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Diffstat (limited to 'src/javax/vecmath/AxisAngle4d.java')
| -rw-r--r-- | src/javax/vecmath/AxisAngle4d.java | 536 |
1 files changed, 536 insertions, 0 deletions
diff --git a/src/javax/vecmath/AxisAngle4d.java b/src/javax/vecmath/AxisAngle4d.java new file mode 100644 index 0000000..d856081 --- /dev/null +++ b/src/javax/vecmath/AxisAngle4d.java @@ -0,0 +1,536 @@ +/* + * $RCSfile$ + * + * Copyright (c) 2004 Sun Microsystems, Inc. All rights reserved. + * + * Use is subject to license terms. + * + * $Revision$ + * $Date$ + * $State$ + */ + +package javax.vecmath; + +import java.lang.Math; + +/** + * A four-element axis angle represented by double-precision floating point + * x,y,z,angle components. An axis angle is a rotation of angle (radians) + * about the vector (x,y,z). + * + */ +public class AxisAngle4d implements java.io.Serializable, Cloneable { + + + // Compatible with 1.1 + static final long serialVersionUID = 3644296204459140589L; + + /** + * The x coordinate. + */ + public double x; + + /** + * The y coordinate. + */ + public double y; + + /** + * The z coordinate. + */ + public double z; + + /** + * The angle of rotation in radians. + */ + public double angle; + + final static double EPS = 0.000001; + + /** + * Constructs and initializes an AxisAngle4d from the specified + * x, y, z, and angle. + * @param x the x coordinate + * @param y the y coordinate + * @param z the z coordinate + * @param angle the angle of rotation in radians + */ + public AxisAngle4d(double x, double y, double z, double angle) + { + this.x = x; + this.y = y; + this.z = z; + this.angle = angle; + } + + + /** + * Constructs and initializes an AxisAngle4d from the components + * contained in the array. + * @param a the array of length 4 containing x,y,z,angle in order + */ + public AxisAngle4d(double[] a) + { + this.x = a[0]; + this.y = a[1]; + this.z = a[2]; + this.angle = a[3]; + } + /** + * Constructs and initializes an AxisAngle4d from the specified AxisAngle4d. + * @param a1 the AxisAngle4d containing the initialization x y z angle data + */ + public AxisAngle4d(AxisAngle4d a1) + { + this.x = a1.x; + this.y = a1.y; + this.z = a1.z; + this.angle = a1.angle; + } + + + /** + * Constructs and initializes an AxisAngle4d from the specified + * AxisAngle4f. + * @param a1 the AxisAngle4f containing the initialization x y z angle data + */ + public AxisAngle4d(AxisAngle4f a1) + { + this.x = a1.x; + this.y = a1.y; + this.z = a1.z; + this.angle = a1.angle; + } + + + /** + * Constructs and initializes an AxisAngle4d from the specified + * axis and angle. + * @param axis the axis + * @param angle the angle of rotation in radian + * + * @since Java 3D 1.2 + */ + public AxisAngle4d(Vector3d axis, double angle) { + this.x = axis.x; + this.y = axis.y; + this.z = axis.z; + this.angle = angle; + } + + + /** + * Constructs and initializes an AxisAngle4d to (0,0,1,0). + */ + public AxisAngle4d() + { + this.x = 0.0; + this.y = 0.0; + this.z = 1.0; + this.angle = 0.0; + } + + + /** + * Sets the value of this axis angle to the specified x,y,z,angle. + * @param x the x coordinate + * @param y the y coordinate + * @param z the z coordinate + * @param angle the angle of rotation in radians + */ + public final void set(double x, double y, double z, double angle) + { + this.x = x; + this.y = y; + this.z = z; + this.angle = angle; + } + + + /** + * Sets the value of this axis angle to the specified x,y,z,angle. + * @param a the array of length 4 containing x,y,z,angle in order + */ + public final void set(double[] a) + { + this.x = a[0]; + this.y = a[1]; + this.z = a[2]; + this.angle = a[3]; + } + + + /** + * Sets the value of this axis angle to the value of axis angle a1. + * @param a1 the axis angle to be copied + */ + public final void set(AxisAngle4d a1) + { + this.x = a1.x; + this.y = a1.y; + this.z = a1.z; + this.angle = a1.angle; + } + + + /** + * Sets the value of this axis angle to the value of axis angle a1. + * @param a1 the axis angle to be copied + */ + public final void set(AxisAngle4f a1) + { + this.x = a1.x; + this.y = a1.y; + this.z = a1.z; + this.angle = a1.angle; + } + + + /** + * Sets the value of this AxisAngle4d to the specified + * axis and angle. + * @param axis the axis + * @param angle the angle of rotation in radians + * + * @since Java 3D 1.2 + */ + public final void set(Vector3d axis, double angle) { + this.x = axis.x; + this.y = axis.y; + this.z = axis.z; + this.angle = angle; + } + + + /** + * Gets the value of this axis angle and places it into the array a of + * length four in x,y,z,angle order. + * @param a the array of length four + */ + public final void get(double[] a) + { + a[0] = this.x; + a[1] = this.y; + a[2] = this.z; + a[3] = this.angle; + } + + + /** + * Sets the value of this axis-angle to the rotational component of + * the passed matrix. + * If the specified matrix has no rotational component, the value + * of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0). + * + * @param m1 the matrix4f + */ + public final void set(Matrix4f m1) + { + Matrix3d m3d = new Matrix3d(); + + m1.get(m3d); + + x = (float)(m3d.m21 - m3d.m12); + y = (float)(m3d.m02 - m3d.m20); + z = (float)(m3d.m10 - m3d.m01); + double mag = x*x + y*y + z*z; + + if (mag > EPS ) { + mag = Math.sqrt(mag); + double sin = 0.5*mag; + double cos = 0.5*(m3d.m00 + m3d.m11 + m3d.m22 - 1.0); + + angle = (float)Math.atan2(sin, cos); + + double invMag = 1.0/mag; + x = x*invMag; + y = y*invMag; + z = z*invMag; + } else { + x = 0.0f; + y = 1.0f; + z = 0.0f; + angle = 0.0f; + } + } + + + /** + * Sets the value of this axis-angle to the rotational component of + * the passed matrix. + * If the specified matrix has no rotational component, the value + * of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0). + * + * @param m1 the matrix4d + */ + public final void set(Matrix4d m1) + { + Matrix3d m3d = new Matrix3d(); + + m1.get(m3d); + + x = (float)(m3d.m21 - m3d.m12); + y = (float)(m3d.m02 - m3d.m20); + z = (float)(m3d.m10 - m3d.m01); + + double mag = x*x + y*y + z*z; + + if (mag > EPS ) { + mag = Math.sqrt(mag); + + double sin = 0.5*mag; + double cos = 0.5*(m3d.m00 + m3d.m11 + m3d.m22 - 1.0); + angle = (float)Math.atan2(sin, cos); + + double invMag = 1.0/mag; + x = x*invMag; + y = y*invMag; + z = z*invMag; + } else { + x = 0.0f; + y = 1.0f; + z = 0.0f; + angle = 0.0f; + } + } + + + /** + * Sets the value of this axis-angle to the rotational component of + * the passed matrix. + * If the specified matrix has no rotational component, the value + * of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0). + * @param m1 the matrix3f + */ + public final void set(Matrix3f m1) + { + x = (float)(m1.m21 - m1.m12); + y = (float)(m1.m02 - m1.m20); + z = (float)(m1.m10 - m1.m01); + double mag = x*x + y*y + z*z; + + if (mag > EPS ) { + mag = Math.sqrt(mag); + + double sin = 0.5*mag; + double cos = 0.5*(m1.m00 + m1.m11 + m1.m22 - 1.0); + angle = (float)Math.atan2(sin, cos); + + double invMag = 1.0/mag; + x = x*invMag; + y = y*invMag; + z = z*invMag; + } else { + x = 0.0f; + y = 1.0f; + z = 0.0f; + angle = 0.0f; + } + } + + + /** + * Sets the value of this axis-angle to the rotational component of + * the passed matrix. + * If the specified matrix has no rotational component, the value + * of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0). + * @param m1 the matrix3d + */ + public final void set(Matrix3d m1) + { + x = (float)(m1.m21 - m1.m12); + y = (float)(m1.m02 - m1.m20); + z = (float)(m1.m10 - m1.m01); + + double mag = x*x + y*y + z*z; + + if (mag > EPS ) { + mag = Math.sqrt(mag); + + double sin = 0.5*mag; + double cos = 0.5*(m1.m00 + m1.m11 + m1.m22 - 1.0); + + angle = (float)Math.atan2(sin, cos); + + double invMag = 1.0/mag; + x = x*invMag; + y = y*invMag; + z = z*invMag; + } else { + x = 0.0f; + y = 1.0f; + z = 0.0f; + angle = 0.0f; + } + + } + + + + /** + * Sets the value of this axis-angle to the rotational equivalent + * of the passed quaternion. + * If the specified quaternion has no rotational component, the value + * of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0). + * @param q1 the Quat4f + */ + public final void set(Quat4f q1) + { + double mag = q1.x*q1.x + q1.y*q1.y + q1.z*q1.z; + + if( mag > EPS ) { + mag = Math.sqrt(mag); + double invMag = 1.0/mag; + + x = q1.x*invMag; + y = q1.y*invMag; + z = q1.z*invMag; + angle = 2.0*Math.atan2(mag, q1.w); + } else { + x = 0.0f; + y = 1.0f; + z = 0.0f; + angle = 0.0f; + } + } + + + /** + * Sets the value of this axis-angle to the rotational equivalent + * of the passed quaternion. + * If the specified quaternion has no rotational component, the value + * of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0). + * @param q1 the Quat4d + */ + public final void set(Quat4d q1) + { + double mag = q1.x*q1.x + q1.y*q1.y + q1.z*q1.z; + + if ( mag > EPS ) { + mag = Math.sqrt(mag); + double invMag = 1.0/mag; + + x = q1.x*invMag; + y = q1.y*invMag; + z = q1.z*invMag; + angle = 2.0*Math.atan2(mag, q1.w); + } else { + x = 0.0f; + y = 1.0f; + z = 0.0f; + angle = 0f; + } + } + + + /** + * Returns a string that contains the values of this AxisAngle4d. + * The form is (x,y,z,angle). + * @return the String representation + */ + public String toString() { + return "(" + this.x + ", " + this.y + ", " + this.z + ", " + this.angle + ")"; + } + + + /** + * Returns true if all of the data members of AxisAngle4d a1 are + * equal to the corresponding data members in this AxisAngle4d. + * @param a1 the axis-angle with which the comparison is made + * @return true or false + */ + public boolean equals(AxisAngle4d a1) + { + try { + return(this.x == a1.x && this.y == a1.y && this.z == a1.z + && this.angle == a1.angle); + } + catch (NullPointerException e2) {return false;} + + } + /** + * Returns true if the Object o1 is of type AxisAngle4d and all of the + * data members of o1 are equal to the corresponding data members in + * this AxisAngle4d. + * @param o1 the object with which the comparison is made + * @return true or false + */ + public boolean equals(Object o1) + { + try { + AxisAngle4d a2 = (AxisAngle4d) o1; + return(this.x == a2.x && this.y == a2.y && this.z == a2.z + && this.angle == a2.angle); + } + catch (NullPointerException e2) {return false;} + catch (ClassCastException e1) {return false;} + + } + + + /** + * Returns true if the L-infinite distance between this axis-angle + * and axis-angle a1 is less than or equal to the epsilon parameter, + * otherwise returns false. The L-infinite + * distance is equal to + * MAX[abs(x1-x2), abs(y1-y2), abs(z1-z2), abs(angle1-angle2)]. + * @param a1 the axis-angle to be compared to this axis-angle + * @param epsilon the threshold value + */ + public boolean epsilonEquals(AxisAngle4d a1, double epsilon) + { + double diff; + + diff = x - a1.x; + if((diff<0?-diff:diff) > epsilon) return false; + + diff = y - a1.y; + if((diff<0?-diff:diff) > epsilon) return false; + + diff = z - a1.z; + if((diff<0?-diff:diff) > epsilon) return false; + + diff = angle - a1.angle; + if((diff<0?-diff:diff) > epsilon) return false; + + return true; + } + + + /** + * Returns a hash code value based on the data values in this + * object. Two different AxisAngle4d objects with identical data values + * (i.e., AxisAngle4d.equals returns true) will return the same hash + * code value. Two objects with different data members may return the + * same hash value, although this is not likely. + * @return the integer hash code value + */ + public int hashCode() { + long bits = 1L; + bits = 31L * bits + Double.doubleToLongBits(x); + bits = 31L * bits + Double.doubleToLongBits(y); + bits = 31L * bits + Double.doubleToLongBits(z); + bits = 31L * bits + Double.doubleToLongBits(angle); + return (int) (bits ^ (bits >> 32)); + } + + /** + * Creates a new object of the same class as this object. + * + * @return a clone of this instance. + * @exception OutOfMemoryError if there is not enough memory. + * @see java.lang.Cloneable + * @since Java 3D 1.3 + */ + public Object clone() { + // Since there are no arrays we can just use Object.clone() + try { + return super.clone(); + } catch (CloneNotSupportedException e) { + // this shouldn't happen, since we are Cloneable + throw new InternalError(); + } + } + +} |