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Merge remote-tracking branch 'gitea/feat/quaternion' into feat/quaternion

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# Conflicts:
#	api/src/main/java/ru/dragonestia/msb3/api/boot/DefaultBootstrap.java
This commit is contained in:
Andrey Terentev 2025-04-13 00:05:29 +07:00
commit 4b980f897f
1 changed files with 32 additions and 4 deletions
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36
api/src/main/java/ru/dragonestia/msb3/api/math/Quaternion.java
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@ -6,6 +6,10 @@ public record Quaternion(double x, double y, double z, double w) {
public static final Quaternion DEFAULT = new Quaternion(0, 0, 0, 1); public static final Quaternion DEFAULT = new Quaternion(0, 0, 0, 1);
public static Quaternion fromVec (Vec vec, double realPart) {
return new Quaternion(vec.x(), vec.y(), vec.z(), realPart);
}
public float[] toFloatArray() { public float[] toFloatArray() {
return new float[] { (float) x, (float) y, (float) z, (float) w }; return new float[] { (float) x, (float) y, (float) z, (float) w };
} }
@ -23,6 +27,11 @@ public record Quaternion(double x, double y, double z, double w) {
return new Quaternion(-x, -y, -z, w); return new Quaternion(-x, -y, -z, w);
} }
public double dotProduct(Quaternion target) {
return (x * target.x + y * target.y + z * target.z + w * target.w
);
}
public Quaternion mul(Quaternion target) { public Quaternion mul(Quaternion target) {
return new Quaternion( return new Quaternion(
w() * target.x() + x() * target.w() + y() * target.z() - z() * target.y(), w() * target.x() + x() * target.w() + y() * target.z() - z() * target.y(),
@ -32,15 +41,34 @@ public record Quaternion(double x, double y, double z, double w) {
); );
} }
public Quaternion add(Quaternion target) {
return new Quaternion(
x + target.x,
y + target.y,
z + target.z,
w + target.w
);
}
public Quaternion sub(Quaternion target) {
return new Quaternion(
x - target.x,
y - target.y,
z - target.z,
w - target.w
);
}
public Quaternion rotate(Vec normal) { public Quaternion rotate(Vec normal) {
var defaultQuaternion = new Quaternion(0, 0, 0, 1); var defaultQuaternion = new Quaternion(0, 0, 0, 1);
var defaultVector = new Vec(0, 1, 0); var defaultVector = new Vec(0, 1, 0);
var feta = Math.acos(defaultVector.dot(normal)); var feta = Math.acos(defaultVector.dot(normal));
var r = defaultVector.cross(normal).normalize(); var r = defaultVector.cross(normal);
var r_sin = r.mul(Math.sin(feta/2)); if (r.isZero()){
r = new Vec(0, 0, 1);
var rotation = new Quaternion(r_sin.x(), r_sin.y(), r_sin.z(), Math.cos(feta/2)); }
var rotation = fromVec(r.normalize().mul(Math.sin(feta / 2)), Math.cos(feta / 2));
return defaultQuaternion.mul(rotation); return defaultQuaternion.mul(rotation);
} }
} }