math
Class Quaternion

java.lang.Object
  math.Quaternion

public class Quaternion
extends java.lang.Object

quaternion number class

Field Summary

double	i
double	j
double	k
double	r
double	s
Vector3D	v

Constructor Summary

Quaternion(double r, double i, double j, double k)
constructor

Quaternion(double s, Vector3D v)
constructor

Method Summary

static Quaternion

mul(Quaternion a, Quaternion b) multiplies two quaternions

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

r

public double r

i

public double i

j

public double j

k

public double k

s

public double s

v

public Vector3D v

Constructor Detail

Quaternion

public Quaternion(double r,
                  double i,
                  double j,
                  double k)

constructor

Parameters:

r -

i -

j -

k -

Quaternion

public Quaternion(double s,
                  Vector3D v)

constructor

Parameters:

s - [in] scalar part (r)

v - [in] vector part (i,j,k)

Method Detail

mul

public static Quaternion mul(Quaternion a,
                             Quaternion b)

multiplies two quaternions

Parameters:

a - [in] quaternion #1

b - [in] quaternion #2

Returns:

a*b