commit cdcb01f0ab72e1e1ed35456204c2abab2a576f12 Author: LeszekKoltunski Date: Tue Apr 15 15:17:23 2025 +0200 first two files converted to Kotlin diff --git a/build.gradle b/build.gradle index 8dddd55..8d8e191 100644 --- a/build.gradle +++ b/build.gradle @@ -1,3 +1,6 @@ +plugins { + alias(libs.plugins.kotlin.android) +} apply plugin: 'com.android.library' android { @@ -7,16 +10,11 @@ android { keyAlias = 'distorted' } } - compileSdk 34 + compileSdk 35 defaultConfig { minSdkVersion 21 - targetSdkVersion 34 - externalNativeBuild { - cmake { - cppFlags '' - } - } + targetSdk 35 } buildTypes { @@ -40,4 +38,11 @@ android { version '3.22.1' } } + kotlinOptions { + jvmTarget = '11' + } +} + +dependencies { + implementation libs.core.ktx } diff --git a/src/main/java/org/distorted/library/helpers/MatrixHelper.kt b/src/main/java/org/distorted/library/helpers/MatrixHelper.kt index 3c366ba..57e999c 100644 --- a/src/main/java/org/distorted/library/helpers/MatrixHelper.kt +++ b/src/main/java/org/distorted/library/helpers/MatrixHelper.kt @@ -17,181 +17,181 @@ // License along with this library; if not, write to the Free Software // // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA // /////////////////////////////////////////////////////////////////////////////////////////////////// - -package org.distorted.library.helpers; +package org.distorted.library.helpers /////////////////////////////////////////////////////////////////////////////////////////////////// -public class MatrixHelper - { - public static void setIdentity(float[] output) - { - output[ 0] = 1; - output[ 1] = 0; - output[ 2] = 0; - output[ 3] = 0; - output[ 4] = 0; - output[ 5] = 1; - output[ 6] = 0; - output[ 7] = 0; - output[ 8] = 0; - output[ 9] = 0; - output[10] = 1; - output[11] = 0; - output[12] = 0; - output[13] = 0; - output[14] = 0; - output[15] = 1; +object MatrixHelper { + fun setIdentity(output: FloatArray) { + output[0] = 1f + output[1] = 0f + output[2] = 0f + output[3] = 0f + output[4] = 0f + output[5] = 1f + output[6] = 0f + output[7] = 0f + output[8] = 0f + output[9] = 0f + output[10] = 1f + output[11] = 0f + output[12] = 0f + output[13] = 0f + output[14] = 0f + output[15] = 1f } -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void multiply(float[] output, float[] m1, float[] m2) - { - output[ 0] = m1[ 0]*m2[ 0] + m1[ 4]*m2[ 1] + m1[ 8]*m2[ 2] + m1[12]*m2[ 3]; - output[ 1] = m1[ 1]*m2[ 0] + m1[ 5]*m2[ 1] + m1[ 9]*m2[ 2] + m1[13]*m2[ 3]; - output[ 2] = m1[ 2]*m2[ 0] + m1[ 6]*m2[ 1] + m1[10]*m2[ 2] + m1[14]*m2[ 3]; - output[ 3] = m1[ 3]*m2[ 0] + m1[ 7]*m2[ 1] + m1[11]*m2[ 2] + m1[15]*m2[ 3]; - - output[ 4] = m1[ 0]*m2[ 4] + m1[ 4]*m2[ 5] + m1[ 8]*m2[ 6] + m1[12]*m2[ 7]; - output[ 5] = m1[ 1]*m2[ 4] + m1[ 5]*m2[ 5] + m1[ 9]*m2[ 6] + m1[13]*m2[ 7]; - output[ 6] = m1[ 2]*m2[ 4] + m1[ 6]*m2[ 5] + m1[10]*m2[ 6] + m1[14]*m2[ 7]; - output[ 7] = m1[ 3]*m2[ 4] + m1[ 7]*m2[ 5] + m1[11]*m2[ 6] + m1[15]*m2[ 7]; - - output[ 8] = m1[ 0]*m2[ 8] + m1[ 4]*m2[ 9] + m1[ 8]*m2[10] + m1[12]*m2[11]; - output[ 9] = m1[ 1]*m2[ 8] + m1[ 5]*m2[ 9] + m1[ 9]*m2[10] + m1[13]*m2[11]; - output[10] = m1[ 2]*m2[ 8] + m1[ 6]*m2[ 9] + m1[10]*m2[10] + m1[14]*m2[11]; - output[11] = m1[ 3]*m2[ 8] + m1[ 7]*m2[ 9] + m1[11]*m2[10] + m1[15]*m2[11]; - - output[12] = m1[ 0]*m2[12] + m1[ 4]*m2[13] + m1[ 8]*m2[14] + m1[12]*m2[15]; - output[13] = m1[ 1]*m2[12] + m1[ 5]*m2[13] + m1[ 9]*m2[14] + m1[13]*m2[15]; - output[14] = m1[ 2]*m2[12] + m1[ 6]*m2[13] + m1[10]*m2[14] + m1[14]*m2[15]; - output[15] = m1[ 3]*m2[12] + m1[ 7]*m2[13] + m1[11]*m2[14] + m1[15]*m2[15]; + /////////////////////////////////////////////////////////////////////////////////////////////////// + @kotlin.jvm.JvmStatic + fun multiply(output: FloatArray, m1: FloatArray, m2: FloatArray) { + output[0] = m1[0] * m2[0] + m1[4] * m2[1] + m1[8] * m2[2] + m1[12] * m2[3] + output[1] = m1[1] * m2[0] + m1[5] * m2[1] + m1[9] * m2[2] + m1[13] * m2[3] + output[2] = m1[2] * m2[0] + m1[6] * m2[1] + m1[10] * m2[2] + m1[14] * m2[3] + output[3] = m1[3] * m2[0] + m1[7] * m2[1] + m1[11] * m2[2] + m1[15] * m2[3] + + output[4] = m1[0] * m2[4] + m1[4] * m2[5] + m1[8] * m2[6] + m1[12] * m2[7] + output[5] = m1[1] * m2[4] + m1[5] * m2[5] + m1[9] * m2[6] + m1[13] * m2[7] + output[6] = m1[2] * m2[4] + m1[6] * m2[5] + m1[10] * m2[6] + m1[14] * m2[7] + output[7] = m1[3] * m2[4] + m1[7] * m2[5] + m1[11] * m2[6] + m1[15] * m2[7] + + output[8] = m1[0] * m2[8] + m1[4] * m2[9] + m1[8] * m2[10] + m1[12] * m2[11] + output[9] = m1[1] * m2[8] + m1[5] * m2[9] + m1[9] * m2[10] + m1[13] * m2[11] + output[10] = m1[2] * m2[8] + m1[6] * m2[9] + m1[10] * m2[10] + m1[14] * m2[11] + output[11] = m1[3] * m2[8] + m1[7] * m2[9] + m1[11] * m2[10] + m1[15] * m2[11] + + output[12] = m1[0] * m2[12] + m1[4] * m2[13] + m1[8] * m2[14] + m1[12] * m2[15] + output[13] = m1[1] * m2[12] + m1[5] * m2[13] + m1[9] * m2[14] + m1[13] * m2[15] + output[14] = m1[2] * m2[12] + m1[6] * m2[13] + m1[10] * m2[14] + m1[14] * m2[15] + output[15] = m1[3] * m2[12] + m1[7] * m2[13] + m1[11] * m2[14] + m1[15] * m2[15] } -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void frustum(float[] output, float l, float r, float b, float t, float n, float f) - { - output[0] = 2 * n / (r - l); - output[1] = 0; - output[2] = 0; - output[3] = 0; - output[4] = 0; - output[5] = 2 * n / (t - b); - output[6] = 0; - output[7] = 0; - output[8] = (r + l) / (r - l); - output[9] = (t + b) / (t - b); - output[10] = -(f + n) / (f - n); - output[11] = -1; - output[12] = 0; - output[13] = 0; - output[14] = -(2 * f * n) / (f - n); - output[15] = 0; + /////////////////////////////////////////////////////////////////////////////////////////////////// + @kotlin.jvm.JvmStatic + fun frustum(output: FloatArray, l: Float, r: Float, b: Float, t: Float, n: Float, f: Float) { + output[0] = 2 * n / (r - l) + output[1] = 0f + output[2] = 0f + output[3] = 0f + output[4] = 0f + output[5] = 2 * n / (t - b) + output[6] = 0f + output[7] = 0f + output[8] = (r + l) / (r - l) + output[9] = (t + b) / (t - b) + output[10] = -(f + n) / (f - n) + output[11] = -1f + output[12] = 0f + output[13] = 0f + output[14] = -(2 * f * n) / (f - n) + output[15] = 0f } -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void ortho(float[] output, float l, float r, float b, float t, float n, float f) - { - output[0] = 2 / (r - l); - output[1] = 0; - output[2] = 0; - output[3] = 0; - output[4] = 0; - output[5] = 2 / (t - b); - output[6] = 0; - output[7] = 0; - output[8] = 0; - output[9] = 0; - output[10] = -2 / (f - n); - output[11] = 0; - output[12] = -(r + l) / (r - l); - output[13] = -(t + b) / (t - b); - output[14] = -(f + n) / (f - n); - output[15] = 1; + /////////////////////////////////////////////////////////////////////////////////////////////////// + @kotlin.jvm.JvmStatic + fun ortho(output: FloatArray, l: Float, r: Float, b: Float, t: Float, n: Float, f: Float) { + output[0] = 2 / (r - l) + output[1] = 0f + output[2] = 0f + output[3] = 0f + output[4] = 0f + output[5] = 2 / (t - b) + output[6] = 0f + output[7] = 0f + output[8] = 0f + output[9] = 0f + output[10] = -2 / (f - n) + output[11] = 0f + output[12] = -(r + l) / (r - l) + output[13] = -(t + b) / (t - b) + output[14] = -(f + n) / (f - n) + output[15] = 1f } -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void setLookAt(float[] output, float eyeX , float eyeY , float eyeZ , - float lookX, float lookY, float lookZ, - float upX , float upY , float upZ ) - { - // TODO + /////////////////////////////////////////////////////////////////////////////////////////////////// + fun setLookAt( + output: FloatArray?, eyeX: Float, eyeY: Float, eyeZ: Float, + lookX: Float, lookY: Float, lookZ: Float, + upX: Float, upY: Float, upZ: Float + ) { + // TODO } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// this is android.opengl.Matrix.rotateM(), but with pre-computed sin and cos of the angle -// and also we have to pre-allocate and pass here two temp arrays. - - public static void rotateSinCos(float[] output, float[] tmp1, float[] tmp2, float sin, float cos, float x, float y, float z) - { - tmp1[0] = (1-cos)*x*x + cos; - tmp1[1] = (1-cos)*x*y + sin*z; - tmp1[2] = (1-cos)*x*z - sin*y; - tmp1[3] = 0; - tmp1[4] = (1-cos)*x*y - sin*z; - tmp1[5] = (1-cos)*y*y + cos; - tmp1[6] = (1-cos)*y*z + sin*x; - tmp1[7] = 0; - tmp1[8] = (1-cos)*x*z + sin*y; - tmp1[9] = (1-cos)*y*z - sin*x; - tmp1[10] = (1-cos)*z*z + cos; - tmp1[11] = 0; - tmp1[12] = 0; - tmp1[13] = 0; - tmp1[14] = 0; - tmp1[15] = 1; - - tmp2[0] = output[ 0]; - tmp2[1] = output[ 1]; - tmp2[2] = output[ 2]; - tmp2[3] = output[ 3]; - tmp2[4] = output[ 4]; - tmp2[5] = output[ 5]; - tmp2[6] = output[ 6]; - tmp2[7] = output[ 7]; - tmp2[8] = output[ 8]; - tmp2[9] = output[ 9]; - tmp2[10] = output[10]; - tmp2[11] = output[11]; - tmp2[12] = output[12]; - tmp2[13] = output[13]; - tmp2[14] = output[14]; - tmp2[15] = output[15]; - - multiply(output,tmp2,tmp1); + /////////////////////////////////////////////////////////////////////////////////////////////////// + // this is android.opengl.Matrix.rotateM(), but with pre-computed sin and cos of the angle + // and also we have to pre-allocate and pass here two temp arrays. + @kotlin.jvm.JvmStatic + fun rotateSinCos( + output: FloatArray, + tmp1: FloatArray, + tmp2: FloatArray, + sin: Float, + cos: Float, + x: Float, + y: Float, + z: Float + ) { + tmp1[0] = (1 - cos) * x * x + cos + tmp1[1] = (1 - cos) * x * y + sin * z + tmp1[2] = (1 - cos) * x * z - sin * y + tmp1[3] = 0f + tmp1[4] = (1 - cos) * x * y - sin * z + tmp1[5] = (1 - cos) * y * y + cos + tmp1[6] = (1 - cos) * y * z + sin * x + tmp1[7] = 0f + tmp1[8] = (1 - cos) * x * z + sin * y + tmp1[9] = (1 - cos) * y * z - sin * x + tmp1[10] = (1 - cos) * z * z + cos + tmp1[11] = 0f + tmp1[12] = 0f + tmp1[13] = 0f + tmp1[14] = 0f + tmp1[15] = 1f + + tmp2[0] = output[0] + tmp2[1] = output[1] + tmp2[2] = output[2] + tmp2[3] = output[3] + tmp2[4] = output[4] + tmp2[5] = output[5] + tmp2[6] = output[6] + tmp2[7] = output[7] + tmp2[8] = output[8] + tmp2[9] = output[9] + tmp2[10] = output[10] + tmp2[11] = output[11] + tmp2[12] = output[12] + tmp2[13] = output[13] + tmp2[14] = output[14] + tmp2[15] = output[15] + + multiply(output, tmp2, tmp1) } -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void translate(float[] output, float dx, float dy, float dz) - { - output[12] += ( output[ 0]*dx + output[ 4]*dy + output[ 8]*dz); - output[13] += ( output[ 1]*dx + output[ 5]*dy + output[ 9]*dz); - output[14] += ( output[ 2]*dx + output[ 6]*dy + output[10]*dz); - output[15] += ( output[ 3]*dx + output[ 7]*dy + output[11]*dz); + /////////////////////////////////////////////////////////////////////////////////////////////////// + @kotlin.jvm.JvmStatic + fun translate(output: FloatArray, dx: Float, dy: Float, dz: Float) { + output[12] += (output[0] * dx + output[4] * dy + output[8] * dz) + output[13] += (output[1] * dx + output[5] * dy + output[9] * dz) + output[14] += (output[2] * dx + output[6] * dy + output[10] * dz) + output[15] += (output[3] * dx + output[7] * dy + output[11] * dz) } -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static void scale(float[] output, float sx, float sy, float sz) - { - output[ 0] *= sx; - output[ 1] *= sx; - output[ 2] *= sx; - output[ 3] *= sx; - - output[ 4] *= sy; - output[ 5] *= sy; - output[ 6] *= sy; - output[ 7] *= sy; - - output[ 8] *= sz; - output[ 9] *= sz; - output[10] *= sz; - output[11] *= sz; + /////////////////////////////////////////////////////////////////////////////////////////////////// + @kotlin.jvm.JvmStatic + fun scale(output: FloatArray, sx: Float, sy: Float, sz: Float) { + output[0] *= sx + output[1] *= sx + output[2] *= sx + output[3] *= sx + + output[4] *= sy + output[5] *= sy + output[6] *= sy + output[7] *= sy + + output[8] *= sz + output[9] *= sz + output[10] *= sz + output[11] *= sz } - } +} diff --git a/src/main/java/org/distorted/library/helpers/QuatHelper.kt b/src/main/java/org/distorted/library/helpers/QuatHelper.kt index a4efda5..81fc896 100644 --- a/src/main/java/org/distorted/library/helpers/QuatHelper.kt +++ b/src/main/java/org/distorted/library/helpers/QuatHelper.kt @@ -17,475 +17,465 @@ // License along with this library; if not, write to the Free Software // // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA // /////////////////////////////////////////////////////////////////////////////////////////////////// +package org.distorted.library.helpers -package org.distorted.library.helpers; +import org.distorted.library.type.Static4D +import kotlin.math.* -import org.distorted.library.type.Static4D; - -/////////////////////////////////////////////////////////////////////////////////////////////////// - -public class QuatHelper - { /////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*quat2 - public static Static4D quatMultiply( Static4D quat1, Static4D quat2 ) +object QuatHelper +{ + /////////////////////////////////////////////////////////////////////////////////////////////////// + // return quat1*quat2 + @kotlin.jvm.JvmStatic + fun quatMultiply(quat1: Static4D, quat2: Static4D): Static4D { - float qx = quat1.get0(); - float qy = quat1.get1(); - float qz = quat1.get2(); - float qw = quat1.get3(); - - float rx = quat2.get0(); - float ry = quat2.get1(); - float rz = quat2.get2(); - float rw = quat2.get3(); - - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new Static4D(tx,ty,tz,tw); + val qx = quat1.get0() + val qy = quat1.get1() + val qz = quat1.get2() + val qw = quat1.get3() + + val rx = quat2.get0() + val ry = quat2.get1() + val rz = quat2.get2() + val rw = quat2.get3() + + val tx = rw*qx - rz*qy + ry*qz + rx*qw + val ty = rw*qy + rz*qx + ry*qw - rx*qz + val tz = rw*qz + rz*qw - ry*qx + rx*qy + val tw = rw*qw - rz*qz - ry*qy - rx*qx + + return Static4D(tx,ty,tz,tw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*quat2 - - public static void quatMultiply( float[] ret, Static4D quat1, Static4D quat2 ) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // return quat1*quat2 + @kotlin.jvm.JvmStatic + fun quatMultiply(ret: FloatArray, quat1: Static4D, quat2: Static4D) { - float qx = quat1.get0(); - float qy = quat1.get1(); - float qz = quat1.get2(); - float qw = quat1.get3(); - - float rx = quat2.get0(); - float ry = quat2.get1(); - float rz = quat2.get2(); - float rw = quat2.get3(); - - ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; - ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; - ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; - ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; + val qx = quat1.get0() + val qy = quat1.get1() + val qz = quat1.get2() + val qw = quat1.get3() + + val rx = quat2.get0() + val ry = quat2.get1() + val rz = quat2.get2() + val rw = quat2.get3() + + ret[0] = rw*qx - rz*qy + ry*qz + rx*qw + ret[1] = rw*qy + rz*qx + ry*qw - rx*qz + ret[2] = rw*qz + rz*qw - ry*qx + rx*qy + ret[3] = rw*qw - rz*qz - ry*qy - rx*qx } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*quat(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, Static4D quat1, float rx, float ry, float rz, float rw ) - { - float qx = quat1.get0(); - float qy = quat1.get1(); - float qz = quat1.get2(); - float qw = quat1.get3(); - - ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; - ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; - ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; - ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*quat2 - - public static float[] quatMultiply( float[] quat1, float[] quat2 ) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // return quat1*quat(rx,ry,rz,rw) + @kotlin.jvm.JvmStatic + fun quatMultiply(ret: FloatArray, quat1: Static4D, rx: Float, ry: Float, rz: Float, rw: Float) { - float qx = quat1[0]; - float qy = quat1[1]; - float qz = quat1[2]; - float qw = quat1[3]; - - float rx = quat2[0]; - float ry = quat2[1]; - float rz = quat2[2]; - float rw = quat2[3]; - - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new float[] {tx,ty,tz,tw}; + val qx = quat1.get0() + val qy = quat1.get1() + val qz = quat1.get2() + val qw = quat1.get3() + + ret[0] = rw*qx - rz*qy + ry*qz + rx*qw + ret[1] = rw*qy + rz*qx + ry*qw - rx*qz + ret[2] = rw*qz + rz*qw - ry*qx + rx*qy + ret[3] = rw*qw - rz*qz - ry*qy - rx*qx } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*(rx,ry,rz,rw) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // return quat1*quat2 + @kotlin.jvm.JvmStatic + fun quatMultiply(quat1: FloatArray, quat2: FloatArray): FloatArray + { + val qx = quat1[0] + val qy = quat1[1] + val qz = quat1[2] + val qw = quat1[3] + + val rx = quat2[0] + val ry = quat2[1] + val rz = quat2[2] + val rw = quat2[3] + + val tx = rw*qx - rz*qy + ry*qz + rx*qw + val ty = rw*qy + rz*qx + ry*qw - rx*qz + val tz = rw*qz + rz*qw - ry*qx + rx*qy + val tw = rw*qw - rz*qz - ry*qy - rx*qx + + return floatArrayOf(tx,ty,tz,tw) + } - public static Static4D quatMultiply( Static4D quat, float rx, float ry, float rz, float rw ) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // return quat1*(rx,ry,rz,rw) + fun quatMultiply(quat: Static4D, rx: Float, ry: Float, rz: Float, rw: Float): Static4D { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); + val qx = quat.get0() + val qy = quat.get1() + val qz = quat.get2() + val qw = quat.get3() - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; + val tx = rw*qx - rz*qy + ry*qz + rx*qw + val ty = rw*qy + rz*qx + ry*qw - rx*qz + val tz = rw*qz + rz*qw - ry*qx + rx*qy + val tw = rw*qw - rz*qz - ry*qy - rx*qx - return new Static4D(tx,ty,tz,tw); + return Static4D(tx,ty,tz,tw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return (qx,qy,qz,qw)*quat - - public static Static4D quatMultiply( float qx, float qy, float qz, float qw, Static4D quat ) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // return (qx,qy,qz,qw)*quat + fun quatMultiply(qx: Float, qy: Float, qz: Float, qw: Float, quat: Static4D): Static4D { - float rx = quat.get0(); - float ry = quat.get1(); - float rz = quat.get2(); - float rw = quat.get3(); + val rx = quat.get0() + val ry = quat.get1() + val rz = quat.get2() + val rw = quat.get3() - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; + val tx = rw*qx - rz*qy + ry*qz + rx*qw + val ty = rw*qy + rz*qx + ry*qw - rx*qz + val tz = rw*qz + rz*qw - ry*qx + rx*qy + val tw = rw*qw - rz*qz - ry*qy - rx*qx - return new Static4D(tx,ty,tz,tw); + return Static4D(tx,ty,tz,tw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static Static4D quatMultiply( float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // return (qx,qy,qz,qw)*(rx,ry,rz,rw) + fun quatMultiply( qx: Float, qy: Float, qz: Float, qw: Float, rx: Float, ry: Float, rz: Float, rw: Float): Static4D { - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; + val tx = rw*qx - rz*qy + ry*qz + rx*qw + val ty = rw*qy + rz*qx + ry*qw - rx*qz + val tz = rw*qz + rz*qw - ry*qx + rx*qy + val tw = rw*qw - rz*qz - ry*qy - rx*qx - return new Static4D(tx,ty,tz,tw); + return Static4D(tx,ty,tz,tw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, float[] q, float[] r ) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + @kotlin.jvm.JvmStatic + fun quatMultiply(ret: FloatArray, q: FloatArray, r: FloatArray) { - ret[0] = r[3]*q[0] - r[2]*q[1] + r[1]*q[2] + r[0]*q[3]; - ret[1] = r[3]*q[1] + r[2]*q[0] + r[1]*q[3] - r[0]*q[2]; - ret[2] = r[3]*q[2] + r[2]*q[3] - r[1]*q[0] + r[0]*q[1]; - ret[3] = r[3]*q[3] - r[2]*q[2] - r[1]*q[1] - r[0]*q[0]; + ret[0] = r[3]*q[0] - r[2]*q[1] + r[1]*q[2] + r[0]*q[3] + ret[1] = r[3]*q[1] + r[2]*q[0] + r[1]*q[3] - r[0]*q[2] + ret[2] = r[3]*q[2] + r[2]*q[3] - r[1]*q[0] + r[0]*q[1] + ret[3] = r[3]*q[3] - r[2]*q[2] - r[1]*q[1] - r[0]*q[0] } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, Static4D q, float[] r ) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + fun quatMultiply(ret: FloatArray, q: Static4D, r: FloatArray) { - float q0 = q.get0(); - float q1 = q.get1(); - float q2 = q.get2(); - float q3 = q.get3(); - - ret[0] = r[3]*q0 - r[2]*q1 + r[1]*q2 + r[0]*q3; - ret[1] = r[3]*q1 + r[2]*q0 + r[1]*q3 - r[0]*q2; - ret[2] = r[3]*q2 + r[2]*q3 - r[1]*q0 + r[0]*q1; - ret[3] = r[3]*q3 - r[2]*q2 - r[1]*q1 - r[0]*q0; + val q0 = q.get0() + val q1 = q.get1() + val q2 = q.get2() + val q3 = q.get3() + + ret[0] = r[3]*q0 - r[2]*q1 + r[1]*q2 + r[0]*q3 + ret[1] = r[3]*q1 + r[2]*q0 + r[1]*q3 - r[0]*q2 + ret[2] = r[3]*q2 + r[2]*q3 - r[1]*q0 + r[0]*q1 + ret[3] = r[3]*q3 - r[2]*q2 - r[1]*q1 - r[0]*q0 } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, float[] q, Static4D r ) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + fun quatMultiply(ret: FloatArray, q: FloatArray, r: Static4D) { - float r0 = r.get0(); - float r1 = r.get1(); - float r2 = r.get2(); - float r3 = r.get3(); - - ret[0] = r3*q[0] - r2*q[1] + r1*q[2] + r0*q[3]; - ret[1] = r3*q[1] + r2*q[0] + r1*q[3] - r0*q[2]; - ret[2] = r3*q[2] + r2*q[3] - r1*q[0] + r0*q[1]; - ret[3] = r3*q[3] - r2*q[2] - r1*q[1] - r0*q[0]; + val r0 = r.get0() + val r1 = r.get1() + val r2 = r.get2() + val r3 = r.get3() + + ret[0] = r3*q[0] - r2*q[1] + r1*q[2] + r0*q[3] + ret[1] = r3*q[1] + r2*q[0] + r1*q[3] - r0*q[2] + ret[2] = r3*q[2] + r2*q[3] - r1*q[0] + r0*q[1] + ret[3] = r3*q[3] - r2*q[2] - r1*q[1] - r0*q[0] } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + fun quatMultiply(ret: FloatArray, qx: Float, qy: Float, qz: Float, qw: Float, rx: Float, ry: Float, rz: Float, rw: Float) { - ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; - ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; - ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; - ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; + ret[0] = rw*qx - rz*qy + ry*qz + rx*qw + ret[1] = rw*qy + rz*qx + ry*qw - rx*qz + ret[2] = rw*qz + rz*qw - ry*qx + rx*qy + ret[3] = rw*qw - rz*qz - ry*qy - rx*qx } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - private static void quatMultiply( float[] ret, int index, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + private fun quatMultiply(ret: FloatArray, index: Int, qx: Float, qy: Float, qz: Float, qw: Float, rx: Float, ry: Float, rz: Float, rw: Float) { - ret[index ] = rw*qx - rz*qy + ry*qz + rx*qw; - ret[index+1] = rw*qy + rz*qx + ry*qw - rx*qz; - ret[index+2] = rw*qz + rz*qw - ry*qx + rx*qy; - ret[index+3] = rw*qw - rz*qz - ry*qy - rx*qx; + ret[index ] = rw*qx - rz*qy + ry*qz + rx*qw + ret[index+1] = rw*qy + rz*qx + ry*qw - rx*qz + ret[index+2] = rw*qz + rz*qw - ry*qx + rx*qy + ret[index+3] = rw*qw - rz*qz - ry*qy - rx*qx } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static Static4D rotateVectorByQuat(float x, float y, float z, float w, Static4D quat) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + @kotlin.jvm.JvmStatic + fun rotateVectorByQuat(x: Float, y: Float, z: Float, w: Float, quat: Static4D): Static4D { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); + val qx = quat.get0() + val qy = quat.get1() + val qz = quat.get2() + val qw = quat.get3() - Static4D tmp = quatMultiply(qx,qy,qz,qw,x,y,z,w); + val tmp = quatMultiply(qx,qy,qz,qw,x,y,z,w) - return quatMultiply(tmp,-qx,-qy,-qz,qw); + return quatMultiply(tmp,-qx,-qy,-qz,qw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, float x, float y, float z, float w, Static4D quat) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + @kotlin.jvm.JvmStatic + fun rotateVectorByQuat(output: FloatArray, x: Float, y: Float, z: Float, w: Float, quat: Static4D) { - float[] tmp = new float[4]; + val tmp = FloatArray(4) - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); + val qx = quat.get0() + val qy = quat.get1() + val qz = quat.get2() + val qw = quat.get3() - quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); - quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); + quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w) + quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, Static4D quat) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + @kotlin.jvm.JvmStatic + fun rotateVectorByQuat(output: FloatArray, index: Int, x: Float, y: Float, z: Float, w: Float, quat: Static4D) { - float[] tmp = new float[4]; + val tmp = FloatArray(4) - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); + val qx = quat.get0() + val qy = quat.get1() + val qz = quat.get2() + val qw = quat.get3() - quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); - quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); + quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w) + quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, float x, float y, float z, float w, float[] quat) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + @kotlin.jvm.JvmStatic + fun rotateVectorByQuat(output: FloatArray, x: Float, y: Float, z: Float, w: Float, quat: FloatArray) { - float[] tmp = new float[4]; + val tmp = FloatArray(4) - float qx = quat[0]; - float qy = quat[1]; - float qz = quat[2]; - float qw = quat[3]; + val qx = quat[0] + val qy = quat[1] + val qz = quat[2] + val qw = quat[3] - quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); - quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); + quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w) + quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, float[] quat) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + fun rotateVectorByQuat(output: FloatArray, index: Int, x: Float, y: Float, z: Float, w: Float, quat: FloatArray) { - float[] tmp = new float[4]; + val tmp = FloatArray(4) - float qx = quat[0]; - float qy = quat[1]; - float qz = quat[2]; - float qw = quat[3]; + val qx = quat[0] + val qy = quat[1] + val qz = quat[2] + val qw = quat[3] - quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); - quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); + quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w) + quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate vec by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, float[] vec, float[] quat) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate vec by quat ( i.e. return quat*vector*(quat^-1) ) + @kotlin.jvm.JvmStatic + fun rotateVectorByQuat(output: FloatArray, vec: FloatArray, quat: FloatArray) { - float[] tmp = new float[4]; + val tmp = FloatArray(4) - quatMultiply(tmp,quat,vec); + quatMultiply(tmp, quat, vec) - quat[0] = -quat[0]; - quat[1] = -quat[1]; - quat[2] = -quat[2]; + quat[0] = -quat[0] + quat[1] = -quat[1] + quat[2] = -quat[2] - quatMultiply(output,tmp,quat); + quatMultiply(output, tmp, quat) - quat[0] = -quat[0]; - quat[1] = -quat[1]; - quat[2] = -quat[2]; + quat[0] = -quat[0] + quat[1] = -quat[1] + quat[2] = -quat[2] } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate vec by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, float[] vec, Static4D quat) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate vec by quat ( i.e. return quat*vector*(quat^-1) ) + fun rotateVectorByQuat(output: FloatArray, vec: FloatArray, quat: Static4D) { - float[] tmp = new float[4]; + val tmp = FloatArray(4) - quatMultiply(tmp,quat,vec); + quatMultiply(tmp, quat, vec) - float x1 = quat.get0(); - float y1 = quat.get1(); - float z1 = quat.get2(); - float w1 = quat.get3(); - quat.set(-x1,-y1,-z1,w1); + val x1 = quat.get0() + val y1 = quat.get1() + val z1 = quat.get2() + val w1 = quat.get3() + quat.set(-x1,-y1,-z1,w1) - quatMultiply(output,tmp,quat); + quatMultiply(output, tmp, quat) - float x2 = quat.get0(); - float y2 = quat.get1(); - float z2 = quat.get2(); - float w2 = quat.get3(); - quat.set(-x2,-y2,-z2,w2); + val x2 = quat.get0() + val y2 = quat.get1() + val z2 = quat.get2() + val w2 = quat.get3() + quat.set(-x2,-y2,-z2,w2) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quat ( i.e. return quat*vector*(quat^-1) ) - - public static Static4D rotateVectorByQuat(Static4D vector, Static4D quat) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate 'vector' by quat ( i.e. return quat*vector*(quat^-1) ) + @kotlin.jvm.JvmStatic + fun rotateVectorByQuat(vector: Static4D, quat: Static4D): Static4D { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); + val qx = quat.get0() + val qy = quat.get1() + val qz = quat.get2() + val qw = quat.get3() - Static4D tmp = quatMultiply(qx,qy,qz,qw,vector); + val tmp = quatMultiply(qx,qy,qz,qw,vector) - return quatMultiply(tmp,-qx,-qy,-qz,qw); + return quatMultiply(tmp,-qx,-qy,-qz,qw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) - - public static Static4D rotateVectorByInvertedQuat(Static4D vector, Static4D quat) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) + @kotlin.jvm.JvmStatic + fun rotateVectorByInvertedQuat(vector: Static4D, quat: Static4D): Static4D { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); + val qx = quat.get0() + val qy = quat.get1() + val qz = quat.get2() + val qw = quat.get3() - Static4D tmp = quatMultiply(-qx,-qy,-qz,qw,vector); + val tmp = quatMultiply(-qx,-qy,-qz,qw,vector) - return quatMultiply(tmp,qx,qy,qz,qw); + return quatMultiply(tmp,qx,qy,qz,qw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) - - public static void rotateVectorByInvertedQuat(float[] output, float x, float y, float z, float w, float[] quat) - { - float[] tmp = new float[4]; - - float qx = quat[0]; - float qy = quat[1]; - float qz = quat[2]; - float qw = quat[3]; + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) + @kotlin.jvm.JvmStatic + fun rotateVectorByInvertedQuat(output: FloatArray, x: Float, y: Float, z: Float, w: Float, quat: FloatArray) + { + val tmp = FloatArray(4) - quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w); - quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw); - } + val qx = quat[0] + val qy = quat[1] + val qz = quat[2] + val qw = quat[3] -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) + quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w) + quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw) + } - public static void rotateVectorByInvertedQuat(float[] output, float x, float y, float z, float w, Static4D quat) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) + @kotlin.jvm.JvmStatic + fun rotateVectorByInvertedQuat(output: FloatArray, x: Float, y: Float, z: Float, w: Float, quat: Static4D) { - float[] tmp = new float[4]; + val tmp = FloatArray(4) - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); + val qx = quat.get0() + val qy = quat.get1() + val qz = quat.get2() + val qw = quat.get3() - quatMultiply(tmp,-qx,-qy,-qz,qw,x,y,z,w); - quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw); + quatMultiply(tmp, -qx, -qy, -qz, qw, x, y, z, w) + quatMultiply(output, tmp[0], tmp[1], tmp[2], tmp[3], qx, qy, qz, qw) } -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static Static4D quatFromDrag(float dragX, float dragY) + /////////////////////////////////////////////////////////////////////////////////////////////////// + @kotlin.jvm.JvmStatic + fun quatFromDrag(dragX: Float, dragY: Float): Static4D { - float axisX = dragY; // inverted X and Y - rotation axis is perpendicular to (dragX,dragY) - float axisY = dragX; // Why not (-dragY, dragX) ? because Y axis is also inverted! - float axisZ = 0; - float axisL = (float)Math.sqrt(axisX*axisX + axisY*axisY + axisZ*axisZ); + var axisX = dragY // inverted X and Y - rotation axis is perpendicular to (dragX,dragY) + var axisY = dragX // Why not (-dragY, dragX) ? because Y axis is also inverted! + var axisZ = 0f + val axisL = sqrt(axisX * axisX + axisY * axisY + axisZ * axisZ) - if( axisL>0 ) - { - axisX /= axisL; - axisY /= axisL; - axisZ /= axisL; + if (axisL > 0) + { + axisX /= axisL + axisY /= axisL + axisZ /= axisL - float ratio = axisL; - ratio = ratio - (int)ratio; // the cos() is only valid in (0,Pi) + var ratio = axisL + ratio -= ratio.toInt() // the cos() is only valid in (0,Pi) - float cosA = (float)Math.cos(Math.PI*ratio); - float sinA = (float)Math.sqrt(1-cosA*cosA); + val cosA = cos(Math.PI * ratio).toFloat() + val sinA = sqrt(1 - cosA * cosA) - return new Static4D(axisX*sinA, axisY*sinA, axisZ*sinA, cosA); - } + return Static4D(axisX * sinA, axisY * sinA, axisZ * sinA, cosA) + } - return new Static4D(0f, 0f, 0f, 1f); + return Static4D(0f, 0f, 0f, 1f) } -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static double computeCos(double oldX, double oldY, double newX, double newY, double len1, double len2) + /////////////////////////////////////////////////////////////////////////////////////////////////// + @kotlin.jvm.JvmStatic + fun computeCos(oldX: Double, oldY: Double, newX: Double, newY: Double, len1: Double, len2: Double): Double { - double ret= (oldX*newX+oldY*newY) / (len1*len2); - if( ret<-1.0 ) return -1.0; - if( ret> 1.0 ) return 1.0; + val ret = (oldX*newX + oldY*newY) / (len1*len2) + if (ret < -1.0) return -1.0 + if (ret > 1.0) return 1.0 - return ret; + return ret } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// sin of (signed!) angle between vectors 'old' and 'new', counterclockwise! - - public static double computeSin(double oldX, double oldY, double newX, double newY, double len1, double len2) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // sin of (signed!) angle between vectors 'old' and 'new', counterclockwise! + @kotlin.jvm.JvmStatic + fun computeSin(oldX: Double, oldY: Double, newX: Double, newY: Double, len1: Double, len2: Double): Double { - double ret= (newX*oldY-oldX*newY) / (len1*len2); - if( ret<-1.0 ) return -1.0; - if( ret> 1.0 ) return 1.0; + val ret = (newX*oldY - oldX*newY) / (len1*len2) + if (ret < -1.0) return -1.0 + if (ret > 1.0) return 1.0 - return ret; + return ret } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat Q that turns 3D vector A=(ax,ay,az) to another 3D vector B=(bx,by,bz) -// take care of double-cover by ensuring that always Q.get3() >=0 - - public static Static4D retRotationQuat(float ax, float ay, float az, float bx, float by, float bz) + /////////////////////////////////////////////////////////////////////////////////////////////////// + // return quat Q that turns 3D vector A=(ax,ay,az) to another 3D vector B=(bx,by,bz) + // take care of double-cover by ensuring that always Q.get3() >=0 + fun retRotationQuat(ax: Float, ay: Float, az: Float, bx: Float, by: Float, bz: Float): Static4D { - float nx = ay*bz - az*by; - float ny = az*bx - ax*bz; - float nz = ax*by - ay*bx; - - float sin = (float)Math.sqrt(nx*nx + ny*ny + nz*nz); - float cos = ax*bx + ay*by + az*bz; - - if( sin!=0 ) - { - nx /= sin; - ny /= sin; - nz /= sin; - } - - // Why sin<=0 and cos>=0 ? - // 0 0 both sin and cos are positive. - // But1: quats work counterclockwise -> negate cos. - // But2: double-cover, we prefer to have the cos positive (so that unit=(0,0,0,1)) - // so negate again both cos and sin. - float sinHalf =-(float)Math.sqrt((1-cos)/2); - float cosHalf = (float)Math.sqrt((1+cos)/2); - - return new Static4D(nx*sinHalf,ny*sinHalf,nz*sinHalf,cosHalf); + var nx = ay*bz - az*by + var ny = az*bx - ax*bz + var nz = ax*by - ay*bx + + val sin = sqrt(nx*nx + ny*ny + nz*nz) + val cos = ax*bx + ay*by + az*bz + + if (sin != 0f) + { + nx /= sin + ny /= sin + nz /= sin + } + + // Why sin<=0 and cos>=0 ? + // 0 0 both sin and cos are positive. + // But1: quats work counterclockwise -> negate cos. + // But2: double-cover, we prefer to have the cos positive (so that unit=(0,0,0,1)) + // so negate again both cos and sin. + val sinHalf = -sqrt((1-cos) / 2) + val cosHalf = sqrt((1+cos) / 2) + + return Static4D(nx*sinHalf, ny*sinHalf, nz*sinHalf, cosHalf) } - } +} \ No newline at end of file