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-rw-r--r--src/javax/vecmath/Quat4d.java106
1 files changed, 53 insertions, 53 deletions
diff --git a/src/javax/vecmath/Quat4d.java b/src/javax/vecmath/Quat4d.java
index a139f7f..c236eef 100644
--- a/src/javax/vecmath/Quat4d.java
+++ b/src/javax/vecmath/Quat4d.java
@@ -32,7 +32,7 @@
package javax.vecmath;
/**
- * A 4-element quaternion represented by double precision floating
+ * A 4-element quaternion represented by double precision floating
* point x,y,z,w coordinates. The quaternion is always normalized.
*
*/
@@ -65,12 +65,12 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
}
/**
- * Constructs and initializes a Quat4d from the array of length 4.
+ * 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;
+ 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;
@@ -98,12 +98,12 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
}
- /**
- * 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)
- {
+ /**
+ * 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;
@@ -112,12 +112,12 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
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
- */
+
+
+ /**
+ * 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;
@@ -152,7 +152,7 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
/**
- * Negate the value of of each of this quaternion's x,y,z coordinates
+ * Negate the value of of each of this quaternion's x,y,z coordinates
* in place.
*/
public final void conjugate()
@@ -165,7 +165,7 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
/**
* Sets the value of this quaternion to the quaternion product of
- * quaternions q1 and q2 (this = q1 * q2).
+ * 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
@@ -193,12 +193,12 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
/**
* Sets the value of this quaternion to the quaternion product of
- * itself and q1 (this = this * q1).
+ * itself and q1 (this = this * q1).
* @param q1 the other quaternion
*/
public final void mul(Quat4d q1)
{
- double x, y, w;
+ 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;
@@ -207,24 +207,24 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
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
+ * the value into this quaternion. The value of both argument quaternions
* is preservered (this = q1 * q2^-1).
- * @param q1 the first quaternion
+ * @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);
+ */
+ public final void mulInverse(Quat4d q1, Quat4d q2)
+ {
+ Quat4d tempQuat = new Quat4d(q2);
+
+ tempQuat.inverse();
+ this.mul(q1, tempQuat);
}
-
+
/**
@@ -234,7 +234,7 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
* @param q1 the other quaternion
*/
public final void mulInverse(Quat4d q1)
- {
+ {
Quat4d tempQuat = new Quat4d(q1);
tempQuat.inverse();
@@ -263,8 +263,8 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
*/
public final void inverse()
{
- double norm;
-
+ 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;
@@ -328,7 +328,7 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
* the passed matrix.
* @param m1 the matrix4f
*/
- public final void set(Matrix4f m1)
+ public final void set(Matrix4f m1)
{
double ww = 0.25*(m1.m00 + m1.m11 + m1.m22 + m1.m33);
@@ -365,7 +365,7 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
this.z = 1;
return;
}
-
+
this.x = 0;
ww = 0.5*(1.0 - m1.m22);
if (ww >= EPS2) {
@@ -421,7 +421,7 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
this.z = 1;
return;
}
-
+
this.x = 0.0;
ww = 0.5*(1.0 - m1.m22);
if (ww >= EPS2) {
@@ -429,7 +429,7 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
this.z = m1.m21/(2.0*this.y);
return;
}
-
+
this.y = 0;
this.z = 1;
}
@@ -477,19 +477,19 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
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.
@@ -529,10 +529,10 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
} else {
this.x = 0;
this.y = 0;
- this.z = 1;
+ this.z = 1;
return;
}
-
+
this.x = 0;
ww = 0.5*(1.0 - m1.m22);
if (ww >= EPS2) {
@@ -540,12 +540,12 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
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.
@@ -554,7 +554,7 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
public final void set(AxisAngle4f a)
{
double mag,amag;
- // Quat = cos(theta/2) + sin(theta/2)(roation_axis)
+ // 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 ) {
@@ -570,7 +570,7 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
y = a.y*amag*mag;
z = a.z*amag*mag;
}
-
+
}
/**
@@ -581,25 +581,25 @@ public class Quat4d extends Tuple4d implements java.io.Serializable {
public final void set(AxisAngle4d a)
{
double mag,amag;
- // Quat = cos(theta/2) + sin(theta/2)(roation_axis)
-
+ // 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;
+ } 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
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-28 12:47:30 +0000