Rotation3f

Spatial rotation with unit length up to Float rounding. Factories validate and normalize input. Uses right-handed active rotations of column vectors; a * b applies b first.

Types

Companion

object Companion

Properties

quaternion

val quaternion: Quaternionf

val w: Float

The quaternion's w component.

val x: Float

The quaternion's x component.

val y: Float

The quaternion's y component.

val z: Float

The quaternion's z component.

Functions

angleTo

fun angleTo(other: Rotation3f): Float

Smallest spatial angle in 0, PI, independent of the quaternion's sign.

inverse

fun inverse(): Rotation3f

Conjugation preserves the existing unit-length error; no additional normalization is needed.

slerp

fun slerp(other: Rotation3f, amount: Float): Rotation3f

Shortest-arc interpolation with Double intermediates; finite amounts outside 0..1 extrapolate. Huge angles lose trigonometric argument precision. Near PI the shortest direction can switch.

times

operator fun times(other: Rotation3f): Rotation3f

Composition applying other first, then this rotation.

toDouble

fun toDouble(): Rotation3d

toMatrix3f

fun toMatrix3f(): Matrix3f

toMatrix4f

fun toMatrix4f(): Matrix4f

transform

fun transform(vector: Vector3f): Vector3f