Examples of Quaternion

com.ardor3d.math.Quaternion
Quaternion represents a 4 value math object used in Ardor3D to describe rotations. It has the advantage of being able to avoid lock by adding a 4th dimension to rotation. Note: some algorithms in this class were ported from Eberly, Wolfram, Game Gems and others to Java.
com.jme.math.Quaternion
com.jme3.math.Quaternion
Quaternion defines a single example of a more general class of hypercomplex numbers. Quaternions extends a rotation in three dimensions to a rotation in four dimensions. This avoids "gimbal lock" and allows for smooth continuous rotation. Quaternion is defined by four floating point numbers: {x y z w}. @author Mark Powell @author Joshua Slack
com.ngt.jopenmetaverse.shared.types.Quaternion
com.thecrouchmode.vector.Quaternion
edu.cmu.cs.stage3.math.Quaternion
fcagnin.jglsdk.glm.Quaternion
b.com/integeruser/jglsdk for project info, updates and license terms. @author integeruser
org.apache.commons.math3.complex.Quaternion
orld.wolfram.com/Quaternion.html"> quaternions (Hamilton's hypercomplex numbers).
Instance of this class are guaranteed to be immutable. @since 3.1
org.earth3d.jearth.math.Quaternion
org.jmol.util.Quaternion
org.lwjgl.util.vector.Quaternion
org.mt4j.util.math.Quaternion
Quaternion defines a single example of a more general class of hypercomplex numbers. Quaternions extends a rotation in three dimensions to a rotation in four dimensions. This avoids "gimbal lock" and allows for smooth continuous rotation. Quaternion is defined by four floating point numbers: {x y z w}.
Copyright (c) by JMonkeyEngine. @author Mark Powell @author Joshua Slack
remixlab.proscene.Quaternion
toxi.geom.Quaternion
/2n9s

Examples of org.apache.commons.math3.complex.Quaternion

    }


    @Test
    public final void testQuaternionEquals() {
        final double inc = 1e-5;
        final Quaternion q1 = new Quaternion(2, 1, -4, -2);
        final Quaternion q2 = new Quaternion(q1.getQ0() + inc, q1.getQ1(), q1.getQ2(), q1.getQ3());
        final Quaternion q3 = new Quaternion(q1.getQ0(), q1.getQ1() + inc, q1.getQ2(), q1.getQ3());
        final Quaternion q4 = new Quaternion(q1.getQ0(), q1.getQ1(), q1.getQ2() + inc, q1.getQ3());
        final Quaternion q5 = new Quaternion(q1.getQ0(), q1.getQ1(), q1.getQ2(), q1.getQ3() + inc);


        Assert.assertFalse(q1.equals(q2, 0.9 * inc));
        Assert.assertFalse(q1.equals(q3, 0.9 * inc));
        Assert.assertFalse(q1.equals(q4, 0.9 * inc));
        Assert.assertFalse(q1.equals(q5, 0.9 * inc));

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Examples of org.apache.commons.math3.complex.Quaternion

        Assert.assertTrue(q1.equals(q5, 1.1 * inc));
    }


    @Test
    public final void testQuaternionEquals2() {
        final Quaternion q1 = new Quaternion(1, 4, 2, 3);
        final double gap = 1e-5;
        final Quaternion q2 = new Quaternion(1 + gap, 4 + gap, 2 + gap, 3 + gap);


        Assert.assertTrue(q1.equals(q2, 10 * gap));
        Assert.assertFalse(q1.equals(q2, gap));
        Assert.assertFalse(q1.equals(q2, gap / 10));
    }

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Examples of org.apache.commons.math3.complex.Quaternion

    @Test
    public final void testIsUnitQuaternion() {
        final Random r = new Random(48);
        final int numberOfTrials = 1000;
        for (int i = 0; i < numberOfTrials; i++) {
            final Quaternion q1 = new Quaternion(r.nextDouble(), r.nextDouble(), r.nextDouble(), r.nextDouble());
            final Quaternion q2 = q1.normalize();
            Assert.assertTrue(q2.isUnitQuaternion(COMPARISON_EPS));
        }


        final Quaternion q = new Quaternion(1, 1, 1, 1);
        Assert.assertFalse(q.isUnitQuaternion(COMPARISON_EPS));
    }

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Examples of org.apache.commons.math3.complex.Quaternion

        Assert.assertFalse(q.isUnitQuaternion(COMPARISON_EPS));
    }


    @Test
    public final void testIsPureQuaternion() {
        final Quaternion q1 = new Quaternion(0, 5, 4, 8);
        Assert.assertTrue(q1.isPureQuaternion(EPS));


        final Quaternion q2 = new Quaternion(0 - EPS, 5, 4, 8);
        Assert.assertTrue(q2.isPureQuaternion(EPS));


        final Quaternion q3 = new Quaternion(0 - 1.1 * EPS, 5, 4, 8);
        Assert.assertFalse(q3.isPureQuaternion(EPS));


        final Random r = new Random(48);
        final double[] v = {r.nextDouble(), r.nextDouble(), r.nextDouble()};
        final Quaternion q4 = new Quaternion(v);
        Assert.assertTrue(q4.isPureQuaternion(0));


        final Quaternion q5 = new Quaternion(0, v);
        Assert.assertTrue(q5.isPureQuaternion(0));
    }

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Examples of org.apache.commons.math3.complex.Quaternion

    @Test
    public final void testPolarForm() {
        final Random r = new Random(48);
        final int numberOfTrials = 1000;
        for (int i = 0; i < numberOfTrials; i++) {
            final Quaternion q = new Quaternion(2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5),
                                                2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5));
            final Quaternion qP = q.getPositivePolarForm();


            Assert.assertTrue(qP.isUnitQuaternion(COMPARISON_EPS));
            Assert.assertTrue(qP.getQ0() >= 0);


            final Rotation rot = new Rotation(q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3(), true);
            final Rotation rotP = new Rotation(qP.getQ0(), qP.getQ1(), qP.getQ2(), qP.getQ3(), true);


            Assert.assertEquals(rot.getAngle(), rotP.getAngle(), COMPARISON_EPS);
            Assert.assertEquals(rot.getAxis().getX(), rot.getAxis().getX(), COMPARISON_EPS);
            Assert.assertEquals(rot.getAxis().getY(), rot.getAxis().getY(), COMPARISON_EPS);
            Assert.assertEquals(rot.getAxis().getZ(), rot.getAxis().getZ(), COMPARISON_EPS);

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Examples of org.apache.commons.math3.complex.Quaternion

        }
    }


    @Test
    public final void testGetInverse() {
        final Quaternion q = new Quaternion(1.5, 4, 2, -2.5);


        final Quaternion inverseQ = q.getInverse();
        Assert.assertEquals(1.5 / 28.5, inverseQ.getQ0(), 0);
        Assert.assertEquals(-4.0 / 28.5, inverseQ.getQ1(), 0);
        Assert.assertEquals(-2.0 / 28.5, inverseQ.getQ2(), 0);
        Assert.assertEquals(2.5 / 28.5, inverseQ.getQ3(), 0);


        final Quaternion product = Quaternion.multiply(inverseQ, q);
        Assert.assertEquals(1, product.getQ0(), EPS);
        Assert.assertEquals(0, product.getQ1(), EPS);
        Assert.assertEquals(0, product.getQ2(), EPS);
        Assert.assertEquals(0, product.getQ3(), EPS);


        final Quaternion qNul = new Quaternion(0, 0, 0, 0);
        try {
            final Quaternion inverseQNul = qNul.getInverse();
            Assert.fail("expecting ZeroException but got : " + inverseQNul);
        } catch (ZeroException ex) {
            // expected
        }
    }

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Examples of org.apache.commons.math3.complex.Quaternion

        }
    }


    @Test
    public final void testToString() {
        final Quaternion q = new Quaternion(1, 2, 3, 4);
        Assert.assertTrue(q.toString().equals("[1.0 2.0 3.0 4.0]"));
    }

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Examples of org.apache.commons.math3.complex.Quaternion

    public final void testAccessors1() {
        final double q0 = 2;
        final double q1 = 5.4;
        final double q2 = 17;
        final double q3 = 0.0005;
        final Quaternion q = new Quaternion(q0, q1, q2, q3);


        Assert.assertEquals(q0, q.getQ0(), 0);
        Assert.assertEquals(q1, q.getQ1(), 0);
        Assert.assertEquals(q2, q.getQ2(), 0);
        Assert.assertEquals(q3, q.getQ3(), 0);
    }

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Examples of org.apache.commons.math3.complex.Quaternion

    public final void testAccessors2() {
        final double q0 = 2;
        final double q1 = 5.4;
        final double q2 = 17;
        final double q3 = 0.0005;
        final Quaternion q = new Quaternion(q0, q1, q2, q3);


        final double sP = q.getScalarPart();
        final double[] vP = q.getVectorPart();


        Assert.assertEquals(q0, sP, 0);
        Assert.assertEquals(q1, vP[0], 0);
        Assert.assertEquals(q2, vP[1], 0);
        Assert.assertEquals(q3, vP[2], 0);

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Examples of org.apache.commons.math3.complex.Quaternion

    public final void testAccessors3() {
        final double q0 = 2;
        final double q1 = 5.4;
        final double q2 = 17;
        final double q3 = 0.0005;
        final Quaternion q = new Quaternion(q0, new double[] { q1, q2, q3 });


        final double sP = q.getScalarPart();
        final double[] vP = q.getVectorPart();


        Assert.assertEquals(q0, sP, 0);
        Assert.assertEquals(q1, vP[0], 0);
        Assert.assertEquals(q2, vP[1], 0);
        Assert.assertEquals(q3, vP[2], 0);

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