de.bixilon.kotlinglm.quaternion.QuatD.kt Maven / Gradle / Ivy
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Kotlin port of OpenGL Mathematics (GLM)
package de.bixilon.kotlinglm.quaternion
import de.bixilon.kotlinglm.d
import de.bixilon.kotlinglm.GLM
import de.bixilon.kotlinglm.gtc.gtc_Quaternion
import de.bixilon.kotlinglm.vec3.Vec3
import de.bixilon.kotlinglm.vec3.Vec3d
import de.bixilon.kotlinglm.vec4.Vec4d
import de.bixilon.kotlinglm.vec4.Vec4t
import kool.BYTES
import kool.DoublePtr
import kool.Ptr
import org.lwjgl.system.MemoryUtil.memGetDouble
import org.lwjgl.system.MemoryUtil.memPutDouble
import java.io.PrintStream
import kotlin.math.abs
import kotlin.math.sqrt
/**
* Created by GBarbieri on 15.11.2016. TODO array
*/
class QuatD(w: Double, x: Double, y: Double, z: Double) : QuatT(w, x, y, z) {
// -- Implicit basic constructors --
constructor() : this(1.0, 0.0, 0.0, 0.0)
constructor(d: Double) : this(d, d, d, d)
constructor(q: Quat) : this(q.w, q.x, q.y, q.z)
constructor(s: Double, v: Vec3d) : this(s, v.x, v.y, v.z)
constructor(u: Vec3d, v: Vec3d) : this() {
val normUnormV = sqrt((u dot u) * (v dot v))
var realPart = normUnormV + (u dot v)
val w = when {
realPart < 1e-6f * normUnormV -> {
/* If u and v are exactly opposite, rotate 180 degrees around an arbitrary orthogonal axis.
Axis normalisation can happen later, when we normalise the quaternion. */
realPart = 0.0
if (abs(u.x) > abs(u.z)) Vec3d(-u.y, u.x, 0.0) else Vec3d(0.0, -u.z, u.y)
}
// Otherwise, build quaternion the standard way.
else -> u cross v
}
put(realPart, w.x, w.y, w.z).normalizeAssign()
}
constructor(block: (Int) -> Double) : this(block(0), block(1), block(2), block(3))
constructor(eulerAngle: Vec3) : this() {
val eX = eulerAngle.x * .5
val eY = eulerAngle.y * .5
val eZ = eulerAngle.z * .5
val cX = GLM.cos(eX)
val cY = GLM.cos(eY)
val cZ = GLM.cos(eZ)
val sX = GLM.sin(eX)
val sY = GLM.sin(eY)
val sZ = GLM.sin(eZ)
w = cX * cY * cZ + sX * sY * sZ
x = sX * cY * cZ - cX * sY * sZ
y = cX * sY * cZ + sX * cY * sZ
z = cX * cY * sZ - sX * sY * cZ
}
constructor(vec4: Vec4d) : this(vec4.w, vec4.x, vec4.y, vec4.z)
// constructor(m: Mat3x3) : this() {
// quat_cast(m, this)
// }
// constructor(m: Mat4x4) : this() {
// quat_cast(m, this)
// }
// TODO
// infix fun to(res: Mat3) = GLM.mat3_cast(res, this)
// fun toMat3() = GLM.mat3_cast(Mat3(), this)
//
// infix fun to(res: Mat4) = GLM.mat4_cast(res, this)
// fun toMat4() = GLM.mat4_cast(Mat4(), this)
// -- Explicit basic constructors --
constructor(q: QuatD) : this(q.w.d, q.x.d, q.y.d, q.z.d)
constructor(w: Number, x: Number, y: Number, z: Number) : this(w.d, x.d, y.d, z.d)
constructor(vec4: Vec4t<*>) : this(vec4.w.d, vec4.x.d, vec4.y.d, vec4.z.d)
constructor(ptr: DoublePtr) : this(block = { i -> ptr[i] })
fun put(w: Double, x: Double, y: Double, z: Double): QuatD {
this.w = w
this.x = x
this.y = y
this.z = z
return this
}
infix fun put(quat: QuatD) = put(quat.w, quat.x, quat.y, quat.z)
infix fun to(ptr: Ptr) {
memPutDouble(ptr, w)
memPutDouble(ptr + Double.BYTES, x)
memPutDouble(ptr + Double.BYTES * 2, y)
memPutDouble(ptr + Double.BYTES * 3, z)
}
// -- Component accesses --
override operator fun set(index: Int, value: Number) = when (index) {
0 -> x = value.d
1 -> y = value.d
2 -> z = value.d
3 -> w = value.d
else -> throw ArrayIndexOutOfBoundsException()
}
// -- Unary arithmetic operators --
operator fun unaryPlus() = this
operator fun unaryMinus() = QuatD(-w, -x, -y, -z)
// -- Specific binary arithmetic operators --
infix operator fun plus(b: QuatD) = plus(QuatD(), this, b)
fun plus(b: QuatD, res: QuatD) = plus(res, this, b)
infix operator fun plusAssign(b: QuatD) {
plus(this, this, b)
}
operator fun minus(b: QuatD) = minus(QuatD(), this, b)
fun minus(b: QuatD, res: QuatD) = minus(res, this, b)
infix operator fun minusAssign(b: QuatD) {
minus(this, this, b)
}
infix operator fun times(b: QuatD) = times(QuatD(), this, b)
infix operator fun times(b: Double) = times(QuatD(), this, b)
infix operator fun times(b: Vec3d) = times(Vec3d(), this, b)
infix operator fun times(b: Vec4d) = times(QuatD(), this, b)
fun times(b: QuatD, res: QuatD) = times(res, this, b)
fun times(b: Double, res: QuatD) = times(res, this, b)
fun times(b: Vec3d, res: Vec3d) = times(res, this, b)
fun times(b: Vec4d, res: QuatD) = times(res, this, b)
infix fun timesAssign(b: QuatD) = times(this, this, b)
infix fun timesAssign(b: Double) = times(this, this, b)
infix fun timesAssign(b: Vec3d) = times(b, this, b)
infix fun timesAssign(b: Vec4d) = times(this, this, b)
infix operator fun div(b: Double) = div(QuatD(), this, b)
fun div(b: Double, res: QuatD) = div(res, this, b)
infix operator fun divAssign(b: Double) {
div(this, this, b)
}
// -- Quat func --
fun length() = GLM.length(this)
@JvmOverloads
fun normalize(res: QuatD = QuatD()) = GLM.normalize(this, res)
fun normalizeAssign() = GLM.normalize(this, this)
infix fun dot(b: QuatD) = GLM.dot(this, b)
@JvmOverloads
fun angleAxis(angle: Double, axis: Vec3d, res: QuatD = QuatD()) = GLM.angleAxis(angle, axis, res)
fun angleAxisAssign(angle: Double, axis: Vec3d) = GLM.angleAxis(angle, axis, this)
@JvmOverloads
fun conjugate(res: QuatD = QuatD()) = GLM.conjugate(this, res)
fun conjugateAssign() = GLM.conjugate(this, this)
@JvmOverloads
fun inverse(res: QuatD = QuatD()) = GLM.inverse(this, res)
fun inverseAssign() = GLM.inverse(this, this)
fun angle() = GLM.angle(this)
@JvmOverloads
fun eulerAngles(res: Vec3d = Vec3d()) = GLM.eulerAngles(this, res)
@JvmOverloads
fun slerp(b: QuatD, interp: Double, res: QuatD = QuatD()) = GLM.slerp(this, b, interp, res)
fun slerpAssign(b: QuatD, interp: Double) = GLM.slerp(this, b, interp, this)
companion object : op_QuatD, gtc_Quaternion {
@JvmField
val length = 4
@JvmField
val size = length * Double.BYTES
@JvmStatic
fun fromPointer(ptr: Ptr) = Quat(memGetDouble(ptr), memGetDouble(ptr + Double.BYTES), memGetDouble(ptr + Double.BYTES * 2), memGetDouble(ptr + Double.BYTES * 3))
val identity: QuatD
get() = QuatD(1.0, 0.0, 0.0, 0.0)
}
override fun equals(other: Any?) = other is QuatD && this[0] == other[0] && this[1] == other[1] && this[2] == other[2] && this[3] == other[3]
override fun hashCode() = 31 * (31 * (31 * w.hashCode() + x.hashCode()) + y.hashCode()) + z.hashCode()
@JvmOverloads
fun print(name: String = "", stream: PrintStream = System.out) = stream.print("$name$this")
@JvmOverloads
fun println(name: String = "", stream: PrintStream = System.out) = stream.println("$name$this")
override fun toString(): String = "($w, {$x, $y, $z})"
@JvmOverloads
fun vectorize(res: Vec4d = Vec4d()) = res.put(x, y, z, w)
fun allEqual(q: QuatD, epsilon: Double = GLM.ε): Boolean =
x - q.x < epsilon && y - q.y < epsilon && z - q.z < epsilon && w - q.w < epsilon
fun anyNotEqual(q: QuatD, epsilon: Double = GLM.ε): Boolean =
x - q.x >= epsilon || y - q.y >= epsilon || z - q.z >= epsilon || w - q.w >= epsilon
}