Revision dfa988f2
Added by Leszek Koltunski 12 months ago
| src/main/java/org/distorted/objectlib/tablebases/TBCuboid323.java | ||
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| 9 | 9 |
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package org.distorted.objectlib.tablebases; |
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import org.distorted.library.helpers.QuatHelper; |
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import org.distorted.library.type.Static3D; |
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import org.distorted.library.type.Static4D; |
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import org.distorted.objectlib.R; |
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import org.distorted.objectlib.helpers.OperatingSystemInterface; |
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|
| ... | ... | |
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@Override |
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int computeRow(float[] pos, int quat, int axisIndex) |
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{
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QuatHelper.rotateVectorByQuat(mTmp,pos[0],pos[1],pos[2],1.0f,mQuats[quat]); |
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Static4D q = mQuats[quat]; |
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float qx = q.get0(); |
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float qy = q.get1(); |
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float qz = q.get2(); |
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float qw = q.get3(); |
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float rx = pos[0]; |
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float ry = pos[1]; |
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float rz = pos[2]; |
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mTmp[0] = qx - rz*qy + ry*qz + rx*qw; |
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mTmp[1] = qy + rz*qx + ry*qw - rx*qz; |
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mTmp[2] = qz + rz*qw - ry*qx + rx*qy; |
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mTmp[3] = qw - rz*qz - ry*qy - rx*qx; |
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switch(axisIndex) |
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{
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case 0: if( mTmp[0]<-0.5f ) return 1; |
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if( mTmp[0]< 0.5f ) return 2; |
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case 0: float res0 = qw*mTmp[0] + qz*mTmp[1] - qy*mTmp[2] - qx*mTmp[3]; |
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if( res0<-0.5f ) return 1; |
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if( res0< 0.5f ) return 2; |
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return 4; |
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case 1: return (mTmp[1]<0 ? 1:2); |
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case 2: if( mTmp[2]<-0.5f ) return 1; |
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if( mTmp[2]< 0.5f ) return 2; |
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case 1: float res1 = qw*mTmp[1] - qz*mTmp[0] - qy*mTmp[3] + qx*mTmp[2]; |
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return (res1<0 ? 1:2); |
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case 2: float res2 = qw*mTmp[2] - qz*mTmp[3] + qy*mTmp[0] - qx*mTmp[1]; |
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if( res2<-0.5f ) return 1; |
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if( res2< 0.5f ) return 2; |
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return 4; |
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} |
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