Orientation

public class Orientation

Represents the 3-dimensional orientation of a Controller as a unit Quaternion.

Fields

public float	w	W component representing the real part of the quaternion.
public float	x	X component representing the i basis element.
public float	y	Y component representing the j basis element.
public float	z	Z component representing the k basis element.

Public Constructors

	Orientation()
	Orientation(float x, float y, float z, float w) Construct an Orientation with the provided values which represent a normalized quaternion.

Public Methods

static Orientation	fromAxisAngleDegrees(float x, float y, float z, float degrees) Construct an Orientation from a normalized axis-angle representation.
void	set(float[] xyzw) Set the Orientation to the given values which represent a normalized quaternion.
void	set(float x, float y, float z, float w) Set the Orientation to the given values which represent a normalized quaternion.
String	toAxisAngleString() Converts the orientation into an axis-angle representation.
float[]	toForwardVector(float[] xyz) Returns the result of multiplying <0, 0, -1> by this orientation.
float[]	toRotationMatrix(float[] output) Converts this Orientation to a 4x4 matrix.
String	toString() Converts the orientation into a printable string.
float[]	toYawPitchRollDegrees(float[] angles)
float[]	toYawPitchRollRadians(float[] angles) Convert this orientation to a trio of Euler angles.

Inherited Methods

From class java.lang.Object

boolean	equals(Object arg0)
final Class<?>	getClass()
int	hashCode()
final void	notify()
final void	notifyAll()
String	toString()
final void	wait(long arg0, int arg1)
final void	wait(long arg0)
final void	wait()

Fields

public float w

W component representing the real part of the quaternion.

public float x

X component representing the i basis element.

public float y

Y component representing the j basis element.

public float z

Z component representing the k basis element.

Public Constructors

public Orientation ()

public Orientation (float x, float y, float z, float w)

Construct an Orientation with the provided values which represent a normalized quaternion.

Parameters

x
y
z
w

Public Methods

public static Orientation fromAxisAngleDegrees (float x, float y, float z, float degrees)

Construct an Orientation from a normalized axis-angle representation.

Parameters

x
y
z
degrees

public void set (float[] xyzw)

Set the Orientation to the given values which represent a normalized quaternion.

Parameters

xyzw

public void set (float x, float y, float z, float w)

Set the Orientation to the given values which represent a normalized quaternion.

Parameters

x
y
z
w

public String toAxisAngleString ()

Converts the orientation into an axis-angle representation.

The normalized Euler axis is given first and the clockwise rotation is represented in degrees.

Returns

• Formatted representation of the orientation. E.g, "( 0.56, 5.58, 0.59) 51"

public float[] toForwardVector (float[] xyz)

Returns the result of multiplying <0, 0, -1> by this orientation. This represents the pitch and yaw of the controller.

Parameters

xyz	3-element array to hold the output vector.

Returns

• xyz

public float[] toRotationMatrix (float[] output)

Converts this Orientation to a 4x4 matrix.

The output is column-major which matches OpenGL and Android convention.

Parameters

output	An array of size 16.

Returns

• output with elements as a column-major matrix.

public String toString ()

Converts the orientation into a printable string. The order of elements is "x, y, z, w" and the x, y, and z elements are labeled with i, j, and k basis elements, respectively.

Returns

• Formatted representation of the orientation. E.g, " 0.24i 0.24j 0.26k 0.82"

public float[] toYawPitchRollDegrees (float[] angles)

Parameters

angles

public float[] toYawPitchRollRadians (float[] angles)

Convert this orientation to a trio of Euler angles. The Orientation will be decomposed into angles such that multiplying yaw * pitch * roll will recreate this orientation. Note that there are 6 possible Euler decompositions and this y-x-z decomposition is different from the x-y-z decomposition used by some other systems.

Parameters

angles	array to hold the 3 Euler angles in radians. Yaw & roll have a range of (-pi, pi) and pitch has a range of (-pi / 2, pi / 2).

Returns

• the angles parameter.