diff options
Diffstat (limited to 'turtle2d/src/com/jogamp/graph/math/Quaternion.java')
| -rwxr-xr-x | turtle2d/src/com/jogamp/graph/math/Quaternion.java | 382 |
1 files changed, 0 insertions, 382 deletions
diff --git a/turtle2d/src/com/jogamp/graph/math/Quaternion.java b/turtle2d/src/com/jogamp/graph/math/Quaternion.java deleted file mode 100755 index b77a5fa08..000000000 --- a/turtle2d/src/com/jogamp/graph/math/Quaternion.java +++ /dev/null @@ -1,382 +0,0 @@ -/**
- * Copyright 2010 JogAmp Community. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification, are
- * permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this list of
- * conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice, this list
- * of conditions and the following disclaimer in the documentation and/or other materials
- * provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY JogAmp Community ``AS IS'' AND ANY EXPRESS OR IMPLIED
- * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
- * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL JogAmp Community OR
- * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
- * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
- * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- * The views and conclusions contained in the software and documentation are those of the
- * authors and should not be interpreted as representing official policies, either expressed
- * or implied, of JogAmp Community.
- */
-package com.jogamp.graph.math;
-
-import jogamp.graph.math.MathFloat;
-
-public class Quaternion {
- protected float x,y,z,w;
-
- public Quaternion(){
-
- }
-
- public Quaternion(float x, float y, float z, float w) {
- this.x = x;
- this.y = y;
- this.z = z;
- this.w = w;
- }
-
- /** Constructor to create a rotation based quaternion from two vectors
- * @param vector1
- * @param vector2
- */
- public Quaternion(float[] vector1, float[] vector2)
- {
- float theta = (float)MathFloat.acos(dot(vector1, vector2));
- float[] cross = cross(vector1,vector2);
- cross = normalizeVec(cross);
-
- this.x = (float)MathFloat.sin(theta/2)*cross[0];
- this.y = (float)MathFloat.sin(theta/2)*cross[1];
- this.z = (float)MathFloat.sin(theta/2)*cross[2];
- this.w = (float)MathFloat.cos(theta/2);
- this.normalize();
- }
-
- /** Transform the rotational quaternion to axis based rotation angles
- * @return new float[4] with ,theta,Rx,Ry,Rz
- */
- public float[] toAxis()
- {
- float[] vec = new float[4];
- float scale = (float)MathFloat.sqrt(x * x + y * y + z * z);
- vec[0] =(float) MathFloat.acos(w) * 2.0f;
- vec[1] = x / scale;
- vec[2] = y / scale;
- vec[3] = z / scale;
- return vec;
- }
-
- /** Normalize a vector
- * @param vector input vector
- * @return normalized vector
- */
- private float[] normalizeVec(float[] vector)
- {
- float[] newVector = new float[3];
-
- float d = MathFloat.sqrt(vector[0]*vector[0] + vector[1]*vector[1] + vector[2]*vector[2]);
- if(d> 0.0f)
- {
- newVector[0] = vector[0]/d;
- newVector[1] = vector[1]/d;
- newVector[2] = vector[2]/d;
- }
- return newVector;
- }
- /** compute the dot product of two points
- * @param vec1 vector 1
- * @param vec2 vector 2
- * @return the dot product as float
- */
- private float dot(float[] vec1, float[] vec2)
- {
- return (vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2]);
- }
- /** cross product vec1 x vec2
- * @param vec1 vector 1
- * @param vec2 vecttor 2
- * @return the resulting vector
- */
- private float[] cross(float[] vec1, float[] vec2)
- {
- float[] out = new float[3];
-
- out[0] = vec2[2]*vec1[1] - vec2[1]*vec1[2];
- out[1] = vec2[0]*vec1[2] - vec2[2]*vec1[0];
- out[2] = vec2[1]*vec1[0] - vec2[0]*vec1[1];
-
- return out;
- }
- public float getW() {
- return w;
- }
- public void setW(float w) {
- this.w = w;
- }
- public float getX() {
- return x;
- }
- public void setX(float x) {
- this.x = x;
- }
- public float getY() {
- return y;
- }
- public void setY(float y) {
- this.y = y;
- }
- public float getZ() {
- return z;
- }
- public void setZ(float z) {
- this.z = z;
- }
-
- /** Add a quaternion
- * @param q quaternion
- */
- public void add(Quaternion q)
- {
- x+=q.x;
- y+=q.y;
- z+=q.z;
- }
-
- /** Subtract a quaternion
- * @param q quaternion
- */
- public void subtract(Quaternion q)
- {
- x-=q.x;
- y-=q.y;
- z-=q.z;
- }
-
- /** Divide a quaternion by a constant
- * @param n a float to divide by
- */
- public void divide(float n)
- {
- x/=n;
- y/=n;
- z/=n;
- }
-
- /** Multiply this quaternion by
- * the param quaternion
- * @param q a quaternion to multiply with
- */
- public void mult(Quaternion q)
- {
- float w1 = w*q.w - (x*q.x + y*q.y + z*q.z);
-
- float x1 = w*q.z + q.w*z + y*q.z - z*q.y;
- float y1 = w*q.x + q.w*x + z*q.x - x*q.z;
- float z1 = w*q.y + q.w*y + x*q.y - y*q.x;
-
- w = w1;
- x = x1;
- y = y1;
- z = z1;
- }
-
- /** Multiply a quaternion by a constant
- * @param n a float constant
- */
- public void mult(float n)
- {
- x*=n;
- y*=n;
- z*=n;
- }
-
- /** Normalize a quaternion required if
- * to be used as a rotational quaternion
- */
- public void normalize()
- {
- float norme = (float)MathFloat.sqrt(w*w + x*x + y*y + z*z);
- if (norme == 0.0f)
- {
- w = 1.0f;
- x = y = z = 0.0f;
- }
- else
- {
- float recip = 1.0f/norme;
-
- w *= recip;
- x *= recip;
- y *= recip;
- z *= recip;
- }
- }
-
- /** Invert the quaternion If rotational,
- * will produce a the inverse rotation
- */
- public void inverse()
- {
- float norm = w*w + x*x + y*y + z*z;
-
- float recip = 1.0f/norm;
-
- w *= recip;
- x = -1*x*recip;
- y = -1*y*recip;
- z = -1*z*recip;
- }
-
- /** Transform this quaternion to a
- * 4x4 column matrix representing the rotation
- * @return new float[16] column matrix 4x4
- */
- public float[] toMatrix()
- {
- float[] matrix = new float[16];
- matrix[0] = 1.0f - 2*y*y - 2*z*z;
- matrix[1] = 2*x*y + 2*w*z;
- matrix[2] = 2*x*z - 2*w*y;
- matrix[3] = 0;
-
- matrix[4] = 2*x*y - 2*w*z;
- matrix[5] = 1.0f - 2*x*x - 2*z*z;
- matrix[6] = 2*y*z + 2*w*x;
- matrix[7] = 0;
-
- matrix[8] = 2*x*z + 2*w*y;
- matrix[9] = 2*y*z - 2*w*x;
- matrix[10] = 1.0f - 2*x*x - 2*y*y;
- matrix[11] = 0;
-
- matrix[12] = 0;
- matrix[13] = 0;
- matrix[14] = 0;
- matrix[15] = 1;
- return matrix;
- }
-
- /** Set this quaternion from a Sphereical interpolation
- * of two param quaternion, used mostly for rotational animation
- * @param a initial quaternion
- * @param b target quaternion
- * @param t float between 0 and 1 representing interp.
- */
- public void slerp(Quaternion a,Quaternion b, float t)
- {
- float omega, cosom, sinom, sclp, sclq;
- cosom = a.x*b.x + a.y*b.y + a.z*b.z + a.w*b.w;
- if ((1.0f+cosom) > MathFloat.E) {
- if ((1.0f-cosom) > MathFloat.E) {
- omega = (float)MathFloat.acos(cosom);
- sinom = (float)MathFloat.sin(omega);
- sclp = (float)MathFloat.sin((1.0f-t)*omega) / sinom;
- sclq = (float)MathFloat.sin(t*omega) / sinom;
- }
- else {
- sclp = 1.0f - t;
- sclq = t;
- }
- x = sclp*a.x + sclq*b.x;
- y = sclp*a.y + sclq*b.y;
- z = sclp*a.z + sclq*b.z;
- w = sclp*a.w + sclq*b.w;
- }
- else {
- x =-a.y;
- y = a.x;
- z =-a.w;
- w = a.z;
- sclp = MathFloat.sin((1.0f-t) * MathFloat.PI * 0.5f);
- sclq = MathFloat.sin(t * MathFloat.PI * 0.5f);
- x = sclp*a.x + sclq*b.x;
- y = sclp*a.y + sclq*b.y;
- z = sclp*a.z + sclq*b.z;
- }
- }
-
- /** Check if this quaternion is empty, ie (0,0,0,1)
- * @return true if empty, false otherwise
- */
- public boolean isEmpty()
- {
- if (w==1 && x==0 && y==0 && z==0)
- return true;
- return false;
- }
-
- /** Check if this quaternion represents an identity
- * matrix, for rotation.
- * @return true if it is an identity rep., false otherwise
- */
- public boolean isIdentity()
- {
- if (w==0 && x==0 && y==0 && z==0)
- return true;
- return false;
- }
-
- /** compute the quaternion from a 3x3 column matrix
- * @param m 3x3 column matrix
- */
- public void setFromMatrix(float[] m) {
- float T= m[0] + m[4] + m[8] + 1;
- if (T>0){
- float S = 0.5f / (float)MathFloat.sqrt(T);
- w = 0.25f / S;
- x = ( m[5] - m[7]) * S;
- y = ( m[6] - m[2]) * S;
- z = ( m[1] - m[3] ) * S;
- }
- else{
- if ((m[0] > m[4])&(m[0] > m[8])) {
- float S = MathFloat.sqrt( 1.0f + m[0] - m[4] - m[8] ) * 2f; // S=4*qx
- w = (m[7] - m[5]) / S;
- x = 0.25f * S;
- y = (m[3] + m[1]) / S;
- z = (m[6] + m[2]) / S;
- }
- else if (m[4] > m[8]) {
- float S = MathFloat.sqrt( 1.0f + m[4] - m[0] - m[8] ) * 2f; // S=4*qy
- w = (m[6] - m[2]) / S;
- x = (m[3] + m[1]) / S;
- y = 0.25f * S;
- z = (m[7] + m[5]) / S;
- }
- else {
- float S = MathFloat.sqrt( 1.0f + m[8] - m[0] - m[4] ) * 2f; // S=4*qz
- w = (m[3] - m[1]) / S;
- x = (m[6] + m[2]) / S;
- y = (m[7] + m[5]) / S;
- z = 0.25f * S;
- }
- }
- }
-
- /** Check if the the 3x3 matrix (param) is in fact
- * an affine rotational matrix
- * @param m 3x3 column matrix
- * @return true if representing a rotational matrix, false otherwise
- */
- public boolean isRotationMatrix(float[] m) {
- double epsilon = 0.01; // margin to allow for rounding errors
- if (MathFloat.abs(m[0]*m[3] + m[3]*m[4] + m[6]*m[7]) > epsilon) return false;
- if (MathFloat.abs(m[0]*m[2] + m[3]*m[5] + m[6]*m[8]) > epsilon) return false;
- if (MathFloat.abs(m[1]*m[2] + m[4]*m[5] + m[7]*m[8]) > epsilon) return false;
- if (MathFloat.abs(m[0]*m[0] + m[3]*m[3] + m[6]*m[6] - 1) > epsilon) return false;
- if (MathFloat.abs(m[1]*m[1] + m[4]*m[4] + m[7]*m[7] - 1) > epsilon) return false;
- if (MathFloat.abs(m[2]*m[2] + m[5]*m[5] + m[8]*m[8] - 1) > epsilon) return false;
- return (MathFloat.abs(determinant(m)-1) < epsilon);
- }
- private float determinant(float[] m) {
- return m[0]*m[4]*m[8] + m[3]*m[7]*m[2] + m[6]*m[1]*m[5] - m[0]*m[7]*m[5] - m[3]*m[1]*m[8] - m[6]*m[4]*m[2];
- }
-}
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