Revision cb137f36
Added by Leszek Koltunski about 3 years ago
src/main/java/org/distorted/objects/TwistyHelicopter.java | ||
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} |
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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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{ |
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Static4D result = RubikSurfaceView.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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float rZ = result.get2(); |
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float rW = result.get3(); |
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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<QUATS.length; i++) |
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{ |
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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 = 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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} |
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return -1; |
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} |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// The Helicopter is solved if and only if: |
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// |
Also available in: Unified diff
Objects: tidy up some repeated code.