org.ode4j.cpp.internal
Class ApiCppMathRotation

java.lang.Object
  org.ode4j.cpp.internal.ApiCppMathMisc
      org.ode4j.cpp.internal.ApiCppMathRotation

Direct Known Subclasses:

ApiCppMathMatrix

public abstract class ApiCppMathRotation
extends ApiCppMathMisc

Constructor Summary

ApiCppMathRotation()

Method Summary

static void	dDQfromW(DQuaternion dq, DVector3 w, DQuaternion q)
static void	dQFromAxisAndAngle(DQuaternion q, double ax, double ay, double az, double angle)
static void	dQfromR(DQuaternion q, DMatrix3 R)
static void	dQMultiply0(DQuaternion qa, DQuaternion qb, DQuaternion qc) Quaternion multiplication, analogous to the matrix multiplication routines.
static void	dQMultiply1(DQuaternion qa, DQuaternion qb, DQuaternion qc) Quaternion multiplication, analogous to the matrix multiplication routines.
static void	dQMultiply2(DQuaternion qa, DQuaternion qb, DQuaternion qc) Quaternion multiplication, analogous to the matrix multiplication routines.
static void	dQMultiply3(DQuaternion qa, DQuaternion qb, DQuaternion qc) qa = rotate by inverse of qc, then by inverse of qb
static void	dQSetIdentity(DQuaternion q)
static void	dQtoR(DQuaternion q, DMatrix3 R) Deprecated.
static void	dRFrom2Axes(DMatrix3 R, double ax, double ay, double az, double bx, double by, double bz)
static void	dRFromAxisAndAngle(DMatrix3 R, double ax, double ay, double az, double angle)
static void	dRFromEulerAngles(DMatrix3 R, double phi, double theta, double psi)
static void	dRfromQ(DMatrix3 R, DQuaternion q)
static void	dRFromZAxis(DMatrix3 R, double ax, double ay, double az)
static void	dRSetIdentity(DMatrix3 R)

Methods inherited from class org.ode4j.cpp.internal.ApiCppMathMisc

dClearUpperTriangle, dMakeRandomMatrix, dMakeRandomVector, dMaxDifference, dMaxDifferenceLowerTriangle, dRand, dRandGetSeed, dRandInt, dRandReal, dRandSetSeed, dTestRand

Methods inherited from class java.lang.Object

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

Constructor Detail

ApiCppMathRotation

public ApiCppMathRotation()

Method Detail

dRSetIdentity

public static void dRSetIdentity(DMatrix3 R)

dRFromAxisAndAngle

public static void dRFromAxisAndAngle(DMatrix3 R,
                                      double ax,
                                      double ay,
                                      double az,
                                      double angle)

dRFromEulerAngles

public static void dRFromEulerAngles(DMatrix3 R,
                                     double phi,
                                     double theta,
                                     double psi)

dRFrom2Axes

public static void dRFrom2Axes(DMatrix3 R,
                               double ax,
                               double ay,
                               double az,
                               double bx,
                               double by,
                               double bz)

dRFromZAxis

public static void dRFromZAxis(DMatrix3 R,
                               double ax,
                               double ay,
                               double az)

dQSetIdentity

public static void dQSetIdentity(DQuaternion q)

dQFromAxisAndAngle

public static void dQFromAxisAndAngle(DQuaternion q,
                                      double ax,
                                      double ay,
                                      double az,
                                      double angle)

dQMultiply0

public static void dQMultiply0(DQuaternion qa,
                               DQuaternion qb,
                               DQuaternion qc)

Quaternion multiplication, analogous to the matrix multiplication routines. qa = rotate by qc, then qb

dQMultiply1

public static void dQMultiply1(DQuaternion qa,
                               DQuaternion qb,
                               DQuaternion qc)

Quaternion multiplication, analogous to the matrix multiplication routines. qa = rotate by qc, then by inverse of qb

dQMultiply2

public static void dQMultiply2(DQuaternion qa,
                               DQuaternion qb,
                               DQuaternion qc)

Quaternion multiplication, analogous to the matrix multiplication routines. qa = rotate by inverse of qc, then by qb

dQMultiply3

public static void dQMultiply3(DQuaternion qa,
                               DQuaternion qb,
                               DQuaternion qc)

qa = rotate by inverse of qc, then by inverse of qb

dRfromQ

public static void dRfromQ(DMatrix3 R,
                           DQuaternion q)

dQtoR

public static void dQtoR(DQuaternion q,
                         DMatrix3 R)

Deprecated.

dQfromR

public static void dQfromR(DQuaternion q,
                           DMatrix3 R)

dDQfromW

public static void dDQfromW(DQuaternion dq,
                            DVector3 w,
                            DQuaternion q)