cajeta.math.Rotation — quaternion construction for a renderer or scene graph. A pure static-utility class: each method returns a unit Quaternion<float32> ready to feed Transform or the builtin rotate-vector form q * v. The builtin Quaternion<float32> already provides the algebra (Hamilton product, vector rotation, conjugate(), slerp, nlerp, dot, length); this class adds the missing ways to build a rotation from an axis+angle or Euler angles. Quaternion storage is (w, x, y, z).

package snip.rotation;

import cajeta.math.Rotation;

public final class Demo {
    public static void run() {
        Vector<float32,3> up = stack Vector<float32,3>(0.0f, 1.0f, 0.0f);
        Quaternion<float32> yaw = Rotation.fromAxisAngle(up, 0.7853982f);  // 45 deg
        Vector<float32,3> v = stack Vector<float32,3>(1.0f, 0.0f, 0.0f);
        Vector<float32,3> r = yaw * v;   // builtin rotate-vector
        return;
    }
}

Methods

Signature
`static Quaternion<float32> identity()`	The identity rotation: the unit quaternion `(1,0,0,0)`
`static Quaternion<float32> fromAxisAngle(Vector<float32,3> axis, float32 angleRadians)` ⚑	A rotation of `angleRadians` about `axis` (right-handed)
`static Quaternion<float32> fromEuler(float32 pitchX, float32 yawY, float32 rollZ)` ⚑	A rotation from Euler angles (radians), applied roll (about +z), then yaw (about +y), then pitch (about +x): `q = qZ * qY * qX`

⚑ = @EntryPoint

Rotation

Methods

See also