Mega Code Archive
Quaternion structure
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//package dkgles.math;
import org.xml.sax.Attributes;
import android.util.FloatMath;
class Quaternion implements Cloneable
{
public float _w;
public float _x;
public float _y;
public float _z;
public Quaternion()
{
_w = 1.0f;
_x = _y = _z = 0.0f;
}
public Quaternion(float w, float x, float y, float z)
{
_w = w;
_x = x;
_y = y;
_z = z;
}
public void fromAngleAxis(float angle, float x, float y, float z)
{
// assert: axis[] is unit length
//
// The quaternion representing the rotation is
// q = cos(A/2)+sin(A/2)*(x*i+y*j+z*k)
float halfAngle = 0.5f*angle;
float fSin = FloatMath.sin(halfAngle);
_w = FloatMath.cos(halfAngle);
_x = fSin*x;
_y = fSin*y;
_z = fSin*z;
}
public Quaternion mul(Quaternion rhs)
{
// NOTE: Multiplication is not generally commutative, so in most
// cases p*q != q*p.
return new Quaternion
(
_w * rhs._w - _x * rhs._x - _y * rhs._y - _z * rhs._z,
_w * rhs._x + _x * rhs._w + _y * rhs._z - _z * rhs._y,
_w * rhs._y + _y * rhs._w + _z * rhs._x - _x * rhs._z,
_w * rhs._z + _z * rhs._w + _x * rhs._y - _y * rhs._x
);
}
public Vector3 xAxis()
{
//Real fTx = 2.0*x;
float fTy = 2.0f*_y;
float fTz = 2.0f*_z;
float fTwy = fTy*_w;
float fTwz = fTz*_w;
float fTxy = fTy*_x;
float fTxz = fTz*_x;
float fTyy = fTy*_y;
float fTzz = fTz*_z;
return new Vector3(1.0f-(fTyy+fTzz), fTxy+fTwz, fTxz-fTwy);
}
public Vector3 yAxis()
{
float fTx = 2.0f*_x;
float fTy = 2.0f*_y;
float fTz = 2.0f*_z;
float fTwx = fTx*_w;
float fTwz = fTz*_w;
float fTxx = fTx*_x;
float fTxy = fTy*_x;
float fTyz = fTz*_y;
float fTzz = fTz*_z;
return new Vector3(fTxy-fTwz, 1.0f-(fTxx+fTzz), fTyz+fTwx);
}
public Vector3 zAxis()
{
float fTx = 2.0f*_x;
float fTy = 2.0f*_y;
float fTz = 2.0f*_z;
float fTwx = fTx*_w;
float fTwy = fTy*_w;
float fTxx = fTx*_x;
float fTxz = fTz*_x;
float fTyy = fTy*_y;
float fTyz = fTz*_y;
return new Vector3(fTxz+fTwy, fTyz-fTwx, 1.0f-(fTxx+fTyy));
}
//public Quaternion operator*=(Quaternion rhs)
//{
//}
public Vector3 mul(Vector3 rhs)
{
// nVidia SDK implementation
Vector3 qvec = new Vector3(_x, _y, _z);
Vector3 uv = qvec.crossProduct(rhs);
Vector3 uuv = qvec.crossProduct(uv);
uv = uv.mul(2.0f * _w);
uuv = uuv.mul(2.0f);
return rhs.add(uv).add(uuv);
}
public Object clone() throws CloneNotSupportedException
{
return super.clone();
}
}
class Vector3 implements Cloneable
{
public float x;
public float y;
public float z;
public Vector3()
{
x = 0.0f;
y = 0.0f;
z = 0.0f;
}
public Vector3(float x, float y, float z)
{
this.x = x;
this.y = y;
this.z = z;
}
public Vector3 add(Vector3 rhs)
{
return new Vector3(
this.x + rhs.x, this.y + rhs.y, this.z + rhs.z);
}
public Vector3 sub(Vector3 rhs)
{
return new Vector3(
this.x - rhs.x, this.y - rhs.y, this.z - rhs.z);
}
public void subFromSelf(Vector3 rhs)
{
x -= rhs.x;
y -= rhs.y;
x -= rhs.z;
}
public void normalize()
{
float l = length();
x /= l;
y /= l;
z /= l;
}
public float length()
{
return FloatMath.sqrt(x*x + y*y + z*z);
}
public Vector3 mul(float fScaler)
{
return new Vector3(
x*fScaler, y*fScaler, z*fScaler);
}
public void copy(Vector3 rhs)
{
x = rhs.x;
y = rhs.y;
z = rhs.z;
}
public void mulSelf(float fScaler)
{
x *= fScaler;
y *= fScaler;
z *= fScaler;
}
public Vector3 crossProduct(Vector3 rhs)
{
return new Vector3(
y*rhs.z - z*rhs.y,
z*rhs.x - x*rhs.z,
x*rhs.y - y*rhs.x);
}
public float dot(Vector3 rhs)
{
return x*rhs.x + y*rhs.y + z*rhs.z;
}
public Object clone()
{
return new Vector3(x, y, z);
}
public String toString()
{
StringBuilder result = new StringBuilder();
result.append("(" + x + ", " + y + ", " + z + ")" );
return result.toString();
}
}
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