From 1fe8fa0765f13980cd4498cb65ab2e36908e75b1 Mon Sep 17 00:00:00 2001
From: petrs <petrs@mapfactor.com>
Date: Sun, 2 Jun 2013 21:09:42 +0200
Subject: fixed isIdentity method, deprecated isEmpty method (quaternion
doesn't have such a property + method do same thing as isIdentity), new
setIdentity method, default constructor sets this quaternion to identity, new
fromAxis method/costructor
---
.../classes/com/jogamp/opengl/math/Quaternion.java | 52 ++++++++++++++++------
1 file changed, 39 insertions(+), 13 deletions(-)
(limited to 'src/jogl/classes/com/jogamp/opengl/math/Quaternion.java')
diff --git a/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java b/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java
index 96cb2d6f1..d1f3e0336 100644
--- a/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java
+++ b/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java
@@ -31,7 +31,7 @@ public class Quaternion {
protected float x, y, z, w;
public Quaternion() {
-
+ setIdentity();
}
public Quaternion(float x, float y, float z, float w) {
@@ -50,13 +50,32 @@ public class Quaternion {
public Quaternion(float[] vector1, float[] vector2) {
float theta = FloatUtil.acos(VectorUtil.dot(vector1, vector2));
float[] cross = VectorUtil.cross(vector1, vector2);
- cross = VectorUtil.normalize(cross);
-
- x = FloatUtil.sin(theta / 2) * cross[0];
- y = FloatUtil.sin(theta / 2) * cross[1];
- z = FloatUtil.sin(theta / 2) * cross[2];
- w = FloatUtil.cos(theta / 2);
- normalize();
+ fromAxis(cross, theta);
+ }
+
+ /***
+ * Constructor to create a rotation based quaternion from axis vector and angle
+ * @param vector axis vector
+ * @param angle rotation angle (rads)
+ * @see #fromAxis(float[], float)
+ */
+ public Quaternion(float[] vector, float angle) {
+ fromAxis(vector, angle);
+ }
+
+ /***
+ * Initialize this quaternion with given axis vector and rotation angle
+ *
+ * @param vector axis vector
+ * @param angle rotation angle (rads)
+ */
+ public void fromAxis(float[] vector, float angle) {
+ float sin = FloatUtil.sin(angle *= 0.5f);
+ float[] nv = VectorUtil.normalize(vector);
+ x = (nv[0] * sin);
+ y = (nv[1] * sin);
+ z = (nv[2] * sin);
+ w = FloatUtil.cos(angle);
}
/**
@@ -174,8 +193,7 @@ public class Quaternion {
public void normalize() {
float norme = (float) FloatUtil.sqrt(w * w + x * x + y * y + z * z);
if (norme == 0.0f) {
- w = 1.0f;
- x = y = z = 0.0f;
+ setIdentity();
} else {
float recip = 1.0f / norme;
@@ -286,7 +304,9 @@ public class Quaternion {
* Check if this quaternion is empty, ie (0,0,0,1)
*
* @return true if empty, false otherwise
+ * @deprecated use {@link #isIdentity()} instead
*/
+ @Deprecated
public boolean isEmpty() {
if (w == 1 && x == 0 && y == 0 && z == 0)
return true;
@@ -299,9 +319,15 @@ public class Quaternion {
* @return true if it is an identity rep., false otherwise
*/
public boolean isIdentity() {
- if (w == 0 && x == 0 && y == 0 && z == 0)
- return true;
- return false;
+ return w == 1 && x == 0 && y == 0 && z == 0;
+ }
+
+ /***
+ * Set this quaternion to identity (x=0,y=0,z=0,w=1)
+ */
+ public void setIdentity() {
+ x = y = z = 0;
+ w = 1;
}
/**
--
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