Exemplo n.º 1
0
  /**
   * Returns the exponential of the Quaternion.
   *
   * @see #log()
   */
  public final Quaternion exp() {
    float theta = PApplet.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);

    if (theta < 1E-6f) return new Quaternion(this.x, this.y, this.z, PApplet.cos(theta));
    else {
      float coef = PApplet.sin(theta) / theta;
      return new Quaternion(this.x * coef, this.y * coef, this.z * coef, PApplet.cos(theta));
    }
  }
Exemplo n.º 2
0
  /**
   * Returns a random unit Quaternion.
   *
   * <p>You can create a randomly directed unit vector using:
   *
   * <p>{@code PVector randomDir = new PVector(1.0f, 0.0f, 0.0f);} <br>
   * {@code randomDir = Quaternion.multiply(Quaternion.randomQuaternion(), randomDir);}
   */
  public static final Quaternion randomQuaternion() {
    float seed = (float) Math.random();
    float r1 = PApplet.sqrt(1.0f - seed);
    float r2 = PApplet.sqrt(seed);
    float t1 = 2.0f * PI * (float) Math.random();
    float t2 = 2.0f * PI * (float) Math.random();

    return new Quaternion(
        PApplet.sin(t1) * r1, PApplet.cos(t1) * r1, PApplet.sin(t2) * r2, PApplet.cos(t2) * r2);
  }
 // A function to rotate a vector
 public void rotateVector(PVector v, float theta) {
   float m = v.mag();
   float a = v.heading2D();
   a += theta;
   v.x = m * PApplet.cos(a);
   v.y = m * PApplet.sin(a);
 }
Exemplo n.º 4
0
 /**
  * Sets the Quaternion as a rotation of {@link #axis() axis} and {@link #angle() angle} (in
  * radians).
  *
  * <p>The {@code axis} does not need to be normalized. A null {@code axis} will result in an
  * identity Quaternion.
  *
  * @param axis the PVector representing the axis
  * @param angle the angle in radians
  */
 public void fromAxisAngle(PVector axis, float angle) {
   float norm = axis.mag();
   if (norm < 1E-8f) {
     // Null rotation
     this.x = 0.0f;
     this.y = 0.0f;
     this.z = 0.0f;
     this.w = 1.0f;
   } else {
     float sin_half_angle = PApplet.sin(angle / 2.0f);
     this.x = sin_half_angle * axis.x / norm;
     this.y = sin_half_angle * axis.y / norm;
     this.z = sin_half_angle * axis.z / norm;
     this.w = PApplet.cos(angle / 2.0f);
   }
 }
Exemplo n.º 5
0
  private final float cos(float a) {

    return parent.cos(a);
  }