/**
* Calculates the result of concatenating this Rotation with a given Rotation.
*
* @param rotation The rotation to be appended to this Rotation.
* @return The Rotation resulting from the concatenation of this Rotation and the given Rotation.
*/
public Rotation append(Rotation rotation) {
// multiply this rotation's quaternion with the given rotation's quaternion
Quaternion product = this.quaternion.multiply(rotation.getQuaternion());
// create and return new Rotation object using the calculated quaternion
return new Rotation(product);
}
/**
* Rotates this camera by a given amount. If <code>relative</code> is set to <code>true</code>
* then the rotation will be performed relative to this camera's current orientation. Otherwise,
* the rotation will be performed relative to the world coordinate system.
*
* <p>If this camera's focus is locked, then only rotation about the z axis (roll) will be
* performed.
*
* @param rotation The amount of rotation to be applied to this camera.
* @param relative A boolean flag stating whether the rotation performed should be relative to
* this camera's current orientation.
*/
public void rotate(Rotation rotation, boolean relative) {
// store current focus point
Vector3D focusPoint = getFocusPoint();
// perform rotation
if (relative) super.setOrientation(getOrientation().append(rotation));
else super.setOrientation(rotation.append(getOrientation()));
// if focus is locked, look at the point of focus
if (focusLocked) lookAt(focusPoint);
}
/**
* Interpolates between this Rotation and a given Rotation by a given interpolation factor.
*
* @param rotation The terminal point of interpolation.
* @param factor The interpolation factor. This value will be clamped to the range [0.0, 1.0].
*/
public Rotation slerp(Rotation rotation, double factor) {
// store quaternion components for easy access
Quaternion startQuat = this.quaternion;
Quaternion endQuat = rotation.getQuaternion();
double x1 = startQuat.getX();
double y1 = startQuat.getY();
double z1 = startQuat.getZ();
double w1 = startQuat.getW();
double x2 = endQuat.getX();
double y2 = endQuat.getY();
double z2 = endQuat.getZ();
double w2 = endQuat.getW();
// calculate angle between start and end
double cosHalfTheta = w1 * w2 + x1 * x2 + y1 * y2 + z1 * z2;
// if start=end or start=-end, we can return start
if (Math.abs(cosHalfTheta) >= 1.0) return this;
// calculate temporary values
double halfTheta = Math.acos(cosHalfTheta);
double sinHalfTheta = Math.sqrt(1.0 - cosHalfTheta * cosHalfTheta);
// if theta is 180°, then the result is not fully defined
// we could rotate around any axis normal to start or end
if (Math.abs(sinHalfTheta) < 0.001) {
Vector3D v1 = startQuat.vectorComponent();
Vector3D v2 = endQuat.vectorComponent();
Vector3D vect = v1.add(v2).multiply(0.5);
double scalar = (w1 + w2) * 0.5;
return new Rotation(new Quaternion(vect, scalar));
}
double ratioA = Math.sin((1 - factor) * halfTheta) / sinHalfTheta;
double ratioB = Math.sin(factor * halfTheta) / sinHalfTheta;
// compute and return quaternion
Vector3D v1 = startQuat.vectorComponent();
Vector3D v2 = endQuat.vectorComponent();
Vector3D vect = v1.multiply(ratioA).add((v2).multiply(ratioB));
double scalar = (w1 * ratioA) + (w2 * ratioB);
return new Rotation(new Quaternion(vect, scalar));
}
/**
* Rotates this camera by a given amount around a given point. The rotation will be performed
* relative to the world coordinate system. If the <cod>reorient</code> flag is set to <code>true
* </code>, then the rotation will be applied as a standard rotational transformation would;
* altering this camera's orientation. If set to <code>false</code>, this camera's orientation
* will remain unchanged as the rotation is performed.
*
* <p>Note that the camera will maintain focus if the camera's focus is locked.
*
* @param rotation The amount of rotation to be applied to this camera.
* @param point The point, in the world coordinate system, about which the rotation will occur.
* @param reorient A flag stating whether or not to alter this camera's orientation as with the
* applied rotation.
*/
public void rotate(Rotation rotation, Vector3D point, boolean reorient) {
// store current focus point
Vector3D focusPoint = getFocusPoint();
// find vector between given point and camera, in local coordinates
Vector3D vect = getPosition().subtract(point);
// move camera to given point
super.setPosition(point);
// rotate camera for standard rotation
if (reorient) super.setOrientation(rotation.append(getOrientation()));
// rotate vector
vect = vect.rotate(rotation);
// move back to proper position
super.setPosition(getPosition().add(vect));
// if focus is locked, look at original focus point
if (focusLocked) lookAt(focusPoint);
}