commit 5f8e909ac1ba123905c509161ed89ca84643dbf4 Author: LeszekKoltunski Date: Tue Apr 15 15:17:23 2025 +0200 Rename .java to .kt diff --git a/src/main/java/org/distorted/library/helpers/MatrixHelper.java b/src/main/java/org/distorted/library/helpers/MatrixHelper.java deleted file mode 100644 index 3c366ba..0000000 --- a/src/main/java/org/distorted/library/helpers/MatrixHelper.java +++ /dev/null @@ -1,197 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////// -// Copyright 2023 Leszek Koltunski leszek@koltunski.pl // -// // -// This file is part of Distorted. // -// // -// This library is free software; you can redistribute it and/or // -// modify it under the terms of the GNU Lesser General Public // -// License as published by the Free Software Foundation; either // -// version 2.1 of the License, or (at your option) any later version. // -// // -// This library 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 // -// Lesser General Public License for more details. // -// // -// You should have received a copy of the GNU Lesser General Public // -// License along with this library; if not, write to the Free Software // -// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA // -/////////////////////////////////////////////////////////////////////////////////////////////////// - -package org.distorted.library.helpers; - -/////////////////////////////////////////////////////////////////////////////////////////////////// - -public class MatrixHelper - { - public static void setIdentity(float[] output) - { - output[ 0] = 1; - output[ 1] = 0; - output[ 2] = 0; - output[ 3] = 0; - output[ 4] = 0; - output[ 5] = 1; - output[ 6] = 0; - output[ 7] = 0; - output[ 8] = 0; - output[ 9] = 0; - output[10] = 1; - output[11] = 0; - output[12] = 0; - output[13] = 0; - output[14] = 0; - output[15] = 1; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void multiply(float[] output, float[] m1, float[] m2) - { - output[ 0] = m1[ 0]*m2[ 0] + m1[ 4]*m2[ 1] + m1[ 8]*m2[ 2] + m1[12]*m2[ 3]; - output[ 1] = m1[ 1]*m2[ 0] + m1[ 5]*m2[ 1] + m1[ 9]*m2[ 2] + m1[13]*m2[ 3]; - output[ 2] = m1[ 2]*m2[ 0] + m1[ 6]*m2[ 1] + m1[10]*m2[ 2] + m1[14]*m2[ 3]; - output[ 3] = m1[ 3]*m2[ 0] + m1[ 7]*m2[ 1] + m1[11]*m2[ 2] + m1[15]*m2[ 3]; - - output[ 4] = m1[ 0]*m2[ 4] + m1[ 4]*m2[ 5] + m1[ 8]*m2[ 6] + m1[12]*m2[ 7]; - output[ 5] = m1[ 1]*m2[ 4] + m1[ 5]*m2[ 5] + m1[ 9]*m2[ 6] + m1[13]*m2[ 7]; - output[ 6] = m1[ 2]*m2[ 4] + m1[ 6]*m2[ 5] + m1[10]*m2[ 6] + m1[14]*m2[ 7]; - output[ 7] = m1[ 3]*m2[ 4] + m1[ 7]*m2[ 5] + m1[11]*m2[ 6] + m1[15]*m2[ 7]; - - output[ 8] = m1[ 0]*m2[ 8] + m1[ 4]*m2[ 9] + m1[ 8]*m2[10] + m1[12]*m2[11]; - output[ 9] = m1[ 1]*m2[ 8] + m1[ 5]*m2[ 9] + m1[ 9]*m2[10] + m1[13]*m2[11]; - output[10] = m1[ 2]*m2[ 8] + m1[ 6]*m2[ 9] + m1[10]*m2[10] + m1[14]*m2[11]; - output[11] = m1[ 3]*m2[ 8] + m1[ 7]*m2[ 9] + m1[11]*m2[10] + m1[15]*m2[11]; - - output[12] = m1[ 0]*m2[12] + m1[ 4]*m2[13] + m1[ 8]*m2[14] + m1[12]*m2[15]; - output[13] = m1[ 1]*m2[12] + m1[ 5]*m2[13] + m1[ 9]*m2[14] + m1[13]*m2[15]; - output[14] = m1[ 2]*m2[12] + m1[ 6]*m2[13] + m1[10]*m2[14] + m1[14]*m2[15]; - output[15] = m1[ 3]*m2[12] + m1[ 7]*m2[13] + m1[11]*m2[14] + m1[15]*m2[15]; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void frustum(float[] output, float l, float r, float b, float t, float n, float f) - { - output[0] = 2 * n / (r - l); - output[1] = 0; - output[2] = 0; - output[3] = 0; - output[4] = 0; - output[5] = 2 * n / (t - b); - output[6] = 0; - output[7] = 0; - output[8] = (r + l) / (r - l); - output[9] = (t + b) / (t - b); - output[10] = -(f + n) / (f - n); - output[11] = -1; - output[12] = 0; - output[13] = 0; - output[14] = -(2 * f * n) / (f - n); - output[15] = 0; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void ortho(float[] output, float l, float r, float b, float t, float n, float f) - { - output[0] = 2 / (r - l); - output[1] = 0; - output[2] = 0; - output[3] = 0; - output[4] = 0; - output[5] = 2 / (t - b); - output[6] = 0; - output[7] = 0; - output[8] = 0; - output[9] = 0; - output[10] = -2 / (f - n); - output[11] = 0; - output[12] = -(r + l) / (r - l); - output[13] = -(t + b) / (t - b); - output[14] = -(f + n) / (f - n); - output[15] = 1; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void setLookAt(float[] output, float eyeX , float eyeY , float eyeZ , - float lookX, float lookY, float lookZ, - float upX , float upY , float upZ ) - { - // TODO - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// this is android.opengl.Matrix.rotateM(), but with pre-computed sin and cos of the angle -// and also we have to pre-allocate and pass here two temp arrays. - - public static void rotateSinCos(float[] output, float[] tmp1, float[] tmp2, float sin, float cos, float x, float y, float z) - { - tmp1[0] = (1-cos)*x*x + cos; - tmp1[1] = (1-cos)*x*y + sin*z; - tmp1[2] = (1-cos)*x*z - sin*y; - tmp1[3] = 0; - tmp1[4] = (1-cos)*x*y - sin*z; - tmp1[5] = (1-cos)*y*y + cos; - tmp1[6] = (1-cos)*y*z + sin*x; - tmp1[7] = 0; - tmp1[8] = (1-cos)*x*z + sin*y; - tmp1[9] = (1-cos)*y*z - sin*x; - tmp1[10] = (1-cos)*z*z + cos; - tmp1[11] = 0; - tmp1[12] = 0; - tmp1[13] = 0; - tmp1[14] = 0; - tmp1[15] = 1; - - tmp2[0] = output[ 0]; - tmp2[1] = output[ 1]; - tmp2[2] = output[ 2]; - tmp2[3] = output[ 3]; - tmp2[4] = output[ 4]; - tmp2[5] = output[ 5]; - tmp2[6] = output[ 6]; - tmp2[7] = output[ 7]; - tmp2[8] = output[ 8]; - tmp2[9] = output[ 9]; - tmp2[10] = output[10]; - tmp2[11] = output[11]; - tmp2[12] = output[12]; - tmp2[13] = output[13]; - tmp2[14] = output[14]; - tmp2[15] = output[15]; - - multiply(output,tmp2,tmp1); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void translate(float[] output, float dx, float dy, float dz) - { - output[12] += ( output[ 0]*dx + output[ 4]*dy + output[ 8]*dz); - output[13] += ( output[ 1]*dx + output[ 5]*dy + output[ 9]*dz); - output[14] += ( output[ 2]*dx + output[ 6]*dy + output[10]*dz); - output[15] += ( output[ 3]*dx + output[ 7]*dy + output[11]*dz); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void scale(float[] output, float sx, float sy, float sz) - { - output[ 0] *= sx; - output[ 1] *= sx; - output[ 2] *= sx; - output[ 3] *= sx; - - output[ 4] *= sy; - output[ 5] *= sy; - output[ 6] *= sy; - output[ 7] *= sy; - - output[ 8] *= sz; - output[ 9] *= sz; - output[10] *= sz; - output[11] *= sz; - } - } diff --git a/src/main/java/org/distorted/library/helpers/MatrixHelper.kt b/src/main/java/org/distorted/library/helpers/MatrixHelper.kt new file mode 100644 index 0000000..3c366ba --- /dev/null +++ b/src/main/java/org/distorted/library/helpers/MatrixHelper.kt @@ -0,0 +1,197 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Copyright 2023 Leszek Koltunski leszek@koltunski.pl // +// // +// This file is part of Distorted. // +// // +// This library is free software; you can redistribute it and/or // +// modify it under the terms of the GNU Lesser General Public // +// License as published by the Free Software Foundation; either // +// version 2.1 of the License, or (at your option) any later version. // +// // +// This library 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 // +// Lesser General Public License for more details. // +// // +// You should have received a copy of the GNU Lesser General Public // +// License along with this library; if not, write to the Free Software // +// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA // +/////////////////////////////////////////////////////////////////////////////////////////////////// + +package org.distorted.library.helpers; + +/////////////////////////////////////////////////////////////////////////////////////////////////// + +public class MatrixHelper + { + public static void setIdentity(float[] output) + { + output[ 0] = 1; + output[ 1] = 0; + output[ 2] = 0; + output[ 3] = 0; + output[ 4] = 0; + output[ 5] = 1; + output[ 6] = 0; + output[ 7] = 0; + output[ 8] = 0; + output[ 9] = 0; + output[10] = 1; + output[11] = 0; + output[12] = 0; + output[13] = 0; + output[14] = 0; + output[15] = 1; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void multiply(float[] output, float[] m1, float[] m2) + { + output[ 0] = m1[ 0]*m2[ 0] + m1[ 4]*m2[ 1] + m1[ 8]*m2[ 2] + m1[12]*m2[ 3]; + output[ 1] = m1[ 1]*m2[ 0] + m1[ 5]*m2[ 1] + m1[ 9]*m2[ 2] + m1[13]*m2[ 3]; + output[ 2] = m1[ 2]*m2[ 0] + m1[ 6]*m2[ 1] + m1[10]*m2[ 2] + m1[14]*m2[ 3]; + output[ 3] = m1[ 3]*m2[ 0] + m1[ 7]*m2[ 1] + m1[11]*m2[ 2] + m1[15]*m2[ 3]; + + output[ 4] = m1[ 0]*m2[ 4] + m1[ 4]*m2[ 5] + m1[ 8]*m2[ 6] + m1[12]*m2[ 7]; + output[ 5] = m1[ 1]*m2[ 4] + m1[ 5]*m2[ 5] + m1[ 9]*m2[ 6] + m1[13]*m2[ 7]; + output[ 6] = m1[ 2]*m2[ 4] + m1[ 6]*m2[ 5] + m1[10]*m2[ 6] + m1[14]*m2[ 7]; + output[ 7] = m1[ 3]*m2[ 4] + m1[ 7]*m2[ 5] + m1[11]*m2[ 6] + m1[15]*m2[ 7]; + + output[ 8] = m1[ 0]*m2[ 8] + m1[ 4]*m2[ 9] + m1[ 8]*m2[10] + m1[12]*m2[11]; + output[ 9] = m1[ 1]*m2[ 8] + m1[ 5]*m2[ 9] + m1[ 9]*m2[10] + m1[13]*m2[11]; + output[10] = m1[ 2]*m2[ 8] + m1[ 6]*m2[ 9] + m1[10]*m2[10] + m1[14]*m2[11]; + output[11] = m1[ 3]*m2[ 8] + m1[ 7]*m2[ 9] + m1[11]*m2[10] + m1[15]*m2[11]; + + output[12] = m1[ 0]*m2[12] + m1[ 4]*m2[13] + m1[ 8]*m2[14] + m1[12]*m2[15]; + output[13] = m1[ 1]*m2[12] + m1[ 5]*m2[13] + m1[ 9]*m2[14] + m1[13]*m2[15]; + output[14] = m1[ 2]*m2[12] + m1[ 6]*m2[13] + m1[10]*m2[14] + m1[14]*m2[15]; + output[15] = m1[ 3]*m2[12] + m1[ 7]*m2[13] + m1[11]*m2[14] + m1[15]*m2[15]; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void frustum(float[] output, float l, float r, float b, float t, float n, float f) + { + output[0] = 2 * n / (r - l); + output[1] = 0; + output[2] = 0; + output[3] = 0; + output[4] = 0; + output[5] = 2 * n / (t - b); + output[6] = 0; + output[7] = 0; + output[8] = (r + l) / (r - l); + output[9] = (t + b) / (t - b); + output[10] = -(f + n) / (f - n); + output[11] = -1; + output[12] = 0; + output[13] = 0; + output[14] = -(2 * f * n) / (f - n); + output[15] = 0; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void ortho(float[] output, float l, float r, float b, float t, float n, float f) + { + output[0] = 2 / (r - l); + output[1] = 0; + output[2] = 0; + output[3] = 0; + output[4] = 0; + output[5] = 2 / (t - b); + output[6] = 0; + output[7] = 0; + output[8] = 0; + output[9] = 0; + output[10] = -2 / (f - n); + output[11] = 0; + output[12] = -(r + l) / (r - l); + output[13] = -(t + b) / (t - b); + output[14] = -(f + n) / (f - n); + output[15] = 1; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void setLookAt(float[] output, float eyeX , float eyeY , float eyeZ , + float lookX, float lookY, float lookZ, + float upX , float upY , float upZ ) + { + // TODO + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// this is android.opengl.Matrix.rotateM(), but with pre-computed sin and cos of the angle +// and also we have to pre-allocate and pass here two temp arrays. + + public static void rotateSinCos(float[] output, float[] tmp1, float[] tmp2, float sin, float cos, float x, float y, float z) + { + tmp1[0] = (1-cos)*x*x + cos; + tmp1[1] = (1-cos)*x*y + sin*z; + tmp1[2] = (1-cos)*x*z - sin*y; + tmp1[3] = 0; + tmp1[4] = (1-cos)*x*y - sin*z; + tmp1[5] = (1-cos)*y*y + cos; + tmp1[6] = (1-cos)*y*z + sin*x; + tmp1[7] = 0; + tmp1[8] = (1-cos)*x*z + sin*y; + tmp1[9] = (1-cos)*y*z - sin*x; + tmp1[10] = (1-cos)*z*z + cos; + tmp1[11] = 0; + tmp1[12] = 0; + tmp1[13] = 0; + tmp1[14] = 0; + tmp1[15] = 1; + + tmp2[0] = output[ 0]; + tmp2[1] = output[ 1]; + tmp2[2] = output[ 2]; + tmp2[3] = output[ 3]; + tmp2[4] = output[ 4]; + tmp2[5] = output[ 5]; + tmp2[6] = output[ 6]; + tmp2[7] = output[ 7]; + tmp2[8] = output[ 8]; + tmp2[9] = output[ 9]; + tmp2[10] = output[10]; + tmp2[11] = output[11]; + tmp2[12] = output[12]; + tmp2[13] = output[13]; + tmp2[14] = output[14]; + tmp2[15] = output[15]; + + multiply(output,tmp2,tmp1); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void translate(float[] output, float dx, float dy, float dz) + { + output[12] += ( output[ 0]*dx + output[ 4]*dy + output[ 8]*dz); + output[13] += ( output[ 1]*dx + output[ 5]*dy + output[ 9]*dz); + output[14] += ( output[ 2]*dx + output[ 6]*dy + output[10]*dz); + output[15] += ( output[ 3]*dx + output[ 7]*dy + output[11]*dz); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void scale(float[] output, float sx, float sy, float sz) + { + output[ 0] *= sx; + output[ 1] *= sx; + output[ 2] *= sx; + output[ 3] *= sx; + + output[ 4] *= sy; + output[ 5] *= sy; + output[ 6] *= sy; + output[ 7] *= sy; + + output[ 8] *= sz; + output[ 9] *= sz; + output[10] *= sz; + output[11] *= sz; + } + } diff --git a/src/main/java/org/distorted/library/helpers/QuatHelper.java b/src/main/java/org/distorted/library/helpers/QuatHelper.java deleted file mode 100644 index a4efda5..0000000 --- a/src/main/java/org/distorted/library/helpers/QuatHelper.java +++ /dev/null @@ -1,491 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////// -// Copyright 2021 Leszek Koltunski leszek@koltunski.pl // -// // -// This file is part of Distorted. // -// // -// This library is free software; you can redistribute it and/or // -// modify it under the terms of the GNU Lesser General Public // -// License as published by the Free Software Foundation; either // -// version 2.1 of the License, or (at your option) any later version. // -// // -// This library 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 // -// Lesser General Public License for more details. // -// // -// You should have received a copy of the GNU Lesser General Public // -// License along with this library; if not, write to the Free Software // -// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA // -/////////////////////////////////////////////////////////////////////////////////////////////////// - -package org.distorted.library.helpers; - -import org.distorted.library.type.Static4D; - -/////////////////////////////////////////////////////////////////////////////////////////////////// - -public class QuatHelper - { -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*quat2 - - public static Static4D quatMultiply( Static4D quat1, Static4D quat2 ) - { - float qx = quat1.get0(); - float qy = quat1.get1(); - float qz = quat1.get2(); - float qw = quat1.get3(); - - float rx = quat2.get0(); - float ry = quat2.get1(); - float rz = quat2.get2(); - float rw = quat2.get3(); - - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new Static4D(tx,ty,tz,tw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*quat2 - - public static void quatMultiply( float[] ret, Static4D quat1, Static4D quat2 ) - { - float qx = quat1.get0(); - float qy = quat1.get1(); - float qz = quat1.get2(); - float qw = quat1.get3(); - - float rx = quat2.get0(); - float ry = quat2.get1(); - float rz = quat2.get2(); - float rw = quat2.get3(); - - ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; - ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; - ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; - ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*quat(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, Static4D quat1, float rx, float ry, float rz, float rw ) - { - float qx = quat1.get0(); - float qy = quat1.get1(); - float qz = quat1.get2(); - float qw = quat1.get3(); - - ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; - ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; - ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; - ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*quat2 - - public static float[] quatMultiply( float[] quat1, float[] quat2 ) - { - float qx = quat1[0]; - float qy = quat1[1]; - float qz = quat1[2]; - float qw = quat1[3]; - - float rx = quat2[0]; - float ry = quat2[1]; - float rz = quat2[2]; - float rw = quat2[3]; - - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new float[] {tx,ty,tz,tw}; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*(rx,ry,rz,rw) - - public static Static4D quatMultiply( Static4D quat, float rx, float ry, float rz, float rw ) - { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new Static4D(tx,ty,tz,tw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return (qx,qy,qz,qw)*quat - - public static Static4D quatMultiply( float qx, float qy, float qz, float qw, Static4D quat ) - { - float rx = quat.get0(); - float ry = quat.get1(); - float rz = quat.get2(); - float rw = quat.get3(); - - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new Static4D(tx,ty,tz,tw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static Static4D quatMultiply( float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) - { - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new Static4D(tx,ty,tz,tw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, float[] q, float[] r ) - { - ret[0] = r[3]*q[0] - r[2]*q[1] + r[1]*q[2] + r[0]*q[3]; - ret[1] = r[3]*q[1] + r[2]*q[0] + r[1]*q[3] - r[0]*q[2]; - ret[2] = r[3]*q[2] + r[2]*q[3] - r[1]*q[0] + r[0]*q[1]; - ret[3] = r[3]*q[3] - r[2]*q[2] - r[1]*q[1] - r[0]*q[0]; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, Static4D q, float[] r ) - { - float q0 = q.get0(); - float q1 = q.get1(); - float q2 = q.get2(); - float q3 = q.get3(); - - ret[0] = r[3]*q0 - r[2]*q1 + r[1]*q2 + r[0]*q3; - ret[1] = r[3]*q1 + r[2]*q0 + r[1]*q3 - r[0]*q2; - ret[2] = r[3]*q2 + r[2]*q3 - r[1]*q0 + r[0]*q1; - ret[3] = r[3]*q3 - r[2]*q2 - r[1]*q1 - r[0]*q0; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, float[] q, Static4D r ) - { - float r0 = r.get0(); - float r1 = r.get1(); - float r2 = r.get2(); - float r3 = r.get3(); - - ret[0] = r3*q[0] - r2*q[1] + r1*q[2] + r0*q[3]; - ret[1] = r3*q[1] + r2*q[0] + r1*q[3] - r0*q[2]; - ret[2] = r3*q[2] + r2*q[3] - r1*q[0] + r0*q[1]; - ret[3] = r3*q[3] - r2*q[2] - r1*q[1] - r0*q[0]; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) - { - ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; - ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; - ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; - ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - private static void quatMultiply( float[] ret, int index, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) - { - ret[index ] = rw*qx - rz*qy + ry*qz + rx*qw; - ret[index+1] = rw*qy + rz*qx + ry*qw - rx*qz; - ret[index+2] = rw*qz + rz*qw - ry*qx + rx*qy; - ret[index+3] = rw*qw - rz*qz - ry*qy - rx*qx; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static Static4D rotateVectorByQuat(float x, float y, float z, float w, Static4D quat) - { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - Static4D tmp = quatMultiply(qx,qy,qz,qw,x,y,z,w); - - return quatMultiply(tmp,-qx,-qy,-qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, float x, float y, float z, float w, Static4D quat) - { - float[] tmp = new float[4]; - - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); - quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, Static4D quat) - { - float[] tmp = new float[4]; - - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); - quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, float x, float y, float z, float w, float[] quat) - { - float[] tmp = new float[4]; - - float qx = quat[0]; - float qy = quat[1]; - float qz = quat[2]; - float qw = quat[3]; - - quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); - quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, float[] quat) - { - float[] tmp = new float[4]; - - float qx = quat[0]; - float qy = quat[1]; - float qz = quat[2]; - float qw = quat[3]; - - quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); - quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate vec by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, float[] vec, float[] quat) - { - float[] tmp = new float[4]; - - quatMultiply(tmp,quat,vec); - - quat[0] = -quat[0]; - quat[1] = -quat[1]; - quat[2] = -quat[2]; - - quatMultiply(output,tmp,quat); - - quat[0] = -quat[0]; - quat[1] = -quat[1]; - quat[2] = -quat[2]; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate vec by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, float[] vec, Static4D quat) - { - float[] tmp = new float[4]; - - quatMultiply(tmp,quat,vec); - - float x1 = quat.get0(); - float y1 = quat.get1(); - float z1 = quat.get2(); - float w1 = quat.get3(); - quat.set(-x1,-y1,-z1,w1); - - quatMultiply(output,tmp,quat); - - float x2 = quat.get0(); - float y2 = quat.get1(); - float z2 = quat.get2(); - float w2 = quat.get3(); - quat.set(-x2,-y2,-z2,w2); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quat ( i.e. return quat*vector*(quat^-1) ) - - public static Static4D rotateVectorByQuat(Static4D vector, Static4D quat) - { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - Static4D tmp = quatMultiply(qx,qy,qz,qw,vector); - - return quatMultiply(tmp,-qx,-qy,-qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) - - public static Static4D rotateVectorByInvertedQuat(Static4D vector, Static4D quat) - { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - Static4D tmp = quatMultiply(-qx,-qy,-qz,qw,vector); - - return quatMultiply(tmp,qx,qy,qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) - - public static void rotateVectorByInvertedQuat(float[] output, float x, float y, float z, float w, float[] quat) - { - float[] tmp = new float[4]; - - float qx = quat[0]; - float qy = quat[1]; - float qz = quat[2]; - float qw = quat[3]; - - quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w); - quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) - - public static void rotateVectorByInvertedQuat(float[] output, float x, float y, float z, float w, Static4D quat) - { - float[] tmp = new float[4]; - - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w); - quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static Static4D quatFromDrag(float dragX, float dragY) - { - float axisX = dragY; // inverted X and Y - rotation axis is perpendicular to (dragX,dragY) - float axisY = dragX; // Why not (-dragY, dragX) ? because Y axis is also inverted! - float axisZ = 0; - float axisL = (float)Math.sqrt(axisX*axisX + axisY*axisY + axisZ*axisZ); - - if( axisL>0 ) - { - axisX /= axisL; - axisY /= axisL; - axisZ /= axisL; - - float ratio = axisL; - ratio = ratio - (int)ratio; // the cos() is only valid in (0,Pi) - - float cosA = (float)Math.cos(Math.PI*ratio); - float sinA = (float)Math.sqrt(1-cosA*cosA); - - return new Static4D(axisX*sinA, axisY*sinA, axisZ*sinA, cosA); - } - - return new Static4D(0f, 0f, 0f, 1f); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static double computeCos(double oldX, double oldY, double newX, double newY, double len1, double len2) - { - double ret= (oldX*newX+oldY*newY) / (len1*len2); - if( ret<-1.0 ) return -1.0; - if( ret> 1.0 ) return 1.0; - - return ret; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// sin of (signed!) angle between vectors 'old' and 'new', counterclockwise! - - public static double computeSin(double oldX, double oldY, double newX, double newY, double len1, double len2) - { - double ret= (newX*oldY-oldX*newY) / (len1*len2); - if( ret<-1.0 ) return -1.0; - if( ret> 1.0 ) return 1.0; - - return ret; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat Q that turns 3D vector A=(ax,ay,az) to another 3D vector B=(bx,by,bz) -// take care of double-cover by ensuring that always Q.get3() >=0 - - public static Static4D retRotationQuat(float ax, float ay, float az, float bx, float by, float bz) - { - float nx = ay*bz - az*by; - float ny = az*bx - ax*bz; - float nz = ax*by - ay*bx; - - float sin = (float)Math.sqrt(nx*nx + ny*ny + nz*nz); - float cos = ax*bx + ay*by + az*bz; - - if( sin!=0 ) - { - nx /= sin; - ny /= sin; - nz /= sin; - } - - // Why sin<=0 and cos>=0 ? - // 0 0 both sin and cos are positive. - // But1: quats work counterclockwise -> negate cos. - // But2: double-cover, we prefer to have the cos positive (so that unit=(0,0,0,1)) - // so negate again both cos and sin. - float sinHalf =-(float)Math.sqrt((1-cos)/2); - float cosHalf = (float)Math.sqrt((1+cos)/2); - - return new Static4D(nx*sinHalf,ny*sinHalf,nz*sinHalf,cosHalf); - } - } diff --git a/src/main/java/org/distorted/library/helpers/QuatHelper.kt b/src/main/java/org/distorted/library/helpers/QuatHelper.kt new file mode 100644 index 0000000..a4efda5 --- /dev/null +++ b/src/main/java/org/distorted/library/helpers/QuatHelper.kt @@ -0,0 +1,491 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Copyright 2021 Leszek Koltunski leszek@koltunski.pl // +// // +// This file is part of Distorted. // +// // +// This library is free software; you can redistribute it and/or // +// modify it under the terms of the GNU Lesser General Public // +// License as published by the Free Software Foundation; either // +// version 2.1 of the License, or (at your option) any later version. // +// // +// This library 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 // +// Lesser General Public License for more details. // +// // +// You should have received a copy of the GNU Lesser General Public // +// License along with this library; if not, write to the Free Software // +// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA // +/////////////////////////////////////////////////////////////////////////////////////////////////// + +package org.distorted.library.helpers; + +import org.distorted.library.type.Static4D; + +/////////////////////////////////////////////////////////////////////////////////////////////////// + +public class QuatHelper + { +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return quat1*quat2 + + public static Static4D quatMultiply( Static4D quat1, Static4D quat2 ) + { + float qx = quat1.get0(); + float qy = quat1.get1(); + float qz = quat1.get2(); + float qw = quat1.get3(); + + float rx = quat2.get0(); + float ry = quat2.get1(); + float rz = quat2.get2(); + float rw = quat2.get3(); + + float tx = rw*qx - rz*qy + ry*qz + rx*qw; + float ty = rw*qy + rz*qx + ry*qw - rx*qz; + float tz = rw*qz + rz*qw - ry*qx + rx*qy; + float tw = rw*qw - rz*qz - ry*qy - rx*qx; + + return new Static4D(tx,ty,tz,tw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return quat1*quat2 + + public static void quatMultiply( float[] ret, Static4D quat1, Static4D quat2 ) + { + float qx = quat1.get0(); + float qy = quat1.get1(); + float qz = quat1.get2(); + float qw = quat1.get3(); + + float rx = quat2.get0(); + float ry = quat2.get1(); + float rz = quat2.get2(); + float rw = quat2.get3(); + + ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; + ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; + ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; + ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return quat1*quat(rx,ry,rz,rw) + + public static void quatMultiply( float[] ret, Static4D quat1, float rx, float ry, float rz, float rw ) + { + float qx = quat1.get0(); + float qy = quat1.get1(); + float qz = quat1.get2(); + float qw = quat1.get3(); + + ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; + ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; + ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; + ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return quat1*quat2 + + public static float[] quatMultiply( float[] quat1, float[] quat2 ) + { + float qx = quat1[0]; + float qy = quat1[1]; + float qz = quat1[2]; + float qw = quat1[3]; + + float rx = quat2[0]; + float ry = quat2[1]; + float rz = quat2[2]; + float rw = quat2[3]; + + float tx = rw*qx - rz*qy + ry*qz + rx*qw; + float ty = rw*qy + rz*qx + ry*qw - rx*qz; + float tz = rw*qz + rz*qw - ry*qx + rx*qy; + float tw = rw*qw - rz*qz - ry*qy - rx*qx; + + return new float[] {tx,ty,tz,tw}; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return quat1*(rx,ry,rz,rw) + + public static Static4D quatMultiply( Static4D quat, float rx, float ry, float rz, float rw ) + { + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + float tx = rw*qx - rz*qy + ry*qz + rx*qw; + float ty = rw*qy + rz*qx + ry*qw - rx*qz; + float tz = rw*qz + rz*qw - ry*qx + rx*qy; + float tw = rw*qw - rz*qz - ry*qy - rx*qx; + + return new Static4D(tx,ty,tz,tw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return (qx,qy,qz,qw)*quat + + public static Static4D quatMultiply( float qx, float qy, float qz, float qw, Static4D quat ) + { + float rx = quat.get0(); + float ry = quat.get1(); + float rz = quat.get2(); + float rw = quat.get3(); + + float tx = rw*qx - rz*qy + ry*qz + rx*qw; + float ty = rw*qy + rz*qx + ry*qw - rx*qz; + float tz = rw*qz + rz*qw - ry*qx + rx*qy; + float tw = rw*qw - rz*qz - ry*qy - rx*qx; + + return new Static4D(tx,ty,tz,tw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return (qx,qy,qz,qw)*(rx,ry,rz,rw) + + public static Static4D quatMultiply( float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) + { + float tx = rw*qx - rz*qy + ry*qz + rx*qw; + float ty = rw*qy + rz*qx + ry*qw - rx*qz; + float tz = rw*qz + rz*qw - ry*qx + rx*qy; + float tw = rw*qw - rz*qz - ry*qy - rx*qx; + + return new Static4D(tx,ty,tz,tw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + + public static void quatMultiply( float[] ret, float[] q, float[] r ) + { + ret[0] = r[3]*q[0] - r[2]*q[1] + r[1]*q[2] + r[0]*q[3]; + ret[1] = r[3]*q[1] + r[2]*q[0] + r[1]*q[3] - r[0]*q[2]; + ret[2] = r[3]*q[2] + r[2]*q[3] - r[1]*q[0] + r[0]*q[1]; + ret[3] = r[3]*q[3] - r[2]*q[2] - r[1]*q[1] - r[0]*q[0]; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + + public static void quatMultiply( float[] ret, Static4D q, float[] r ) + { + float q0 = q.get0(); + float q1 = q.get1(); + float q2 = q.get2(); + float q3 = q.get3(); + + ret[0] = r[3]*q0 - r[2]*q1 + r[1]*q2 + r[0]*q3; + ret[1] = r[3]*q1 + r[2]*q0 + r[1]*q3 - r[0]*q2; + ret[2] = r[3]*q2 + r[2]*q3 - r[1]*q0 + r[0]*q1; + ret[3] = r[3]*q3 - r[2]*q2 - r[1]*q1 - r[0]*q0; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + + public static void quatMultiply( float[] ret, float[] q, Static4D r ) + { + float r0 = r.get0(); + float r1 = r.get1(); + float r2 = r.get2(); + float r3 = r.get3(); + + ret[0] = r3*q[0] - r2*q[1] + r1*q[2] + r0*q[3]; + ret[1] = r3*q[1] + r2*q[0] + r1*q[3] - r0*q[2]; + ret[2] = r3*q[2] + r2*q[3] - r1*q[0] + r0*q[1]; + ret[3] = r3*q[3] - r2*q[2] - r1*q[1] - r0*q[0]; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + + public static void quatMultiply( float[] ret, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) + { + ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; + ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; + ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; + ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + + private static void quatMultiply( float[] ret, int index, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) + { + ret[index ] = rw*qx - rz*qy + ry*qz + rx*qw; + ret[index+1] = rw*qy + rz*qx + ry*qw - rx*qz; + ret[index+2] = rw*qz + rz*qw - ry*qx + rx*qy; + ret[index+3] = rw*qw - rz*qz - ry*qy - rx*qx; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + + public static Static4D rotateVectorByQuat(float x, float y, float z, float w, Static4D quat) + { + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + Static4D tmp = quatMultiply(qx,qy,qz,qw,x,y,z,w); + + return quatMultiply(tmp,-qx,-qy,-qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + + public static void rotateVectorByQuat(float[] output, float x, float y, float z, float w, Static4D quat) + { + float[] tmp = new float[4]; + + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); + quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + + public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, Static4D quat) + { + float[] tmp = new float[4]; + + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); + quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + + public static void rotateVectorByQuat(float[] output, float x, float y, float z, float w, float[] quat) + { + float[] tmp = new float[4]; + + float qx = quat[0]; + float qy = quat[1]; + float qz = quat[2]; + float qw = quat[3]; + + quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); + quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + + public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, float[] quat) + { + float[] tmp = new float[4]; + + float qx = quat[0]; + float qy = quat[1]; + float qz = quat[2]; + float qw = quat[3]; + + quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); + quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate vec by quat ( i.e. return quat*vector*(quat^-1) ) + + public static void rotateVectorByQuat(float[] output, float[] vec, float[] quat) + { + float[] tmp = new float[4]; + + quatMultiply(tmp,quat,vec); + + quat[0] = -quat[0]; + quat[1] = -quat[1]; + quat[2] = -quat[2]; + + quatMultiply(output,tmp,quat); + + quat[0] = -quat[0]; + quat[1] = -quat[1]; + quat[2] = -quat[2]; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate vec by quat ( i.e. return quat*vector*(quat^-1) ) + + public static void rotateVectorByQuat(float[] output, float[] vec, Static4D quat) + { + float[] tmp = new float[4]; + + quatMultiply(tmp,quat,vec); + + float x1 = quat.get0(); + float y1 = quat.get1(); + float z1 = quat.get2(); + float w1 = quat.get3(); + quat.set(-x1,-y1,-z1,w1); + + quatMultiply(output,tmp,quat); + + float x2 = quat.get0(); + float y2 = quat.get1(); + float z2 = quat.get2(); + float w2 = quat.get3(); + quat.set(-x2,-y2,-z2,w2); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate 'vector' by quat ( i.e. return quat*vector*(quat^-1) ) + + public static Static4D rotateVectorByQuat(Static4D vector, Static4D quat) + { + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + Static4D tmp = quatMultiply(qx,qy,qz,qw,vector); + + return quatMultiply(tmp,-qx,-qy,-qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) + + public static Static4D rotateVectorByInvertedQuat(Static4D vector, Static4D quat) + { + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + Static4D tmp = quatMultiply(-qx,-qy,-qz,qw,vector); + + return quatMultiply(tmp,qx,qy,qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) + + public static void rotateVectorByInvertedQuat(float[] output, float x, float y, float z, float w, float[] quat) + { + float[] tmp = new float[4]; + + float qx = quat[0]; + float qy = quat[1]; + float qz = quat[2]; + float qw = quat[3]; + + quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w); + quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) + + public static void rotateVectorByInvertedQuat(float[] output, float x, float y, float z, float w, Static4D quat) + { + float[] tmp = new float[4]; + + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w); + quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static Static4D quatFromDrag(float dragX, float dragY) + { + float axisX = dragY; // inverted X and Y - rotation axis is perpendicular to (dragX,dragY) + float axisY = dragX; // Why not (-dragY, dragX) ? because Y axis is also inverted! + float axisZ = 0; + float axisL = (float)Math.sqrt(axisX*axisX + axisY*axisY + axisZ*axisZ); + + if( axisL>0 ) + { + axisX /= axisL; + axisY /= axisL; + axisZ /= axisL; + + float ratio = axisL; + ratio = ratio - (int)ratio; // the cos() is only valid in (0,Pi) + + float cosA = (float)Math.cos(Math.PI*ratio); + float sinA = (float)Math.sqrt(1-cosA*cosA); + + return new Static4D(axisX*sinA, axisY*sinA, axisZ*sinA, cosA); + } + + return new Static4D(0f, 0f, 0f, 1f); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static double computeCos(double oldX, double oldY, double newX, double newY, double len1, double len2) + { + double ret= (oldX*newX+oldY*newY) / (len1*len2); + if( ret<-1.0 ) return -1.0; + if( ret> 1.0 ) return 1.0; + + return ret; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// sin of (signed!) angle between vectors 'old' and 'new', counterclockwise! + + public static double computeSin(double oldX, double oldY, double newX, double newY, double len1, double len2) + { + double ret= (newX*oldY-oldX*newY) / (len1*len2); + if( ret<-1.0 ) return -1.0; + if( ret> 1.0 ) return 1.0; + + return ret; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return quat Q that turns 3D vector A=(ax,ay,az) to another 3D vector B=(bx,by,bz) +// take care of double-cover by ensuring that always Q.get3() >=0 + + public static Static4D retRotationQuat(float ax, float ay, float az, float bx, float by, float bz) + { + float nx = ay*bz - az*by; + float ny = az*bx - ax*bz; + float nz = ax*by - ay*bx; + + float sin = (float)Math.sqrt(nx*nx + ny*ny + nz*nz); + float cos = ax*bx + ay*by + az*bz; + + if( sin!=0 ) + { + nx /= sin; + ny /= sin; + nz /= sin; + } + + // Why sin<=0 and cos>=0 ? + // 0 0 both sin and cos are positive. + // But1: quats work counterclockwise -> negate cos. + // But2: double-cover, we prefer to have the cos positive (so that unit=(0,0,0,1)) + // so negate again both cos and sin. + float sinHalf =-(float)Math.sqrt((1-cos)/2); + float cosHalf = (float)Math.sqrt((1+cos)/2); + + return new Static4D(nx*sinHalf,ny*sinHalf,nz*sinHalf,cosHalf); + } + }