Rotation3d

classin packageklyn.math.geometry

public final class Rotation3d

Rotation3d

Immutable right-handed rotation, represented by a unit quaternion. Angles are radians. Example: r = Rotation3d.axisAngle(Vector3d(0.0, 1.0, 0.0), Math.PI)

Properties

Modifier and Type	Member	Description
public readonly property	quaternion `quaternion as Quaternion<Double>`	Returns a defensive copy, O(1).

Constructors

Modifier and Type	Member	Description
public	Rotation3d `Rotation3d(quaternion as Quaternion<Double> = Quaternion<Double>(1.0))`	Normalizes and copies the quaternion; rejects zero/non-finite input.

Methods

Modifier and Type	Member	Description
public	apply `apply(vector as Vector3d<Double>) as Vector3d<Double>`	Rotates a vector, preserving its length.
public static	axisAngle `axisAngle(axis as Vector3d<Double>, angle as Double) as Rotation3d`	Creates a rotation about a nonzero axis; angle in radians.
public	inverse `inverse() as Rotation3d`	Inverse rotation.

Operators

Modifier and Type	Member	Description
public static	operator*(a as Rotation3d, b as Rotation3d) as Rotation3d	Composition: applies b, then a.