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-/*
- * Copyright 1997-2008 Sun Microsystems, Inc. All Rights Reserved.
- * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
- *
- * This code is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 only, as
- * published by the Free Software Foundation. Sun designates this
- * particular file as subject to the "Classpath" exception as provided
- * by Sun in the LICENSE file that accompanied this code.
- *
- * This code is distributed in the hope that it will be useful, but WITHOUT
- * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
- * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * version 2 for more details (a copy is included in the LICENSE file that
- * accompanied this code).
- *
- * You should have received a copy of the GNU General Public License version
- * 2 along with this work; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
- *
- * Please contact Sun Microsystems, Inc., 4150 Network Circle, Santa Clara,
- * CA 95054 USA or visit www.sun.com if you need additional information or
- * have any questions.
- *
- */
-
-package javax.vecmath;
-
-/**
- * A 4-element quaternion represented by double precision floating
- * point x,y,z,w coordinates. The quaternion is always normalized.
- *
- */
-public class Quat4d extends Tuple4d implements java.io.Serializable {
-
- // Combatible with 1.1
- static final long serialVersionUID = 7577479888820201099L;
-
- // Fixed to issue 538
- final static double EPS = 1.0e-12;
- final static double EPS2 = 1.0e-30;
- final static double PIO2 = 1.57079632679;
-
- /**
- * Constructs and initializes a Quat4d from the specified xyzw coordinates.
- * @param x the x coordinate
- * @param y the y coordinate
- * @param z the z coordinate
- * @param w the w scalar component
- */
- public Quat4d(double x, double y, double z, double w)
- {
- double mag;
- mag = 1.0/Math.sqrt( x*x + y*y + z*z + w*w );
- this.x = x*mag;
- this.y = y*mag;
- this.z = z*mag;
- this.w = w*mag;
-
- }
-
- /**
- * Constructs and initializes a Quat4d from the array of length 4.
- * @param q the array of length 4 containing xyzw in order
- */
- public Quat4d(double[] q)
- {
- double mag;
- mag = 1.0/Math.sqrt( q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3] );
- x = q[0]*mag;
- y = q[1]*mag;
- z = q[2]*mag;
- w = q[3]*mag;
-
- }
-
- /**
- * Constructs and initializes a Quat4d from the specified Quat4d.
- * @param q1 the Quat4d containing the initialization x y z w data
- */
- public Quat4d(Quat4d q1)
- {
- super(q1);
- }
-
- /**
- * Constructs and initializes a Quat4d from the specified Quat4f.
- * @param q1 the Quat4f containing the initialization x y z w data
- */
- public Quat4d(Quat4f q1)
- {
- super(q1);
- }
-
-
- /**
- * Constructs and initializes a Quat4d from the specified Tuple4f.
- * @param t1 the Tuple4f containing the initialization x y z w data
- */
- public Quat4d(Tuple4f t1)
- {
- double mag;
- mag = 1.0/Math.sqrt( t1.x*t1.x + t1.y*t1.y + t1.z*t1.z + t1.w*t1.w );
- x = t1.x*mag;
- y = t1.y*mag;
- z = t1.z*mag;
- w = t1.w*mag;
-
- }
-
-
- /**
- * Constructs and initializes a Quat4d from the specified Tuple4d.
- * @param t1 the Tuple4d containing the initialization x y z w data
- */
- public Quat4d(Tuple4d t1)
- {
- double mag;
- mag = 1.0/Math.sqrt( t1.x*t1.x + t1.y*t1.y + t1.z*t1.z + t1.w*t1.w );
- x = t1.x*mag;
- y = t1.y*mag;
- z = t1.z*mag;
- w = t1.w*mag;
- }
-
-
- /**
- * Constructs and initializes a Quat4d to (0,0,0,0).
- */
- public Quat4d()
- {
- super();
- }
-
-
- /**
- * Sets the value of this quaternion to the conjugate of quaternion q1.
- * @param q1 the source vector
- */
- public final void conjugate(Quat4d q1)
- {
- this.x = -q1.x;
- this.y = -q1.y;
- this.z = -q1.z;
- this.w = q1.w;
- }
-
-
- /**
- * Negate the value of of each of this quaternion's x,y,z coordinates
- * in place.
- */
- public final void conjugate()
- {
- this.x = -this.x;
- this.y = -this.y;
- this.z = -this.z;
- }
-
-
- /**
- * Sets the value of this quaternion to the quaternion product of
- * quaternions q1 and q2 (this = q1 * q2).
- * Note that this is safe for aliasing (e.g. this can be q1 or q2).
- * @param q1 the first quaternion
- * @param q2 the second quaternion
- */
- public final void mul(Quat4d q1, Quat4d q2)
- {
- if (this != q1 && this != q2) {
- this.w = q1.w*q2.w - q1.x*q2.x - q1.y*q2.y - q1.z*q2.z;
- this.x = q1.w*q2.x + q2.w*q1.x + q1.y*q2.z - q1.z*q2.y;
- this.y = q1.w*q2.y + q2.w*q1.y - q1.x*q2.z + q1.z*q2.x;
- this.z = q1.w*q2.z + q2.w*q1.z + q1.x*q2.y - q1.y*q2.x;
- } else {
- double x, y, w;
-
- w = q1.w*q2.w - q1.x*q2.x - q1.y*q2.y - q1.z*q2.z;
- x = q1.w*q2.x + q2.w*q1.x + q1.y*q2.z - q1.z*q2.y;
- y = q1.w*q2.y + q2.w*q1.y - q1.x*q2.z + q1.z*q2.x;
- this.z = q1.w*q2.z + q2.w*q1.z + q1.x*q2.y - q1.y*q2.x;
- this.w = w;
- this.x = x;
- this.y = y;
- }
- }
-
-
- /**
- * Sets the value of this quaternion to the quaternion product of
- * itself and q1 (this = this * q1).
- * @param q1 the other quaternion
- */
- public final void mul(Quat4d q1)
- {
- double x, y, w;
-
- w = this.w*q1.w - this.x*q1.x - this.y*q1.y - this.z*q1.z;
- x = this.w*q1.x + q1.w*this.x + this.y*q1.z - this.z*q1.y;
- y = this.w*q1.y + q1.w*this.y - this.x*q1.z + this.z*q1.x;
- this.z = this.w*q1.z + q1.w*this.z + this.x*q1.y - this.y*q1.x;
- this.w = w;
- this.x = x;
- this.y = y;
- }
-
-
- /**
- * Multiplies quaternion q1 by the inverse of quaternion q2 and places
- * the value into this quaternion. The value of both argument quaternions
- * is preservered (this = q1 * q2^-1).
- * @param q1 the first quaternion
- * @param q2 the second quaternion
- */
- public final void mulInverse(Quat4d q1, Quat4d q2)
- {
- Quat4d tempQuat = new Quat4d(q2);
-
- tempQuat.inverse();
- this.mul(q1, tempQuat);
- }
-
-
-
- /**
- * Multiplies this quaternion by the inverse of quaternion q1 and places
- * the value into this quaternion. The value of the argument quaternion
- * is preserved (this = this * q^-1).
- * @param q1 the other quaternion
- */
- public final void mulInverse(Quat4d q1)
- {
- Quat4d tempQuat = new Quat4d(q1);
-
- tempQuat.inverse();
- this.mul(tempQuat);
- }
-
-
- /**
- * Sets the value of this quaternion to quaternion inverse of quaternion q1.
- * @param q1 the quaternion to be inverted
- */
- public final void inverse(Quat4d q1)
- {
- double norm;
-
- norm = 1.0/(q1.w*q1.w + q1.x*q1.x + q1.y*q1.y + q1.z*q1.z);
- this.w = norm*q1.w;
- this.x = -norm*q1.x;
- this.y = -norm*q1.y;
- this.z = -norm*q1.z;
- }
-
-
- /**
- * Sets the value of this quaternion to the quaternion inverse of itself.
- */
- public final void inverse()
- {
- double norm;
-
- norm = 1.0/(this.w*this.w + this.x*this.x + this.y*this.y + this.z*this.z);
- this.w *= norm;
- this.x *= -norm;
- this.y *= -norm;
- this.z *= -norm;
- }
-
-
- /**
- * Sets the value of this quaternion to the normalized value
- * of quaternion q1.
- * @param q1 the quaternion to be normalized.
- */
- public final void normalize(Quat4d q1)
- {
- double norm;
-
- norm = (q1.x*q1.x + q1.y*q1.y + q1.z*q1.z + q1.w*q1.w);
-
- if (norm > 0.0) {
- norm = 1.0/Math.sqrt(norm);
- this.x = norm*q1.x;
- this.y = norm*q1.y;
- this.z = norm*q1.z;
- this.w = norm*q1.w;
- } else {
- this.x = 0.0;
- this.y = 0.0;
- this.z = 0.0;
- this.w = 0.0;
- }
- }
-
-
- /**
- * Normalizes the value of this quaternion in place.
- */
- public final void normalize()
- {
- double norm;
-
- norm = (this.x*this.x + this.y*this.y + this.z*this.z + this.w*this.w);
-
- if (norm > 0.0) {
- norm = 1.0 / Math.sqrt(norm);
- this.x *= norm;
- this.y *= norm;
- this.z *= norm;
- this.w *= norm;
- } else {
- this.x = 0.0;
- this.y = 0.0;
- this.z = 0.0;
- this.w = 0.0;
- }
- }
-
-
- /**
- * Sets the value of this quaternion to the rotational component of
- * the passed matrix.
- * @param m1 the matrix4f
- */
- public final void set(Matrix4f m1)
- {
- double ww = 0.25*(m1.m00 + m1.m11 + m1.m22 + m1.m33);
-
- if (ww >= 0) {
- if (ww >= EPS2) {
- this.w = Math.sqrt(ww);
- ww = 0.25/this.w;
- this.x = ((m1.m21 - m1.m12)*ww);
- this.y = ((m1.m02 - m1.m20)*ww);
- this.z = ((m1.m10 - m1.m01)*ww);
- return;
- }
- } else {
- this.w = 0;
- this.x = 0;
- this.y = 0;
- this.z = 1;
- return;
- }
-
- this.w = 0;
- ww = -0.5*(m1.m11 + m1.m22);
- if (ww >= 0) {
- if (ww >= EPS2) {
- this.x = Math.sqrt(ww);
- ww = 1.0/(2.0*this.x);
- this.y = (m1.m10*ww);
- this.z = (m1.m20*ww);
- return;
- }
- } else {
- this.x = 0;
- this.y = 0;
- this.z = 1;
- return;
- }
-
- this.x = 0;
- ww = 0.5*(1.0 - m1.m22);
- if (ww >= EPS2) {
- this.y = Math.sqrt(ww);
- this.z = (m1.m21)/(2.0*this.y);
- return;
- }
-
- this.y = 0;
- this.z = 1;
- }
-
-
- /**
- * Sets the value of this quaternion to the rotational component of
- * the passed matrix.
- * @param m1 the matrix4d
- */
- public final void set(Matrix4d m1)
- {
- double ww = 0.25*(m1.m00 + m1.m11 + m1.m22 + m1.m33);
-
- if (ww >= 0) {
- if (ww >= EPS2) {
- this.w = Math.sqrt(ww);
- ww = 0.25/this.w;
- this.x = (m1.m21 - m1.m12)*ww;
- this.y = (m1.m02 - m1.m20)*ww;
- this.z = (m1.m10 - m1.m01)*ww;
- return;
- }
- } else {
- this.w = 0;
- this.x = 0;
- this.y = 0;
- this.z = 1;
- return;
- }
-
- this.w = 0;
- ww = -0.5*(m1.m11 + m1.m22);
- if (ww >= 0) {
- if (ww >= EPS2){
- this.x = Math.sqrt(ww);
- ww = 0.5/this.x;
- this.y = m1.m10*ww;
- this.z = m1.m20*ww;
- return;
- }
- } else {
- this.x = 0;
- this.y = 0;
- this.z = 1;
- return;
- }
-
- this.x = 0.0;
- ww = 0.5*(1.0 - m1.m22);
- if (ww >= EPS2) {
- this.y = Math.sqrt(ww);
- this.z = m1.m21/(2.0*this.y);
- return;
- }
-
- this.y = 0;
- this.z = 1;
- }
-
-
- /**
- * Sets the value of this quaternion to the rotational component of
- * the passed matrix.
- * @param m1 the matrix3f
- */
- public final void set(Matrix3f m1)
- {
- double ww = 0.25*(m1.m00 + m1.m11 + m1.m22 + 1.0);
-
- if (ww >= 0) {
- if (ww >= EPS2) {
- this.w = Math.sqrt(ww);
- ww = 0.25/this.w;
- this.x = ((m1.m21 - m1.m12)*ww);
- this.y = ((m1.m02 - m1.m20)*ww);
- this.z = ((m1.m10 - m1.m01)*ww);
- return;
- }
- } else {
- this.w = 0;
- this.x = 0;
- this.y = 0;
- this.z = 1;
- return;
- }
-
- this.w = 0;
- ww = -0.5*(m1.m11 + m1.m22);
- if (ww >= 0) {
- if (ww >= EPS2) {
- this.x = Math.sqrt(ww);
- ww = 0.5/this.x;
- this.y = (m1.m10*ww);
- this.z = (m1.m20*ww);
- return;
- }
- } else {
- this.x = 0;
- this.y = 0;
- this.z = 1;
- return;
- }
-
- this.x = 0;
- ww = 0.5*(1.0 - m1.m22);
- if (ww >= EPS2) {
- this.y = Math.sqrt(ww);
- this.z = (m1.m21/(2.0*this.y));
- }
-
- this.y = 0;
- this.z = 1;
- }
-
-
- /**
- * Sets the value of this quaternion to the rotational component of
- * the passed matrix.
- * @param m1 the matrix3d
- */
- public final void set(Matrix3d m1)
- {
- double ww = 0.25*(m1.m00 + m1.m11 + m1.m22 + 1.0);
-
- if (ww >= 0) {
- if (ww >= EPS2) {
- this.w = Math.sqrt(ww);
- ww = 0.25/this.w;
- this.x = (m1.m21 - m1.m12)*ww;
- this.y = (m1.m02 - m1.m20)*ww;
- this.z = (m1.m10 - m1.m01)*ww;
- return;
- }
- } else {
- this.w = 0;
- this.x = 0;
- this.y = 0;
- this.z = 1;
- return;
- }
-
- this.w = 0;
- ww = -0.5*(m1.m11 + m1.m22);
- if (ww >= 0) {
- if (ww >= EPS2) {
- this.x = Math.sqrt(ww);
- ww = 0.5/this.x;
- this.y = m1.m10*ww;
- this.z = m1.m20*ww;
- return;
- }
- } else {
- this.x = 0;
- this.y = 0;
- this.z = 1;
- return;
- }
-
- this.x = 0;
- ww = 0.5*(1.0 - m1.m22);
- if (ww >= EPS2) {
- this.y = Math.sqrt(ww);
- this.z = m1.m21/(2.0*this.y);
- return;
- }
-
- this.y = 0;
- this.z = 1;
- }
-
-
- /**
- * Sets the value of this quaternion to the equivalent rotation
- * of the AxisAngle argument.
- * @param a the AxisAngle to be emulated
- */
- public final void set(AxisAngle4f a)
- {
- double mag,amag;
- // Quat = cos(theta/2) + sin(theta/2)(roation_axis)
-
- amag = Math.sqrt( a.x*a.x + a.y*a.y + a.z*a.z);
- if( amag < EPS ) {
- w = 0.0;
- x = 0.0;
- y = 0.0;
- z = 0.0;
- } else {
- mag = Math.sin(a.angle/2.0);
- amag = 1.0/amag;
- w = Math.cos(a.angle/2.0);
- x = a.x*amag*mag;
- y = a.y*amag*mag;
- z = a.z*amag*mag;
- }
-
- }
-
- /**
- * Sets the value of this quaternion to the equivalent rotation
- * of the AxisAngle argument.
- * @param a the AxisAngle to be emulated
- */
- public final void set(AxisAngle4d a)
- {
- double mag,amag;
- // Quat = cos(theta/2) + sin(theta/2)(roation_axis)
-
- amag = Math.sqrt( a.x*a.x + a.y*a.y + a.z*a.z);
- if( amag < EPS ) {
- w = 0.0;
- x = 0.0;
- y = 0.0;
- z = 0.0;
- } else {
- amag = 1.0/amag;
- mag = Math.sin(a.angle/2.0);
- w = Math.cos(a.angle/2.0);
- x = a.x*amag*mag;
- y = a.y*amag*mag;
- z = a.z*amag*mag;
- }
-
- }
-
- /**
- * Performs a great circle interpolation between this quaternion
- * and the quaternion parameter and places the result into this
- * quaternion.
- * @param q1 the other quaternion
- * @param alpha the alpha interpolation parameter
- */
- public final void interpolate(Quat4d q1, double alpha) {
- // From "Advanced Animation and Rendering Techniques"
- // by Watt and Watt pg. 364, function as implemented appeared to be
- // incorrect. Fails to choose the same quaternion for the double
- // covering. Resulting in change of direction for rotations.
- // Fixed function to negate the first quaternion in the case that the
- // dot product of q1 and this is negative. Second case was not needed.
- double dot,s1,s2,om,sinom;
-
- dot = x*q1.x + y*q1.y + z*q1.z + w*q1.w;
-
- if ( dot < 0 ) {
- // negate quaternion
- q1.x = -q1.x; q1.y = -q1.y; q1.z = -q1.z; q1.w = -q1.w;
- dot = -dot;
- }
-
- if ( (1.0 - dot) > EPS ) {
- om = Math.acos(dot);
- sinom = Math.sin(om);
- s1 = Math.sin((1.0-alpha)*om)/sinom;
- s2 = Math.sin( alpha*om)/sinom;
- } else{
- s1 = 1.0 - alpha;
- s2 = alpha;
- }
-
- w = s1*w + s2*q1.w;
- x = s1*x + s2*q1.x;
- y = s1*y + s2*q1.y;
- z = s1*z + s2*q1.z;
- }
-
-/**
- * Performs a great circle interpolation between quaternion q1
- * and quaternion q2 and places the result into this quaternion.
- * @param q1 the first quaternion
- * @param q2 the second quaternion
- * @param alpha the alpha interpolation parameter
- */
- public final void interpolate(Quat4d q1, Quat4d q2, double alpha) {
- // From "Advanced Animation and Rendering Techniques"
- // by Watt and Watt pg. 364, function as implemented appeared to be
- // incorrect. Fails to choose the same quaternion for the double
- // covering. Resulting in change of direction for rotations.
- // Fixed function to negate the first quaternion in the case that the
- // dot product of q1 and this is negative. Second case was not needed.
- double dot,s1,s2,om,sinom;
-
- dot = q2.x*q1.x + q2.y*q1.y + q2.z*q1.z + q2.w*q1.w;
-
- if ( dot < 0 ) {
- // negate quaternion
- q1.x = -q1.x; q1.y = -q1.y; q1.z = -q1.z; q1.w = -q1.w;
- dot = -dot;
- }
-
- if ( (1.0 - dot) > EPS ) {
- om = Math.acos(dot);
- sinom = Math.sin(om);
- s1 = Math.sin((1.0-alpha)*om)/sinom;
- s2 = Math.sin( alpha*om)/sinom;
- } else{
- s1 = 1.0 - alpha;
- s2 = alpha;
- }
- w = s1*q1.w + s2*q2.w;
- x = s1*q1.x + s2*q2.x;
- y = s1*q1.y + s2*q2.y;
- z = s1*q1.z + s2*q2.z;
- }
-
-}
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