コード例 #1
0
ファイル: Quaternion.java プロジェクト: Diex/residua
  /**
   * Sets the Quaternion from the three rotated vectors of an orthogonal basis.
   *
   * <p>The three vectors do not have to be normalized but must be orthogonal and direct (i,e.,
   * {@code X^Y=k*Z, with k>0}).
   *
   * @param X the first PVector
   * @param Y the second PVector
   * @param Z the third PVector
   * @see #fromRotationMatrix(float[][])
   * @see #Quaternion(PVector, PVector)
   */
  public final void fromRotatedBasis(PVector X, PVector Y, PVector Z) {
    float m[][] = new float[3][3];
    float normX = X.mag();
    float normY = Y.mag();
    float normZ = Z.mag();

    for (int i = 0; i < 3; ++i) {
      m[i][0] = (X.array())[i] / normX;
      m[i][1] = (Y.array())[i] / normY;
      m[i][2] = (Z.array())[i] / normZ;
    }

    fromRotationMatrix(m);
  }
コード例 #2
0
ファイル: Quaternion.java プロジェクト: Diex/residua
 /**
  * Set the Quaternion from a (supposedly correct) 3x3 rotation matrix given in the upper left 3x3
  * sub-matrix of the PMatrix3D.
  *
  * @see #fromRotationMatrix(float[][])
  */
 public final void fromMatrix(PMatrix3D pM) {
   fromRotationMatrix(MathUtils.get3x3UpperLeftMatrixFromPMatrix3D(pM));
 }