summaryrefslogtreecommitdiffstats
path: root/src/javax/vecmath/Quat4f.java
diff options
context:
space:
mode:
Diffstat (limited to 'src/javax/vecmath/Quat4f.java')
-rw-r--r--src/javax/vecmath/Quat4f.java126
1 files changed, 63 insertions, 63 deletions
diff --git a/src/javax/vecmath/Quat4f.java b/src/javax/vecmath/Quat4f.java
index d0b6129..b7e3b95 100644
--- a/src/javax/vecmath/Quat4f.java
+++ b/src/javax/vecmath/Quat4f.java
@@ -34,7 +34,7 @@ package javax.vecmath;
import java.lang.Math;
/**
- * A 4 element unit quaternion represented by single precision floating
+ * A 4 element unit quaternion represented by single precision floating
* point x,y,z,w coordinates. The quaternion is always normalized.
*
*/
@@ -66,7 +66,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
}
/**
- * Constructs and initializes a Quat4f from the array of length 4.
+ * Constructs and initializes a Quat4f from the array of length 4.
* @param q the array of length 4 containing xyzw in order
*/
public Quat4f(float[] q)
@@ -100,12 +100,12 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
}
- /**
- * Constructs and initializes a Quat4f from the specified Tuple4f.
- * @param t1 the Tuple4f containing the initialization x y z w data
- */
- public Quat4f(Tuple4f t1)
- {
+ /**
+ * Constructs and initializes a Quat4f from the specified Tuple4f.
+ * @param t1 the Tuple4f containing the initialization x y z w data
+ */
+ public Quat4f(Tuple4f t1)
+ {
float mag;
mag = (float)(1.0/Math.sqrt( t1.x*t1.x + t1.y*t1.y + t1.z*t1.z + t1.w*t1.w ));
x = t1.x*mag;
@@ -114,12 +114,12 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
w = t1.w*mag;
}
-
-
- /**
- * Constructs and initializes a Quat4f from the specified Tuple4d.
- * @param t1 the Tuple4d containing the initialization x y z w data
- */
+
+
+ /**
+ * Constructs and initializes a Quat4f from the specified Tuple4d.
+ * @param t1 the Tuple4d containing the initialization x y z w data
+ */
public Quat4f(Tuple4d t1)
{
double mag;
@@ -165,7 +165,7 @@ public class Quat4f extends Tuple4f 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 Quat4f extends Tuple4f 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(Quat4f q1)
{
- float x, y, w;
+ float 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 Quat4f extends Tuple4f 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 q2 the second quaternion
- */
- public final void mulInverse(Quat4f q1, Quat4f q2)
- {
- Quat4f tempQuat = new Quat4f(q2);
-
- tempQuat.inverse();
- this.mul(q1, tempQuat);
+ */
+ public final void mulInverse(Quat4f q1, Quat4f q2)
+ {
+ Quat4f tempQuat = new Quat4f(q2);
+
+ tempQuat.inverse();
+ this.mul(q1, tempQuat);
}
-
+
/**
@@ -234,7 +234,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
* @param q1 the other quaternion
*/
public final void mulInverse(Quat4f q1)
- {
+ {
Quat4f tempQuat = new Quat4f(q1);
tempQuat.inverse();
@@ -264,8 +264,8 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
*/
public final void inverse()
{
- float norm;
-
+ float norm;
+
norm = 1.0f/(this.w*this.w + this.x*this.x + this.y*this.y + this.z*this.z);
this.w *= norm;
this.x *= -norm;
@@ -329,7 +329,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
* the passed matrix.
* @param m1 the Matrix4f
*/
- public final void set(Matrix4f m1)
+ public final void set(Matrix4f m1)
{
float ww = 0.25f*(m1.m00 + m1.m11 + m1.m22 + m1.m33);
@@ -341,7 +341,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
this.y = (m1.m02 - m1.m20)*ww;
this.z = (m1.m10 - m1.m01)*ww;
return;
- }
+ }
} else {
this.w = 0;
this.x = 0;
@@ -352,7 +352,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
this.w = 0;
ww = -0.5f*(m1.m11 + m1.m22);
-
+
if (ww >= 0) {
if (ww >= EPS2) {
this.x = (float) Math.sqrt((double) ww);
@@ -367,7 +367,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
this.z = 1;
return;
}
-
+
this.x = 0;
ww = 0.5f*(1.0f - m1.m22);
@@ -376,7 +376,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
this.z = m1.m21/(2.0f*this.y);
return;
}
-
+
this.y = 0;
this.z = 1;
}
@@ -417,14 +417,14 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
this.y = (float)(m1.m10*ww);
this.z = (float)(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) {
@@ -432,7 +432,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
this.z = (float) (m1.m21/(2.0*(double)(this.y)));
return;
}
-
+
this.y = 0;
this.z = 1;
}
@@ -488,7 +488,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
this.z = m1.m21/(2.0f*this.y);
return;
}
-
+
this.y = 0;
this.z = 1;
}
@@ -536,7 +536,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
this.z = 1;
return;
}
-
+
this.x = 0;
ww = 0.5*(1.0 - m1.m22);
if (ww >= EPS2) {
@@ -544,7 +544,7 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
this.z = (float) (m1.m21/(2.0*(double)(this.y)));
return;
}
-
+
this.y = 0;
this.z = 1;
}
@@ -558,15 +558,15 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
public final void set(AxisAngle4f a)
{
float mag,amag;
- // Quat = cos(theta/2) + sin(theta/2)(roation_axis)
+ // Quat = cos(theta/2) + sin(theta/2)(roation_axis)
amag = (float)Math.sqrt( a.x*a.x + a.y*a.y + a.z*a.z);
if (amag < EPS ) {
w = 0.0f;
x = 0.0f;
y = 0.0f;
z = 0.0f;
- } else {
- amag = 1.0f/amag;
+ } else {
+ amag = 1.0f/amag;
mag = (float)Math.sin(a.angle/2.0);
w = (float)Math.cos(a.angle/2.0);
x = a.x*amag*mag;
@@ -584,26 +584,26 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
public final void set(AxisAngle4d a)
{
float mag,amag;
- // Quat = cos(theta/2) + sin(theta/2)(roation_axis)
-
+ // Quat = cos(theta/2) + sin(theta/2)(roation_axis)
+
amag = (float)(1.0/Math.sqrt( a.x*a.x + a.y*a.y + a.z*a.z));
-
+
if (amag < EPS ) {
w = 0.0f;
x = 0.0f;
y = 0.0f;
z = 0.0f;
- } else {
- amag = 1.0f/amag;
+ } else {
+ amag = 1.0f/amag;
mag = (float)Math.sin(a.angle/2.0);
w = (float)Math.cos(a.angle/2.0);
x = (float)a.x*amag*mag;
y = (float)a.y*amag*mag;
z = (float)a.z*amag*mag;
}
-
+
}
-
+
/**
* Performs a great circle interpolation between this quaternion
@@ -614,12 +614,12 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
*/
public final void interpolate(Quat4f q1, float alpha) {
// From "Advanced Animation and Rendering Techniques"
- // by Watt and Watt pg. 364, function as implemented appeared to be
+ // 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.
-
+ // 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;
@@ -648,25 +648,25 @@ public class Quat4f extends Tuple4f implements java.io.Serializable {
- /**
+ /**
* Performs a great circle interpolation between quaternion q1
- * and quaternion q2 and places the result into this quaternion.
+ * 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(Quat4f q1, Quat4f q2, float alpha) {
+ * @param alpha the alpha interpolation parameter
+ */
+ public final void interpolate(Quat4f q1, Quat4f q2, float alpha) {
// From "Advanced Animation and Rendering Techniques"
- // by Watt and Watt pg. 364, function as implemented appeared to be
+ // 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.
+ // 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;
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-29 00:46:46 +0000