method to work.
    This method is equivalent to the following code:
```
 Quaterniond inv = new Quaterniond(this).conjugate();
 inv.transform(dir.set(1, 0, 0));
 
```
    Parameters:
    
    dir - will hold the direction of +X
    
    Returns:
    
    dir
  - positiveY
```
Vector3d positiveY(Vector3d dir)
```
    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));
 
```
    Parameters:
    
    dir - will hold the direction of +Y
    
    Returns:
    
    dir
  - normalizedPositiveY
```
Vector3d normalizedPositiveY(Vector3d dir)
```
    Obtain the direction of +Y before the rotation transformation represented by this normalized quaternion is applied. The quaternion must be normalized for this method to work.
    This method is equivalent to the following code:
```
 Quaterniond inv = new Quaterniond(this).conjugate();
 inv.transform(dir.set(0, 1, 0));
 
```
    Parameters:
    
    dir - will hold the direction of +Y
    
    Returns:
    
    dir
  - positiveZ
```
Vector3d positiveZ(Vector3d dir)
```
    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));
 
```
    Parameters:
    
    dir - will hold the direction of +Z
    
    Returns:
    
    dir
  - normalizedPositiveZ
```
Vector3d normalizedPositiveZ(Vector3d dir)
```
    Obtain the direction of +Z before the rotation transformation represented by this normalized quaternion is applied. The quaternion must be normalized for this method to work.
    This method is equivalent to the following code:
```
 Quaterniond inv = new Quaterniond(this).conjugate();
 inv.transform(dir.set(0, 0, 1));
 
```
    Parameters:
    
    dir - will hold the direction of +Z
    
    Returns:
    
    dir

Interface Quaterniondc

Method Summary

Method Detail

x

y

z

w

normalize

add

add

dot

angle

get

get

get

get

get

mul

mul

premul

premul

transform

transformPositiveX

transformPositiveX

transformUnitPositiveX

transformUnitPositiveX

transformPositiveY

transformPositiveY

transformUnitPositiveY

transformUnitPositiveY

transformPositiveZ

transformPositiveZ

transformUnitPositiveZ

transformUnitPositiveZ

transform

transform

transform

transform

transform

invert

div

conjugate

lengthSquared

slerp

scale

integrate

nlerp

nlerpIterative

lookAlong

lookAlong

difference

rotateTo

rotateTo

rotateX

rotateY

rotateZ

rotateLocalX

rotateLocalY

rotateLocalZ

rotateXYZ

rotateZYX

rotateYXZ

getEulerAnglesXYZ

rotateAxis

rotateAxis

positiveX

normalizedPositiveX

positiveY

normalizedPositiveY

positiveZ

normalizedPositiveZ