java.lang.Object
- com.aspose.threed.Quaternion

All Implemented Interfaces:

com.aspose.threed.Struct<Quaternion>, java.io.Serializable, java.lang.Cloneable
```
public final class Quaternion
extends java.lang.Object
implements com.aspose.threed.Struct<Quaternion>, java.io.Serializable
```
Quaternion is usually used to perform rotation in computer graphics.

See Also:

Serialized Form

Field Summary

Fields
Modifier and Type	Field	Description
`static Quaternion`	`IDENTITY`	The Identity quaternion.
`double`	`w`	The w component.
`double`	`x`	The x component.
`double`	`y`	The y component.
`double`	`z`	The z component.

Constructor Summary

Constructors
Constructor	Description
`Quaternion()`
`Quaternion(double w, double x, double y, double z)`	Initializes a new instance of the `Quaternion` class.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`static Quaternion`	`add(Quaternion lhs, Quaternion rhs)`	Operator overloading for +
`Quaternion`	`clone()`
`Quaternion`	`concat(Quaternion rhs)`	Concatenate two quaternions
`Quaternion`	`conjugate()`	Returns a conjugate quaternion of current quaternion
`void`	`copyFrom(Quaternion src)`
`static Quaternion`	`div(Quaternion lhs, double rhs)`	Operator overloading for /
`double`	`dot(Quaternion q)`	Dots product
`boolean`	`equals(java.lang.Object obj)`	Check if two quaternions equals
`Vector3`	`eulerAngles()`	Converts quaternion to rotation represented by Euler angles All components are in radian
`static Quaternion`	`fromAngleAxis(double a, Vector3 axis)`	Creates a quaternion around given axis and rotate in clockwise
`static Quaternion`	`fromEulerAngle(double pitch, double yaw, double roll)`	Creates quaternion from given Euler angle
`static Quaternion`	`fromEulerAngle(Vector3 eulerAngle)`	Creates quaternion from given Euler angle
`static Quaternion`	`fromRotation(Vector3 orig, Vector3 dest)`	Creates a quaternion that rotate from original to destination direction
`double`	`getLength()`	Gets the length of the quaternion
`int`	`hashCode()`	Gets the hash code of Quaternion
`static Quaternion`	`interpolate(float t, Quaternion from, Quaternion to)`	Populates this quaternion with the interpolated value between the given quaternion arguments for a t between from and to.
`Quaternion`	`inverse()`	Returns a inverse quaternion of current quaternion
`static Quaternion`	`mul(Quaternion lhs, double rhs)`	Operator overloading for *
`static Quaternion`	`mul(Quaternion lhs, Quaternion rhs)`	Operator overloading for *
`static Vector3`	`mul(Quaternion q, Vector3 v)`	Operator overloading for *
`static Vector4`	`mul(Quaternion q, Vector4 v)`	Operator overloading for *
`static Vector3`	`mul(Vector3 v, Quaternion q)`	Operator overloading for *
`Quaternion`	`normalize()`	Normalize the quaternion
`static boolean`	`op_eq(Quaternion lhs, Quaternion rhs)`	Equal operator for quaternion
`static boolean`	`op_ne(Quaternion lhs, Quaternion rhs)`	Not-equal operator for quaternion
`void`	`toAngleAxis(double[] angle, Vector3 axis)`	Decompose the quaternion to angle and axis
`Matrix4`	`toMatrix()`	Convert the rotation presented by quaternion to transform matrix.
`java.lang.String`	`toString()`	Gets the representation of quaternion in string

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

- Field Detail
  - IDENTITY
```
public static final Quaternion IDENTITY
```
    The Identity quaternion.
  - w
```
public double w
```
    The w component.
  - x
```
public double x
```
    The x component.
  - y
```
public double y
```
    The y component.
  - z
```
public double z
```
    The z component.
- Constructor Detail
  - Quaternion
```
public Quaternion(double w,
                  double x,
                  double y,
                  double z)
```
    Initializes a new instance of the Quaternion class.
    
    Parameters:
    
    w - w component of the quaternion
    
    x - x component of the quaternion
    
    y - y component of the quaternion
    
    z - z component of the quaternion
  - Quaternion
```
public Quaternion()
```
- Method Detail
  - equals
```
public boolean equals(java.lang.Object obj)
```
    Check if two quaternions equals
    
    Overrides:
    
    equals in class java.lang.Object
    
    Parameters:
    
    obj - The object to check equality.
    
    Returns:
    
    True if all components are identically equal.
  - conjugate
```
public Quaternion conjugate()
```
    Returns a conjugate quaternion of current quaternion
    
    Returns:
    
    The conjugate quaternion.
  - inverse
```
public Quaternion inverse()
```
    Returns a inverse quaternion of current quaternion
    
    Returns:
    
    Inverse quaternion.
  - dot
```
public double dot(Quaternion q)
```
    Dots product
    
    Parameters:
    
    q - The quaternion
    
    Returns:
    
    Dot value
  - eulerAngles
```
public Vector3 eulerAngles()
```
    Converts quaternion to rotation represented by Euler angles All components are in radian
    
    Returns:
    
    Result vector
  - getLength
```
public double getLength()
```
    Gets the length of the quaternion
  - normalize
```
public Quaternion normalize()
```
    Normalize the quaternion
    
    Returns:
    
    Normalized quaternion.
  - toAngleAxis
```
public void toAngleAxis(double[] angle,
                        Vector3 axis)
```
    Decompose the quaternion to angle and axis
    
    Parameters:
    
    angle - The angle to rotate, in radian.
    
    axis - The axis that rotates around.
  - concat
```
public Quaternion concat(Quaternion rhs)
```
    Concatenate two quaternions
    
    Parameters:
    
    rhs -
  - fromAngleAxis
```
public static Quaternion fromAngleAxis(double a,
                                       Vector3 axis)
```
    Creates a quaternion around given axis and rotate in clockwise
    
    Parameters:
    
    a - Clockwise rotation in radian
    
    axis - Axis
    
    Returns:
    
    Created quaternion
  - fromRotation
```
public static Quaternion fromRotation(Vector3 orig,
                                      Vector3 dest)
```
    Creates a quaternion that rotate from original to destination direction
    
    Parameters:
    
    orig - Original direction
    
    dest - Destination direction
    
    Returns:
    
    Created quaternion
  - fromEulerAngle
```
public static Quaternion fromEulerAngle(double pitch,
                                        double yaw,
                                        double roll)
```
    Creates quaternion from given Euler angle
    
    Parameters:
    
    pitch - Pitch in radian
    
    yaw - Yaw in radian
    
    roll - Roll in radian
    
    Returns:
    
    Created quaternion
  - fromEulerAngle
```
public static Quaternion fromEulerAngle(Vector3 eulerAngle)
```
    Creates quaternion from given Euler angle
    
    Parameters:
    
    eulerAngle - Euler angle in radian
    
    Returns:
    
    Created quaternion
  - toMatrix
```
public Matrix4 toMatrix()
```
    Convert the rotation presented by quaternion to transform matrix.
    
    Returns:
    
    The matrix representation of current quaternion.
  - add
```
public static Quaternion add(Quaternion lhs,
                             Quaternion rhs)
```
    Operator overloading for +
    
    Parameters:
    
    lhs - Left quaternion
    
    rhs - Right quaternion
    
    Returns:
    
    Result quaternion
  - div
```
public static Quaternion div(Quaternion lhs,
                             double rhs)
```
    Operator overloading for /
    
    Parameters:
    
    lhs - Left quaternion
    
    rhs - Right quaternion
    
    Returns:
    
    Result quaternion
  - mul
```
public static Quaternion mul(Quaternion lhs,
                             double rhs)
```
    Operator overloading for *
    
    Parameters:
    
    lhs - Left quaternion
    
    rhs - Right quaternion
    
    Returns:
    
    Result quaternion
  - mul
```
public static Quaternion mul(Quaternion lhs,
                             Quaternion rhs)
```
    Operator overloading for *
    
    Parameters:
    
    lhs - Left quaternion
    
    rhs - Right quaternion
    
    Returns:
    
    Result quaternion
  - mul
```
public static Vector3 mul(Quaternion q,
                          Vector3 v)
```
    Operator overloading for *
    
    Parameters:
    
    q - The rotation quaternion
    
    v - Vector to rotate
    
    Returns:
    
    Rotated vector
  - mul
```
public static Vector4 mul(Quaternion q,
                          Vector4 v)
```
    Operator overloading for *
    
    Parameters:
    
    q - The rotation quaternion
    
    v - Vector to rotate
    
    Returns:
    
    Rotated vector
  - toString
```
public java.lang.String toString()
```
    Gets the representation of quaternion in string
    
    Overrides:
    
    toString in class java.lang.Object
    
    Returns:
    
    Object string
  - mul
```
public static Vector3 mul(Vector3 v,
                          Quaternion q)
```
    Operator overloading for *
    
    Parameters:
    
    v - The rotation quaternion
    
    q - Vector to rotate
    
    Returns:
    
    Rotated vector
  - op_eq
```
public static boolean op_eq(Quaternion lhs,
                            Quaternion rhs)
```
    Equal operator for quaternion
    
    Parameters:
    
    lhs - Left hand side value.
    
    rhs - Right hand side value.
    
    Returns:
    
    True if all components are identically equal.
  - op_ne
```
public static boolean op_ne(Quaternion lhs,
                            Quaternion rhs)
```
    Not-equal operator for quaternion
    
    Parameters:
    
    lhs - Left hand side value.
    
    rhs - Right hand side value.
    
    Returns:
    
    True if two quaternions are not equal.
  - interpolate
```
public static Quaternion interpolate(float t,
                                     Quaternion from,
                                     Quaternion to)
```
    Populates this quaternion with the interpolated value between the given quaternion arguments for a t between from and to.
    
    Parameters:
    
    t - The coefficient to interpolate.
    
    from - Source quaternion.
    
    to - Target quaternion.
    
    Returns:
    
    The interpolated quaternion.
  - clone
```
public Quaternion clone()
```
    Specified by:
    
    clone in interface com.aspose.threed.Struct<Quaternion>
    
    Overrides:
    
    clone in class java.lang.Object
  - copyFrom
```
public void copyFrom(Quaternion src)
```
    Specified by:
    
    copyFrom in interface com.aspose.threed.Struct<Quaternion>
  - hashCode
```
public int hashCode()
```
    Gets the hash code of Quaternion
    
    Overrides:
    
    hashCode in class java.lang.Object
    
    Returns:
    
    The hash code of the Quaternion

Class Quaternion

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

IDENTITY

w

x

y

z

Constructor Detail

Quaternion

Quaternion

Method Detail

equals

conjugate

inverse

dot

eulerAngles

getLength

normalize

toAngleAxis

concat

fromAngleAxis

fromRotation

fromEulerAngle

fromEulerAngle

toMatrix

add

div

mul

mul

mul

mul

toString

mul

op_eq

op_ne

interpolate

clone

copyFrom

hashCode