net.gtaun.shoebill.data.Quaternion.java Source code

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Here is the source code for net.gtaun.shoebill.data.Quaternion.java

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/**
 * Copyright (C) 2011 JoJLlmAn
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package net.gtaun.shoebill.data;

import org.apache.commons.lang3.builder.EqualsBuilder;
import org.apache.commons.lang3.builder.HashCodeBuilder;
import org.apache.commons.lang3.builder.ToStringBuilder;
import org.apache.commons.lang3.builder.ToStringStyle;

import java.io.Serializable;

/**
 * 
 * 
 * @author JoJLlmAn
 */
public class Quaternion extends Vector3D implements Cloneable, Serializable {
    private static final long serialVersionUID = 455013800771095435L;

    public float w;

    public Quaternion() {

    }

    public Quaternion(float x, float y, float z, float w) {
        super(x, y, z);
        this.w = w;
    }

    public Quaternion(Vector3D vec, float w) {
        super(vec);
        this.w = w;
    }

    public Quaternion(Quaternion quat) {
        super(quat);
        this.w = quat.getW();
    }

    public float getW() {
        return w;
    }

    public void setW(float w) {
        this.w = w;
    }

    public void set(float x, float y, float z, float w) {
        super.set(x, y, z);
        setW(w);
    }

    public void set(Vector3D vec, float w) {
        super.set(vec);
        setW(w);
    }

    public void set(Quaternion quat) {
        super.set(quat);
        setW(quat.getW());
    }

    public Quaternion getConjugate() {
        return new Quaternion(-getX(), -getY(), -getZ(), getW());
    }

    public float[][] transformMatrix() {
        float[][] matrix = new float[4][4];
        float x = getX(), y = getY(), z = getZ();

        matrix[0][0] = 1 - 2 * (y * y + z * z);
        matrix[0][1] = 2 * (x * y - w * z);
        matrix[0][2] = 2 * (w * y + x * z);
        matrix[0][3] = 0;

        matrix[1][0] = 2 * (x * y + w * z);
        matrix[1][1] = 1 - 2 * (x * x + z * z);
        matrix[1][2] = 2 * (y * z - w * x);
        matrix[1][3] = 0;

        matrix[2][0] = 2 * (x * z - w * y);
        matrix[2][1] = 2 * (y * z + w * x);
        matrix[2][2] = 1 - 2 * (x * x + y * y);
        matrix[2][3] = 0;

        matrix[3][0] = 0;
        matrix[3][1] = 0;
        matrix[3][2] = 0;
        matrix[3][3] = 1;

        return matrix;
    }

    public float[] rotatedMatrix(float dx, float dy, float dz, double angle) {
        float x = getX(), y = getY(), z = getZ();
        float w = (float) Math.cos(angle / 2);

        float[][] matrix = new float[3][3];

        matrix[0][0] = 1 - 2 * (y * y + z * z);
        matrix[0][1] = 2 * (x * y - w * z);
        matrix[0][2] = 2 * (w * y + x * z);

        matrix[1][0] = 2 * (x * y + w * z);
        matrix[1][1] = 1 - 2 * (x * x + z * z);
        matrix[1][2] = 2 * (y * z - w * x);

        matrix[2][0] = 2 * (x * z - w * y);
        matrix[2][1] = 2 * (y * z + w * x);
        matrix[2][2] = 1 - 2 * (x * x + y * y);

        float[] rotated = new float[3];

        rotated[0] = dx * matrix[0][0] + dy * matrix[0][1] + dz * matrix[0][2];
        rotated[1] = dx * matrix[1][0] + dy * matrix[1][1] + dz * matrix[1][2];
        rotated[2] = dx * matrix[2][0] + dy * matrix[2][1] + dz * matrix[2][2];

        return rotated;
    }

    @Override
    public int hashCode() {
        return HashCodeBuilder.reflectionHashCode(295075147, 633910099, this, false);
    }

    @Override
    public boolean equals(Object obj) {
        return EqualsBuilder.reflectionEquals(this, obj, false);
    }

    @Override
    public Quaternion clone() {
        return (Quaternion) super.clone();
    }

    @Override
    public String toString() {
        return ToStringBuilder.reflectionToString(this, ToStringStyle.DEFAULT_STYLE, false);
    }
}