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Revision 9a6394c2
Added by Leszek Koltunski about 21 hours ago
- ID 9a6394c2954faf837847a126d8b62fb98eb80330
- Parent 76e5897b
| src/main/java/org/distorted/library/helpers/QuatHelper.java | ||
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| 154 | 154 |
ret[index+3] = rw*qw - rz*qz - ry*qy - rx*qx; |
| 155 | 155 |
} |
| 156 | 156 |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// rotate 'vector' by quat ( i.e. return quat*vector*(quat^-1) ) |
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public static Static4D rotateVectorByQuat(Static4D vector, Static4D quat) |
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{
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float qx = quat.get0(); |
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float qy = quat.get1(); |
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float qz = quat.get2(); |
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float qw = quat.get3(); |
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Static4D tmp = quatMultiply(qx,qy,qz,qw,vector); |
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return quatMultiply(tmp,-qx,-qy,-qz,qw); |
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} |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) |
| 174 | 159 |
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| ... | ... | |
| 268 | 253 |
quat[2] = -quat[2]; |
| 269 | 254 |
} |
| 270 | 255 |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// rotate 'vector' by quat ( i.e. return quat*vector*(quat^-1) ) |
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public static Static4D rotateVectorByQuat(Static4D vector, Static4D quat) |
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{
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float qx = quat.get0(); |
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float qy = quat.get1(); |
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float qz = quat.get2(); |
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float qw = quat.get3(); |
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Static4D tmp = quatMultiply(qx,qy,qz,qw,vector); |
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return quatMultiply(tmp,-qx,-qy,-qz,qw); |
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} |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) |
| 273 | 273 |
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| ... | ... | |
| 280 | 280 |
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| 281 | 281 |
Static4D tmp = quatMultiply(-qx,-qy,-qz,qw,vector); |
| 282 | 282 |
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return quatMultiply(tmp,quat);
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return quatMultiply(tmp,qx,qy,qz,qw);
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| 284 | 284 |
} |
| 285 | 285 |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) |
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public static void rotateVectorByInvertedQuat(float[] output, float x, float y, float z, float w, float[] quat) |
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{
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float[] tmp = new float[4]; |
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float qx = quat[0]; |
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float qy = quat[1]; |
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float qz = quat[2]; |
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float qw = quat[3]; |
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quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w); |
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quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw); |
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} |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
| 287 | 303 |
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| 288 | 304 |
public static Static4D quatFromDrag(float dragX, float dragY) |
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