From 0edb45f11cd034c4937e6941b7a3e5d9f7edbd2f Mon Sep 17 00:00:00 2001
From: Sven Gothel <sgothel@jausoft.com>
Date: Sun, 11 Nov 2012 02:49:48 +0100
Subject: Merge MathFloat into FloatUtil
---
.../classes/com/jogamp/graph/math/Quaternion.java | 59 +++++++++++-----------
1 file changed, 30 insertions(+), 29 deletions(-)
(limited to 'src/jogl/classes/com/jogamp/graph/math/Quaternion.java')
diff --git a/src/jogl/classes/com/jogamp/graph/math/Quaternion.java b/src/jogl/classes/com/jogamp/graph/math/Quaternion.java
index 1e912457d..cbdf52dff 100755
--- a/src/jogl/classes/com/jogamp/graph/math/Quaternion.java
+++ b/src/jogl/classes/com/jogamp/graph/math/Quaternion.java
@@ -27,7 +27,8 @@
*/
package com.jogamp.graph.math;
-import jogamp.graph.math.MathFloat;
+import com.jogamp.opengl.FloatUtil;
+
public class Quaternion {
protected float x,y,z,w;
@@ -49,14 +50,14 @@ public class Quaternion {
*/
public Quaternion(float[] vector1, float[] vector2)
{
- float theta = (float)MathFloat.acos(dot(vector1, vector2));
+ float theta = (float)FloatUtil.acos(dot(vector1, vector2));
float[] cross = cross(vector1,vector2);
cross = normalizeVec(cross);
- this.x = (float)MathFloat.sin(theta/2)*cross[0];
- this.y = (float)MathFloat.sin(theta/2)*cross[1];
- this.z = (float)MathFloat.sin(theta/2)*cross[2];
- this.w = (float)MathFloat.cos(theta/2);
+ this.x = (float)FloatUtil.sin(theta/2)*cross[0];
+ this.y = (float)FloatUtil.sin(theta/2)*cross[1];
+ this.z = (float)FloatUtil.sin(theta/2)*cross[2];
+ this.w = (float)FloatUtil.cos(theta/2);
this.normalize();
}
@@ -66,8 +67,8 @@ public class Quaternion {
public float[] toAxis()
{
float[] vec = new float[4];
- float scale = (float)MathFloat.sqrt(x * x + y * y + z * z);
- vec[0] =(float) MathFloat.acos(w) * 2.0f;
+ float scale = (float)FloatUtil.sqrt(x * x + y * y + z * z);
+ vec[0] =(float) FloatUtil.acos(w) * 2.0f;
vec[1] = x / scale;
vec[2] = y / scale;
vec[3] = z / scale;
@@ -82,7 +83,7 @@ public class Quaternion {
{
float[] newVector = new float[3];
- float d = MathFloat.sqrt(vector[0]*vector[0] + vector[1]*vector[1] + vector[2]*vector[2]);
+ float d = FloatUtil.sqrt(vector[0]*vector[0] + vector[1]*vector[1] + vector[2]*vector[2]);
if(d> 0.0f)
{
newVector[0] = vector[0]/d;
@@ -203,7 +204,7 @@ public class Quaternion {
*/
public void normalize()
{
- float norme = (float)MathFloat.sqrt(w*w + x*x + y*y + z*z);
+ float norme = (float)FloatUtil.sqrt(w*w + x*x + y*y + z*z);
if (norme == 0.0f)
{
w = 1.0f;
@@ -274,12 +275,12 @@ public class Quaternion {
{
float omega, cosom, sinom, sclp, sclq;
cosom = a.x*b.x + a.y*b.y + a.z*b.z + a.w*b.w;
- if ((1.0f+cosom) > MathFloat.E) {
- if ((1.0f-cosom) > MathFloat.E) {
- omega = (float)MathFloat.acos(cosom);
- sinom = (float)MathFloat.sin(omega);
- sclp = (float)MathFloat.sin((1.0f-t)*omega) / sinom;
- sclq = (float)MathFloat.sin(t*omega) / sinom;
+ if ((1.0f+cosom) > FloatUtil.E) {
+ if ((1.0f-cosom) > FloatUtil.E) {
+ omega = (float)FloatUtil.acos(cosom);
+ sinom = (float)FloatUtil.sin(omega);
+ sclp = (float)FloatUtil.sin((1.0f-t)*omega) / sinom;
+ sclq = (float)FloatUtil.sin(t*omega) / sinom;
}
else {
sclp = 1.0f - t;
@@ -295,8 +296,8 @@ public class Quaternion {
y = a.x;
z =-a.w;
w = a.z;
- sclp = MathFloat.sin((1.0f-t) * MathFloat.PI * 0.5f);
- sclq = MathFloat.sin(t * MathFloat.PI * 0.5f);
+ sclp = FloatUtil.sin((1.0f-t) * FloatUtil.PI * 0.5f);
+ sclq = FloatUtil.sin(t * FloatUtil.PI * 0.5f);
x = sclp*a.x + sclq*b.x;
y = sclp*a.y + sclq*b.y;
z = sclp*a.z + sclq*b.z;
@@ -330,7 +331,7 @@ public class Quaternion {
public void setFromMatrix(float[] m) {
float T= m[0] + m[4] + m[8] + 1;
if (T>0){
- float S = 0.5f / (float)MathFloat.sqrt(T);
+ float S = 0.5f / (float)FloatUtil.sqrt(T);
w = 0.25f / S;
x = ( m[5] - m[7]) * S;
y = ( m[6] - m[2]) * S;
@@ -338,21 +339,21 @@ public class Quaternion {
}
else{
if ((m[0] > m[4])&(m[0] > m[8])) {
- float S = MathFloat.sqrt( 1.0f + m[0] - m[4] - m[8] ) * 2f; // S=4*qx
+ float S = FloatUtil.sqrt( 1.0f + m[0] - m[4] - m[8] ) * 2f; // S=4*qx
w = (m[7] - m[5]) / S;
x = 0.25f * S;
y = (m[3] + m[1]) / S;
z = (m[6] + m[2]) / S;
}
else if (m[4] > m[8]) {
- float S = MathFloat.sqrt( 1.0f + m[4] - m[0] - m[8] ) * 2f; // S=4*qy
+ float S = FloatUtil.sqrt( 1.0f + m[4] - m[0] - m[8] ) * 2f; // S=4*qy
w = (m[6] - m[2]) / S;
x = (m[3] + m[1]) / S;
y = 0.25f * S;
z = (m[7] + m[5]) / S;
}
else {
- float S = MathFloat.sqrt( 1.0f + m[8] - m[0] - m[4] ) * 2f; // S=4*qz
+ float S = FloatUtil.sqrt( 1.0f + m[8] - m[0] - m[4] ) * 2f; // S=4*qz
w = (m[3] - m[1]) / S;
x = (m[6] + m[2]) / S;
y = (m[7] + m[5]) / S;
@@ -368,13 +369,13 @@ public class Quaternion {
*/
public boolean isRotationMatrix(float[] m) {
double epsilon = 0.01; // margin to allow for rounding errors
- if (MathFloat.abs(m[0]*m[3] + m[3]*m[4] + m[6]*m[7]) > epsilon) return false;
- if (MathFloat.abs(m[0]*m[2] + m[3]*m[5] + m[6]*m[8]) > epsilon) return false;
- if (MathFloat.abs(m[1]*m[2] + m[4]*m[5] + m[7]*m[8]) > epsilon) return false;
- if (MathFloat.abs(m[0]*m[0] + m[3]*m[3] + m[6]*m[6] - 1) > epsilon) return false;
- if (MathFloat.abs(m[1]*m[1] + m[4]*m[4] + m[7]*m[7] - 1) > epsilon) return false;
- if (MathFloat.abs(m[2]*m[2] + m[5]*m[5] + m[8]*m[8] - 1) > epsilon) return false;
- return (MathFloat.abs(determinant(m)-1) < epsilon);
+ if (FloatUtil.abs(m[0]*m[3] + m[3]*m[4] + m[6]*m[7]) > epsilon) return false;
+ if (FloatUtil.abs(m[0]*m[2] + m[3]*m[5] + m[6]*m[8]) > epsilon) return false;
+ if (FloatUtil.abs(m[1]*m[2] + m[4]*m[5] + m[7]*m[8]) > epsilon) return false;
+ if (FloatUtil.abs(m[0]*m[0] + m[3]*m[3] + m[6]*m[6] - 1) > epsilon) return false;
+ if (FloatUtil.abs(m[1]*m[1] + m[4]*m[4] + m[7]*m[7] - 1) > epsilon) return false;
+ if (FloatUtil.abs(m[2]*m[2] + m[5]*m[5] + m[8]*m[8] - 1) > epsilon) return false;
+ return (FloatUtil.abs(determinant(m)-1) < epsilon);
}
private float determinant(float[] m) {
return m[0]*m[4]*m[8] + m[3]*m[7]*m[2] + m[6]*m[1]*m[5] - m[0]*m[7]*m[5] - m[3]*m[1]*m[8] - m[6]*m[4]*m[2];
--
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