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feat: updated rotation

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This commit is contained in:
Andrey Terentev 2025-04-12 22:46:05 +07:00
parent 1dbbdef1c0
commit 5f3cab0634
1 changed files with 6 additions and 13 deletions
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19
api/src/main/java/ru/dragonestia/msb3/api/math/Quaternion.java
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@ -34,20 +34,13 @@ public record Quaternion(double x, double y, double z, double w) {
public Quaternion rotate(Vec normal) {
var defaultQuaternion = new Quaternion(0, 0, 0, 1);
var defaultVector = new Vec(0, 1, 0);
var feta_x = Math.atan(normal.z()/normal.y());
var feta = Math.acos(defaultVector.dot(normal));
var r = defaultVector.cross(normal).normalize();
var r_sin = r.mul(Math.sin(feta/2));
var q0 = new Quaternion((Math.sin(feta_x / 2)), 0, 0, (Math.cos(feta_x / 2)));
var q = q0.mul(defaultQuaternion);
var localPos = new Quaternion(0, 1, 0, 0);
var qvq0 = q0.mul(localPos);
var qvq = qvq0.mul(q0.conjugate());
var q_vector = new Vec(qvq.x(), qvq.y(), qvq.z()).normalize();
var multiply = normal.x() > q_vector.x() ? -1 : 1;
var feta_z = Math.acos(q_vector.dot(normal));
var q1 = new Quaternion(0, 0, multiply * (Math.sin(feta_z / 2)), (Math.cos(feta_z / 2)));
return q.mul(q1);
var rotation = new Quaternion(r_sin.x(), r_sin.y(), r_sin.z(), Math.cos(feta/2));
return defaultQuaternion.mul(rotation);
}
}