org.monospark.geometrix.rotation

Class QuaternionHelper

java.lang.Object

org.monospark.geometrix.rotation.QuaternionHelper

public final class QuaternionHelper
extends java.lang.Object

A class which contains only static helper methods for Quaternion objects.

See Also:

Quaternion

Method Summary

Modifier and Type	Method and Description
static Quaternion	calculateQuaternionDifference(Quaternion qStart, Quaternion qEnd) Calculates the rotation which is needed to get from qStart to qEnd.
static Quaternion	inverse(Quaternion q) Inverses the quaternion which means that the rotation is reversed.
static Quaternion	multiply(Quaternion q1, Quaternion q2) Multiplies two quaternions with each other.

Methods inherited from class java.lang.Object

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

Method Detail

calculateQuaternionDifference

public static Quaternion calculateQuaternionDifference(Quaternion qStart,
                                                       Quaternion qEnd)

Calculates the rotation which is needed to get from qStart to qEnd.

Parameters:

qStart - the start quaternion

qEnd - the end quaternion

Returns:

the quaternion which is needed to get from qStart to qEnd

Throws:

java.lang.NullPointerException - if qStart or qEnd is null

inverse

public static Quaternion inverse(Quaternion q)

Inverses the quaternion which means that the rotation is reversed.

Parameters:

q - the quaternion which should be inversed

Returns:

a quaternion which represents the opposite rotation of q

Throws:

java.lang.NullPointerException - if q is null

multiply

public static Quaternion multiply(Quaternion q1,
                                  Quaternion q2)

Multiplies two quaternions with each other.

Parameters:

q1 - the first quaternion

q2 - the second quaternion

Returns:

a quaternion which has both rotations added together

Throws:

java.lang.NullPointerException - if q1 or q2 is null