Revision 398f2870
Added by Leszek Koltunski about 1 year ago
| src/main/java/org/distorted/objectlib/tablebases/TablebasesAbstract.java | ||
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// remember about the double cover or unit quaternions! |
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private int mulQuat(int q1, int q2)
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public static int mulQuat(int q1, int q2, Static4D[] quats)
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{
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Static4D result = QuatHelper.quatMultiply(mQuats[q1],mQuats[q2]); |
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int numQuats = quats.length; |
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Static4D result = QuatHelper.quatMultiply(quats[q1],quats[q2]); |
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float rX = result.get0(); |
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float rY = result.get1(); |
| ... | ... | |
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final float MAX_ERROR = 0.1f; |
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float dX,dY,dZ,dW; |
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for(int i=0; i<mNumQuats; i++)
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for(int i=0; i<numQuats; i++)
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{
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dX = mQuats[i].get0() - rX;
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dY = mQuats[i].get1() - rY;
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dZ = mQuats[i].get2() - rZ;
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dW = mQuats[i].get3() - rW;
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dX = quats[i].get0() - rX;
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dY = quats[i].get1() - rY;
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dZ = quats[i].get2() - rZ;
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dW = quats[i].get3() - rW;
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if( dX<MAX_ERROR && dX>-MAX_ERROR && |
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dY<MAX_ERROR && dY>-MAX_ERROR && |
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dZ<MAX_ERROR && dZ>-MAX_ERROR && |
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dW<MAX_ERROR && dW>-MAX_ERROR ) return i; |
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dX = mQuats[i].get0() + rX;
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dY = mQuats[i].get1() + rY;
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dZ = mQuats[i].get2() + rZ;
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dW = mQuats[i].get3() + rW;
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dX = quats[i].get0() + rX;
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dY = quats[i].get1() + rY;
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dZ = quats[i].get2() + rZ;
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dW = quats[i].get3() + rW;
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if( dX<MAX_ERROR && dX>-MAX_ERROR && |
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dY<MAX_ERROR && dY>-MAX_ERROR && |
| ... | ... | |
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if( index1<mNumQuats && index2<mNumQuats ) |
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{
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if( mQuatMult[index1][index2]==-1 ) mQuatMult[index1][index2] = mulQuat(index1,index2); |
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if( mQuatMult[index1][index2]==-1 ) mQuatMult[index1][index2] = mulQuat(index1,index2, mQuats);
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return mQuatMult[index1][index2]; |
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} |
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Also available in: Unified diff
CU_323 solver: corrections.