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## javax.vecmath
Class Quat4d

    java.lang.Object
      javax.vecmath.Tuple4d
          javax.vecmath.Quat4d

All Implemented Interfaces:
  java.io.Serializable, java.lang.Cloneable

    public class Quat4d

extends Tuple4d
implements java.io.Serializable

A 4 element quaternion represented by double precision floating point x,y,z,w coordinates.

Author:
  Kenji hiranabe
See Also:
  Serialized Form

Field Summary

Fields inherited from class javax.vecmath.Tuple4d
`w, x, y, z`

Constructor Summary
`Quat4d()` Constructs and initializes a Quat4d to (0,0,0,0).
`Quat4d(double[] q)` Constructs and initializes a Quat4d from the array of length 4.
`Quat4d(double x, double y, double z, double w)` Constructs and initializes a Quat4d from the specified xyzw coordinates.
`Quat4d(Quat4d q1)` Constructs and initializes a Quat4d from the specified Quat4d.
`Quat4d(Quat4f q1)` Constructs and initializes a Quat4d from the specified Quat4f.
`Quat4d(Tuple4d t1)` Constructs and initializes a Quat4d from the specified Tuple4d.
`Quat4d(Tuple4f t1)` Constructs and initializes a Quat4d from the specified Tuple4f.

Method Summary
`java.lang.Object` | `clone()`
`void` | `conjugate()` Negate the value of of each of this quaternion's x,y,z coordinates in place.
`void` | `conjugate(Quat4d q1)` Sets the value of this quaternion to the conjugate of quaternion q1.
`void` | `interpolate(Quat4d q1, double alpha)` Performs a great circle interpolation between this quaternion and the quaternion parameter and places the result into this quaternion.
`void` | `interpolate(Quat4d q1, Quat4d q2, double alpha)` Performs a great circle interpolation between quaternion q1 and quaternion q2 and places the result into this quaternion.
`void` | `inverse()` Sets the value of this quaternion to the quaternion inverse of itself.
`void` | `inverse(Quat4d q1)` Sets the value of this quaternion to quaternion inverse of quaternion q1.
`void` | `mul(Quat4d q1)` Sets the value of this quaternion to the quaternion product of itself and q1 (this = this * q1).
`void` | `mul(Quat4d q1, Quat4d q2)` Sets the value of this quaternion to the quaternion product of quaternions q1 and q2 (this = q1 * q2).
`void` | `mulInverse(Quat4d q1)` Multiplies this quaternion by the inverse of quaternion q1 and places the value into this quaternion.
`void` | `mulInverse(Quat4d q1, Quat4d q2)` Multiplies quaternion q1 by the inverse of quaternion q2 and places the value into this quaternion.
`void` | `normalize()` Normalizes the value of this quaternion in place.
`void` | `normalize(Quat4d q1)` Sets the value of this quaternion to the normalized value of quaternion q1.
`void` | `set(AxisAngle4d a1)` Sets the value of this quaternion to the equivalent rotation of teh AxisAngle argument.
`void` | `set(AxisAngle4f a1)` Sets the value of this quaternion to the equivalent rotation of teh AxisAngle argument.
`void` | `set(Matrix3d m1)` Sets the value of this quaternion to the rotational component of the passed matrix.
`void` | `set(Matrix3f m1)` Sets the value of this quaternion to the rotational component of the passed matrix.
`void` | `set(Matrix4d m1)` Sets the value of this quaternion to the rotational component of the passed matrix.
`void` | `set(Matrix4f m1)` Sets the value of this quaternion to the rotational component of the passed matrix.

Methods inherited from class javax.vecmath.Tuple4d
`absolute, absolute, add, add, clamp, clamp, clampMax, clampMax, clampMin, clampMin, epsilonEquals, equals, equals, get, get, hashCode, interpolate, interpolate, negate, negate, scale, scale, scaleAdd, scaleAdd, set, set, set, set, sub, sub, toString`

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

Constructor Detail

### Quat4d

    public Quat4d()

  Constructs and initializes a Quat4d to (0,0,0,0).

### Quat4d

    public Quat4d(double[] q)

  Constructs and initializes a Quat4d from the array of length 4.

  Parameters:
    `v` - the array of length 4 containing xyzw in order

### Quat4d

    public Quat4d(double x,
                  double y,
                  double z,
                  double w)

  Constructs and initializes a Quat4d from the specified xyzw coordinates.

  Parameters:
    `x` - the x coordinate
    `y` - the y coordinate
    `z` - the z coordinate
    `w` - the w scalar component

### Quat4d

    public Quat4d(Quat4d q1)

  Constructs and initializes a Quat4d from the specified Quat4d.

  Parameters:
    `q1` - the Quat4d containing the initialization x y z w data

### Quat4d

    public Quat4d(Quat4f q1)

  Constructs and initializes a Quat4d from the specified Quat4f.

  Parameters:
    `q1` - the Quat4f containing the initialization x y z w data

### Quat4d

    public Quat4d(Tuple4d t1)

  Constructs and initializes a Quat4d from the specified Tuple4d.

  Parameters:
    `t1` - the Tuple4d containing the initialization x y z w data

### Quat4d

    public Quat4d(Tuple4f t1)

  Constructs and initializes a Quat4d from the specified Tuple4f.

  Parameters:
    `t1` - the Tuple4f containing the initialization x y z w data

Method Detail

### clone

    public java.lang.Object clone()

  Specified by:
    `clone` in class `Tuple4d`

### conjugate

    public final void conjugate()

  Negate the value of of each of this quaternion's x,y,z coordinates in place.

### conjugate

    public final void conjugate(Quat4d q1)

  Sets the value of this quaternion to the conjugate of quaternion q1.

  Parameters:
    `q1` - the source vector

### interpolate

    public final void interpolate(Quat4d q1,
                                  double alpha)

  Performs a great circle interpolation between this quaternion and the quaternion parameter and places the result into this quaternion.

  Parameters:
    `q1` - the other quaternion
    `alpha` - the alpha interpolation parameter

### interpolate

    public final void interpolate(Quat4d q1,
                                  Quat4d q2,
                                  double alpha)

  Performs a great circle interpolation between quaternion q1 and quaternion q2 and places the result into this quaternion.

  Parameters:
    `q1` - the first quaternion
    `q2` - the second quaternion
    `alpha` - the alpha interpolation parameter

### inverse

    public final void inverse()

  Sets the value of this quaternion to the quaternion inverse of itself.

### inverse

    public final void inverse(Quat4d q1)

  Sets the value of this quaternion to quaternion inverse of quaternion q1.

  Parameters:
    `q1` - the quaternion to be inverted

### mul

    public final void mul(Quat4d q1)

  Sets the value of this quaternion to the quaternion product of itself and q1 (this = this * q1).

  Parameters:
    `q1` - the other quaternion

### mul

    public final void mul(Quat4d q1,
                          Quat4d q2)

  Sets the value of this quaternion to the quaternion product of quaternions q1 and q2 (this = q1 * q2). Note that this is safe for aliasing (e.g. this can be q1 or q2).

  Parameters:
    `q1` - the first quaternion
    `q2` - the second quaternion

### mulInverse

    public final void mulInverse(Quat4d q1)

  Multiplies this quaternion by the inverse of quaternion q1 and places the value into this quaternion. The value of the argument quaternion is preserved (this = this * q^-1).

  Parameters:
    `q1` - the other quaternion

### mulInverse

    public final void mulInverse(Quat4d q1,
                                 Quat4d q2)

  Multiplies quaternion q1 by the inverse of quaternion q2 and places the value into this quaternion. The value of both argument quaternions is preservered (this = q1 * q2^-1).

  Parameters:
    `q1` - the left quaternion
    `q2` - the right quaternion

### normalize

    public final void normalize()

  Normalizes the value of this quaternion in place.

### normalize

    public final void normalize(Quat4d q1)

  Sets the value of this quaternion to the normalized value of quaternion q1.

  Parameters:
    `q1` - the quaternion to be normalized.

### set

    public final void set(AxisAngle4d a1)

  Sets the value of this quaternion to the equivalent rotation of teh AxisAngle argument.

  Parameters:
    `a1` - the axis-angle

### set

    public final void set(AxisAngle4f a1)

  Sets the value of this quaternion to the equivalent rotation of teh AxisAngle argument.

  Parameters:
    `a1` - the axis-angle

### set

    public final void set(Matrix3d m1)

  Sets the value of this quaternion to the rotational component of the passed matrix.

  Parameters:
    `m1` - the matrix3d

### set

    public final void set(Matrix3f m1)

  Sets the value of this quaternion to the rotational component of the passed matrix.

  Parameters:
    `m1` - the matrix3f

### set

    public final void set(Matrix4d m1)

  Sets the value of this quaternion to the rotational component of the passed matrix.

  Parameters:
    `m1` - the matrix4d

### set

    public final void set(Matrix4f m1)

  Sets the value of this quaternion to the rotational component of the passed matrix.

  Parameters:
    `m1` - the matrix4f

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