87 lines
2 KiB
Java
87 lines
2 KiB
Java
package com.mojang.math;
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import org.joml.Math;
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import org.joml.Matrix3f;
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import org.joml.Quaternionf;
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public record GivensParameters(float sinHalf, float cosHalf) {
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public static GivensParameters fromUnnormalized(float sinHalf, float cosHalf) {
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float f = Math.invsqrt(sinHalf * sinHalf + cosHalf * cosHalf);
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return new GivensParameters(f * sinHalf, f * cosHalf);
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}
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public static GivensParameters fromPositiveAngle(float angle) {
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float f = Math.sin(angle / 2.0F);
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float g = Math.cosFromSin(f, angle / 2.0F);
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return new GivensParameters(f, g);
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}
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public GivensParameters inverse() {
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return new GivensParameters(-this.sinHalf, this.cosHalf);
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}
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public Quaternionf aroundX(Quaternionf quaternion) {
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return quaternion.set(this.sinHalf, 0.0F, 0.0F, this.cosHalf);
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}
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public Quaternionf aroundY(Quaternionf quaternion) {
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return quaternion.set(0.0F, this.sinHalf, 0.0F, this.cosHalf);
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}
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public Quaternionf aroundZ(Quaternionf quaternion) {
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return quaternion.set(0.0F, 0.0F, this.sinHalf, this.cosHalf);
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}
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public float cos() {
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return this.cosHalf * this.cosHalf - this.sinHalf * this.sinHalf;
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}
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public float sin() {
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return 2.0F * this.sinHalf * this.cosHalf;
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}
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public Matrix3f aroundX(Matrix3f matrix) {
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matrix.m01 = 0.0F;
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matrix.m02 = 0.0F;
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matrix.m10 = 0.0F;
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matrix.m20 = 0.0F;
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float f = this.cos();
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float g = this.sin();
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matrix.m11 = f;
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matrix.m22 = f;
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matrix.m12 = g;
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matrix.m21 = -g;
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matrix.m00 = 1.0F;
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return matrix;
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}
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public Matrix3f aroundY(Matrix3f matrix) {
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matrix.m01 = 0.0F;
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matrix.m10 = 0.0F;
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matrix.m12 = 0.0F;
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matrix.m21 = 0.0F;
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float f = this.cos();
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float g = this.sin();
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matrix.m00 = f;
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matrix.m22 = f;
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matrix.m02 = -g;
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matrix.m20 = g;
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matrix.m11 = 1.0F;
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return matrix;
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}
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public Matrix3f aroundZ(Matrix3f matrix) {
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matrix.m02 = 0.0F;
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matrix.m12 = 0.0F;
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matrix.m20 = 0.0F;
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matrix.m21 = 0.0F;
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float f = this.cos();
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float g = this.sin();
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matrix.m00 = f;
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matrix.m11 = f;
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matrix.m01 = g;
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matrix.m10 = -g;
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matrix.m22 = 1.0F;
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return matrix;
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}
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}
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