java.lang.Object
- com.badlogic.gdx.math.Quaternion

All Implemented Interfaces:

java.io.Serializable
```
public class Quaternion
extends java.lang.Object
implements java.io.Serializable
```
A simple quaternion class.

See Also:

http://en.wikipedia.org/wiki/Quaternion, Serialized Form

Field Summary

Fields
Modifier and Type Field Description

float w

float x

float y

float z

Constructor Summary

Constructors
Constructor	Description
`Quaternion()`
`Quaternion(float x, float y, float z, float w)`	Constructor, sets the four components of the quaternion.
`Quaternion(Quaternion quaternion)`	Constructor, sets the quaternion components from the given quaternion.
`Quaternion(Vector3 axis, float angle)`	Constructor, sets the quaternion from the given axis vector and the angle around that axis in degrees.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`Quaternion`	`add(float qx, float qy, float qz, float qw)`	Add the x,y,z,w components of the passed in quaternion to the ones of this quaternion
`Quaternion`	`add(Quaternion quaternion)`	Add the x,y,z,w components of the passed in quaternion to the ones of this quaternion
`Quaternion`	`conjugate()`	Conjugate the quaternion.
`Quaternion`	`cpy()`
`float`	`dot(float x, float y, float z, float w)`	Get the dot product between this and the other quaternion (commutative).
`static float`	`dot(float x1, float y1, float z1, float w1, float x2, float y2, float z2, float w2)`	Get the dot product between the two quaternions (commutative).
`float`	`dot(Quaternion other)`	Get the dot product between this and the other quaternion (commutative).
`boolean`	`equals(java.lang.Object obj)`
`Quaternion`	`exp(float alpha)`	Calculates (this quaternion)^alpha where alpha is a real number and stores the result in this quaternion.
`float`	`getAngle()`	Get the angle in degrees of the rotation this quaternion represents.
`float`	`getAngleAround(float axisX, float axisY, float axisZ)`	Get the angle in degrees of the rotation around the specified axis.
`float`	`getAngleAround(Vector3 axis)`	Get the angle in degrees of the rotation around the specified axis.
`float`	`getAngleAroundRad(float axisX, float axisY, float axisZ)`	Get the angle in radians of the rotation around the specified axis.
`float`	`getAngleAroundRad(Vector3 axis)`	Get the angle in radians of the rotation around the specified axis.
`float`	`getAngleRad()`	Get the angle in radians of the rotation this quaternion represents.
`float`	`getAxisAngle(Vector3 axis)`	Get the axis angle representation of the rotation in degrees.
`float`	`getAxisAngleRad(Vector3 axis)`	Get the axis-angle representation of the rotation in radians.
`int`	`getGimbalPole()`	Get the pole of the gimbal lock, if any.
`float`	`getPitch()`	Get the pitch euler angle in degrees, which is the rotation around the x axis.
`float`	`getPitchRad()`	Get the pitch euler angle in radians, which is the rotation around the x axis.
`float`	`getRoll()`	Get the roll euler angle in degrees, which is the rotation around the z axis.
`float`	`getRollRad()`	Get the roll euler angle in radians, which is the rotation around the z axis.
`void`	`getSwingTwist(float axisX, float axisY, float axisZ, Quaternion swing, Quaternion twist)`	Get the swing rotation and twist rotation for the specified axis.
`void`	`getSwingTwist(Vector3 axis, Quaternion swing, Quaternion twist)`	Get the swing rotation and twist rotation for the specified axis.
`float`	`getYaw()`	Get the yaw euler angle in degrees, which is the rotation around the y axis.
`float`	`getYawRad()`	Get the yaw euler angle in radians, which is the rotation around the y axis.
`int`	`hashCode()`
`Quaternion`	`idt()`	Sets the quaternion to an identity Quaternion
`boolean`	`isIdentity()`
`boolean`	`isIdentity(float tolerance)`
`float`	`len()`
`static float`	`len(float x, float y, float z, float w)`
`float`	`len2()`
`static float`	`len2(float x, float y, float z, float w)`
`Quaternion`	`mul(float scalar)`	Multiplies the components of this quaternion with the given scalar.
`Quaternion`	`mul(float x, float y, float z, float w)`	Multiplies this quaternion with another one in the form of this = this * other
`Quaternion`	`mul(Quaternion other)`	Multiplies this quaternion with another one in the form of this = this * other
`Quaternion`	`mulLeft(float x, float y, float z, float w)`	Multiplies this quaternion with another one in the form of this = other * this
`Quaternion`	`mulLeft(Quaternion other)`	Multiplies this quaternion with another one in the form of this = other * this
`Quaternion`	`nor()`	Normalizes this quaternion to unit length
`Quaternion`	`set(float x, float y, float z, float w)`	Sets the components of the quaternion
`Quaternion`	`set(Quaternion quaternion)`	Sets the quaternion components from the given quaternion.
`Quaternion`	`set(Vector3 axis, float angle)`	Sets the quaternion components from the given axis and angle around that axis.
`Quaternion`	`setEulerAngles(float yaw, float pitch, float roll)`	Sets the quaternion to the given euler angles in degrees.
`Quaternion`	`setEulerAnglesRad(float yaw, float pitch, float roll)`	Sets the quaternion to the given euler angles in radians.
`Quaternion`	`setFromAxes(boolean normalizeAxes, float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz)`	Sets the Quaternion from the given x-, y- and z-axis.
`Quaternion`	`setFromAxes(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz)`	Sets the Quaternion from the given x-, y- and z-axis which have to be orthonormal.
`Quaternion`	`setFromAxis(float x, float y, float z, float degrees)`	Sets the quaternion components from the given axis and angle around that axis.
`Quaternion`	`setFromAxis(Vector3 axis, float degrees)`	Sets the quaternion components from the given axis and angle around that axis.
`Quaternion`	`setFromAxisRad(float x, float y, float z, float radians)`	Sets the quaternion components from the given axis and angle around that axis.
`Quaternion`	`setFromAxisRad(Vector3 axis, float radians)`	Sets the quaternion components from the given axis and angle around that axis.
`Quaternion`	`setFromCross(float x1, float y1, float z1, float x2, float y2, float z2)`	Set this quaternion to the rotation between two vectors.
`Quaternion`	`setFromCross(Vector3 v1, Vector3 v2)`	Set this quaternion to the rotation between two vectors.
`Quaternion`	`setFromMatrix(boolean normalizeAxes, Matrix3 matrix)`	Sets the Quaternion from the given matrix, optionally removing any scaling.
`Quaternion`	`setFromMatrix(boolean normalizeAxes, Matrix4 matrix)`	Sets the Quaternion from the given matrix, optionally removing any scaling.
`Quaternion`	`setFromMatrix(Matrix3 matrix)`	Sets the Quaternion from the given rotation matrix, which must not contain scaling.
`Quaternion`	`setFromMatrix(Matrix4 matrix)`	Sets the Quaternion from the given rotation matrix, which must not contain scaling.
`Quaternion`	`slerp(Quaternion[] q)`	Spherical linearly interpolates multiple quaternions and stores the result in this Quaternion.
`Quaternion`	`slerp(Quaternion[] q, float[] w)`	Spherical linearly interpolates multiple quaternions by the given weights and stores the result in this Quaternion.
`Quaternion`	`slerp(Quaternion end, float alpha)`	Spherical linear interpolation between this quaternion and the other quaternion, based on the alpha value in the range [0,1].
`void`	`toMatrix(float[] matrix)`	Fills a 4x4 matrix with the rotation matrix represented by this quaternion.
`java.lang.String`	`toString()`
`Vector3`	`transform(Vector3 v)`	Transforms the given vector using this quaternion

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

- Field Detail
  - x
```
public float x
```
  - y
```
public float y
```
  - z
```
public float z
```
  - w
```
public float w
```
- Constructor Detail
  - Quaternion
```
public Quaternion(float x,
                  float y,
                  float z,
                  float w)
```
    Constructor, sets the four components of the quaternion.
    
    Parameters:
    
    x - The x-component
    
    y - The y-component
    
    z - The z-component
    
    w - The w-component
  - Quaternion
```
public Quaternion()
```
  - Quaternion
```
public Quaternion(Quaternion quaternion)
```
    Constructor, sets the quaternion components from the given quaternion.
    
    Parameters:
    
    quaternion - The quaternion to copy.
  - Quaternion
```
public Quaternion(Vector3 axis,
                  float angle)
```
    Constructor, sets the quaternion from the given axis vector and the angle around that axis in degrees.
    
    Parameters:
    
    axis - The axis
    
    angle - The angle in degrees.
- Method Detail
  - set
```
public Quaternion set(float x,
                      float y,
                      float z,
                      float w)
```
    Sets the components of the quaternion
    
    Parameters:
    
    x - The x-component
    
    y - The y-component
    
    z - The z-component
    
    w - The w-component
    
    Returns:
    
    This quaternion for chaining
  - set
```
public Quaternion set(Quaternion quaternion)
```
    Sets the quaternion components from the given quaternion.
    
    Parameters:
    
    quaternion - The quaternion.
    
    Returns:
    
    This quaternion for chaining.
  - set
```
public Quaternion set(Vector3 axis,
                      float angle)
```
    Sets the quaternion components from the given axis and angle around that axis.
    
    Parameters:
    
    axis - The axis
    
    angle - The angle in degrees
    
    Returns:
    
    This quaternion for chaining.
  - cpy
```
public Quaternion cpy()
```
    Returns:
    
    a copy of this quaternion
  - len
```
public static final float len(float x,
                              float y,
                              float z,
                              float w)
```
    Returns:
    
    the euclidean length of the specified quaternion
  - len
```
public float len()
```
    Returns:
    
    the euclidean length of this quaternion
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class java.lang.Object
  - setEulerAngles
```
public Quaternion setEulerAngles(float yaw,
                                 float pitch,
                                 float roll)
```
    Sets the quaternion to the given euler angles in degrees.
    
    Parameters:
    
    yaw - the rotation around the y axis in degrees
    
    pitch - the rotation around the x axis in degrees
    
    roll - the rotation around the z axis degrees
    
    Returns:
    
    this quaternion
  - setEulerAnglesRad
```
public Quaternion setEulerAnglesRad(float yaw,
                                    float pitch,
                                    float roll)
```
    Sets the quaternion to the given euler angles in radians.
    
    Parameters:
    
    yaw - the rotation around the y axis in radians
    
    pitch - the rotation around the x axis in radians
    
    roll - the rotation around the z axis in radians
    
    Returns:
    
    this quaternion
  - getGimbalPole
```
public int getGimbalPole()
```
    Get the pole of the gimbal lock, if any.
    
    Returns:
    
    positive (+1) for north pole, negative (-1) for south pole, zero (0) when no gimbal lock
  - getRollRad
```
public float getRollRad()
```
    Get the roll euler angle in radians, which is the rotation around the z axis. Requires that this quaternion is normalized.
    
    Returns:
    
    the rotation around the z axis in radians (between -PI and +PI)
  - getRoll
```
public float getRoll()
```
    Get the roll euler angle in degrees, which is the rotation around the z axis. Requires that this quaternion is normalized.
    
    Returns:
    
    the rotation around the z axis in degrees (between -180 and +180)
  - getPitchRad
```
public float getPitchRad()
```
    Get the pitch euler angle in radians, which is the rotation around the x axis. Requires that this quaternion is normalized.
    
    Returns:
    
    the rotation around the x axis in radians (between -(PI/2) and +(PI/2))
  - getPitch
```
public float getPitch()
```
    Get the pitch euler angle in degrees, which is the rotation around the x axis. Requires that this quaternion is normalized.
    
    Returns:
    
    the rotation around the x axis in degrees (between -90 and +90)
  - getYawRad
```
public float getYawRad()
```
    Get the yaw euler angle in radians, which is the rotation around the y axis. Requires that this quaternion is normalized.
    
    Returns:
    
    the rotation around the y axis in radians (between -PI and +PI)
  - getYaw
```
public float getYaw()
```
    Get the yaw euler angle in degrees, which is the rotation around the y axis. Requires that this quaternion is normalized.
    
    Returns:
    
    the rotation around the y axis in degrees (between -180 and +180)
  - len2
```
public static final float len2(float x,
                               float y,
                               float z,
                               float w)
```
  - len2
```
public float len2()
```
    Returns:
    
    the length of this quaternion without square root
  - nor
```
public Quaternion nor()
```
    Normalizes this quaternion to unit length
    
    Returns:
    
    the quaternion for chaining
  - conjugate
```
public Quaternion conjugate()
```
    Conjugate the quaternion.
    
    Returns:
    
    This quaternion for chaining
  - transform
```
public Vector3 transform(Vector3 v)
```
    Transforms the given vector using this quaternion
    
    Parameters:
    
    v - Vector to transform
  - mul
```
public Quaternion mul(Quaternion other)
```
    Multiplies this quaternion with another one in the form of this = this * other
    
    Parameters:
    
    other - Quaternion to multiply with
    
    Returns:
    
    This quaternion for chaining
  - mul
```
public Quaternion mul(float x,
                      float y,
                      float z,
                      float w)
```
    Multiplies this quaternion with another one in the form of this = this * other
    
    Parameters:
    
    x - the x component of the other quaternion to multiply with
    
    y - the y component of the other quaternion to multiply with
    
    z - the z component of the other quaternion to multiply with
    
    w - the w component of the other quaternion to multiply with
    
    Returns:
    
    This quaternion for chaining
  - mulLeft
```
public Quaternion mulLeft(Quaternion other)
```
    Multiplies this quaternion with another one in the form of this = other * this
    
    Parameters:
    
    other - Quaternion to multiply with
    
    Returns:
    
    This quaternion for chaining
  - mulLeft
```
public Quaternion mulLeft(float x,
                          float y,
                          float z,
                          float w)
```
    Multiplies this quaternion with another one in the form of this = other * this
    
    Parameters:
    
    x - the x component of the other quaternion to multiply with
    
    y - the y component of the other quaternion to multiply with
    
    z - the z component of the other quaternion to multiply with
    
    w - the w component of the other quaternion to multiply with
    
    Returns:
    
    This quaternion for chaining
  - add
```
public Quaternion add(Quaternion quaternion)
```
    Add the x,y,z,w components of the passed in quaternion to the ones of this quaternion
  - add
```
public Quaternion add(float qx,
                      float qy,
                      float qz,
                      float qw)
```
    Add the x,y,z,w components of the passed in quaternion to the ones of this quaternion
  - toMatrix
```
public void toMatrix(float[] matrix)
```
    Fills a 4x4 matrix with the rotation matrix represented by this quaternion.
    
    Parameters:
    
    matrix - Matrix to fill
  - idt
```
public Quaternion idt()
```
    Sets the quaternion to an identity Quaternion
    
    Returns:
    
    this quaternion for chaining
  - isIdentity
```
public boolean isIdentity()
```
    Returns:
    
    If this quaternion is an identity Quaternion
  - isIdentity
```
public boolean isIdentity(float tolerance)
```
    Returns:
    
    If this quaternion is an identity Quaternion
  - setFromAxis
```
public Quaternion setFromAxis(Vector3 axis,
                              float degrees)
```
    Sets the quaternion components from the given axis and angle around that axis.
    
    Parameters:
    
    axis - The axis
    
    degrees - The angle in degrees
    
    Returns:
    
    This quaternion for chaining.
  - setFromAxisRad
```
public Quaternion setFromAxisRad(Vector3 axis,
                                 float radians)
```
    Sets the quaternion components from the given axis and angle around that axis.
    
    Parameters:
    
    axis - The axis
    
    radians - The angle in radians
    
    Returns:
    
    This quaternion for chaining.
  - setFromAxis
```
public Quaternion setFromAxis(float x,
                              float y,
                              float z,
                              float degrees)
```
    Sets the quaternion components from the given axis and angle around that axis.
    
    Parameters:
    
    x - X direction of the axis
    
    y - Y direction of the axis
    
    z - Z direction of the axis
    
    degrees - The angle in degrees
    
    Returns:
    
    This quaternion for chaining.
  - setFromAxisRad
```
public Quaternion setFromAxisRad(float x,
                                 float y,
                                 float z,
                                 float radians)
```
    Sets the quaternion components from the given axis and angle around that axis.
    
    Parameters:
    
    x - X direction of the axis
    
    y - Y direction of the axis
    
    z - Z direction of the axis
    
    radians - The angle in radians
    
    Returns:
    
    This quaternion for chaining.
  - setFromMatrix
```
public Quaternion setFromMatrix(boolean normalizeAxes,
                                Matrix4 matrix)
```
    Sets the Quaternion from the given matrix, optionally removing any scaling.
  - setFromMatrix
```
public Quaternion setFromMatrix(Matrix4 matrix)
```
    Sets the Quaternion from the given rotation matrix, which must not contain scaling.
  - setFromMatrix
```
public Quaternion setFromMatrix(boolean normalizeAxes,
                                Matrix3 matrix)
```
    Sets the Quaternion from the given matrix, optionally removing any scaling.
  - setFromMatrix
```
public Quaternion setFromMatrix(Matrix3 matrix)
```
    Sets the Quaternion from the given rotation matrix, which must not contain scaling.
  - setFromAxes
```
public Quaternion setFromAxes(float xx,
                              float xy,
                              float xz,
                              float yx,
                              float yy,
                              float yz,
                              float zx,
                              float zy,
                              float zz)
```
    Sets the Quaternion from the given x-, y- and z-axis which have to be orthonormal.
    
    Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/ which in turn took it from Graphics Gem code at ftp://ftp.cis.upenn.edu/pub/graphics/shoemake/quatut.ps.Z.
    
    Parameters:
    
    xx - x-axis x-coordinate
    
    xy - x-axis y-coordinate
    
    xz - x-axis z-coordinate
    
    yx - y-axis x-coordinate
    
    yy - y-axis y-coordinate
    
    yz - y-axis z-coordinate
    
    zx - z-axis x-coordinate
    
    zy - z-axis y-coordinate
    
    zz - z-axis z-coordinate
  - setFromAxes
```
public Quaternion setFromAxes(boolean normalizeAxes,
                              float xx,
                              float xy,
                              float xz,
                              float yx,
                              float yy,
                              float yz,
                              float zx,
                              float zy,
                              float zz)
```
    Sets the Quaternion from the given x-, y- and z-axis.
    
    Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/ which in turn took it from Graphics Gem code at ftp://ftp.cis.upenn.edu/pub/graphics/shoemake/quatut.ps.Z.
    
    Parameters:
    
    normalizeAxes - whether to normalize the axes (necessary when they contain scaling)
    
    xx - x-axis x-coordinate
    
    xy - x-axis y-coordinate
    
    xz - x-axis z-coordinate
    
    yx - y-axis x-coordinate
    
    yy - y-axis y-coordinate
    
    yz - y-axis z-coordinate
    
    zx - z-axis x-coordinate
    
    zy - z-axis y-coordinate
    
    zz - z-axis z-coordinate
  - setFromCross
```
public Quaternion setFromCross(Vector3 v1,
                               Vector3 v2)
```
    Set this quaternion to the rotation between two vectors.
    
    Parameters:
    
    v1 - The base vector, which should be normalized.
    
    v2 - The target vector, which should be normalized.
    
    Returns:
    
    This quaternion for chaining
  - setFromCross
```
public Quaternion setFromCross(float x1,
                               float y1,
                               float z1,
                               float x2,
                               float y2,
                               float z2)
```
    Set this quaternion to the rotation between two vectors.
    
    Parameters:
    
    x1 - The base vectors x value, which should be normalized.
    
    y1 - The base vectors y value, which should be normalized.
    
    z1 - The base vectors z value, which should be normalized.
    
    x2 - The target vector x value, which should be normalized.
    
    y2 - The target vector y value, which should be normalized.
    
    z2 - The target vector z value, which should be normalized.
    
    Returns:
    
    This quaternion for chaining
  - slerp
```
public Quaternion slerp(Quaternion end,
                        float alpha)
```
    Spherical linear interpolation between this quaternion and the other quaternion, based on the alpha value in the range [0,1]. Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/
    
    Parameters:
    
    end - the end quaternion
    
    alpha - alpha in the range [0,1]
    
    Returns:
    
    this quaternion for chaining
  - slerp
```
public Quaternion slerp(Quaternion[] q)
```
    Spherical linearly interpolates multiple quaternions and stores the result in this Quaternion. Will not destroy the data previously inside the elements of q. result = (q_1^w_1)*(q_2^w_2)* ... *(q_n^w_n) where w_i=1/n.
    
    Parameters:
    
    q - List of quaternions
    
    Returns:
    
    This quaternion for chaining
  - slerp
```
public Quaternion slerp(Quaternion[] q,
                        float[] w)
```
    Spherical linearly interpolates multiple quaternions by the given weights and stores the result in this Quaternion. Will not destroy the data previously inside the elements of q or w. result = (q_1^w_1)*(q_2^w_2)* ... *(q_n^w_n) where the sum of w_i is 1. Lists must be equal in length.
    
    Parameters:
    
    q - List of quaternions
    
    w - List of weights
    
    Returns:
    
    This quaternion for chaining
  - exp
```
public Quaternion exp(float alpha)
```
    Calculates (this quaternion)^alpha where alpha is a real number and stores the result in this quaternion. See http://en.wikipedia.org/wiki/Quaternion#Exponential.2C_logarithm.2C_and_power
    
    Parameters:
    
    alpha - Exponent
    
    Returns:
    
    This quaternion for chaining
  - hashCode
```
public int hashCode()
```
    Overrides:
    
    hashCode in class java.lang.Object
  - equals
```
public boolean equals(java.lang.Object obj)
```
    Overrides:
    
    equals in class java.lang.Object
  - dot
```
public static final float dot(float x1,
                              float y1,
                              float z1,
                              float w1,
                              float x2,
                              float y2,
                              float z2,
                              float w2)
```
    Get the dot product between the two quaternions (commutative).
    
    Parameters:
    
    x1 - the x component of the first quaternion
    
    y1 - the y component of the first quaternion
    
    z1 - the z component of the first quaternion
    
    w1 - the w component of the first quaternion
    
    x2 - the x component of the second quaternion
    
    y2 - the y component of the second quaternion
    
    z2 - the z component of the second quaternion
    
    w2 - the w component of the second quaternion
    
    Returns:
    
    the dot product between the first and second quaternion.
  - dot
```
public float dot(Quaternion other)
```
    Get the dot product between this and the other quaternion (commutative).
    
    Parameters:
    
    other - the other quaternion.
    
    Returns:
    
    the dot product of this and the other quaternion.
  - dot
```
public float dot(float x,
                 float y,
                 float z,
                 float w)
```
    Get the dot product between this and the other quaternion (commutative).
    
    Parameters:
    
    x - the x component of the other quaternion
    
    y - the y component of the other quaternion
    
    z - the z component of the other quaternion
    
    w - the w component of the other quaternion
    
    Returns:
    
    the dot product of this and the other quaternion.
  - mul
```
public Quaternion mul(float scalar)
```
    Multiplies the components of this quaternion with the given scalar.
    
    Parameters:
    
    scalar - the scalar.
    
    Returns:
    
    this quaternion for chaining.
  - getAxisAngle
```
public float getAxisAngle(Vector3 axis)
```
    Get the axis angle representation of the rotation in degrees. The supplied vector will receive the axis (x, y and z values) of the rotation and the value returned is the angle in degrees around that axis. Note that this method will alter the supplied vector, the existing value of the vector is ignored.
    This will normalize this quaternion if needed. The received axis is a unit vector. However, if this is an identity quaternion (no rotation), then the length of the axis may be zero.
    
    Parameters:
    
    axis - vector which will receive the axis
    
    Returns:
    
    the angle in degrees
    
    See Also:
    
    wikipedia, calculation
  - getAxisAngleRad
```
public float getAxisAngleRad(Vector3 axis)
```
    Get the axis-angle representation of the rotation in radians. The supplied vector will receive the axis (x, y and z values) of the rotation and the value returned is the angle in radians around that axis. Note that this method will alter the supplied vector, the existing value of the vector is ignored.
    This will normalize this quaternion if needed. The received axis is a unit vector. However, if this is an identity quaternion (no rotation), then the length of the axis may be zero.
    
    Parameters:
    
    axis - vector which will receive the axis
    
    Returns:
    
    the angle in radians
    
    See Also:
    
    wikipedia, calculation
  - getAngleRad
```
public float getAngleRad()
```
    Get the angle in radians of the rotation this quaternion represents. Does not normalize the quaternion. Use getAxisAngleRad(Vector3) to get both the axis and the angle of this rotation. Use getAngleAroundRad(Vector3) to get the angle around a specific axis.
    
    Returns:
    
    the angle in radians of the rotation
  - getAngle
```
public float getAngle()
```
    Get the angle in degrees of the rotation this quaternion represents. Use getAxisAngle(Vector3) to get both the axis and the angle of this rotation. Use getAngleAround(Vector3) to get the angle around a specific axis.
    
    Returns:
    
    the angle in degrees of the rotation
  - getSwingTwist
```
public void getSwingTwist(float axisX,
                          float axisY,
                          float axisZ,
                          Quaternion swing,
                          Quaternion twist)
```
    Get the swing rotation and twist rotation for the specified axis. The twist rotation represents the rotation around the specified axis. The swing rotation represents the rotation of the specified axis itself, which is the rotation around an axis perpendicular to the specified axis.
    The swing and twist rotation can be used to reconstruct the original quaternion: this = swing * twist
    
    Parameters:
    
    axisX - the X component of the normalized axis for which to get the swing and twist rotation
    
    axisY - the Y component of the normalized axis for which to get the swing and twist rotation
    
    axisZ - the Z component of the normalized axis for which to get the swing and twist rotation
    
    swing - will receive the swing rotation: the rotation around an axis perpendicular to the specified axis
    
    twist - will receive the twist rotation: the rotation around the specified axis
    
    See Also:
    
    calculation
  - getSwingTwist
```
public void getSwingTwist(Vector3 axis,
                          Quaternion swing,
                          Quaternion twist)
```
    Get the swing rotation and twist rotation for the specified axis. The twist rotation represents the rotation around the specified axis. The swing rotation represents the rotation of the specified axis itself, which is the rotation around an axis perpendicular to the specified axis.
    The swing and twist rotation can be used to reconstruct the original quaternion: this = swing * twist
    
    Parameters:
    
    axis - the normalized axis for which to get the swing and twist rotation
    
    swing - will receive the swing rotation: the rotation around an axis perpendicular to the specified axis
    
    twist - will receive the twist rotation: the rotation around the specified axis
    
    See Also:
    
    calculation
  - getAngleAroundRad
```
public float getAngleAroundRad(float axisX,
                               float axisY,
                               float axisZ)
```
    Get the angle in radians of the rotation around the specified axis. The axis must be normalized.
    
    Parameters:
    
    axisX - the x component of the normalized axis for which to get the angle
    
    axisY - the y component of the normalized axis for which to get the angle
    
    axisZ - the z component of the normalized axis for which to get the angle
    
    Returns:
    
    the angle in radians of the rotation around the specified axis
  - getAngleAroundRad
```
public float getAngleAroundRad(Vector3 axis)
```
    Get the angle in radians of the rotation around the specified axis. The axis must be normalized.
    
    Parameters:
    
    axis - the normalized axis for which to get the angle
    
    Returns:
    
    the angle in radians of the rotation around the specified axis
  - getAngleAround
```
public float getAngleAround(float axisX,
                            float axisY,
                            float axisZ)
```
    Get the angle in degrees of the rotation around the specified axis. The axis must be normalized.
    
    Parameters:
    
    axisX - the x component of the normalized axis for which to get the angle
    
    axisY - the y component of the normalized axis for which to get the angle
    
    axisZ - the z component of the normalized axis for which to get the angle
    
    Returns:
    
    the angle in degrees of the rotation around the specified axis
  - getAngleAround
```
public float getAngleAround(Vector3 axis)
```
    Get the angle in degrees of the rotation around the specified axis. The axis must be normalized.
    
    Parameters:
    
    axis - the normalized axis for which to get the angle
    
    Returns:
    
    the angle in degrees of the rotation around the specified axis

Class Quaternion

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

x

y

z

w

Constructor Detail

Quaternion

Quaternion

Quaternion

Quaternion

Method Detail

set

set

set

cpy

len

len

toString

setEulerAngles

setEulerAnglesRad

getGimbalPole

getRollRad

getRoll

getPitchRad

getPitch

getYawRad

getYaw

len2

len2

nor

conjugate

transform

mul

mul

mulLeft

mulLeft

add

add

toMatrix

idt

isIdentity

isIdentity

setFromAxis

setFromAxisRad

setFromAxis

setFromAxisRad

setFromMatrix

setFromMatrix

setFromMatrix

setFromMatrix

setFromAxes

setFromAxes

setFromCross

setFromCross

slerp

slerp

slerp

exp

hashCode

equals

dot

dot

dot

mul

getAxisAngle

getAxisAngleRad

getAngleRad

getAngle

getSwingTwist

getSwingTwist

getAngleAroundRad

getAngleAroundRad

getAngleAround

getAngleAround