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+/*
+ * $RCSfile$
+ *
+ * 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 single-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 AxisAngle4f implements java.io.Serializable, Cloneable {
+
+ // Compatible with 1.1
+ static final long serialVersionUID = -163246355858070601L;
+
+ /**
+ * The x coordinate.
+ */
+ public float x;
+
+ /**
+ * The y coordinate.
+ */
+ public float y;
+
+ /**
+ * The z coordinate.
+ */
+ public float z;
+
+ /**
+ * The angle of rotation in radians.
+ */
+ public float angle;
+
+ final static double EPS = 0.000001;
+
+ /**
+ * Constructs and initializes a AxisAngle4f from the specified xyzw coordinates.
+ * @param x the x coordinate
+ * @param y the y coordinate
+ * @param z the z coordinate
+ * @param angle the angle of rotation in radians
+ */
+ public AxisAngle4f(float x, float y, float z, float angle)
+ {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ this.angle = angle;
+ }
+
+
+ /**
+ * Constructs and initializes an AxisAngle4f from the array of length 4.
+ * @param a the array of length 4 containing x,y,z,angle in order
+ */
+ public AxisAngle4f(float[] a)
+ {
+ this.x = a[0];
+ this.y = a[1];
+ this.z = a[2];
+ this.angle = a[3];
+ }
+
+
+ /**
+ * Constructs and initializes an AxisAngle4f from the specified
+ * AxisAngle4f.
+ * @param a1 the AxisAngle4f containing the initialization x y z angle data
+ */
+ public AxisAngle4f(AxisAngle4f a1)
+ {
+ this.x = a1.x;
+ this.y = a1.y;
+ this.z = a1.z;
+ this.angle = a1.angle;
+ }
+
+
+ /**
+ * Constructs and initializes an AxisAngle4f from the specified AxisAngle4d.
+ * @param a1 the AxisAngle4d containing the initialization x y z angle data
+ */
+ public AxisAngle4f(AxisAngle4d a1)
+ {
+ this.x = (float) a1.x;
+ this.y = (float) a1.y;
+ this.z = (float) a1.z;
+ this.angle = (float) a1.angle;
+ }
+
+
+ /**
+ * Constructs and initializes an AxisAngle4f from the specified
+ * axis and angle.
+ * @param axis the axis
+ * @param angle the angle of rotation in radians
+ *
+ * @since Java 3D 1.2
+ */
+ public AxisAngle4f(Vector3f axis, float angle) {
+ this.x = axis.x;
+ this.y = axis.y;
+ this.z = axis.z;
+ this.angle = angle;
+ }
+
+
+ /**
+ * Constructs and initializes an AxisAngle4f to (0,0,1,0).
+ */
+ public AxisAngle4f()
+ {
+ this.x = 0.0f;
+ this.y = 0.0f;
+ this.z = 1.0f;
+ this.angle = 0.0f;
+ }
+
+
+ /**
+ * 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(float x, float y, float z, float angle)
+ {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ this.angle = angle;
+ }
+
+
+ /**
+ * Sets the value of this axis-angle to the specified values in the
+ * array of length 4.
+ * @param a the array of length 4 containing x,y,z,angle in order
+ */
+ public final void set(float[] 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(AxisAngle4f 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(AxisAngle4d a1)
+ {
+ this.x = (float) a1.x;
+ this.y = (float) a1.y;
+ this.z = (float) a1.z;
+ this.angle = (float) a1.angle;
+ }
+
+
+ /**
+ * Sets the value of this AxisAngle4f 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(Vector3f axis, float angle) {
+ this.x = axis.x;
+ this.y = axis.y;
+ this.z = axis.z;
+ this.angle = angle;
+ }
+
+
+ /**
+ * Copies the value of this axis-angle into the array a.
+ * @param a the array
+ */
+ public final void get(float[] 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 equivalent
+ * of the passed quaternion.
+ * If the specified quaternion has no rotational component, the value
+ * of this AxisAngle4f 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 = (float)(q1.x*invMag);
+ y = (float)(q1.y*invMag);
+ z = (float)(q1.z*invMag);
+ angle = (float)(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 AxisAngle4f 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 = (float)(q1.x*invMag);
+ y = (float)(q1.y*invMag);
+ z = (float)(q1.z*invMag);
+ angle = (float)(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 component of
+ * the passed matrix.
+ * If the specified matrix has no rotational component, the value
+ * of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
+ * @param m1 the matrix4f
+ */
+ public final void set(Matrix4f m1)
+ {
+ Matrix3f m3f = new Matrix3f();
+
+ m1.get(m3f);
+
+ x = m3f.m21 - m3f.m12;
+ y = m3f.m02 - m3f.m20;
+ z = m3f.m10 - m3f.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*(m3f.m00 + m3f.m11 + m3f.m22 - 1.0);
+
+ angle = (float)Math.atan2(sin, cos);
+ double invMag = 1.0/mag;
+ x = (float)(x*invMag);
+ y = (float)(y*invMag);
+ z = (float)(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 AxisAngle4f 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 = (float)(x*invMag);
+ y = (float)(y*invMag);
+ z = (float)(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 AxisAngle4f 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 = (float)(x*invMag);
+ y = (float)(y*invMag);
+ z = (float)(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 AxisAngle4f 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 = (float)(x*invMag);
+ y = (float)(y*invMag);
+ z = (float)(z*invMag);
+ } else {
+ x = 0.0f;
+ y = 1.0f;
+ z = 0.0f;
+ angle = 0.0f;
+ }
+ }
+
+
+ /**
+ * Returns a string that contains the values of this AxisAngle4f.
+ * 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 AxisAngle4f a1 are
+ * equal to the corresponding data members in this AxisAngle4f.
+ * @param a1 the axis-angle with which the comparison is made
+ * @return true or false
+ */
+ public boolean equals(AxisAngle4f 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 AxisAngle4f and all of the
+ * data members of o1 are equal to the corresponding data members in
+ * this AxisAngle4f.
+ * @param o1 the object with which the comparison is made
+ * @return true or false
+ */
+ public boolean equals(Object o1)
+ {
+ try {
+ AxisAngle4f a2 = (AxisAngle4f) 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(AxisAngle4f a1, float epsilon)
+ {
+ float 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 AxisAngle4f objects with identical data values
+ * (i.e., AxisAngle4f.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 + (long)Float.floatToIntBits(x);
+ bits = 31L * bits + (long)Float.floatToIntBits(y);
+ bits = 31L * bits + (long)Float.floatToIntBits(z);
+ bits = 31L * bits + (long)Float.floatToIntBits(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();
+ }
+ }
+
+}
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