one.empty3.growth.graphics.Rotation Maven / Gradle / Ivy

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3D rendering engine. Plus modeling. Expected glsl textures 3d and 2d rendering
There is a newer version: 2024.5.10
/*
 * Copyright (c) 2023. Manuel Daniel Dahmen
 *
 *
 *    Copyright 2012-2023 Manuel Daniel Dahmen
 *
 *    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 one.empty3.growth.graphics;

import com.badlogic.gdx.math.Matrix4;
import com.badlogic.gdx.math.Vector3;
import one.empty3.library.Point3D;

import java.util.logging.Level;
import java.util.logging.Logger;

public class Rotation {
    private Matrix4 matriceRotation;
    private Point3D origin;

    public Rotation(Point3D vecteur, Point3D origin, double angle) {
        this.origin = origin;
        double[] pointAngle = new double[]{0, 0, 0, 0};
        Point3D v2 = vecteur.moins(origin);
        rq(pointAngle, angle, v2.getX(), v2.getY(), v2.getZ());
        float[] mat44 = new float[16];
        qm(mat44, pointAngle);

        matriceRotation = new Matrix4();
        matriceRotation.set(mat44);


    }


    public static Point3D rotate(Point3D originVector, Point3D vector, double angle, Point3D pointToRotate) {
        Rotation rot = new Rotation(vector, originVector, angle);
        Point3D rotated = rot.rotate(pointToRotate);
        Logger.getAnonymousLogger().log(Level.INFO, "Axe              : " + originVector + " -> " + vector);
        Logger.getAnonymousLogger().log(Level.INFO, "Point de départ  : " + pointToRotate);
        Logger.getAnonymousLogger().log(Level.INFO, "Point transformé : " + rotated);
        return rotated;
    }

    public Point3D rotate(Point3D p) {
        p = p.moins(origin);
        Vector3 p2 = new Vector3((float)(double)(p.getX()), (float)(double)(p.getY()), (float)(double)(p.getZ()));
        p2.rot(matriceRotation);
        return new Point3D((double)p2.x, (double)p2.y, (double)p2.z).plus(origin);
    }

    private void rq(double[] _q, double a, double x, double y, double z) {
        double sin_a = Math.sin(a / 2);
        double cos_a = Math.cos(a / 2);

        _q[0] = x * sin_a;
        _q[1] = y * sin_a;
        _q[2] = z * sin_a;
        _q[3] = cos_a;

        nq(_q);
    }


    private void nq(double[] q_) {
        double l = Math.sqrt(q_[3] * q_[3] + q_[0] * q_[0] + q_[1] * q_[1] + q_[2] * q_[2]);
        l = 1 / l;
        q_[3] = q_[3] * l;
        q_[0] = q_[0] * l;
        q_[1] = q_[1] * l;
        q_[2] = q_[2] * l;
    }

    private void qm(float[] mat, double[] q) {
        double xx = q[0] * q[0];
        double xy = q[0] * q[1];
        double xz = q[0] * q[2];
        double xw = q[0] * q[3];

        double yy = q[1] * q[1];
        double yz = q[1] * q[2];
        double yw = q[1] * q[3];

        double zz = q[2] * q[2];
        double zw = q[2] * q[3];

        mat[0] = (float) (1 - 2 * (yy + zz));
        mat[1] = (float) (2 * (xy - zw));
        mat[2] = (float) (2 * (xz + yw));

        mat[4] = (float) (2 * (xy + zw));
        mat[5] = (float) (1 - 2 * (xx + zz));
        mat[6] = (float) (2 * (yz - xw));

        mat[8] = (float) (2 * (xz - yw));
        mat[9] = (float) (2 * (yz + xw));
        mat[10] = (float) (1 - 2 * (xx + yy));

        mat[3] = mat[7] = mat[11] = mat[12] = mat[13] = mat[14] = 0;
        mat[15] = 1;
    }

}