489 lines
12 KiB
Java
489 lines
12 KiB
Java
/*
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* Copyright (c) 2002-2008 LWJGL Project
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* * Neither the name of 'LWJGL' nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package io.github.hydos.ginger.engine.mathEngine;
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/**
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*
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* Quaternions for LWJGL!
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*
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* @author fbi
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* @version $Revision$
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* $Id$
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*/
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import java.nio.FloatBuffer;
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import io.github.hydos.ginger.engine.mathEngine.matrixes.Matrix3f;
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import io.github.hydos.ginger.engine.mathEngine.matrixes.Matrix4f;
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import io.github.hydos.ginger.engine.mathEngine.vectors.ReadableVector4f;
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import io.github.hydos.ginger.engine.mathEngine.vectors.Vector;
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import io.github.hydos.ginger.engine.mathEngine.vectors.Vector4f;
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public class Quaternion extends Vector implements ReadableVector4f
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{
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private static final long serialVersionUID = 1L;
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public float x, y, z, w;
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/** C'tor. The quaternion will be initialized to the identity. */
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public Quaternion()
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{
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super();
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setIdentity();
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}
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/** C'tor
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*
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* @param src */
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public Quaternion(ReadableVector4f src)
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{ set(src); }
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/** C'tor */
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public Quaternion(float x, float y, float z, float w)
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{ set(x, y, z, w); }
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/*
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* (non-Javadoc)
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*
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* @see org.lwjgl.util.vector.WritableVector2f#set(float, float)
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*/
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public void set(float x, float y)
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{
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this.x = x;
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this.y = y;
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}
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/*
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* (non-Javadoc)
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*
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* @see org.lwjgl.util.vector.WritableVector3f#set(float, float, float)
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*/
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public void set(float x, float y, float z)
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{
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this.x = x;
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this.y = y;
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this.z = z;
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}
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/*
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* (non-Javadoc)
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*
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* @see org.lwjgl.util.vector.WritableVector4f#set(float, float, float,
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* float)
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*/
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public void set(float x, float y, float z, float w)
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{
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this.x = x;
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this.y = y;
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this.z = z;
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this.w = w;
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}
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/** Load from another Vector4f
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*
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* @param src
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* The source vector
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* @return this */
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public Quaternion set(ReadableVector4f src)
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{
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x = src.getX();
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y = src.getY();
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z = src.getZ();
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w = src.getW();
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return this;
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}
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/** Set this quaternion to the multiplication identity.
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*
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* @return this */
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public Quaternion setIdentity()
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{ return setIdentity(this); }
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/** Set the given quaternion to the multiplication identity.
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*
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* @param q The quaternion
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* @return q */
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public static Quaternion setIdentity(Quaternion q)
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{
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q.x = 0;
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q.y = 0;
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q.z = 0;
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q.w = 1;
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return q;
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}
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/** @return the length squared of the quaternion */
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@Override
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public float lengthSquared()
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{ return x * x + y * y + z * z + w * w; }
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/** Normalise the source quaternion and place the result in another quaternion.
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*
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* @param src
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* The source quaternion
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* @param dest
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* The destination quaternion, or null if a new quaternion is to be
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* created
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* @return The normalised quaternion */
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public static Quaternion normalise(Quaternion src, Quaternion dest)
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{
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float inv_l = 1f / src.length();
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if (dest == null)
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dest = new Quaternion();
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dest.set(src.x * inv_l, src.y * inv_l, src.z * inv_l, src.w * inv_l);
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return dest;
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}
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/** Normalise this quaternion and place the result in another quaternion.
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*
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* @param dest
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* The destination quaternion, or null if a new quaternion is to be
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* created
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* @return the normalised quaternion */
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public Quaternion normalise(Quaternion dest)
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{ return normalise(this, dest); }
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/** The dot product of two quaternions
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*
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* @param left
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* The LHS quat
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* @param right
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* The RHS quat
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* @return left dot right */
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public static float dot(Quaternion left, Quaternion right)
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{ return left.x * right.x + left.y * right.y + left.z * right.z + left.w
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* right.w; }
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/** Calculate the conjugate of this quaternion and put it into the given one
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*
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* @param dest
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* The quaternion which should be set to the conjugate of this
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* quaternion */
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public Quaternion negate(Quaternion dest)
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{ return negate(this, dest); }
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/** Calculate the conjugate of this quaternion and put it into the given one
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*
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* @param src
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* The source quaternion
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* @param dest
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* The quaternion which should be set to the conjugate of this
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* quaternion */
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public static Quaternion negate(Quaternion src, Quaternion dest)
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{
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if (dest == null)
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dest = new Quaternion();
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dest.x = -src.x;
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dest.y = -src.y;
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dest.z = -src.z;
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dest.w = src.w;
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return dest;
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}
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/** Calculate the conjugate of this quaternion */
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@Override
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public Vector negate()
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{ return negate(this, this); }
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/* (non-Javadoc)
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* @see org.lwjgl.util.vector.Vector#load(java.nio.FloatBuffer)
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*/
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@Override
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public Vector load(FloatBuffer buf)
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{
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x = buf.get();
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y = buf.get();
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z = buf.get();
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w = buf.get();
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return this;
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}
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/*
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* (non-Javadoc)
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*
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* @see org.lwjgl.vector.Vector#scale(float)
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*/
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@Override
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public Vector scale(float scale)
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{ return scale(scale, this, this); }
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/** Scale the source quaternion by scale and put the result in the destination
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*
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* @param scale The amount to scale by
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* @param src The source quaternion
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* @param dest The destination quaternion, or null if a new quaternion is to be created
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* @return The scaled quaternion */
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public static Quaternion scale(float scale, Quaternion src, Quaternion dest)
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{
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if (dest == null)
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dest = new Quaternion();
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dest.x = src.x * scale;
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dest.y = src.y * scale;
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dest.z = src.z * scale;
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dest.w = src.w * scale;
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return dest;
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}
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/* (non-Javadoc)
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* @see org.lwjgl.util.vector.ReadableVector#store(java.nio.FloatBuffer)
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*/
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@Override
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public Vector store(FloatBuffer buf)
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{
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buf.put(x);
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buf.put(y);
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buf.put(z);
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buf.put(w);
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return this;
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}
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/** @return x */
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@Override
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public final float getX()
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{ return x; }
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/** @return y */
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@Override
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public final float getY()
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{ return y; }
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/** Set X
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*
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* @param x */
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public final void setX(float x)
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{ this.x = x; }
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/** Set Y
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*
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* @param y */
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public final void setY(float y)
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{ this.y = y; }
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/** Set Z
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*
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* @param z */
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public void setZ(float z)
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{ this.z = z; }
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/*
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* (Overrides)
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*
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* @see org.lwjgl.vector.ReadableVector3f#getZ()
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*/
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@Override
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public float getZ()
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{ return z; }
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/** Set W
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*
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* @param w */
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public void setW(float w)
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{ this.w = w; }
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/*
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* (Overrides)
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*
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* @see org.lwjgl.vector.ReadableVector3f#getW()
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*/
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@Override
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public float getW()
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{ return w; }
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@Override
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public String toString()
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{ return "Quaternion: " + x + " " + y + " " + z + " " + w; }
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/** Sets the value of this quaternion to the quaternion product of
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* quaternions left and right (this = left * right). Note that this is safe
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* for aliasing (e.g. this can be left or right).
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*
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* @param left
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* the first quaternion
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* @param right
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* the second quaternion */
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public static Quaternion mul(Quaternion left, Quaternion right,
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Quaternion dest)
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{
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if (dest == null)
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dest = new Quaternion();
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dest.set(left.x * right.w + left.w * right.x + left.y * right.z
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- left.z * right.y,
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left.y * right.w + left.w * right.y
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+ left.z * right.x - left.x * right.z,
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left.z * right.w
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+ left.w * right.z + left.x * right.y - left.y * right.x,
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left.w * right.w - left.x * right.x - left.y * right.y
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- left.z * right.z);
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return dest;
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}
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/** Multiplies quaternion left by the inverse of quaternion right and places
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* the value into this quaternion. The value of both argument quaternions is
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* preservered (this = left * right^-1).
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*
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* @param left
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* the left quaternion
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* @param right
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* the right quaternion */
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public static Quaternion mulInverse(Quaternion left, Quaternion right,
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Quaternion dest)
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{
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float n = right.lengthSquared();
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// zero-div may occur.
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n = (n == 0.0 ? n : 1 / n);
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// store on stack once for aliasing-safty
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if (dest == null)
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dest = new Quaternion();
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dest
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.set((left.x * right.w - left.w * right.x - left.y
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* right.z + left.z * right.y)
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* n,
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(left.y * right.w - left.w * right.y - left.z
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* right.x + left.x * right.z)
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* n,
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(left.z * right.w - left.w * right.z - left.x
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* right.y + left.y * right.x)
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* n,
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(left.w * right.w + left.x * right.x + left.y
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* right.y + left.z * right.z)
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* n);
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return dest;
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}
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/** Sets the value of this quaternion to the equivalent rotation of the
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* Axis-Angle argument.
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*
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* @param a1
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* the axis-angle: (x,y,z) is the axis and w is the angle */
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public final void setFromAxisAngle(Vector4f a1)
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{
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x = a1.x;
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y = a1.y;
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z = a1.z;
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float n = (float) Math.sqrt(x * x + y * y + z * z);
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// zero-div may occur.
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float s = (float) (Math.sin(0.5 * a1.w) / n);
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x *= s;
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y *= s;
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z *= s;
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w = (float) Math.cos(0.5 * a1.w);
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}
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/** Sets the value of this quaternion using the rotational component of the
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* passed matrix.
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*
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* @param m
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* The matrix
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* @return this */
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public final Quaternion setFromMatrix(Matrix4f m)
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{ return setFromMatrix(m, this); }
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/** Sets the value of the source quaternion using the rotational component of the
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* passed matrix.
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*
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* @param m
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* The source matrix
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* @param q
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* The destination quaternion, or null if a new quaternion is to be created
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* @return q */
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public static Quaternion setFromMatrix(Matrix4f m, Quaternion q)
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{ return q.setFromMat(m.m00, m.m01, m.m02, m.m10, m.m11, m.m12, m.m20,
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m.m21, m.m22); }
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/** Sets the value of this quaternion using the rotational component of the
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* passed matrix.
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*
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* @param m
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* The source matrix */
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public final Quaternion setFromMatrix(Matrix3f m)
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{ return setFromMatrix(m, this); }
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/** Sets the value of the source quaternion using the rotational component of the
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* passed matrix.
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*
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* @param m
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* The source matrix
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* @param q
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* The destination quaternion, or null if a new quaternion is to be created
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* @return q */
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public static Quaternion setFromMatrix(Matrix3f m, Quaternion q)
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{ return q.setFromMat(m.m00, m.m01, m.m02, m.m10, m.m11, m.m12, m.m20,
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m.m21, m.m22); }
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/** Private method to perform the matrix-to-quaternion conversion */
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private Quaternion setFromMat(float m00, float m01, float m02, float m10,
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float m11, float m12, float m20, float m21, float m22)
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{
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float s;
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float tr = m00 + m11 + m22;
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if (tr >= 0.0)
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{
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s = (float) Math.sqrt(tr + 1.0);
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w = s * 0.5f;
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s = 0.5f / s;
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x = (m21 - m12) * s;
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y = (m02 - m20) * s;
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z = (m10 - m01) * s;
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}
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else
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{
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float max = Math.max(Math.max(m00, m11), m22);
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if (max == m00)
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{
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s = (float) Math.sqrt(m00 - (m11 + m22) + 1.0);
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x = s * 0.5f;
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s = 0.5f / s;
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y = (m01 + m10) * s;
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z = (m20 + m02) * s;
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w = (m21 - m12) * s;
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}
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else if (max == m11)
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{
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s = (float) Math.sqrt(m11 - (m22 + m00) + 1.0);
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y = s * 0.5f;
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s = 0.5f / s;
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z = (m12 + m21) * s;
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x = (m01 + m10) * s;
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w = (m02 - m20) * s;
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}
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else
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{
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s = (float) Math.sqrt(m22 - (m00 + m11) + 1.0);
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z = s * 0.5f;
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s = 0.5f / s;
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x = (m20 + m02) * s;
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y = (m12 + m21) * s;
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w = (m10 - m01) * s;
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}
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}
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return this;
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}
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}
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