org.monospark.geometrix.rotation

Class AxisAngle

java.lang.Object

org.monospark.geometrix.GeometrixObject

org.monospark.geometrix.rotation.Rotation

org.monospark.geometrix.rotation.AxisAngle

public final class AxisAngle
extends Rotation

An AxisAngle object represents a rotation around a three dimensional axis.

Field Summary

Fields

Modifier and Type	Field and Description
static AxisAngle	X_0 Represents a rotation of 0 degrees around the x-axis.
static AxisAngle	X_180 Represents a rotation of 180 degrees around the x-axis.
static AxisAngle	X_270 Represents a rotation of 270 degrees around the x-axis.
static AxisAngle	X_90 Represents a rotation of 90 degrees around the x-axis.
static AxisAngle	Y_0 Represents a rotation of 0 degrees around the y-axis.
static AxisAngle	Y_180 Represents a rotation of 180 degrees around the y-axis.
static AxisAngle	Y_270 Represents a rotation of 270 degrees around the y-axis.
static AxisAngle	Y_90 Represents a rotation of 90 degrees around the y-axis.
static AxisAngle	Z_0 Represents a rotation of 0 degrees around the z-axis.
static AxisAngle	Z_180 Represents a rotation of 180 degrees around the z-axis.
static AxisAngle	Z_270 Represents a rotation of 270 degrees around the z-axis.
static AxisAngle	Z_90 Represents a rotation of 90 degrees around the z-axis.

Method Summary

Modifier and Type	Method and Description
static AxisAngle	create(Vec<Three> axis, double angle) Creates a new AxisAngle object out of a rotation axis and an angle.
static AxisAngle	createFromQuaternion(Quaternion q) Creates a AxisAngle using an already created Quaternion.
protected Mat<Three,Three>	createRotationMatrix()
boolean	equals(java.lang.Object o)
double	getAngle()
Vec<Three>	getAxis()
int	hashCode()
boolean	resembles(java.lang.Object o)
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

X_0

public static final AxisAngle X_0

Represents a rotation of 0 degrees around the x-axis.

X_90

public static final AxisAngle X_90

Represents a rotation of 90 degrees around the x-axis.

X_180

public static final AxisAngle X_180

Represents a rotation of 180 degrees around the x-axis.

X_270

public static final AxisAngle X_270

Represents a rotation of 270 degrees around the x-axis.

Y_0

public static final AxisAngle Y_0

Represents a rotation of 0 degrees around the y-axis.

Y_90

public static final AxisAngle Y_90

Represents a rotation of 90 degrees around the y-axis.

Y_180

public static final AxisAngle Y_180

Represents a rotation of 180 degrees around the y-axis.

Y_270

public static final AxisAngle Y_270

Represents a rotation of 270 degrees around the y-axis.

Z_0

public static final AxisAngle Z_0

Represents a rotation of 0 degrees around the z-axis.

Z_90

public static final AxisAngle Z_90

Represents a rotation of 90 degrees around the z-axis.

Z_180

public static final AxisAngle Z_180

Represents a rotation of 180 degrees around the z-axis.

Z_270

public static final AxisAngle Z_270

Represents a rotation of 270 degrees around the z-axis.

Method Detail

create

public static AxisAngle create(Vec<Three> axis,
                               double angle)

Creates a new AxisAngle object out of a rotation axis and an angle.

Parameters:

axis - the axis of the rotation

angle - the angle of the rotation

Returns:

a new AxisAngle object with the corresponding values

Throws:

java.lang.NullPointerException - if axis is null

java.lang.IllegalArgumentException - if axis is a zero vector

java.lang.IllegalArgumentException - if angle is equal to (+/-)Infinity or NaN

createFromQuaternion

public static AxisAngle createFromQuaternion(Quaternion q)

Creates a AxisAngle using an already created Quaternion.

If the resulting angle of the axis-angle is equal to 0.0, every arbitrary rotation axis is valid for the axis-angle. In that case, (0,1,0) will be used as the rotation axis.

Parameters:

q - the quaternion to convert

Returns:

an equivalent axis-angle to the given quaternion

Throws:

java.lang.NullPointerException - if q is null

createRotationMatrix

protected Mat<Three,Three> createRotationMatrix()

resembles

public boolean resembles(java.lang.Object o)

Specified by:

resembles in class GeometrixObject

equals

public boolean equals(java.lang.Object o)

Specified by:

equals in class GeometrixObject

hashCode

public int hashCode()

Specified by:

hashCode in class GeometrixObject

toString

public java.lang.String toString()

Specified by:

toString in class GeometrixObject

getAxis

public Vec<Three> getAxis()

Returns:

the rotation axis of this axis-angle

getAngle

public double getAngle()

Returns:

the rotation angle in degrees of this axis-angle