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Added missing static methods to Quaternion for consistency. Cleaned up handling of src == dest aliasing

This commit is contained in:
Elias Naur 2006-06-16 13:30:27 +00:00
parent 09001cb925
commit 8ea2ce415e
1 changed files with 139 additions and 70 deletions
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209
src/java/org/lwjgl/util/vector/Quaternion.java
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@ -43,16 +43,16 @@ package org.lwjgl.util.vector;
import java.nio.FloatBuffer;
public class Quaternion extends Vector implements ReadableVector4f {
private static final long serialVersionUID = 1L;
private float x, y, z, w;
public float x, y, z, w;
/**
* C'tor
* C'tor. The quaternion will be initialized to the identity.
*/
public Quaternion() {
super();
setIdentity();
}
/**
@ -123,6 +123,27 @@ public class Quaternion extends Vector implements ReadableVector4f {
return this;
}
/**
* Set this quaternion to the multiplication identity.
* @return this
*/
public Quaternion setIdentity() {
return setIdentity(this);
}
/**
* Set the given quaternion to the multiplication identity.
* @param q The quaternion
* @return q
*/
public static Quaternion setIdentity(Quaternion q) {
q.x = 0;
q.y = 0;
q.z = 0;
q.w = 1;
return q;
}
/**
* @return the length squared of the quaternion
*/
@ -131,24 +152,38 @@ public class Quaternion extends Vector implements ReadableVector4f {
}
/**
* Normalise this vector and place the result in another vector.
* Normalise the source quaternion and place the result in another quaternion.
*
* @param src
* The source quaternion
* @param dest
* The destination vector, or null if a new vector is to be
* The destination quaternion, or null if a new quaternion is to be
* created
* @return the normalised vector
* @return The normalised quaternion
*/
public Quaternion normalise(Quaternion dest) {
float l = length();
public static Quaternion normalise(Quaternion src, Quaternion dest) {
float inv_l = 1f/src.length();
if (dest == null)
dest = new Quaternion(x / l, y / l, z / l, w / l);
else
dest.set(x / l, y / l, z / l, w / l);
dest = new Quaternion();
dest.set(src.x * inv_l, src.y * inv_l, src.z * inv_l, src.w * inv_l);
return dest;
}
/**
* Normalise this quaternion and place the result in another quaternion.
*
* @param dest
* The destination quaternion, or null if a new quaternion is to be
* created
* @return the normalised quaternion
*/
public Quaternion normalise(Quaternion dest) {
return normalise(this, dest);
}
/**
* The dot product of two quaternions
*
@ -171,13 +206,26 @@ public class Quaternion extends Vector implements ReadableVector4f {
* quaternion
*/
public Quaternion negate(Quaternion dest) {
return negate(this, dest);
}
/**
* Calculate the conjugate of this quaternion and put it into the given one
*
* @param src
* The source quaternion
* @param dest
* The quaternion which should be set to the conjugate of this
* quaternion
*/
public static Quaternion negate(Quaternion src, Quaternion dest) {
if (dest == null)
dest = new Quaternion();
dest.x = -x;
dest.y = -y;
dest.z = -z;
dest.w = w;
dest.x = -src.x;
dest.y = -src.y;
dest.z = -src.z;
dest.w = src.w;
return dest;
}
@ -186,11 +234,7 @@ public class Quaternion extends Vector implements ReadableVector4f {
* Calculate the conjugate of this quaternion
*/
public Vector negate() {
x = -x;
y = -y;
z = -z;
return this;
return negate(this, this);
}
/* (non-Javadoc)
@ -210,11 +254,24 @@ public class Quaternion extends Vector implements ReadableVector4f {
* @see org.lwjgl.vector.Vector#scale(float)
*/
public Vector scale(float scale) {
x *= scale;
y *= scale;
z *= scale;
w *= scale;
return this;
return scale(scale, this, this);
}
/**
* Scale the source quaternion by scale and put the result in the destination
* @param scale The amount to scale by
* @param src The source quaternion
* @param dest The destination quaternion, or null if a new quaternion is to be created
* @return The scaled quaternion
*/
public static Quaternion scale(float scale, Quaternion src, Quaternion dest) {
if (dest == null)
dest = new Quaternion();
dest.x = src.x * scale;
dest.y = src.y * scale;
dest.z = src.z * scale;
dest.w = src.w * scale;
return dest;
}
/* (non-Javadoc)
@ -314,21 +371,14 @@ public class Quaternion extends Vector implements ReadableVector4f {
public static Quaternion mul(Quaternion left, Quaternion right,
Quaternion dest) {
if (dest == null)
return new Quaternion(left.x * right.w + left.w * right.x + left.y
* right.z - left.z * right.y, left.y * right.w + left.w
* right.y + left.z * right.x - left.x * right.z, left.z
* right.w + left.w * right.z + left.x * right.y - left.y
* right.x, left.w * right.w - left.x * right.x - left.y
* right.y - left.z * right.z);
else {
dest.set(left.x * right.w + left.w * right.x + left.y * right.z
- left.z * right.y, left.y * right.w + left.w * right.y
+ left.z * right.x - left.x * right.z, left.z * right.w
+ left.w * right.z + left.x * right.y - left.y * right.x,
left.w * right.w - left.x * right.x - left.y * right.y
- left.z * right.z);
return dest;
}
dest = new Quaternion();
dest.set(left.x * right.w + left.w * right.x + left.y * right.z
- left.z * right.y, left.y * right.w + left.w * right.y
+ left.z * right.x - left.x * right.z, left.z * right.w
+ left.w * right.z + left.x * right.y - left.y * right.x,
left.w * right.w - left.x * right.x - left.y * right.y
- left.z * right.z);
return dest;
}
/**
@ -349,29 +399,19 @@ public class Quaternion extends Vector implements ReadableVector4f {
n = (n == 0.0 ? n : 1 / n);
// store on stack once for aliasing-safty
if (dest == null)
return new Quaternion((left.x * right.w - left.w * right.x - left.y
* right.z + left.z * right.y)
dest = new Quaternion();
dest
.set((left.x * right.w - left.w * right.x - left.y
* right.z + left.z * right.y)
* n, (left.y * right.w - left.w * right.y - left.z
* right.x + left.x * right.z)
* right.x + left.x * right.z)
* n, (left.z * right.w - left.w * right.z - left.x
* right.y + left.y * right.x)
* right.y + left.y * right.x)
* n, (left.w * right.w + left.x * right.x + left.y
* right.y + left.z * right.z)
* right.y + left.z * right.z)
* n);
else {
dest
.set((left.x * right.w - left.w * right.x - left.y
* right.z + left.z * right.y)
* n, (left.y * right.w - left.w * right.y - left.z
* right.x + left.x * right.z)
* n, (left.z * right.w - left.w * right.z - left.x
* right.y + left.y * right.x)
* n, (left.w * right.w + left.x * right.x + left.y
* right.y + left.z * right.z)
* n);
return dest;
}
return dest;
}
/**
@ -399,29 +439,58 @@ public class Quaternion extends Vector implements ReadableVector4f {
* passed matrix.
*
* @param m1
* the matrix4f
* The matrix
* @return this
*/
public final void setFromMatrix(Matrix4f m1) {
setFromMat(m1.m00, m1.m01, m1.m02, m1.m10, m1.m11, m1.m12, m1.m20,
m1.m21, m1.m22);
public final Quaternion setFromMatrix(Matrix4f m) {
return setFromMatrix(m, this);
}
/**
* Sets the value of the source quaternion using the rotational component of the
* passed matrix.
*
* @param m
* The source matrix
* @param q
* The destination quaternion, or null if a new quaternion is to be created
* @return
*/
public final static Quaternion setFromMatrix(Matrix4f m, Quaternion q) {
return q.setFromMat(m.m00, m.m01, m.m02, m.m10, m.m11, m.m12, m.m20,
m.m21, m.m22);
}
/**
* Sets the value of this quaternion using the rotational component of the
* passed matrix.
*
* @param m1
* the matrix3f
* @param m
* The source matrix
*/
public final void setFromMatrix(Matrix3f m1) {
setFromMat(m1.m00, m1.m01, m1.m02, m1.m10, m1.m11, m1.m12, m1.m20,
m1.m21, m1.m22);
public final Quaternion setFromMatrix(Matrix3f m) {
return setFromMatrix(m, this);
}
/**
* Sets the value of the source quaternion using the rotational component of the
* passed matrix.
*
* @param m
* The source matrix
* @param q
* The destination quaternion, or null if a new quaternion is to be created
* @return
*/
public static final Quaternion setFromMatrix(Matrix3f m, Quaternion q) {
return q.setFromMat(m.m00, m.m01, m.m02, m.m10, m.m11, m.m12, m.m20,
m.m21, m.m22);
}
/**
* Private method to perform the matrix-to-quaternion conversion
*/
private void setFromMat(float m00, float m01, float m02, float m10,
private Quaternion setFromMat(float m00, float m01, float m02, float m10,
float m11, float m12, float m20, float m21, float m22) {
float s;
@ -458,6 +527,6 @@ public class Quaternion extends Vector implements ReadableVector4f {
w = (m10 - m01) * s;
}
}
return this;
}
}
}