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Revision cdcb01f0

Added by Leszek Koltunski 4 days ago

first two files converted to Kotlin

View differences:

build.gradle
1 
plugins {
2 
    alias(libs.plugins.kotlin.android)
3 
}
1 4 
apply plugin: 'com.android.library'
2 5 

  		




  3
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android {


  		




  ......




  7
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            keyAlias = 'distorted'


  		




  8
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        }


  		




  9
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    }


  		




  10
  
  
    
    compileSdk 34


  		




  
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    compileSdk 35


  		




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  14
  
    

  		




  12
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    defaultConfig {


  		




  13
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        minSdkVersion 21


  		




  14
  
  
    
        targetSdkVersion 34


  		




  15
  
  
    
        externalNativeBuild {


  		




  16
  
  
    
            cmake {


  		




  17
  
  
    
                cppFlags ''


  		




  18
  
  
    
            }


  		




  19
  
  
    
        }


  		




  
  17
  
    
        targetSdk 35


  		




  20
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    }


  		




  21
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  22
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    buildTypes {


  		




  ......




  40
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            version '3.22.1'


  		




  41
  39
  
    
        }


  		




  42
  40
  
    
    }


  		




  
  41
  
    
    kotlinOptions {


  		




  
  42
  
    
        jvmTarget = '11'


  		




  
  43
  
    
    }


  		




  
  44
  
    
}


  		




  
  45
  
    

  		




  
  46
  
    
dependencies {


  		




  
  47
  
    
    implementation libs.core.ktx


  		




  43
  48
  
    
}


  		












  

    
      src/main/java/org/distorted/library/helpers/MatrixHelper.kt
    
  





  17
  17
  
    
// License along with this library; if not, write to the Free Software                           //


  		




  18
  18
  
    
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA                //


  		




  19
  19
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  20
  
  
    

  		




  21
  
  
    
package org.distorted.library.helpers;


  		




  
  20
  
    
package org.distorted.library.helpers


  		




  22
  21
  
    

  		




  23
  22
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  24
  23
  
    

  		




  25
  
  
    
public class MatrixHelper


  		




  26
  
  
    
  {


  		




  27
  
  
    
  public static void setIdentity(float[] output)


  		




  28
  
  
    
    {


  		




  29
  
  
    
    output[ 0] = 1;


  		




  30
  
  
    
    output[ 1] = 0;


  		




  31
  
  
    
    output[ 2] = 0;


  		




  32
  
  
    
    output[ 3] = 0;


  		




  33
  
  
    
    output[ 4] = 0;


  		




  34
  
  
    
    output[ 5] = 1;


  		




  35
  
  
    
    output[ 6] = 0;


  		




  36
  
  
    
    output[ 7] = 0;


  		




  37
  
  
    
    output[ 8] = 0;


  		




  38
  
  
    
    output[ 9] = 0;


  		




  39
  
  
    
    output[10] = 1;


  		




  40
  
  
    
    output[11] = 0;


  		




  41
  
  
    
    output[12] = 0;


  		




  42
  
  
    
    output[13] = 0;


  		




  43
  
  
    
    output[14] = 0;


  		




  44
  
  
    
    output[15] = 1;


  		




  
  24
  
    
object MatrixHelper {


  		




  
  25
  
    
    fun setIdentity(output: FloatArray) {


  		




  
  26
  
    
        output[0] = 1f


  		




  
  27
  
    
        output[1] = 0f


  		




  
  28
  
    
        output[2] = 0f


  		




  
  29
  
    
        output[3] = 0f


  		




  
  30
  
    
        output[4] = 0f


  		




  
  31
  
    
        output[5] = 1f


  		




  
  32
  
    
        output[6] = 0f


  		




  
  33
  
    
        output[7] = 0f


  		




  
  34
  
    
        output[8] = 0f


  		




  
  35
  
    
        output[9] = 0f


  		




  
  36
  
    
        output[10] = 1f


  		




  
  37
  
    
        output[11] = 0f


  		




  
  38
  
    
        output[12] = 0f


  		




  
  39
  
    
        output[13] = 0f


  		




  
  40
  
    
        output[14] = 0f


  		




  
  41
  
    
        output[15] = 1f


  		




  45
  42
  
    
    }


  		




  46
  43
  
    

  		




  47
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  48
  
  
    

  		




  49
  
  
    
  public static void multiply(float[] output, float[] m1, float[] m2)


  		




  50
  
  
    
    {


  		




  51
  
  
    
    output[ 0] = m1[ 0]*m2[ 0] + m1[ 4]*m2[ 1] + m1[ 8]*m2[ 2] + m1[12]*m2[ 3];


  		




  52
  
  
    
    output[ 1] = m1[ 1]*m2[ 0] + m1[ 5]*m2[ 1] + m1[ 9]*m2[ 2] + m1[13]*m2[ 3];


  		




  53
  
  
    
    output[ 2] = m1[ 2]*m2[ 0] + m1[ 6]*m2[ 1] + m1[10]*m2[ 2] + m1[14]*m2[ 3];


  		




  54
  
  
    
    output[ 3] = m1[ 3]*m2[ 0] + m1[ 7]*m2[ 1] + m1[11]*m2[ 2] + m1[15]*m2[ 3];


  		




  55
  
  
    

  		




  56
  
  
    
    output[ 4] = m1[ 0]*m2[ 4] + m1[ 4]*m2[ 5] + m1[ 8]*m2[ 6] + m1[12]*m2[ 7];


  		




  57
  
  
    
    output[ 5] = m1[ 1]*m2[ 4] + m1[ 5]*m2[ 5] + m1[ 9]*m2[ 6] + m1[13]*m2[ 7];


  		




  58
  
  
    
    output[ 6] = m1[ 2]*m2[ 4] + m1[ 6]*m2[ 5] + m1[10]*m2[ 6] + m1[14]*m2[ 7];


  		




  59
  
  
    
    output[ 7] = m1[ 3]*m2[ 4] + m1[ 7]*m2[ 5] + m1[11]*m2[ 6] + m1[15]*m2[ 7];


  		




  60
  
  
    

  		




  61
  
  
    
    output[ 8] = m1[ 0]*m2[ 8] + m1[ 4]*m2[ 9] + m1[ 8]*m2[10] + m1[12]*m2[11];


  		




  62
  
  
    
    output[ 9] = m1[ 1]*m2[ 8] + m1[ 5]*m2[ 9] + m1[ 9]*m2[10] + m1[13]*m2[11];


  		




  63
  
  
    
    output[10] = m1[ 2]*m2[ 8] + m1[ 6]*m2[ 9] + m1[10]*m2[10] + m1[14]*m2[11];


  		




  64
  
  
    
    output[11] = m1[ 3]*m2[ 8] + m1[ 7]*m2[ 9] + m1[11]*m2[10] + m1[15]*m2[11];


  		




  65
  
  
    

  		




  66
  
  
    
    output[12] = m1[ 0]*m2[12] + m1[ 4]*m2[13] + m1[ 8]*m2[14] + m1[12]*m2[15];


  		




  67
  
  
    
    output[13] = m1[ 1]*m2[12] + m1[ 5]*m2[13] + m1[ 9]*m2[14] + m1[13]*m2[15];


  		




  68
  
  
    
    output[14] = m1[ 2]*m2[12] + m1[ 6]*m2[13] + m1[10]*m2[14] + m1[14]*m2[15];


  		




  69
  
  
    
    output[15] = m1[ 3]*m2[12] + m1[ 7]*m2[13] + m1[11]*m2[14] + m1[15]*m2[15];


  		




  
  44
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  45
  
    
    @kotlin.jvm.JvmStatic


  		




  
  46
  
    
    fun multiply(output: FloatArray, m1: FloatArray, m2: FloatArray) {


  		




  
  47
  
    
        output[0] = m1[0] * m2[0] + m1[4] * m2[1] + m1[8] * m2[2] + m1[12] * m2[3]


  		




  
  48
  
    
        output[1] = m1[1] * m2[0] + m1[5] * m2[1] + m1[9] * m2[2] + m1[13] * m2[3]


  		




  
  49
  
    
        output[2] = m1[2] * m2[0] + m1[6] * m2[1] + m1[10] * m2[2] + m1[14] * m2[3]


  		




  
  50
  
    
        output[3] = m1[3] * m2[0] + m1[7] * m2[1] + m1[11] * m2[2] + m1[15] * m2[3]


  		




  
  51
  
    

  		




  
  52
  
    
        output[4] = m1[0] * m2[4] + m1[4] * m2[5] + m1[8] * m2[6] + m1[12] * m2[7]


  		




  
  53
  
    
        output[5] = m1[1] * m2[4] + m1[5] * m2[5] + m1[9] * m2[6] + m1[13] * m2[7]


  		




  
  54
  
    
        output[6] = m1[2] * m2[4] + m1[6] * m2[5] + m1[10] * m2[6] + m1[14] * m2[7]


  		




  
  55
  
    
        output[7] = m1[3] * m2[4] + m1[7] * m2[5] + m1[11] * m2[6] + m1[15] * m2[7]


  		




  
  56
  
    

  		




  
  57
  
    
        output[8] = m1[0] * m2[8] + m1[4] * m2[9] + m1[8] * m2[10] + m1[12] * m2[11]


  		




  
  58
  
    
        output[9] = m1[1] * m2[8] + m1[5] * m2[9] + m1[9] * m2[10] + m1[13] * m2[11]


  		




  
  59
  
    
        output[10] = m1[2] * m2[8] + m1[6] * m2[9] + m1[10] * m2[10] + m1[14] * m2[11]


  		




  
  60
  
    
        output[11] = m1[3] * m2[8] + m1[7] * m2[9] + m1[11] * m2[10] + m1[15] * m2[11]


  		




  
  61
  
    

  		




  
  62
  
    
        output[12] = m1[0] * m2[12] + m1[4] * m2[13] + m1[8] * m2[14] + m1[12] * m2[15]


  		




  
  63
  
    
        output[13] = m1[1] * m2[12] + m1[5] * m2[13] + m1[9] * m2[14] + m1[13] * m2[15]


  		




  
  64
  
    
        output[14] = m1[2] * m2[12] + m1[6] * m2[13] + m1[10] * m2[14] + m1[14] * m2[15]


  		




  
  65
  
    
        output[15] = m1[3] * m2[12] + m1[7] * m2[13] + m1[11] * m2[14] + m1[15] * m2[15]


  		




  70
  66
  
    
    }


  		




  71
  67
  
    

  		




  72
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  73
  
  
    

  		




  74
  
  
    
  public static void frustum(float[] output, float l, float r, float b, float t, float n, float f)


  		




  75
  
  
    
    {


  		




  76
  
  
    
    output[0]  =  2 * n / (r - l);


  		




  77
  
  
    
    output[1]  =  0;


  		




  78
  
  
    
    output[2]  =  0;


  		




  79
  
  
    
    output[3]  =  0;


  		




  80
  
  
    
    output[4]  =  0;


  		




  81
  
  
    
    output[5]  =  2 * n / (t - b);


  		




  82
  
  
    
    output[6]  =  0;


  		




  83
  
  
    
    output[7]  =  0;


  		




  84
  
  
    
    output[8]  =  (r + l) / (r - l);


  		




  85
  
  
    
    output[9]  =  (t + b) / (t - b);


  		




  86
  
  
    
    output[10] = -(f + n) / (f - n);


  		




  87
  
  
    
    output[11] = -1;


  		




  88
  
  
    
    output[12] =  0;


  		




  89
  
  
    
    output[13] =  0;


  		




  90
  
  
    
    output[14] = -(2 * f * n) / (f - n);


  		




  91
  
  
    
    output[15] =  0;


  		




  
  68
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  69
  
    
    @kotlin.jvm.JvmStatic


  		




  
  70
  
    
    fun frustum(output: FloatArray, l: Float, r: Float, b: Float, t: Float, n: Float, f: Float) {


  		




  
  71
  
    
        output[0] = 2 * n / (r - l)


  		




  
  72
  
    
        output[1] = 0f


  		




  
  73
  
    
        output[2] = 0f


  		




  
  74
  
    
        output[3] = 0f


  		




  
  75
  
    
        output[4] = 0f


  		




  
  76
  
    
        output[5] = 2 * n / (t - b)


  		




  
  77
  
    
        output[6] = 0f


  		




  
  78
  
    
        output[7] = 0f


  		




  
  79
  
    
        output[8] = (r + l) / (r - l)


  		




  
  80
  
    
        output[9] = (t + b) / (t - b)


  		




  
  81
  
    
        output[10] = -(f + n) / (f - n)


  		




  
  82
  
    
        output[11] = -1f


  		




  
  83
  
    
        output[12] = 0f


  		




  
  84
  
    
        output[13] = 0f


  		




  
  85
  
    
        output[14] = -(2 * f * n) / (f - n)


  		




  
  86
  
    
        output[15] = 0f


  		




  92
  87
  
    
    }


  		




  93
  88
  
    

  		




  94
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  95
  
  
    

  		




  96
  
  
    
  public static void ortho(float[] output, float l, float r, float b, float t, float n, float f)


  		




  97
  
  
    
    {


  		




  98
  
  
    
    output[0]  =  2 / (r - l);


  		




  99
  
  
    
    output[1]  =  0;


  		




  100
  
  
    
    output[2]  =  0;


  		




  101
  
  
    
    output[3]  =  0;


  		




  102
  
  
    
    output[4]  =  0;


  		




  103
  
  
    
    output[5]  =  2 / (t - b);


  		




  104
  
  
    
    output[6]  =  0;


  		




  105
  
  
    
    output[7]  =  0;


  		




  106
  
  
    
    output[8]  =  0;


  		




  107
  
  
    
    output[9]  =  0;


  		




  108
  
  
    
    output[10] = -2 / (f - n);


  		




  109
  
  
    
    output[11] =  0;


  		




  110
  
  
    
    output[12] = -(r + l) / (r - l);


  		




  111
  
  
    
    output[13] = -(t + b) / (t - b);


  		




  112
  
  
    
    output[14] = -(f + n) / (f - n);


  		




  113
  
  
    
    output[15] =  1;


  		




  
  89
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  90
  
    
    @kotlin.jvm.JvmStatic


  		




  
  91
  
    
    fun ortho(output: FloatArray, l: Float, r: Float, b: Float, t: Float, n: Float, f: Float) {


  		




  
  92
  
    
        output[0] = 2 / (r - l)


  		




  
  93
  
    
        output[1] = 0f


  		




  
  94
  
    
        output[2] = 0f


  		




  
  95
  
    
        output[3] = 0f


  		




  
  96
  
    
        output[4] = 0f


  		




  
  97
  
    
        output[5] = 2 / (t - b)


  		




  
  98
  
    
        output[6] = 0f


  		




  
  99
  
    
        output[7] = 0f


  		




  
  100
  
    
        output[8] = 0f


  		




  
  101
  
    
        output[9] = 0f


  		




  
  102
  
    
        output[10] = -2 / (f - n)


  		




  
  103
  
    
        output[11] = 0f


  		




  
  104
  
    
        output[12] = -(r + l) / (r - l)


  		




  
  105
  
    
        output[13] = -(t + b) / (t - b)


  		




  
  106
  
    
        output[14] = -(f + n) / (f - n)


  		




  
  107
  
    
        output[15] = 1f


  		




  114
  108
  
    
    }


  		




  115
  109
  
    

  		




  116
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  117
  
  
    

  		




  118
  
  
    
  public static void setLookAt(float[] output, float eyeX , float eyeY , float eyeZ ,


  		




  119
  
  
    
                                               float lookX, float lookY, float lookZ,


  		




  120
  
  
    
                                               float upX  , float upY  , float upZ  )


  		




  121
  
  
    
    {


  		




  122
  
  
    
    // TODO


  		




  
  110
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  111
  
    
    fun setLookAt(


  		




  
  112
  
    
        output: FloatArray?, eyeX: Float, eyeY: Float, eyeZ: Float,


  		




  
  113
  
    
        lookX: Float, lookY: Float, lookZ: Float,


  		




  
  114
  
    
        upX: Float, upY: Float, upZ: Float


  		




  
  115
  
    
    ) {


  		




  
  116
  
    
        // TODO


  		




  123
  117
  
    
    }


  		




  124
  118
  
    

  		




  125
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  126
  
  
    
// this is android.opengl.Matrix.rotateM(), but with pre-computed sin and cos of the angle


  		




  127
  
  
    
// and also we have to pre-allocate and pass here two temp arrays.


  		




  128
  
  
    

  		




  129
  
  
    
  public static void rotateSinCos(float[] output, float[] tmp1, float[] tmp2, float sin, float cos, float x, float y, float z)


  		




  130
  
  
    
    {


  		




  131
  
  
    
    tmp1[0]  = (1-cos)*x*x + cos;


  		




  132
  
  
    
    tmp1[1]  = (1-cos)*x*y + sin*z;


  		




  133
  
  
    
    tmp1[2]  = (1-cos)*x*z - sin*y;


  		




  134
  
  
    
    tmp1[3]  = 0;


  		




  135
  
  
    
    tmp1[4]  = (1-cos)*x*y - sin*z;


  		




  136
  
  
    
    tmp1[5]  = (1-cos)*y*y + cos;


  		




  137
  
  
    
    tmp1[6]  = (1-cos)*y*z + sin*x;


  		




  138
  
  
    
    tmp1[7]  = 0;


  		




  139
  
  
    
    tmp1[8]  = (1-cos)*x*z + sin*y;


  		




  140
  
  
    
    tmp1[9]  = (1-cos)*y*z - sin*x;


  		




  141
  
  
    
    tmp1[10] = (1-cos)*z*z + cos;


  		




  142
  
  
    
    tmp1[11] = 0;


  		




  143
  
  
    
    tmp1[12] = 0;


  		




  144
  
  
    
    tmp1[13] = 0;


  		




  145
  
  
    
    tmp1[14] = 0;


  		




  146
  
  
    
    tmp1[15] = 1;


  		




  147
  
  
    

  		




  148
  
  
    
    tmp2[0]  =  output[ 0];


  		




  149
  
  
    
    tmp2[1]  =  output[ 1];


  		




  150
  
  
    
    tmp2[2]  =  output[ 2];


  		




  151
  
  
    
    tmp2[3]  =  output[ 3];


  		




  152
  
  
    
    tmp2[4]  =  output[ 4];


  		




  153
  
  
    
    tmp2[5]  =  output[ 5];


  		




  154
  
  
    
    tmp2[6]  =  output[ 6];


  		




  155
  
  
    
    tmp2[7]  =  output[ 7];


  		




  156
  
  
    
    tmp2[8]  =  output[ 8];


  		




  157
  
  
    
    tmp2[9]  =  output[ 9];


  		




  158
  
  
    
    tmp2[10] =  output[10];


  		




  159
  
  
    
    tmp2[11] =  output[11];


  		




  160
  
  
    
    tmp2[12] =  output[12];


  		




  161
  
  
    
    tmp2[13] =  output[13];


  		




  162
  
  
    
    tmp2[14] =  output[14];


  		




  163
  
  
    
    tmp2[15] =  output[15];


  		




  164
  
  
    

  		




  165
  
  
    
    multiply(output,tmp2,tmp1);


  		




  
  119
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  120
  
    
    // this is android.opengl.Matrix.rotateM(), but with pre-computed sin and cos of the angle


  		




  
  121
  
    
    // and also we have to pre-allocate and pass here two temp arrays.


  		




  
  122
  
    
    @kotlin.jvm.JvmStatic


  		




  
  123
  
    
    fun rotateSinCos(


  		




  
  124
  
    
        output: FloatArray,


  		




  
  125
  
    
        tmp1: FloatArray,


  		




  
  126
  
    
        tmp2: FloatArray,


  		




  
  127
  
    
        sin: Float,


  		




  
  128
  
    
        cos: Float,


  		




  
  129
  
    
        x: Float,


  		




  
  130
  
    
        y: Float,


  		




  
  131
  
    
        z: Float


  		




  
  132
  
    
    ) {


  		




  
  133
  
    
        tmp1[0] = (1 - cos) * x * x + cos


  		




  
  134
  
    
        tmp1[1] = (1 - cos) * x * y + sin * z


  		




  
  135
  
    
        tmp1[2] = (1 - cos) * x * z - sin * y


  		




  
  136
  
    
        tmp1[3] = 0f


  		




  
  137
  
    
        tmp1[4] = (1 - cos) * x * y - sin * z


  		




  
  138
  
    
        tmp1[5] = (1 - cos) * y * y + cos


  		




  
  139
  
    
        tmp1[6] = (1 - cos) * y * z + sin * x


  		




  
  140
  
    
        tmp1[7] = 0f


  		




  
  141
  
    
        tmp1[8] = (1 - cos) * x * z + sin * y


  		




  
  142
  
    
        tmp1[9] = (1 - cos) * y * z - sin * x


  		




  
  143
  
    
        tmp1[10] = (1 - cos) * z * z + cos


  		




  
  144
  
    
        tmp1[11] = 0f


  		




  
  145
  
    
        tmp1[12] = 0f


  		




  
  146
  
    
        tmp1[13] = 0f


  		




  
  147
  
    
        tmp1[14] = 0f


  		




  
  148
  
    
        tmp1[15] = 1f


  		




  
  149
  
    

  		




  
  150
  
    
        tmp2[0] = output[0]


  		




  
  151
  
    
        tmp2[1] = output[1]


  		




  
  152
  
    
        tmp2[2] = output[2]


  		




  
  153
  
    
        tmp2[3] = output[3]


  		




  
  154
  
    
        tmp2[4] = output[4]


  		




  
  155
  
    
        tmp2[5] = output[5]


  		




  
  156
  
    
        tmp2[6] = output[6]


  		




  
  157
  
    
        tmp2[7] = output[7]


  		




  
  158
  
    
        tmp2[8] = output[8]


  		




  
  159
  
    
        tmp2[9] = output[9]


  		




  
  160
  
    
        tmp2[10] = output[10]


  		




  
  161
  
    
        tmp2[11] = output[11]


  		




  
  162
  
    
        tmp2[12] = output[12]


  		




  
  163
  
    
        tmp2[13] = output[13]


  		




  
  164
  
    
        tmp2[14] = output[14]


  		




  
  165
  
    
        tmp2[15] = output[15]


  		




  
  166
  
    

  		




  
  167
  
    
        multiply(output, tmp2, tmp1)


  		




  166
  168
  
    
    }


  		




  167
  169
  
    

  		




  168
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  169
  
  
    

  		




  170
  
  
    
  public static void translate(float[] output, float dx, float dy, float dz)


  		




  171
  
  
    
    {


  		




  172
  
  
    
    output[12] += ( output[ 0]*dx + output[ 4]*dy + output[ 8]*dz);


  		




  173
  
  
    
    output[13] += ( output[ 1]*dx + output[ 5]*dy + output[ 9]*dz);


  		




  174
  
  
    
    output[14] += ( output[ 2]*dx + output[ 6]*dy + output[10]*dz);


  		




  175
  
  
    
    output[15] += ( output[ 3]*dx + output[ 7]*dy + output[11]*dz);


  		




  
  170
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  171
  
    
    @kotlin.jvm.JvmStatic


  		




  
  172
  
    
    fun translate(output: FloatArray, dx: Float, dy: Float, dz: Float) {


  		




  
  173
  
    
        output[12] += (output[0] * dx + output[4] * dy + output[8] * dz)


  		




  
  174
  
    
        output[13] += (output[1] * dx + output[5] * dy + output[9] * dz)


  		




  
  175
  
    
        output[14] += (output[2] * dx + output[6] * dy + output[10] * dz)


  		




  
  176
  
    
        output[15] += (output[3] * dx + output[7] * dy + output[11] * dz)


  		




  176
  177
  
    
    }


  		




  177
  178
  
    

  		




  178
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  179
  
  
    

  		




  180
  
  
    
  public static void scale(float[] output, float sx, float sy, float sz)


  		




  181
  
  
    
    {


  		




  182
  
  
    
    output[ 0] *= sx;


  		




  183
  
  
    
    output[ 1] *= sx;


  		




  184
  
  
    
    output[ 2] *= sx;


  		




  185
  
  
    
    output[ 3] *= sx;


  		




  186
  
  
    

  		




  187
  
  
    
    output[ 4] *= sy;


  		




  188
  
  
    
    output[ 5] *= sy;


  		




  189
  
  
    
    output[ 6] *= sy;


  		




  190
  
  
    
    output[ 7] *= sy;


  		




  191
  
  
    

  		




  192
  
  
    
    output[ 8] *= sz;


  		




  193
  
  
    
    output[ 9] *= sz;


  		




  194
  
  
    
    output[10] *= sz;


  		




  195
  
  
    
    output[11] *= sz;


  		




  
  179
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  180
  
    
    @kotlin.jvm.JvmStatic


  		




  
  181
  
    
    fun scale(output: FloatArray, sx: Float, sy: Float, sz: Float) {


  		




  
  182
  
    
        output[0] *= sx


  		




  
  183
  
    
        output[1] *= sx


  		




  
  184
  
    
        output[2] *= sx


  		




  
  185
  
    
        output[3] *= sx


  		




  
  186
  
    

  		




  
  187
  
    
        output[4] *= sy


  		




  
  188
  
    
        output[5] *= sy


  		




  
  189
  
    
        output[6] *= sy


  		




  
  190
  
    
        output[7] *= sy


  		




  
  191
  
    

  		




  
  192
  
    
        output[8] *= sz


  		




  
  193
  
    
        output[9] *= sz


  		




  
  194
  
    
        output[10] *= sz


  		




  
  195
  
    
        output[11] *= sz


  		




  196
  196
  
    
    }


  		




  197
  
  
    
  }


  		




  
  197
  
    
}


  		












  

    
      src/main/java/org/distorted/library/helpers/QuatHelper.kt
    
  





  17
  17
  
    
// License along with this library; if not, write to the Free Software                           //


  		




  18
  18
  
    
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA                //


  		




  19
  19
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  20
  
    
package org.distorted.library.helpers


  		




  20
  21
  
    

  		




  21
  
  
    
package org.distorted.library.helpers;


  		




  
  22
  
    
import org.distorted.library.type.Static4D


  		




  
  23
  
    
import kotlin.math.*


  		




  22
  24
  
    

  		




  23
  
  
    
import org.distorted.library.type.Static4D;


  		




  24
  
  
    

  		




  25
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  26
  
  
    

  		




  27
  
  
    
public class QuatHelper


  		




  28
  
  
    
  {


  		




  29
  25
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  30
  
  
    
// return quat1*quat2


  		




  31
  26
  
    

  		




  32
  
  
    
  public static Static4D quatMultiply( Static4D quat1, Static4D quat2 )


  		




  
  27
  
    
object QuatHelper


  		




  
  28
  
    
{


  		




  
  29
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  30
  
    
    // return quat1*quat2


  		




  
  31
  
    
    @kotlin.jvm.JvmStatic


  		




  
  32
  
    
    fun quatMultiply(quat1: Static4D, quat2: Static4D): Static4D


  		




  33
  33
  
    
    {


  		




  34
  
  
    
    float qx = quat1.get0();


  		




  35
  
  
    
    float qy = quat1.get1();


  		




  36
  
  
    
    float qz = quat1.get2();


  		




  37
  
  
    
    float qw = quat1.get3();


  		




  38
  
  
    

  		




  39
  
  
    
    float rx = quat2.get0();


  		




  40
  
  
    
    float ry = quat2.get1();


  		




  41
  
  
    
    float rz = quat2.get2();


  		




  42
  
  
    
    float rw = quat2.get3();


  		




  43
  
  
    

  		




  44
  
  
    
    float tx = rw*qx - rz*qy + ry*qz + rx*qw;


  		




  45
  
  
    
    float ty = rw*qy + rz*qx + ry*qw - rx*qz;


  		




  46
  
  
    
    float tz = rw*qz + rz*qw - ry*qx + rx*qy;


  		




  47
  
  
    
    float tw = rw*qw - rz*qz - ry*qy - rx*qx;


  		




  48
  
  
    

  		




  49
  
  
    
    return new Static4D(tx,ty,tz,tw);


  		




  
  34
  
    
        val qx = quat1.get0()


  		




  
  35
  
    
        val qy = quat1.get1()


  		




  
  36
  
    
        val qz = quat1.get2()


  		




  
  37
  
    
        val qw = quat1.get3()


  		




  
  38
  
    

  		




  
  39
  
    
        val rx = quat2.get0()


  		




  
  40
  
    
        val ry = quat2.get1()


  		




  
  41
  
    
        val rz = quat2.get2()


  		




  
  42
  
    
        val rw = quat2.get3()


  		




  
  43
  
    

  		




  
  44
  
    
        val tx = rw*qx - rz*qy + ry*qz + rx*qw


  		




  
  45
  
    
        val ty = rw*qy + rz*qx + ry*qw - rx*qz


  		




  
  46
  
    
        val tz = rw*qz + rz*qw - ry*qx + rx*qy


  		




  
  47
  
    
        val tw = rw*qw - rz*qz - ry*qy - rx*qx


  		




  
  48
  
    

  		




  
  49
  
    
        return Static4D(tx,ty,tz,tw)


  		




  50
  50
  
    
    }


  		




  51
  51
  
    

  		




  52
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  53
  
  
    
// return quat1*quat2


  		




  54
  
  
    

  		




  55
  
  
    
  public static void quatMultiply( float[] ret, Static4D quat1, Static4D quat2 )


  		




  
  52
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  53
  
    
    // return quat1*quat2


  		




  
  54
  
    
    @kotlin.jvm.JvmStatic


  		




  
  55
  
    
    fun quatMultiply(ret: FloatArray, quat1: Static4D, quat2: Static4D)


  		




  56
  56
  
    
    {


  		




  57
  
  
    
    float qx = quat1.get0();


  		




  58
  
  
    
    float qy = quat1.get1();


  		




  59
  
  
    
    float qz = quat1.get2();


  		




  60
  
  
    
    float qw = quat1.get3();


  		




  61
  
  
    

  		




  62
  
  
    
    float rx = quat2.get0();


  		




  63
  
  
    
    float ry = quat2.get1();


  		




  64
  
  
    
    float rz = quat2.get2();


  		




  65
  
  
    
    float rw = quat2.get3();


  		




  66
  
  
    

  		




  67
  
  
    
    ret[0] = rw*qx - rz*qy + ry*qz + rx*qw;


  		




  68
  
  
    
    ret[1] = rw*qy + rz*qx + ry*qw - rx*qz;


  		




  69
  
  
    
    ret[2] = rw*qz + rz*qw - ry*qx + rx*qy;


  		




  70
  
  
    
    ret[3] = rw*qw - rz*qz - ry*qy - rx*qx;


  		




  
  57
  
    
        val qx = quat1.get0()


  		




  
  58
  
    
        val qy = quat1.get1()


  		




  
  59
  
    
        val qz = quat1.get2()


  		




  
  60
  
    
        val qw = quat1.get3()


  		




  
  61
  
    

  		




  
  62
  
    
        val rx = quat2.get0()


  		




  
  63
  
    
        val ry = quat2.get1()


  		




  
  64
  
    
        val rz = quat2.get2()


  		




  
  65
  
    
        val rw = quat2.get3()


  		




  
  66
  
    

  		




  
  67
  
    
        ret[0] = rw*qx - rz*qy + ry*qz + rx*qw


  		




  
  68
  
    
        ret[1] = rw*qy + rz*qx + ry*qw - rx*qz


  		




  
  69
  
    
        ret[2] = rw*qz + rz*qw - ry*qx + rx*qy


  		




  
  70
  
    
        ret[3] = rw*qw - rz*qz - ry*qy - rx*qx


  		




  71
  71
  
    
    }


  		




  72
  72
  
    

  		




  73
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  74
  
  
    
// return quat1*quat(rx,ry,rz,rw)


  		




  75
  
  
    

  		




  76
  
  
    
    public static void quatMultiply( float[] ret, Static4D quat1, float rx, float ry, float rz, float rw )


  		




  77
  
  
    
      {


  		




  78
  
  
    
      float qx = quat1.get0();


  		




  79
  
  
    
      float qy = quat1.get1();


  		




  80
  
  
    
      float qz = quat1.get2();


  		




  81
  
  
    
      float qw = quat1.get3();


  		




  82
  
  
    

  		




  83
  
  
    
      ret[0] = rw*qx - rz*qy + ry*qz + rx*qw;


  		




  84
  
  
    
      ret[1] = rw*qy + rz*qx + ry*qw - rx*qz;


  		




  85
  
  
    
      ret[2] = rw*qz + rz*qw - ry*qx + rx*qy;


  		




  86
  
  
    
      ret[3] = rw*qw - rz*qz - ry*qy - rx*qx;


  		




  87
  
  
    
      }


  		




  88
  
  
    

  		




  89
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  90
  
  
    
// return quat1*quat2


  		




  91
  
  
    

  		




  92
  
  
    
  public static float[] quatMultiply( float[] quat1, float[] quat2 )


  		




  
  73
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  74
  
    
    // return quat1*quat(rx,ry,rz,rw)


  		




  
  75
  
    
    @kotlin.jvm.JvmStatic


  		




  
  76
  
    
    fun quatMultiply(ret: FloatArray, quat1: Static4D, rx: Float, ry: Float, rz: Float, rw: Float)


  		




  93
  77
  
    
    {


  		




  94
  
  
    
    float qx = quat1[0];


  		




  95
  
  
    
    float qy = quat1[1];


  		




  96
  
  
    
    float qz = quat1[2];


  		




  97
  
  
    
    float qw = quat1[3];


  		




  98
  
  
    

  		




  99
  
  
    
    float rx = quat2[0];


  		




  100
  
  
    
    float ry = quat2[1];


  		




  101
  
  
    
    float rz = quat2[2];


  		




  102
  
  
    
    float rw = quat2[3];


  		




  103
  
  
    

  		




  104
  
  
    
    float tx = rw*qx - rz*qy + ry*qz + rx*qw;


  		




  105
  
  
    
    float ty = rw*qy + rz*qx + ry*qw - rx*qz;


  		




  106
  
  
    
    float tz = rw*qz + rz*qw - ry*qx + rx*qy;


  		




  107
  
  
    
    float tw = rw*qw - rz*qz - ry*qy - rx*qx;


  		




  108
  
  
    

  		




  109
  
  
    
    return new float[] {tx,ty,tz,tw};


  		




  
  78
  
    
        val qx = quat1.get0()


  		




  
  79
  
    
        val qy = quat1.get1()


  		




  
  80
  
    
        val qz = quat1.get2()


  		




  
  81
  
    
        val qw = quat1.get3()


  		




  
  82
  
    

  		




  
  83
  
    
        ret[0] = rw*qx - rz*qy + ry*qz + rx*qw


  		




  
  84
  
    
        ret[1] = rw*qy + rz*qx + ry*qw - rx*qz


  		




  
  85
  
    
        ret[2] = rw*qz + rz*qw - ry*qx + rx*qy


  		




  
  86
  
    
        ret[3] = rw*qw - rz*qz - ry*qy - rx*qx


  		




  110
  87
  
    
    }


  		




  111
  88
  
    

  		




  112
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  113
  
  
    
// return quat1*(rx,ry,rz,rw)


  		




  
  89
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  90
  
    
    // return quat1*quat2


  		




  
  91
  
    
    @kotlin.jvm.JvmStatic


  		




  
  92
  
    
    fun quatMultiply(quat1: FloatArray, quat2: FloatArray): FloatArray


  		




  
  93
  
    
    {


  		




  
  94
  
    
        val qx = quat1[0]


  		




  
  95
  
    
        val qy = quat1[1]


  		




  
  96
  
    
        val qz = quat1[2]


  		




  
  97
  
    
        val qw = quat1[3]


  		




  
  98
  
    

  		




  
  99
  
    
        val rx = quat2[0]


  		




  
  100
  
    
        val ry = quat2[1]


  		




  
  101
  
    
        val rz = quat2[2]


  		




  
  102
  
    
        val rw = quat2[3]


  		




  
  103
  
    

  		




  
  104
  
    
        val tx = rw*qx - rz*qy + ry*qz + rx*qw


  		




  
  105
  
    
        val ty = rw*qy + rz*qx + ry*qw - rx*qz


  		




  
  106
  
    
        val tz = rw*qz + rz*qw - ry*qx + rx*qy


  		




  
  107
  
    
        val tw = rw*qw - rz*qz - ry*qy - rx*qx


  		




  
  108
  
    

  		




  
  109
  
    
        return floatArrayOf(tx,ty,tz,tw)


  		




  
  110
  
    
    }


  		




  114
  111
  
    

  		




  115
  
  
    
  public static Static4D quatMultiply( Static4D quat, float rx, float ry, float rz, float rw )


  		




  
  112
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  113
  
    
    // return quat1*(rx,ry,rz,rw)


  		




  
  114
  
    
    fun quatMultiply(quat: Static4D, rx: Float, ry: Float, rz: Float, rw: Float): Static4D


  		




  116
  115
  
    
    {


  		




  117
  
  
    
    float qx = quat.get0();


  		




  118
  
  
    
    float qy = quat.get1();


  		




  119
  
  
    
    float qz = quat.get2();


  		




  120
  
  
    
    float qw = quat.get3();


  		




  
  116
  
    
        val qx = quat.get0()


  		




  
  117
  
    
        val qy = quat.get1()


  		




  
  118
  
    
        val qz = quat.get2()


  		




  
  119
  
    
        val qw = quat.get3()


  		




  121
  120
  
    

  		




  122
  
  
    
    float tx = rw*qx - rz*qy + ry*qz + rx*qw;


  		




  123
  
  
    
    float ty = rw*qy + rz*qx + ry*qw - rx*qz;


  		




  124
  
  
    
    float tz = rw*qz + rz*qw - ry*qx + rx*qy;


  		




  125
  
  
    
    float tw = rw*qw - rz*qz - ry*qy - rx*qx;


  		




  
  121
  
    
        val tx = rw*qx - rz*qy + ry*qz + rx*qw


  		




  
  122
  
    
        val ty = rw*qy + rz*qx + ry*qw - rx*qz


  		




  
  123
  
    
        val tz = rw*qz + rz*qw - ry*qx + rx*qy


  		




  
  124
  
    
        val tw = rw*qw - rz*qz - ry*qy - rx*qx


  		




  126
  125
  
    

  		




  127
  
  
    
    return new Static4D(tx,ty,tz,tw);


  		




  
  126
  
    
        return Static4D(tx,ty,tz,tw)


  		




  128
  127
  
    
    }


  		




  129
  128
  
    

  		




  130
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  131
  
  
    
// return (qx,qy,qz,qw)*quat


  		




  132
  
  
    

  		




  133
  
  
    
  public static Static4D quatMultiply( float qx, float qy, float qz, float qw, Static4D quat )


  		




  
  129
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  130
  
    
    // return (qx,qy,qz,qw)*quat


  		




  
  131
  
    
    fun quatMultiply(qx: Float, qy: Float, qz: Float, qw: Float, quat: Static4D): Static4D


  		




  134
  132
  
    
    {


  		




  135
  
  
    
    float rx = quat.get0();


  		




  136
  
  
    
    float ry = quat.get1();


  		




  137
  
  
    
    float rz = quat.get2();


  		




  138
  
  
    
    float rw = quat.get3();


  		




  
  133
  
    
        val rx = quat.get0()


  		




  
  134
  
    
        val ry = quat.get1()


  		




  
  135
  
    
        val rz = quat.get2()


  		




  
  136
  
    
        val rw = quat.get3()


  		




  139
  137
  
    

  		




  140
  
  
    
    float tx = rw*qx - rz*qy + ry*qz + rx*qw;


  		




  141
  
  
    
    float ty = rw*qy + rz*qx + ry*qw - rx*qz;


  		




  142
  
  
    
    float tz = rw*qz + rz*qw - ry*qx + rx*qy;


  		




  143
  
  
    
    float tw = rw*qw - rz*qz - ry*qy - rx*qx;


  		




  
  138
  
    
        val tx = rw*qx - rz*qy + ry*qz + rx*qw


  		




  
  139
  
    
        val ty = rw*qy + rz*qx + ry*qw - rx*qz


  		




  
  140
  
    
        val tz = rw*qz + rz*qw - ry*qx + rx*qy


  		




  
  141
  
    
        val tw = rw*qw - rz*qz - ry*qy - rx*qx


  		




  144
  142
  
    

  		




  145
  
  
    
    return new Static4D(tx,ty,tz,tw);


  		




  
  143
  
    
        return Static4D(tx,ty,tz,tw)


  		




  146
  144
  
    
    }


  		




  147
  145
  
    

  		




  148
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  149
  
  
    
// return (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  150
  
  
    

  		




  151
  
  
    
  public static Static4D quatMultiply( float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw )


  		




  
  146
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  147
  
    
    // return (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  
  148
  
    
    fun quatMultiply( qx: Float, qy: Float, qz: Float, qw: Float, rx: Float, ry: Float, rz: Float, rw: Float): Static4D


  		




  152
  149
  
    
    {


  		




  153
  
  
    
    float tx = rw*qx - rz*qy + ry*qz + rx*qw;


  		




  154
  
  
    
    float ty = rw*qy + rz*qx + ry*qw - rx*qz;


  		




  155
  
  
    
    float tz = rw*qz + rz*qw - ry*qx + rx*qy;


  		




  156
  
  
    
    float tw = rw*qw - rz*qz - ry*qy - rx*qx;


  		




  
  150
  
    
        val tx = rw*qx - rz*qy + ry*qz + rx*qw


  		




  
  151
  
    
        val ty = rw*qy + rz*qx + ry*qw - rx*qz


  		




  
  152
  
    
        val tz = rw*qz + rz*qw - ry*qx + rx*qy


  		




  
  153
  
    
        val tw = rw*qw - rz*qz - ry*qy - rx*qx


  		




  157
  154
  
    

  		




  158
  
  
    
    return new Static4D(tx,ty,tz,tw);


  		




  
  155
  
    
        return Static4D(tx,ty,tz,tw)


  		




  159
  156
  
    
    }


  		




  160
  157
  
    

  		




  161
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  162
  
  
    
// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  163
  
  
    

  		




  164
  
  
    
  public static void quatMultiply( float[] ret, float[] q, float[] r )


  		




  
  158
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  159
  
    
    // ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  
  160
  
    
    @kotlin.jvm.JvmStatic


  		




  
  161
  
    
    fun quatMultiply(ret: FloatArray, q: FloatArray, r: FloatArray)


  		




  165
  162
  
    
    {


  		




  166
  
  
    
    ret[0] = r[3]*q[0] - r[2]*q[1] + r[1]*q[2] + r[0]*q[3];


  		




  167
  
  
    
    ret[1] = r[3]*q[1] + r[2]*q[0] + r[1]*q[3] - r[0]*q[2];


  		




  168
  
  
    
    ret[2] = r[3]*q[2] + r[2]*q[3] - r[1]*q[0] + r[0]*q[1];


  		




  169
  
  
    
    ret[3] = r[3]*q[3] - r[2]*q[2] - r[1]*q[1] - r[0]*q[0];


  		




  
  163
  
    
        ret[0] = r[3]*q[0] - r[2]*q[1] + r[1]*q[2] + r[0]*q[3]


  		




  
  164
  
    
        ret[1] = r[3]*q[1] + r[2]*q[0] + r[1]*q[3] - r[0]*q[2]


  		




  
  165
  
    
        ret[2] = r[3]*q[2] + r[2]*q[3] - r[1]*q[0] + r[0]*q[1]


  		




  
  166
  
    
        ret[3] = r[3]*q[3] - r[2]*q[2] - r[1]*q[1] - r[0]*q[0]


  		




  170
  167
  
    
    }


  		




  171
  168
  
    

  		




  172
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  173
  
  
    
// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  174
  
  
    

  		




  175
  
  
    
  public static void quatMultiply( float[] ret, Static4D q, float[] r )


  		




  
  169
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  170
  
    
    // ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  
  171
  
    
    fun quatMultiply(ret: FloatArray, q: Static4D, r: FloatArray)


  		




  176
  172
  
    
    {


  		




  177
  
  
    
    float q0 = q.get0();


  		




  178
  
  
    
    float q1 = q.get1();


  		




  179
  
  
    
    float q2 = q.get2();


  		




  180
  
  
    
    float q3 = q.get3();


  		




  181
  
  
    

  		




  182
  
  
    
    ret[0] = r[3]*q0 - r[2]*q1 + r[1]*q2 + r[0]*q3;


  		




  183
  
  
    
    ret[1] = r[3]*q1 + r[2]*q0 + r[1]*q3 - r[0]*q2;


  		




  184
  
  
    
    ret[2] = r[3]*q2 + r[2]*q3 - r[1]*q0 + r[0]*q1;


  		




  185
  
  
    
    ret[3] = r[3]*q3 - r[2]*q2 - r[1]*q1 - r[0]*q0;


  		




  
  173
  
    
        val q0 = q.get0()


  		




  
  174
  
    
        val q1 = q.get1()


  		




  
  175
  
    
        val q2 = q.get2()


  		




  
  176
  
    
        val q3 = q.get3()


  		




  
  177
  
    

  		




  
  178
  
    
        ret[0] = r[3]*q0 - r[2]*q1 + r[1]*q2 + r[0]*q3


  		




  
  179
  
    
        ret[1] = r[3]*q1 + r[2]*q0 + r[1]*q3 - r[0]*q2


  		




  
  180
  
    
        ret[2] = r[3]*q2 + r[2]*q3 - r[1]*q0 + r[0]*q1


  		




  
  181
  
    
        ret[3] = r[3]*q3 - r[2]*q2 - r[1]*q1 - r[0]*q0


  		




  186
  182
  
    
    }


  		




  187
  183
  
    

  		




  188
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  189
  
  
    
// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  190
  
  
    

  		




  191
  
  
    
  public static void quatMultiply( float[] ret, float[] q, Static4D r )


  		




  
  184
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  185
  
    
    // ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  
  186
  
    
    fun quatMultiply(ret: FloatArray, q: FloatArray, r: Static4D)


  		




  192
  187
  
    
    {


  		




  193
  
  
    
    float r0 = r.get0();


  		




  194
  
  
    
    float r1 = r.get1();


  		




  195
  
  
    
    float r2 = r.get2();


  		




  196
  
  
    
    float r3 = r.get3();


  		




  197
  
  
    

  		




  198
  
  
    
    ret[0] = r3*q[0] - r2*q[1] + r1*q[2] + r0*q[3];


  		




  199
  
  
    
    ret[1] = r3*q[1] + r2*q[0] + r1*q[3] - r0*q[2];


  		




  200
  
  
    
    ret[2] = r3*q[2] + r2*q[3] - r1*q[0] + r0*q[1];


  		




  201
  
  
    
    ret[3] = r3*q[3] - r2*q[2] - r1*q[1] - r0*q[0];


  		




  
  188
  
    
        val r0 = r.get0()


  		




  
  189
  
    
        val r1 = r.get1()


  		




  
  190
  
    
        val r2 = r.get2()


  		




  
  191
  
    
        val r3 = r.get3()


  		




  
  192
  
    

  		




  
  193
  
    
        ret[0] = r3*q[0] - r2*q[1] + r1*q[2] + r0*q[3]


  		




  
  194
  
    
        ret[1] = r3*q[1] + r2*q[0] + r1*q[3] - r0*q[2]


  		




  
  195
  
    
        ret[2] = r3*q[2] + r2*q[3] - r1*q[0] + r0*q[1]


  		




  
  196
  
    
        ret[3] = r3*q[3] - r2*q[2] - r1*q[1] - r0*q[0]


  		




  202
  197
  
    
    }


  		




  203
  198
  
    

  		




  204
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  205
  
  
    
// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  206
  
  
    

  		




  207
  
  
    
  public static void quatMultiply( float[] ret, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw )


  		




  
  199
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  200
  
    
    // ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  
  201
  
    
    fun quatMultiply(ret: FloatArray, qx: Float, qy: Float, qz: Float, qw: Float, rx: Float, ry: Float, rz: Float, rw: Float)


  		




  208
  202
  
    
    {


  		




  209
  
  
    
    ret[0] = rw*qx - rz*qy + ry*qz + rx*qw;


  		




  210
  
  
    
    ret[1] = rw*qy + rz*qx + ry*qw - rx*qz;


  		




  211
  
  
    
    ret[2] = rw*qz + rz*qw - ry*qx + rx*qy;


  		




  212
  
  
    
    ret[3] = rw*qw - rz*qz - ry*qy - rx*qx;


  		




  
  203
  
    
        ret[0] = rw*qx - rz*qy + ry*qz + rx*qw


  		




  
  204
  
    
        ret[1] = rw*qy + rz*qx + ry*qw - rx*qz


  		




  
  205
  
    
        ret[2] = rw*qz + rz*qw - ry*qx + rx*qy


  		




  
  206
  
    
        ret[3] = rw*qw - rz*qz - ry*qy - rx*qx


  		




  213
  207
  
    
    }


  		




  214
  208
  
    

  		




  215
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  216
  
  
    
// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  217
  
  
    

  		




  218
  
  
    
  private static void quatMultiply( float[] ret, int index, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw )


  		




  
  209
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  210
  
    
    // ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)


  		




  
  211
  
    
    private fun quatMultiply(ret: FloatArray, index: Int, qx: Float, qy: Float, qz: Float, qw: Float, rx: Float, ry: Float, rz: Float, rw: Float)


  		




  219
  212
  
    
    {


  		




  220
  
  
    
    ret[index  ] = rw*qx - rz*qy + ry*qz + rx*qw;


  		




  221
  
  
    
    ret[index+1] = rw*qy + rz*qx + ry*qw - rx*qz;


  		




  222
  
  
    
    ret[index+2] = rw*qz + rz*qw - ry*qx + rx*qy;


  		




  223
  
  
    
    ret[index+3] = rw*qw - rz*qz - ry*qy - rx*qx;


  		




  
  213
  
    
        ret[index  ] = rw*qx - rz*qy + ry*qz + rx*qw


  		




  
  214
  
    
        ret[index+1] = rw*qy + rz*qx + ry*qw - rx*qz


  		




  
  215
  
    
        ret[index+2] = rw*qz + rz*qw - ry*qx + rx*qy


  		




  
  216
  
    
        ret[index+3] = rw*qw - rz*qz - ry*qy - rx*qx


  		




  224
  217
  
    
    }


  		




  225
  218
  
    

  		




  226
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  227
  
  
    
// rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  228
  
  
    

  		




  229
  
  
    
  public static Static4D rotateVectorByQuat(float x, float y, float z, float w, Static4D quat)


  		




  
  219
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  220
  
    
    // rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  
  221
  
    
    @kotlin.jvm.JvmStatic


  		




  
  222
  
    
    fun rotateVectorByQuat(x: Float, y: Float, z: Float, w: Float, quat: Static4D): Static4D


  		




  230
  223
  
    
    {


  		




  231
  
  
    
    float qx = quat.get0();


  		




  232
  
  
    
    float qy = quat.get1();


  		




  233
  
  
    
    float qz = quat.get2();


  		




  234
  
  
    
    float qw = quat.get3();


  		




  
  224
  
    
        val qx = quat.get0()


  		




  
  225
  
    
        val qy = quat.get1()


  		




  
  226
  
    
        val qz = quat.get2()


  		




  
  227
  
    
        val qw = quat.get3()


  		




  235
  228
  
    

  		




  236
  
  
    
    Static4D tmp = quatMultiply(qx,qy,qz,qw,x,y,z,w);


  		




  
  229
  
    
        val tmp = quatMultiply(qx,qy,qz,qw,x,y,z,w)


  		




  237
  230
  
    

  		




  238
  
  
    
    return quatMultiply(tmp,-qx,-qy,-qz,qw);


  		




  
  231
  
    
        return quatMultiply(tmp,-qx,-qy,-qz,qw)


  		




  239
  232
  
    
    }


  		




  240
  233
  
    

  		




  241
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  242
  
  
    
// rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  243
  
  
    

  		




  244
  
  
    
  public static void rotateVectorByQuat(float[] output, float x, float y, float z, float w, Static4D quat)


  		




  
  234
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  235
  
    
    // rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  
  236
  
    
    @kotlin.jvm.JvmStatic


  		




  
  237
  
    
    fun rotateVectorByQuat(output: FloatArray, x: Float, y: Float, z: Float, w: Float, quat: Static4D)


  		




  245
  238
  
    
    {


  		




  246
  
  
    
    float[] tmp = new float[4];


  		




  
  239
  
    
        val tmp = FloatArray(4)


  		




  247
  240
  
    

  		




  248
  
  
    
    float qx = quat.get0();


  		




  249
  
  
    
    float qy = quat.get1();


  		




  250
  
  
    
    float qz = quat.get2();


  		




  251
  
  
    
    float qw = quat.get3();


  		




  
  241
  
    
        val qx = quat.get0()


  		




  
  242
  
    
        val qy = quat.get1()


  		




  
  243
  
    
        val qz = quat.get2()


  		




  
  244
  
    
        val qw = quat.get3()


  		




  252
  245
  
    

  		




  253
  
  
    
    quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w);


  		




  254
  
  
    
    quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw);


  		




  
  246
  
    
        quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w)


  		




  
  247
  
    
        quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw)


  		




  255
  248
  
    
    }


  		




  256
  249
  
    

  		




  257
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  258
  
  
    
// rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  259
  
  
    

  		




  260
  
  
    
  public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, Static4D quat)


  		




  
  250
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  251
  
    
    // rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  
  252
  
    
    @kotlin.jvm.JvmStatic


  		




  
  253
  
    
    fun rotateVectorByQuat(output: FloatArray, index: Int, x: Float, y: Float, z: Float, w: Float, quat: Static4D)


  		




  261
  254
  
    
    {


  		




  262
  
  
    
    float[] tmp = new float[4];


  		




  
  255
  
    
        val tmp = FloatArray(4)


  		




  263
  256
  
    

  		




  264
  
  
    
    float qx = quat.get0();


  		




  265
  
  
    
    float qy = quat.get1();


  		




  266
  
  
    
    float qz = quat.get2();


  		




  267
  
  
    
    float qw = quat.get3();


  		




  
  257
  
    
        val qx = quat.get0()


  		




  
  258
  
    
        val qy = quat.get1()


  		




  
  259
  
    
        val qz = quat.get2()


  		




  
  260
  
    
        val qw = quat.get3()


  		




  268
  261
  
    

  		




  269
  
  
    
    quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w);


  		




  270
  
  
    
    quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw);


  		




  
  262
  
    
        quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w)


  		




  
  263
  
    
        quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw)


  		




  271
  264
  
    
    }


  		




  272
  265
  
    

  		




  273
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  274
  
  
    
// rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  275
  
  
    

  		




  276
  
  
    
  public static void rotateVectorByQuat(float[] output, float x, float y, float z, float w, float[] quat)


  		




  
  266
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  267
  
    
    // rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  
  268
  
    
    @kotlin.jvm.JvmStatic


  		




  
  269
  
    
    fun rotateVectorByQuat(output: FloatArray, x: Float, y: Float, z: Float, w: Float, quat: FloatArray)


  		




  277
  270
  
    
    {


  		




  278
  
  
    
    float[] tmp = new float[4];


  		




  
  271
  
    
        val tmp = FloatArray(4)


  		




  279
  272
  
    

  		




  280
  
  
    
    float qx = quat[0];


  		




  281
  
  
    
    float qy = quat[1];


  		




  282
  
  
    
    float qz = quat[2];


  		




  283
  
  
    
    float qw = quat[3];


  		




  
  273
  
    
        val qx = quat[0]


  		




  
  274
  
    
        val qy = quat[1]


  		




  
  275
  
    
        val qz = quat[2]


  		




  
  276
  
    
        val qw = quat[3]


  		




  284
  277
  
    

  		




  285
  
  
    
    quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w);


  		




  286
  
  
    
    quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw);


  		




  
  278
  
    
        quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w)


  		




  
  279
  
    
        quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw)


  		




  287
  280
  
    
    }


  		




  288
  281
  
    

  		




  289
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  290
  
  
    
// rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  291
  
  
    

  		




  292
  
  
    
  public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, float[] quat)


  		




  
  282
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  283
  
    
    // rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  
  284
  
    
    fun rotateVectorByQuat(output: FloatArray, index: Int, x: Float, y: Float, z: Float, w: Float, quat: FloatArray)


  		




  293
  285
  
    
    {


  		




  294
  
  
    
    float[] tmp = new float[4];


  		




  
  286
  
    
        val tmp = FloatArray(4)


  		




  295
  287
  
    

  		




  296
  
  
    
    float qx = quat[0];


  		




  297
  
  
    
    float qy = quat[1];


  		




  298
  
  
    
    float qz = quat[2];


  		




  299
  
  
    
    float qw = quat[3];


  		




  
  288
  
    
        val qx = quat[0]


  		




  
  289
  
    
        val qy = quat[1]


  		




  
  290
  
    
        val qz = quat[2]


  		




  
  291
  
    
        val qw = quat[3]


  		




  300
  292
  
    

  		




  301
  
  
    
    quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w);


  		




  302
  
  
    
    quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw);


  		




  
  293
  
    
        quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w)


  		




  
  294
  
    
        quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw)


  		




  303
  295
  
    
    }


  		




  304
  296
  
    

  		




  305
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  306
  
  
    
// rotate vec by quat ( i.e. return quat*vector*(quat^-1) )


  		




  307
  
  
    

  		




  308
  
  
    
  public static void rotateVectorByQuat(float[] output, float[] vec, float[] quat)


  		




  
  297
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  298
  
    
    // rotate vec by quat ( i.e. return quat*vector*(quat^-1) )


  		




  
  299
  
    
    @kotlin.jvm.JvmStatic


  		




  
  300
  
    
    fun rotateVectorByQuat(output: FloatArray, vec: FloatArray, quat: FloatArray)


  		




  309
  301
  
    
    {


  		




  310
  
  
    
    float[] tmp = new float[4];


  		




  
  302
  
    
        val tmp = FloatArray(4)


  		




  311
  303
  
    

  		




  312
  
  
    
    quatMultiply(tmp,quat,vec);


  		




  
  304
  
    
        quatMultiply(tmp, quat, vec)


  		




  313
  305
  
    

  		




  314
  
  
    
    quat[0] = -quat[0];


  		




  315
  
  
    
    quat[1] = -quat[1];


  		




  316
  
  
    
    quat[2] = -quat[2];


  		




  
  306
  
    
        quat[0] = -quat[0]


  		




  
  307
  
    
        quat[1] = -quat[1]


  		




  
  308
  
    
        quat[2] = -quat[2]


  		




  317
  309
  
    

  		




  318
  
  
    
    quatMultiply(output,tmp,quat);


  		




  
  310
  
    
        quatMultiply(output, tmp, quat)


  		




  319
  311
  
    

  		




  320
  
  
    
    quat[0] = -quat[0];


  		




  321
  
  
    
    quat[1] = -quat[1];


  		




  322
  
  
    
    quat[2] = -quat[2];


  		




  
  312
  
    
        quat[0] = -quat[0]


  		




  
  313
  
    
        quat[1] = -quat[1]


  		




  
  314
  
    
        quat[2] = -quat[2]


  		




  323
  315
  
    
    }


  		




  324
  316
  
    

  		




  325
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  326
  
  
    
// rotate vec by quat ( i.e. return quat*vector*(quat^-1) )


  		




  327
  
  
    

  		




  328
  
  
    
  public static void rotateVectorByQuat(float[] output, float[] vec, Static4D quat)


  		




  
  317
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  318
  
    
    // rotate vec by quat ( i.e. return quat*vector*(quat^-1) )


  		




  
  319
  
    
    fun rotateVectorByQuat(output: FloatArray, vec: FloatArray, quat: Static4D)


  		




  329
  320
  
    
    {


  		




  330
  
  
    
    float[] tmp = new float[4];


  		




  
  321
  
    
        val tmp = FloatArray(4)


  		




  331
  322
  
    

  		




  332
  
  
    
    quatMultiply(tmp,quat,vec);


  		




  
  323
  
    
        quatMultiply(tmp, quat, vec)


  		




  333
  324
  
    

  		




  334
  
  
    
    float x1 = quat.get0();


  		




  335
  
  
    
    float y1 = quat.get1();


  		




  336
  
  
    
    float z1 = quat.get2();


  		




  337
  
  
    
    float w1 = quat.get3();


  		




  338
  
  
    
    quat.set(-x1,-y1,-z1,w1);


  		




  
  325
  
    
        val x1 = quat.get0()


  		




  
  326
  
    
        val y1 = quat.get1()


  		




  
  327
  
    
        val z1 = quat.get2()


  		




  
  328
  
    
        val w1 = quat.get3()


  		




  
  329
  
    
        quat.set(-x1,-y1,-z1,w1)


  		




  339
  330
  
    

  		




  340
  
  
    
    quatMultiply(output,tmp,quat);


  		




  
  331
  
    
        quatMultiply(output, tmp, quat)


  		




  341
  332
  
    

  		




  342
  
  
    
    float x2 = quat.get0();


  		




  343
  
  
    
    float y2 = quat.get1();


  		




  344
  
  
    
    float z2 = quat.get2();


  		




  345
  
  
    
    float w2 = quat.get3();


  		




  346
  
  
    
    quat.set(-x2,-y2,-z2,w2);


  		




  
  333
  
    
        val x2 = quat.get0()


  		




  
  334
  
    
        val y2 = quat.get1()


  		




  
  335
  
    
        val z2 = quat.get2()


  		




  
  336
  
    
        val w2 = quat.get3()


  		




  
  337
  
    
        quat.set(-x2,-y2,-z2,w2)


  		




  347
  338
  
    
    }


  		




  348
  339
  
    

  		




  349
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  350
  
  
    
// rotate 'vector' by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  351
  
  
    

  		




  352
  
  
    
  public static Static4D rotateVectorByQuat(Static4D vector, Static4D quat)


  		




  
  340
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  341
  
    
    // rotate 'vector' by quat  ( i.e. return quat*vector*(quat^-1) )


  		




  
  342
  
    
    @kotlin.jvm.JvmStatic


  		




  
  343
  
    
    fun rotateVectorByQuat(vector: Static4D, quat: Static4D): Static4D


  		




  353
  344
  
    
    {


  		




  354
  
  
    
    float qx = quat.get0();


  		




  355
  
  
    
    float qy = quat.get1();


  		




  356
  
  
    
    float qz = quat.get2();


  		




  357
  
  
    
    float qw = quat.get3();


  		




  
  345
  
    
        val qx = quat.get0()


  		




  
  346
  
    
        val qy = quat.get1()


  		




  
  347
  
    
        val qz = quat.get2()


  		




  
  348
  
    
        val qw = quat.get3()


  		




  358
  349
  
    

  		




  359
  
  
    
    Static4D tmp = quatMultiply(qx,qy,qz,qw,vector);


  		




  
  350
  
    
        val tmp = quatMultiply(qx,qy,qz,qw,vector)


  		




  360
  351
  
    

  		




  361
  
  
    
    return quatMultiply(tmp,-qx,-qy,-qz,qw);


  		




  
  352
  
    
        return quatMultiply(tmp,-qx,-qy,-qz,qw)


  		




  362
  353
  
    
    }


  		




  363
  354
  
    

  		




  364
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  365
  
  
    
// rotate 'vector' by quat^(-1)  ( i.e. return (quat^-1)*vector*quat )


  		




  366
  
  
    

  		




  367
  
  
    
  public static Static4D rotateVectorByInvertedQuat(Static4D vector, Static4D quat)


  		




  
  355
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  356
  
    
    // rotate 'vector' by quat^(-1)  ( i.e. return (quat^-1)*vector*quat )


  		




  
  357
  
    
    @kotlin.jvm.JvmStatic


  		




  
  358
  
    
    fun rotateVectorByInvertedQuat(vector: Static4D, quat: Static4D): Static4D


  		




  368
  359
  
    
    {


  		




  369
  
  
    
    float qx = quat.get0();


  		




  370
  
  
    
    float qy = quat.get1();


  		




  371
  
  
    
    float qz = quat.get2();


  		




  372
  
  
    
    float qw = quat.get3();


  		




  
  360
  
    
        val qx = quat.get0()


  		




  
  361
  
    
        val qy = quat.get1()


  		




  
  362
  
    
        val qz = quat.get2()


  		




  
  363
  
    
        val qw = quat.get3()


  		




  373
  364
  
    

  		




  374
  
  
    
    Static4D tmp = quatMultiply(-qx,-qy,-qz,qw,vector);


  		




  
  365
  
    
        val tmp = quatMultiply(-qx,-qy,-qz,qw,vector)


  		




  375
  366
  
    

  		




  376
  
  
    
    return quatMultiply(tmp,qx,qy,qz,qw);


  		




  
  367
  
    
        return quatMultiply(tmp,qx,qy,qz,qw)


  		




  377
  368
  
    
    }


  		




  378
  369
  
    

  		




  379
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  380
  
  
    
// rotate 'vector' by quat^(-1)  ( i.e. return (quat^-1)*vector*quat )


  		




  381
  
  
    

  		




  382
  
  
    
    public static void rotateVectorByInvertedQuat(float[] output, float x, float y, float z, float w, float[] quat)


  		




  383
  
  
    
      {


  		




  384
  
  
    
      float[] tmp = new float[4];


  		




  385
  
  
    

  		




  386
  
  
    
      float qx = quat[0];


  		




  387
  
  
    
      float qy = quat[1];


  		




  388
  
  
    
      float qz = quat[2];


  		




  389
  
  
    
      float qw = quat[3];


  		




  
  370
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  371
  
    
    // rotate 'vector' by quat^(-1)  ( i.e. return (quat^-1)*vector*quat )


  		




  
  372
  
    
    @kotlin.jvm.JvmStatic


  		




  
  373
  
    
    fun rotateVectorByInvertedQuat(output: FloatArray, x: Float, y: Float, z: Float, w: Float, quat: FloatArray)


  		




  
  374
  
    
    {


  		




  
  375
  
    
        val tmp = FloatArray(4)


  		




  390
  376
  
    

  		




  391
  
  
    
      quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w);


  		




  392
  
  
    
      quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw);


  		




  393
  
  
    
      }


  		




  
  377
  
    
        val qx = quat[0]


  		




  
  378
  
    
        val qy = quat[1]


  		




  
  379
  
    
        val qz = quat[2]


  		




  
  380
  
    
        val qw = quat[3]


  		




  394
  381
  
    

  		




  395
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  396
  
  
    
// rotate 'vector' by quat^(-1)  ( i.e. return (quat^-1)*vector*quat )


  		




  
  382
  
    
        quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w)


  		




  
  383
  
    
        quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw)


  		




  
  384
  
    
    }


  		




  397
  385
  
    

  		




  398
  
  
    
  public static void rotateVectorByInvertedQuat(float[] output, float x, float y, float z, float w, Static4D quat)


  		




  
  386
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  387
  
    
    // rotate 'vector' by quat^(-1)  ( i.e. return (quat^-1)*vector*quat )


  		




  
  388
  
    
    @kotlin.jvm.JvmStatic


  		




  
  389
  
    
    fun rotateVectorByInvertedQuat(output: FloatArray, x: Float, y: Float, z: Float, w: Float, quat: Static4D)


  		




  399
  390
  
    
    {


  		




  400
  
  
    
    float[] tmp = new float[4];


  		




  
  391
  
    
        val tmp = FloatArray(4)


  		




  401
  392
  
    

  		




  402
  
  
    
    float qx = quat.get0();


  		




  403
  
  
    
    float qy = quat.get1();


  		




  404
  
  
    
    float qz = quat.get2();


  		




  405
  
  
    
    float qw = quat.get3();


  		




  
  393
  
    
        val qx = quat.get0()


  		




  
  394
  
    
        val qy = quat.get1()


  		




  
  395
  
    
        val qz = quat.get2()


  		




  
  396
  
    
        val qw = quat.get3()


  		




  406
  397
  
    

  		




  407
  
  
    
    quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w);


  		




  408
  
  
    
    quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw);


  		




  
  398
  
    
        quatMultiply(tmp, -qx, -qy, -qz, qw, x, y, z, w)


  		




  
  399
  
    
        quatMultiply(output, tmp[0], tmp[1], tmp[2], tmp[3], qx, qy, qz, qw)


  		




  409
  400
  
    
    }


  		




  410
  401
  
    

  		




  411
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  412
  
  
    

  		




  413
  
  
    
  public static Static4D quatFromDrag(float dragX, float dragY)


  		




  
  402
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  403
  
    
    @kotlin.jvm.JvmStatic


  		




  
  404
  
    
    fun quatFromDrag(dragX: Float, dragY: Float): Static4D


  		




  414
  405
  
    
    {


  		




  415
  
  
    
    float axisX = dragY;  // inverted X and Y - rotation axis is perpendicular to (dragX,dragY)


  		




  416
  
  
    
    float axisY = dragX;  // Why not (-dragY, dragX) ? because Y axis is also inverted!


  		




  417
  
  
    
    float axisZ = 0;


  		




  418
  
  
    
    float axisL = (float)Math.sqrt(axisX*axisX + axisY*axisY + axisZ*axisZ);


  		




  
  406
  
    
        var axisX = dragY // inverted X and Y - rotation axis is perpendicular to (dragX,dragY)


  		




  
  407
  
    
        var axisY = dragX // Why not (-dragY, dragX) ? because Y axis is also inverted!


  		




  
  408
  
    
        var axisZ = 0f


  		




  
  409
  
    
        val axisL = sqrt(axisX * axisX + axisY * axisY + axisZ * axisZ)


  		




  419
  410
  
    

  		




  420
  
  
    
    if( axisL>0 )


  		




  421
  
  
    
      {


  		




  422
  
  
    
      axisX /= axisL;


  		




  423
  
  
    
      axisY /= axisL;


  		




  424
  
  
    
      axisZ /= axisL;


  		




  
  411
  
    
        if (axisL > 0)


  		




  
  412
  
    
        {


  		




  
  413
  
    
            axisX /= axisL


  		




  
  414
  
    
            axisY /= axisL


  		




  
  415
  
    
            axisZ /= axisL


  		




  425
  416
  
    

  		




  426
  
  
    
      float ratio = axisL;


  		




  427
  
  
    
      ratio = ratio - (int)ratio;     // the cos() is only valid in (0,Pi)


  		




  
  417
  
    
            var ratio = axisL


  		




  
  418
  
    
            ratio -= ratio.toInt() // the cos() is only valid in (0,Pi)


  		




  428
  419
  
    

  		




  429
  
  
    
      float cosA = (float)Math.cos(Math.PI*ratio);


  		




  430
  
  
    
      float sinA = (float)Math.sqrt(1-cosA*cosA);


  		




  
  420
  
    
            val cosA = cos(Math.PI * ratio).toFloat()


  		




  
  421
  
    
            val sinA = sqrt(1 - cosA * cosA)


  		




  431
  422
  
    

  		




  432
  
  
    
      return new Static4D(axisX*sinA, axisY*sinA, axisZ*sinA, cosA);


  		




  433
  
  
    
      }


  		




  
  423
  
    
            return Static4D(axisX * sinA, axisY * sinA, axisZ * sinA, cosA)


  		




  
  424
  
    
        }


  		




  434
  425
  
    

  		




  435
  
  
    
    return new Static4D(0f, 0f, 0f, 1f);


  		




  
  426
  
    
        return Static4D(0f, 0f, 0f, 1f)


  		




  436
  427
  
    
    }


  		




  437
  428
  
    

  		




  438
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  439
  
  
    

  		




  440
  
  
    
  public static double computeCos(double oldX, double oldY, double newX, double newY, double len1, double len2)


  		




  
  429
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  430
  
    
    @kotlin.jvm.JvmStatic


  		




  
  431
  
    
    fun computeCos(oldX: Double, oldY: Double, newX: Double, newY: Double, len1: Double, len2: Double): Double


  		




  441
  432
  
    
    {


  		




  442
  
  
    
    double ret= (oldX*newX+oldY*newY) / (len1*len2);


  		




  443
  
  
    
    if( ret<-1.0 ) return -1.0;


  		




  444
  
  
    
    if( ret> 1.0 ) return  1.0;


  		




  
  433
  
    
        val ret = (oldX*newX + oldY*newY) / (len1*len2)


  		




  
  434
  
    
        if (ret < -1.0) return -1.0


  		




  
  435
  
    
        if (ret >  1.0) return  1.0


  		




  445
  436
  
    

  		




  446
  
  
    
    return ret;


  		




  
  437
  
    
        return ret


  		




  447
  438
  
    
    }


  		




  448
  439
  
    

  		




  449
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  450
  
  
    
// sin of (signed!) angle between vectors 'old' and 'new', counterclockwise!


  		




  451
  
  
    

  		




  452
  
  
    
  public static double computeSin(double oldX, double oldY, double newX, double newY, double len1, double len2)


  		




  
  440
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  441
  
    
    // sin of (signed!) angle between vectors 'old' and 'new', counterclockwise!


  		




  
  442
  
    
    @kotlin.jvm.JvmStatic


  		




  
  443
  
    
    fun computeSin(oldX: Double, oldY: Double, newX: Double, newY: Double, len1: Double, len2: Double): Double


  		




  453
  444
  
    
    {


  		




  454
  
  
    
    double ret= (newX*oldY-oldX*newY) / (len1*len2);


  		




  455
  
  
    
    if( ret<-1.0 ) return -1.0;


  		




  456
  
  
    
    if( ret> 1.0 ) return  1.0;


  		




  
  445
  
    
        val ret = (newX*oldY - oldX*newY) / (len1*len2)


  		




  
  446
  
    
        if (ret < -1.0) return -1.0


  		




  
  447
  
    
        if (ret >  1.0) return  1.0


  		




  457
  448
  
    

  		




  458
  
  
    
    return ret;


  		




  
  449
  
    
        return ret


  		




  459
  450
  
    
    }


  		




  460
  451
  
    

  		




  461
  
  
    
///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  462
  
  
    
// return quat Q that turns 3D vector A=(ax,ay,az) to another 3D vector B=(bx,by,bz)


  		




  463
  
  
    
// take care of double-cover by ensuring that always Q.get3() >=0


  		




  464
  
  
    

  		




  465
  
  
    
  public static Static4D retRotationQuat(float ax, float ay, float az, float bx, float by, float bz)


  		




  
  452
  
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////


  		




  
  453
  
    
    // return quat Q that turns 3D vector A=(ax,ay,az) to another 3D vector B=(bx,by,bz)


  		




  
  454
  
    
    // take care of double-cover by ensuring that always Q.get3() >=0


  		




  
  455
  
    
    fun retRotationQuat(ax: Float, ay: Float, az: Float, bx: Float, by: Float, bz: Float): Static4D


  		




  466
  456
  
    
    {


  		




  467
  
  
    
    float nx = ay*bz - az*by;


  		




  468
  
  
    
    float ny = az*bx - ax*bz;


  		




  469
  
  
    
    float nz = ax*by - ay*bx;


  		




  470
  
  
    

  		




  471
  
  
    
    float sin = (float)Math.sqrt(nx*nx + ny*ny + nz*nz);


  		




  472
  
  
    
    float cos = ax*bx + ay*by + az*bz;


  		




  473
  
  
    

  		




  474
  
  
    
    if( sin!=0 )


  		




  475
  
  
    
      {


  		




  476
  
  
    
      nx /= sin;


  		




  477
  
  
    
      ny /= sin;


  		




  478
  
  
    
      nz /= sin;


  		




  479
  
  
    
      }


  		




  480
  
  
    

  		




  481
  
  
    
    // Why sin<=0 and cos>=0 ?


  		




  482
  
  
    
    // 0<angle<180 -> 0<halfAngle<90 -> both sin and cos are positive.


  		




  483
  
  
    
    // But1: quats work counterclockwise -> negate cos.


  		




  484
  
  
    
    // But2: double-cover, we prefer to have the cos positive (so that unit=(0,0,0,1))


  		




  485
  
  
    
    // so negate again both cos and sin.


  		




  486
  
  
    
    float sinHalf =-(float)Math.sqrt((1-cos)/2);


  		




  487
  
  
    
    float cosHalf = (float)Math.sqrt((1+cos)/2);


  		




  488
  
  
    

  		




  489
  
  
    
    return new Static4D(nx*sinHalf,ny*sinHalf,nz*sinHalf,cosHalf);


  		




  
  457
  
    
        var nx = ay*bz - az*by


  		




  
  458
  
    
        var ny = az*bx - ax*bz


  		




  
  459
  
    
        var nz = ax*by - ay*bx


  		




  
  460
  
    

  		




  
  461
  
    
        val sin = sqrt(nx*nx + ny*ny + nz*nz)


  		




  
  462
  
    
        val cos = ax*bx + ay*by + az*bz


  		




  
  463
  
    

  		




  
  464
  
    
        if (sin != 0f)


  		




  
  465
  
    
        {


  		




  
  466
  
    
            nx /= sin


  		




  
  467
  
    
            ny /= sin


  		




  
  468
  
    
            nz /= sin


  		




  
  469
  
    
        }


  		




  
  470
  
    

  		




  
  471
  
    
        // Why sin<=0 and cos>=0 ?


  		




  
  472
  
    
        // 0<angle<180 -> 0<halfAngle<90 -> both sin and cos are positive.


  		




  
  473
  
    
        // But1: quats work counterclockwise -> negate cos.


  		




  
  474
  
    
        // But2: double-cover, we prefer to have the cos positive (so that unit=(0,0,0,1))


  		




  
  475
  
    
        // so negate again both cos and sin.


  		




  
  476
  
    
        val sinHalf = -sqrt((1-cos) / 2)


  		




  
  477
  
    
        val cosHalf =  sqrt((1+cos) / 2)


  		




  
  478
  
    

  		




  
  479
  
    
        return Static4D(nx*sinHalf, ny*sinHalf, nz*sinHalf, cosHalf)


  		




  490
  480
  
    
    }


  		




  491
  
  
    
  }


  		




  
  481
  
    
}


  		












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