Rotation3d

Spatial rotation with unit length up to Double 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: Quaterniond

val w: Double

The quaternion's w component.

val x: Double

The quaternion's x component.

val y: Double

The quaternion's y component.

val z: Double

The quaternion's z component.

Functions

angleTo

fun angleTo(other: Rotation3d): Double

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

inverse

fun inverse(): Rotation3d

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

slerp

fun slerp(other: Rotation3d, amount: Double): Rotation3d

Interpolate along the shortest arc; finite amounts outside 0..1 extrapolate if the scaled angle is finite. Zero/one preserve the exact endpoint representation. Huge angles lose trigonometric argument precision. At PI the shortest arc is ambiguous; near PI small changes can switch the selected direction.

times

operator fun times(other: Rotation3d): Rotation3d

Composition applying other first, then this rotation.

toFloat

fun toFloat(): Rotation3f

toMatrix3d

fun toMatrix3d(): Matrix3d

toMatrix4d

fun toMatrix4d(): Matrix4d

transform

fun transform(vector: Vector3d): Vector3d