Package limn.math

Record Class Quat

java.lang.Object
java.lang.Record
limn.math.Quat
public record Quat(float x, float y, float z, float w) extends Record
An immutable unit quaternion (x, y, z, w) for rotations: no gimbal lock, cheap to compose and interpolate (slerp(limn.math.Quat, float)).

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final Quat
    IDENTITY
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    Quat(float x, float y, float z, float w)
    Creates an instance of a Quat record class.

  • Method Summary

    Modifier and Type
    Method
    Description
    Quat
    conjugate()
    The conjugate, which is the inverse rotation for a unit quaternion.
    final boolean
    equals(Object o)
    Indicates whether some other object is "equal to" this one.
    static Quat
    fromAxisAngle(Vec3 axis, float angleRadians)
    Rotation of angleRadians about axis (normalized internally).
    final int
    hashCode()
    Returns a hash code value for this object.
    float
    length()
    Magnitude; 1 for any rotation quaternion.
    Quat
    multiply(Quat o)
    Hamilton product this · o (apply o first, then this).
    Quat
    normalize()
    Unit quaternion in the same direction, the fix for drift after repeated multiplication.
    Vec3
    rotate(Vec3 v)
    Rotates v by this quaternion (assumes unit length).
    Quat
    slerp(Quat o, float t)
    Spherical interpolation along the shortest arc: o is negated first when the two face opposite ways, so the result never takes the long way round.
    Mat3
    toMat3()
    Column-major 3×3 rotation matrix (m[col*3+row]); assumes unit length.
    final String
    toString()
    Returns a string representation of this record class.
    float
    w()
    Returns the value of the w record component.
    float
    x()
    Returns the value of the x record component.
    float
    y()
    Returns the value of the y record component.
    float
    z()
    Returns the value of the z record component.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • IDENTITY

      public static final Quat IDENTITY

  • Constructor Details

    • Quat

      public Quat(float x, float y, float z, float w)
      Creates an instance of a Quat record class.
      Parameters:
      x - the value for the x record component
      y - the value for the y record component
      z - the value for the z record component
      w - the value for the w record component

  • Method Details

    • fromAxisAngle

      public static Quat fromAxisAngle(Vec3 axis, float angleRadians)
      Rotation of angleRadians about axis (normalized internally).

    • length

      public float length()
      Magnitude; 1 for any rotation quaternion.

    • normalize

      public Quat normalize()
      Unit quaternion in the same direction, the fix for drift after repeated multiplication.

    • conjugate

      public Quat conjugate()
      The conjugate, which is the inverse rotation for a unit quaternion.

    • multiply

      public Quat multiply(Quat o)
      Hamilton product this · o (apply o first, then this).

    • rotate

      public Vec3 rotate(Vec3 v)
      Rotates v by this quaternion (assumes unit length).

    • slerp

      public Quat slerp(Quat o, float t)
      Spherical interpolation along the shortest arc: o is negated first when the two face opposite ways, so the result never takes the long way round. Falls back to a normalized linear blend when the two are nearly parallel and the angle is too small to divide by. t is not clamped.

    • toMat3

      public Mat3 toMat3()
      Column-major 3×3 rotation matrix (m[col*3+row]); assumes unit length.

    • toString

      public final String toString()
      Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.
      Specified by:
      toString in class Record
      Returns:
      a string representation of this object

    • hashCode

      public final int hashCode()
      Returns a hash code value for this object. The value is derived from the hash code of each of the record components.
      Specified by:
      hashCode in class Record
      Returns:
      a hash code value for this object

    • equals

      public final boolean equals(Object o)
      Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. All components in this record class are compared with '=='.
      Specified by:
      equals in class Record
      Parameters:
      o - the object with which to compare
      Returns:
      true if this object is the same as the o argument; false otherwise.

    • x

      public float x()
      Returns the value of the x record component.
      Returns:
      the value of the x record component

    • y

      public float y()
      Returns the value of the y record component.
      Returns:
      the value of the y record component

    • z

      public float z()
      Returns the value of the z record component.
      Returns:
      the value of the z record component

    • w

      public float w()
      Returns the value of the w record component.
      Returns:
      the value of the w record component