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d333eb6b
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Copyright 2016 Leszek Koltunski //
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// //
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46b572b5
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Leszek Koltunski
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// This file is part of Distorted. //
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d333eb6b
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Leszek Koltunski
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// //
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46b572b5
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Leszek Koltunski
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// Distorted is free software: you can redistribute it and/or modify //
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d333eb6b
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Leszek Koltunski
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// it under the terms of the GNU General Public License as published by //
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// the Free Software Foundation, either version 2 of the License, or //
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// (at your option) any later version. //
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// //
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46b572b5
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Leszek Koltunski
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// Distorted is distributed in the hope that it will be useful, //
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d333eb6b
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Leszek Koltunski
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// but WITHOUT ANY WARRANTY; without even the implied warranty of //
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the //
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// GNU General Public License for more details. //
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// //
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// You should have received a copy of the GNU General Public License //
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46b572b5
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Leszek Koltunski
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// along with Distorted. If not, see <http://www.gnu.org/licenses/>. //
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d333eb6b
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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a4835695
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Leszek Koltunski
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package org.distorted.library.type;
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6a06a912
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Leszek Koltunski
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import java.util.Vector;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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568b29d8
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Leszek Koltunski
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* A 4-dimensional implementation of the Dynamic class to interpolate between a list
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* of Static4Ds.
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6a06a912
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Leszek Koltunski
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* Here, the Points are assumed to be Quaternions - thus we do the Spherical Linear Interpolation, aka
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* SLERP. Noise not supported (yet?).
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c59fc52d
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Leszek Koltunski
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*
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* Only unit quaternions represent valid rotations in 3D - and interpolating through rotations is the
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* most common use case for this class. No effort is done to normalize the Points though.
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47bf4654
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Leszek Koltunski
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*
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* Rotation Quaternion is assumed to be in the form ( axisX*sinT, axisY*sinT, axisZ*sinT, cosT ).
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6a06a912
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Leszek Koltunski
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*/
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568b29d8
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Leszek Koltunski
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public class DynamicQuat extends Dynamic implements Data4D
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6a06a912
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Leszek Koltunski
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{
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///////////////////////////////////////////////////////////////////////////////////////////////////
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649544b8
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Leszek Koltunski
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// Here we implement our own Cache as we need something slightly different.
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6a06a912
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Leszek Koltunski
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// omega, sinOmega, cosOmega - angle between pair of quaternions, its sinus and cosinus.
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//
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// (vx,vy,vz,vw) is the original vector from vv (copied here so when interpolating we can see if it is
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cacc63de
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Leszek Koltunski
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// still valid and if not - rebuild the Cache.
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6a06a912
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Leszek Koltunski
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649544b8
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Leszek Koltunski
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private class VectorCacheQuat
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6a06a912
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Leszek Koltunski
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{
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float omega, sinOmega,cosOmega;
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float vx,vy,vz,vw;
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}
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649544b8
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Leszek Koltunski
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private Vector<VectorCacheQuat> vc;
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private VectorCacheQuat tmp1, tmp2;
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6a06a912
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Leszek Koltunski
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568b29d8
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Leszek Koltunski
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private Vector<Static4D> vv;
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private Static4D curr, next;
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6a06a912
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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f871c455
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Leszek Koltunski
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// Abramowitz / Stegun
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6a06a912
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Leszek Koltunski
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private static float arcCos(float x)
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{
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if( x<0 )
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return 3.14159265358979f - (float)Math.sqrt(1+x)*(1.5707288f + 0.2121144f*x + 0.074261f*x*x + 0.0187293f*x*x*x);
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return (float)Math.sqrt(1-x)*(1.5707288f - 0.2121144f*x + 0.074261f*x*x - 0.0187293f*x*x*x);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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9dacabea
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Leszek Koltunski
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6a06a912
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Leszek Koltunski
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private void recomputeCache()
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{
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if( numPoints>=2 )
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{
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int i, n;
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9dacabea
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Leszek Koltunski
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Static4D cu,ne;
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VectorCacheQuat vq;
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6a06a912
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Leszek Koltunski
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for(i=0; i<numPoints; i++)
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{
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n = i<numPoints-1 ? i+1:0;
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9dacabea
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Leszek Koltunski
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vq= vc.elementAt(i);
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cu= vv.elementAt(i);
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ne= vv.elementAt(n);
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6a06a912
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9dacabea
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Leszek Koltunski
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vq.vx = cu.x;
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vq.vy = cu.y;
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vq.vz = cu.z;
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vq.vw = cu.w;
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6a06a912
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Leszek Koltunski
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9dacabea
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Leszek Koltunski
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vq.cosOmega = cu.x*ne.x + cu.y*ne.y + cu.z*ne.z + cu.w*ne.w;
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vq.sinOmega = (float)Math.sqrt(1-vq.cosOmega*vq.cosOmega);
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c59fc52d
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Leszek Koltunski
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vq.omega = arcCos(vq.cosOmega);
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6a06a912
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Leszek Koltunski
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}
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}
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cacheDirty = false;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// PUBLIC API
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///////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Default constructor.
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*/
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108 |
568b29d8
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Leszek Koltunski
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public DynamicQuat()
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109 |
6a06a912
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Leszek Koltunski
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{
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110 |
3002bef3
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Leszek Koltunski
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this(0,0.5f);
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111 |
6a06a912
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Leszek Koltunski
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}
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112 |
8c893ffc
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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115 |
c45c2ab1
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Leszek Koltunski
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* Constructor setting the speed of interpolation and the number of revolutions.
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8c893ffc
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Leszek Koltunski
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*
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117 |
c45c2ab1
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Leszek Koltunski
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* What constitutes 'one revolution' depends on the MODE:
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* {@link Dynamic#MODE_LOOP}, {@link Dynamic#MODE_PATH} or {@link Dynamic#MODE_JUMP}.
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*
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* @param duration number of milliseconds it takes to do one revolution.
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* @param count number of revolutions we will do. Count<=0 means 'infinite'.
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122 |
8c893ffc
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Leszek Koltunski
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*/
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public DynamicQuat(int duration, float count)
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{
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125 |
20dc919b
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Leszek Koltunski
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vv = new Vector<>();
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vc = new Vector<>();
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numPoints = 0;
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128 |
8c893ffc
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Leszek Koltunski
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cacheDirty = false;
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129 |
20dc919b
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Leszek Koltunski
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mMode = MODE_LOOP;
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mDuration = duration;
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mCount = count;
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132 |
bdb341bc
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Leszek Koltunski
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mLastPos = -1;
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133 |
c45c2ab1
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Leszek Koltunski
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mAccessType = ACCESS_TYPE_RANDOM;
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134 |
3002bef3
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Leszek Koltunski
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mDimension = 4;
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135 |
8c893ffc
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Leszek Koltunski
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}
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137 |
6a06a912
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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139 |
568b29d8
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Leszek Koltunski
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* Returns the location'th Static4D.
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140 |
6a06a912
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Leszek Koltunski
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*
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* @param location the index of the Point we are interested in.
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142 |
568b29d8
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Leszek Koltunski
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* @return The Static4D, if 0<=location<getNumPoints(), or null otherwise.
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143 |
6a06a912
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Leszek Koltunski
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*/
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144 |
568b29d8
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Leszek Koltunski
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public synchronized Static4D getPoint(int location)
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145 |
6a06a912
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Leszek Koltunski
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{
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146 |
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return (location>=0 && location<numPoints) ? vv.elementAt(location) : null;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Resets the location'th Point.
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152 |
47bf4654
|
Leszek Koltunski
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* <p>
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* Rotation Quaternion is assumed to be in the form ( axisX*sinT, axisY*sinT, axisZ*sinT, cosT ).
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154 |
c59fc52d
|
Leszek Koltunski
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*
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155 |
6a06a912
|
Leszek Koltunski
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* @param location the index of the Point we are setting.
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* @param x New value of its first float.
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*/
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public synchronized void setPoint(int location, float x, float y, float z, float w)
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{
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160 |
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if( location>=0 && location<numPoints )
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161 |
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{
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162 |
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curr = vv.elementAt(location);
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164 |
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if( curr!=null )
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{
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166 |
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curr.set(x,y,z,w);
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167 |
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cacheDirty=true;
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168 |
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}
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169 |
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}
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170 |
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}
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171 |
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172 |
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///////////////////////////////////////////////////////////////////////////////////////////////////
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173 |
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/**
|
174 |
568b29d8
|
Leszek Koltunski
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* Adds a new Static4D to the end of our list of Points to interpolate through.
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175 |
6a06a912
|
Leszek Koltunski
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* <p>
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176 |
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* Only a reference to the Point gets added to the List; this means that one can add a Point
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177 |
568b29d8
|
Leszek Koltunski
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* here, and later on {@link Static4D#set(float,float,float,float)} it to some new value and
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178 |
6a06a912
|
Leszek Koltunski
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* the change will be seamlessly reflected in the interpolated path.
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179 |
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* <p>
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180 |
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* A Point can be added multiple times.
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181 |
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*
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182 |
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* @param v The Point to add.
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183 |
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*/
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184 |
568b29d8
|
Leszek Koltunski
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public synchronized void add(Static4D v)
|
185 |
6a06a912
|
Leszek Koltunski
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{
|
186 |
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if( v!=null )
|
187 |
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{
|
188 |
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vv.add(v);
|
189 |
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|
190 |
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switch(numPoints)
|
191 |
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{
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192 |
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case 0:
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193 |
649544b8
|
Leszek Koltunski
|
case 1: vc.add(new VectorCacheQuat());
|
194 |
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vc.add(new VectorCacheQuat());
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195 |
6a06a912
|
Leszek Koltunski
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break;
|
196 |
649544b8
|
Leszek Koltunski
|
default:vc.add(new VectorCacheQuat());
|
197 |
6a06a912
|
Leszek Koltunski
|
}
|
198 |
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|
199 |
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numPoints++;
|
200 |
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cacheDirty = true;
|
201 |
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}
|
202 |
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}
|
203 |
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204 |
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///////////////////////////////////////////////////////////////////////////////////////////////////
|
205 |
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/**
|
206 |
568b29d8
|
Leszek Koltunski
|
* Adds a new Static4D to the location'th place in our List of Points to interpolate through.
|
207 |
6a06a912
|
Leszek Koltunski
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*
|
208 |
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* @param location Index in our List to add the new Point at.
|
209 |
568b29d8
|
Leszek Koltunski
|
* @param v The Static4D to add.
|
210 |
6a06a912
|
Leszek Koltunski
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*/
|
211 |
568b29d8
|
Leszek Koltunski
|
public synchronized void add(int location, Static4D v)
|
212 |
6a06a912
|
Leszek Koltunski
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{
|
213 |
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if( v!=null )
|
214 |
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{
|
215 |
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vv.add(location, v);
|
216 |
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|
217 |
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switch(numPoints)
|
218 |
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{
|
219 |
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case 0:
|
220 |
649544b8
|
Leszek Koltunski
|
case 1: vc.add(new VectorCacheQuat());
|
221 |
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vc.add(new VectorCacheQuat());
|
222 |
6a06a912
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Leszek Koltunski
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break;
|
223 |
649544b8
|
Leszek Koltunski
|
default:vc.add(location,new VectorCacheQuat());
|
224 |
6a06a912
|
Leszek Koltunski
|
}
|
225 |
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|
226 |
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numPoints++;
|
227 |
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cacheDirty = true;
|
228 |
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}
|
229 |
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}
|
230 |
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|
231 |
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///////////////////////////////////////////////////////////////////////////////////////////////////
|
232 |
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/**
|
233 |
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* Removes all occurrences of Point v from the List of Points to interpolate through.
|
234 |
|
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*
|
235 |
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* @param v The Point to remove.
|
236 |
|
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* @return <code>true</code> if we have removed at least one Point.
|
237 |
|
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*/
|
238 |
568b29d8
|
Leszek Koltunski
|
public synchronized boolean remove(Static4D v)
|
239 |
6a06a912
|
Leszek Koltunski
|
{
|
240 |
|
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int n = vv.indexOf(v);
|
241 |
|
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boolean found = false;
|
242 |
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|
243 |
|
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while( n>=0 )
|
244 |
|
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{
|
245 |
|
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vv.remove(n);
|
246 |
|
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|
247 |
|
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switch(numPoints)
|
248 |
|
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{
|
249 |
|
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case 0:
|
250 |
|
|
case 1: break;
|
251 |
|
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case 2: vc.removeAllElements();
|
252 |
|
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break;
|
253 |
|
|
default:vc.remove(n);
|
254 |
|
|
}
|
255 |
|
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|
256 |
|
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numPoints--;
|
257 |
|
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found = true;
|
258 |
|
|
n = vv.indexOf(v);
|
259 |
|
|
}
|
260 |
|
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|
261 |
|
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if( found )
|
262 |
|
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{
|
263 |
|
|
cacheDirty=true;
|
264 |
|
|
}
|
265 |
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|
266 |
|
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return found;
|
267 |
|
|
}
|
268 |
|
|
|
269 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
270 |
|
|
/**
|
271 |
|
|
* Removes a location'th Point from the List of Points we interpolate through.
|
272 |
|
|
*
|
273 |
|
|
* @param location index of the Point we want to remove.
|
274 |
|
|
* @return <code>true</code> if location is valid, i.e. if 0<=location<getNumPoints().
|
275 |
|
|
*/
|
276 |
|
|
public synchronized boolean remove(int location)
|
277 |
|
|
{
|
278 |
|
|
if( location>=0 && location<numPoints )
|
279 |
|
|
{
|
280 |
|
|
vv.removeElementAt(location);
|
281 |
|
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|
282 |
|
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switch(numPoints)
|
283 |
|
|
{
|
284 |
|
|
case 0:
|
285 |
|
|
case 1: break;
|
286 |
|
|
case 2: vc.removeAllElements();
|
287 |
|
|
break;
|
288 |
|
|
default:vc.removeElementAt(location);
|
289 |
|
|
}
|
290 |
|
|
|
291 |
|
|
numPoints--;
|
292 |
|
|
cacheDirty = true;
|
293 |
|
|
return true;
|
294 |
|
|
}
|
295 |
|
|
|
296 |
|
|
return false;
|
297 |
|
|
}
|
298 |
|
|
|
299 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
300 |
|
|
/**
|
301 |
|
|
* Removes all Points.
|
302 |
|
|
*/
|
303 |
|
|
public synchronized void removeAll()
|
304 |
|
|
{
|
305 |
|
|
numPoints = 0;
|
306 |
|
|
vv.removeAllElements();
|
307 |
|
|
vc.removeAllElements();
|
308 |
|
|
cacheDirty = false;
|
309 |
|
|
}
|
310 |
|
|
|
311 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
312 |
|
|
/**
|
313 |
|
|
* Writes the results of interpolation between the Points at time 'time' to the passed float buffer.
|
314 |
|
|
* Interpolation is done using the spherical linear algorithm, aka SLERP.
|
315 |
|
|
* <p>
|
316 |
568b29d8
|
Leszek Koltunski
|
* Since this is a 4-dimensional Dynamic, the resulting interpolated Static4D gets written
|
317 |
6a06a912
|
Leszek Koltunski
|
* to four locations in the buffer: buffer[offset], buffer[offset+1], buffer[offset+2] and buffer[offset+3].
|
318 |
|
|
*
|
319 |
568b29d8
|
Leszek Koltunski
|
* @param buffer Float buffer we will write the resulting Static4D to.
|
320 |
6a06a912
|
Leszek Koltunski
|
* @param offset Offset in the buffer where to write the result.
|
321 |
c45c2ab1
|
Leszek Koltunski
|
* @param time Time of interpolation. Time=0.0 is the beginning of the first revolution, time=1.0 - the end
|
322 |
|
|
* of the first revolution, time=2.5 - the middle of the third revolution.
|
323 |
|
|
* What constitutes 'one revolution' depends on the MODE:
|
324 |
|
|
* {@link Dynamic#MODE_LOOP}, {@link Dynamic#MODE_PATH} or {@link Dynamic#MODE_JUMP}.
|
325 |
|
|
**/
|
326 |
bdb341bc
|
Leszek Koltunski
|
synchronized void interpolate(float[] buffer, int offset, float time)
|
327 |
6a06a912
|
Leszek Koltunski
|
{
|
328 |
|
|
switch(numPoints)
|
329 |
|
|
{
|
330 |
|
|
case 0: buffer[offset ] = 0.0f;
|
331 |
|
|
buffer[offset+1] = 0.0f;
|
332 |
|
|
buffer[offset+2] = 0.0f;
|
333 |
|
|
buffer[offset+3] = 0.0f;
|
334 |
|
|
break;
|
335 |
|
|
case 1: curr = vv.elementAt(0);
|
336 |
|
|
buffer[offset ] = curr.x;
|
337 |
|
|
buffer[offset+1] = curr.y;
|
338 |
|
|
buffer[offset+2] = curr.z;
|
339 |
|
|
buffer[offset+3] = curr.w;
|
340 |
|
|
break;
|
341 |
|
|
default:float t = time;
|
342 |
9dacabea
|
Leszek Koltunski
|
int vecCurr, segment;
|
343 |
6a06a912
|
Leszek Koltunski
|
float scale0, scale1;
|
344 |
9dacabea
|
Leszek Koltunski
|
|
345 |
|
|
switch(mMode)
|
346 |
|
|
{
|
347 |
|
|
case MODE_LOOP: time = time*numPoints;
|
348 |
|
|
segment = (int)time;
|
349 |
|
|
vecCurr = segment;
|
350 |
|
|
break;
|
351 |
|
|
case MODE_PATH: if( t>0.5f ) t = 1.0f-t;
|
352 |
|
|
time = 2*t*(numPoints-1);
|
353 |
|
|
segment = (int)(2*t*(numPoints-1));
|
354 |
|
|
vecCurr = segment;
|
355 |
|
|
break;
|
356 |
|
|
case MODE_JUMP: time = time*(numPoints-1);
|
357 |
|
|
segment = (int)time;
|
358 |
|
|
vecCurr = segment;
|
359 |
|
|
break;
|
360 |
|
|
default : vecCurr = 0;
|
361 |
|
|
segment = 0;
|
362 |
|
|
}
|
363 |
|
|
|
364 |
6a06a912
|
Leszek Koltunski
|
if( vecCurr>=0 && vecCurr<numPoints )
|
365 |
|
|
{
|
366 |
9dacabea
|
Leszek Koltunski
|
int vecNext = getNext(vecCurr,t);
|
367 |
|
|
|
368 |
6a06a912
|
Leszek Koltunski
|
curr = vv.elementAt(vecCurr);
|
369 |
|
|
tmp1 = vc.elementAt(vecCurr);
|
370 |
9dacabea
|
Leszek Koltunski
|
next = vv.elementAt(vecNext);
|
371 |
|
|
|
372 |
|
|
if( cacheDirty ) recomputeCache(); // recompute cache if we have added or remove vectors since last computation
|
373 |
|
|
else if( mSegment!= segment ) // ...or if we have just passed a vector and the vector we are currently flying to has changed
|
374 |
|
|
{
|
375 |
|
|
tmp2 = vc.elementAt(vecNext);
|
376 |
|
|
|
377 |
|
|
if( tmp2.vx!=next.x || tmp2.vy!=next.y || tmp2.vz!=next.z || tmp2.vw!=next.w ) recomputeCache();
|
378 |
|
|
}
|
379 |
|
|
|
380 |
|
|
mSegment = segment;
|
381 |
|
|
|
382 |
|
|
time = time-vecCurr;
|
383 |
|
|
|
384 |
6a06a912
|
Leszek Koltunski
|
if( tmp1.sinOmega==0 )
|
385 |
|
|
{
|
386 |
9dacabea
|
Leszek Koltunski
|
scale0 = 1f;
|
387 |
|
|
scale1 = 0f;
|
388 |
6a06a912
|
Leszek Koltunski
|
}
|
389 |
9dacabea
|
Leszek Koltunski
|
else if( tmp1.cosOmega < 0.99 )
|
390 |
6a06a912
|
Leszek Koltunski
|
{
|
391 |
|
|
scale0 = (float)Math.sin( (1f-time)*tmp1.omega ) / tmp1.sinOmega;
|
392 |
|
|
scale1 = (float)Math.sin( time *tmp1.omega ) / tmp1.sinOmega;
|
393 |
|
|
}
|
394 |
9dacabea
|
Leszek Koltunski
|
else
|
395 |
6a06a912
|
Leszek Koltunski
|
{
|
396 |
|
|
scale0 = 1f-time;
|
397 |
|
|
scale1 = time;
|
398 |
|
|
}
|
399 |
|
|
|
400 |
|
|
buffer[offset ] = scale0*curr.x + scale1*next.x;
|
401 |
9dacabea
|
Leszek Koltunski
|
buffer[offset+1] = scale0*curr.y + scale1*next.y;
|
402 |
|
|
buffer[offset+2] = scale0*curr.z + scale1*next.z;
|
403 |
|
|
buffer[offset+3] = scale0*curr.w + scale1*next.w;
|
404 |
|
|
|
405 |
6a06a912
|
Leszek Koltunski
|
break;
|
406 |
|
|
}
|
407 |
|
|
}
|
408 |
|
|
}
|
409 |
|
|
|
410 |
|
|
}
|