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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 org.jogamp.vecmath;
+
+/**
+ * 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;
+
+ // Fixed to issue 538
+ final static double EPS = 1.0e-12;
+
+ /**
+ * 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 vecmath 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 vecmath 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
+ */
+ @Override
+ 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
+ */
+ @Override
+ 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
+ */
+ @Override
+ public int hashCode() {
+ long bits = 1L;
+ bits = VecMathUtil.hashDoubleBits(bits, x);
+ bits = VecMathUtil.hashDoubleBits(bits, y);
+ bits = VecMathUtil.hashDoubleBits(bits, z);
+ bits = VecMathUtil.hashDoubleBits(bits, angle);
+ return VecMathUtil.hashFinish(bits);
+ }
+
+ /**
+ * 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 vecmath 1.3
+ */
+ @Override
+ 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();
+ }
+ }
+
+
+ /**
+ * Get the axis angle, in radians.<br>
+ * An axis angle is a rotation angle about the vector (x,y,z).
+ *
+ * @return the angle, in radians.
+ *
+ * @since vecmath 1.5
+ */
+ public final double getAngle() {
+ return angle;
+ }
+
+
+ /**
+ * Set the axis angle, in radians.<br>
+ * An axis angle is a rotation angle about the vector (x,y,z).
+ *
+ * @param angle The angle to set, in radians.
+ *
+ * @since vecmath 1.5
+ */
+ public final void setAngle(double angle) {
+ this.angle = angle;
+ }
+
+
+ /**
+ * Get value of <i>x</i> coordinate.
+ *
+ * @return the <i>x</i> coordinate.
+ *
+ * @since vecmath 1.5
+ */
+ public double getX() {
+ return x;
+ }
+
+
+ /**
+ * Set a new value for <i>x</i> coordinate.
+ *
+ * @param x the <i>x</i> coordinate.
+ *
+ * @since vecmath 1.5
+ */
+ public final void setX(double x) {
+ this.x = x;
+ }
+
+
+ /**
+ * Get value of <i>y</i> coordinate.
+ *
+ * @return the <i>y</i> coordinate.
+ *
+ * @since vecmath 1.5
+ */
+ public final double getY() {
+ return y;
+ }
+
+
+ /**
+ * Set a new value for <i>y</i> coordinate.
+ *
+ * @param y the <i>y</i> coordinate.
+ *
+ * @since vecmath 1.5
+ */
+ public final void setY(double y) {
+ this.y = y;
+ }
+
+
+ /**
+ * Get value of <i>z</i> coordinate.
+ *
+ * @return the <i>z</i> coordinate.
+ *
+ * @since vecmath 1.5
+ */
+ public double getZ() {
+ return z;
+ }
+
+
+ /**
+ * Set a new value for <i>z</i> coordinate.
+ *
+ * @param z the <i>z</i> coordinate.
+ *
+ * @since vecmath 1.5
+ */
+ public final void setZ(double z) {
+ this.z = z;
+ }
+
+}
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