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Revision c59fc52d

Added by Leszek Koltunski almost 6 years ago

Dynamics App: fix moving Quat Points
Library: remove negating the Quat Points in the DynamicQuat in order to always go the shortest route.

View differences:

src/main/java/org/distorted/library/type/DynamicQuat.java
27 27 
* of Static4Ds.
28 28 
* Here, the Points are assumed to be Quaternions - thus we do the Spherical Linear Interpolation, aka
29 29 
* SLERP. Noise not supported (yet?).
30 
*
31 
* Only unit quaternions represent valid rotations in 3D - and interpolating through rotations is the
32 
* most common use case for this class. No effort is done to normalize the Points though.
30 33 
*/
31 34 

  		




  32
  35
  
    
public class DynamicQuat extends Dynamic implements Data4D


  		




  ......




  86
  89
  
    
        vq.vw = cu.w;


  		




  87
  90
  
    
    	


  		




  88
  91
  
    
        vq.cosOmega = cu.x*ne.x + cu.y*ne.y + cu.z*ne.z + cu.w*ne.w;


  		




  89
  
  
    
      	


  		




  90
  
  
    
        if( vq.cosOmega<0 && n!=0 )  // do not invert the last quaternion even if we'd have to go the long way around!


  		




  91
  
  
    
          {


  		




  92
  
  
    
          vq.cosOmega = -vq.cosOmega;


  		




  93
  
  
    
          ne.x = -ne.x;


  		




  94
  
  
    
          ne.y = -ne.y;


  		




  95
  
  
    
          ne.z = -ne.z;


  		




  96
  
  
    
          ne.w = -ne.w;


  		




  97
  
  
    
          }


  		




  98
  
  
    
      	


  		




  99
  92
  
    
        vq.sinOmega = (float)Math.sqrt(1-vq.cosOmega*vq.cosOmega);


  		




  100
  
  
    
        vq.omega = arcCos(vq.cosOmega);


  		




  
  93
  
    
        vq.omega    = arcCos(vq.cosOmega);


  		




  101
  94
  
    
        }


  		




  102
  95
  
    
      }


  		




  103
  96
  
    
   


  		




  ......




  154
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///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  155
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/**


  		




  156
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 * Resets the location'th Point.


  		




  157
  
  
    
 * 


  		




  
  150
  
    
 *


  		




  158
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 * @param location the index of the Point we are setting.


  		




  159
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 * @param x New value of its first float.


  		




  160
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 */


  		












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