/*-
* #%L
* Fiji distribution of ImageJ for the life sciences.
* %%
* Copyright (C) 2007 - 2017 Fiji developers.
* %%
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as
* published by the Free Software Foundation, either version 2 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public
* License along with this program. If not, see
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*/
package spim.vecmath;
/*
* Copyright 1997-2008 Sun Microsystems, Inc. All Rights Reserved.
* DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
*
* This code is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License version 2 only, as
* published by the Free Software Foundation. Sun designates this
* particular file as subject to the "Classpath" exception as provided
* by Sun in the LICENSE file that accompanied this code.
*
* This code is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* version 2 for more details (a copy is included in the LICENSE file that
* accompanied this code).
*
* You should have received a copy of the GNU General Public License version
* 2 along with this work; if not, write to the Free Software Foundation,
* Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
*
* Please contact Sun Microsystems, Inc., 4150 Network Circle, Santa Clara,
* CA 95054 USA or visit www.sun.com if you need additional information or
* have any questions.
*
*/
/**
* A four-element axis angle represented by single-precision floating point
* x,y,z,angle components. An axis angle is a rotation of angle (radians) about
* the vector (x,y,z).
*
*/
public class AxisAngle4f implements java.io.Serializable, Cloneable
{
// Compatible with 1.1
static final long serialVersionUID = -163246355858070601L;
/**
* The x coordinate.
*/
public float x;
/**
* The y coordinate.
*/
public float y;
/**
* The z coordinate.
*/
public float z;
/**
* The angle of rotation in radians.
*/
public float angle;
final static double EPS = 0.000001;
/**
* Constructs and initializes a AxisAngle4f from the specified xyzw
* coordinates.
*
* @param x
* the x coordinate
* @param y
* the y coordinate
* @param z
* the z coordinate
* @param angle
* the angle of rotation in radians
*/
public AxisAngle4f( float x, float y, float z, float angle )
{
this.x = x;
this.y = y;
this.z = z;
this.angle = angle;
}
/**
* Constructs and initializes an AxisAngle4f from the array of length 4.
*
* @param a
* the array of length 4 containing x,y,z,angle in order
*/
public AxisAngle4f( float[] a )
{
this.x = a[ 0 ];
this.y = a[ 1 ];
this.z = a[ 2 ];
this.angle = a[ 3 ];
}
/**
* Constructs and initializes an AxisAngle4f from the specified AxisAngle4f.
*
* @param a1
* the AxisAngle4f containing the initialization x y z angle data
*/
public AxisAngle4f( AxisAngle4f a1 )
{
this.x = a1.x;
this.y = a1.y;
this.z = a1.z;
this.angle = a1.angle;
}
/**
* Constructs and initializes an AxisAngle4f from the specified AxisAngle4d.
*
* @param a1
* the AxisAngle4d containing the initialization x y z angle data
*/
public AxisAngle4f( AxisAngle4d a1 )
{
this.x = (float) a1.x;
this.y = (float) a1.y;
this.z = (float) a1.z;
this.angle = (float) a1.angle;
}
/**
* Constructs and initializes an AxisAngle4f from the specified axis and
* angle.
*
* @param axis
* the axis
* @param angle
* the angle of rotation in radians
*
* @since vecmath 1.2
*/
public AxisAngle4f( Vector3f axis, float angle )
{
this.x = axis.x;
this.y = axis.y;
this.z = axis.z;
this.angle = angle;
}
/**
* Constructs and initializes an AxisAngle4f to (0,0,1,0).
*/
public AxisAngle4f()
{
this.x = 0.0f;
this.y = 0.0f;
this.z = 1.0f;
this.angle = 0.0f;
}
/**
* Sets the value of this axis-angle to the specified x,y,z,angle.
*
* @param x
* the x coordinate
* @param y
* the y coordinate
* @param z
* the z coordinate
* @param angle
* the angle of rotation in radians
*/
public final void set( float x, float y, float z, float angle )
{
this.x = x;
this.y = y;
this.z = z;
this.angle = angle;
}
/**
* Sets the value of this axis-angle to the specified values in the array of
* length 4.
*
* @param a
* the array of length 4 containing x,y,z,angle in order
*/
public final void set( float[] a )
{
this.x = a[ 0 ];
this.y = a[ 1 ];
this.z = a[ 2 ];
this.angle = a[ 3 ];
}
/**
* Sets the value of this axis-angle to the value of axis-angle a1.
*
* @param a1
* the axis-angle to be copied
*/
public final void set( AxisAngle4f a1 )
{
this.x = a1.x;
this.y = a1.y;
this.z = a1.z;
this.angle = a1.angle;
}
/**
* Sets the value of this axis-angle to the value of axis-angle a1.
*
* @param a1
* the axis-angle to be copied
*/
public final void set( AxisAngle4d a1 )
{
this.x = (float) a1.x;
this.y = (float) a1.y;
this.z = (float) a1.z;
this.angle = (float) a1.angle;
}
/**
* Sets the value of this AxisAngle4f to the specified axis and angle.
*
* @param axis
* the axis
* @param angle
* the angle of rotation in radians
*
* @since vecmath 1.2
*/
public final void set( Vector3f axis, float angle )
{
this.x = axis.x;
this.y = axis.y;
this.z = axis.z;
this.angle = angle;
}
/**
* Copies the value of this axis-angle into the array a.
*
* @param a
* the array
*/
public final void get( float[] a )
{
a[ 0 ] = this.x;
a[ 1 ] = this.y;
a[ 2 ] = this.z;
a[ 3 ] = this.angle;
}
/**
* Sets the value of this axis-angle to the rotational equivalent of the
* passed quaternion. If the specified quaternion has no rotational
* component, the value of this AxisAngle4f is set to an angle of 0 about an
* axis of (0,1,0).
*
* @param q1
* the Quat4f
*/
public final void set( Quat4f q1 )
{
double mag = q1.x * q1.x + q1.y * q1.y + q1.z * q1.z;
if ( mag > EPS )
{
mag = Math.sqrt( mag );
double invMag = 1.0 / mag;
x = (float) ( q1.x * invMag );
y = (float) ( q1.y * invMag );
z = (float) ( q1.z * invMag );
angle = (float) ( 2.0 * Math.atan2( mag, q1.w ) );
} else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/**
* Sets the value of this axis-angle to the rotational equivalent of the
* passed quaternion. If the specified quaternion has no rotational
* component, the value of this AxisAngle4f is set to an angle of 0 about an
* axis of (0,1,0).
*
* @param q1
* the Quat4d
*/
public final void set( Quat4d q1 )
{
double mag = q1.x * q1.x + q1.y * q1.y + q1.z * q1.z;
if ( mag > EPS )
{
mag = Math.sqrt( mag );
double invMag = 1.0 / mag;
x = (float) ( q1.x * invMag );
y = (float) ( q1.y * invMag );
z = (float) ( q1.z * invMag );
angle = (float) ( 2.0 * Math.atan2( mag, q1.w ) );
} else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/**
* Sets the value of this axis-angle to the rotational component of the
* passed matrix. If the specified matrix has no rotational component, the
* value of this AxisAngle4f is set to an angle of 0 about an axis of
* (0,1,0).
*
* @param m1
* the matrix4f
*/
public final void set( Matrix4f m1 )
{
Matrix3f m3f = new Matrix3f();
m1.get( m3f );
x = m3f.m21 - m3f.m12;
y = m3f.m02 - m3f.m20;
z = m3f.m10 - m3f.m01;
double mag = x * x + y * y + z * z;
if ( mag > EPS )
{
mag = Math.sqrt( mag );
double sin = 0.5 * mag;
double cos = 0.5 * ( m3f.m00 + m3f.m11 + m3f.m22 - 1.0 );
angle = (float) Math.atan2( sin, cos );
double invMag = 1.0 / mag;
x = (float) ( x * invMag );
y = (float) ( y * invMag );
z = (float) ( z * invMag );
} else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/**
* Sets the value of this axis-angle to the rotational component of the
* passed matrix. If the specified matrix has no rotational component, the
* value of this AxisAngle4f is set to an angle of 0 about an axis of
* (0,1,0).
*
* @param m1
* the matrix4d
*/
public final void set( Matrix4d m1 )
{
Matrix3d m3d = new Matrix3d();
m1.get( m3d );
x = (float) ( m3d.m21 - m3d.m12 );
y = (float) ( m3d.m02 - m3d.m20 );
z = (float) ( m3d.m10 - m3d.m01 );
double mag = x * x + y * y + z * z;
if ( mag > EPS )
{
mag = Math.sqrt( mag );
double sin = 0.5 * mag;
double cos = 0.5 * ( m3d.m00 + m3d.m11 + m3d.m22 - 1.0 );
angle = (float) Math.atan2( sin, cos );
double invMag = 1.0 / mag;
x = (float) ( x * invMag );
y = (float) ( y * invMag );
z = (float) ( z * invMag );
} else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/**
* Sets the value of this axis-angle to the rotational component of the
* passed matrix. If the specified matrix has no rotational component, the
* value of this AxisAngle4f is set to an angle of 0 about an axis of
* (0,1,0).
*
* @param m1
* the matrix3f
*/
public final void set( Matrix3f m1 )
{
x = (float) ( m1.m21 - m1.m12 );
y = (float) ( m1.m02 - m1.m20 );
z = (float) ( m1.m10 - m1.m01 );
double mag = x * x + y * y + z * z;
if ( mag > EPS )
{
mag = Math.sqrt( mag );
double sin = 0.5 * mag;
double cos = 0.5 * ( m1.m00 + m1.m11 + m1.m22 - 1.0 );
angle = (float) Math.atan2( sin, cos );
double invMag = 1.0 / mag;
x = (float) ( x * invMag );
y = (float) ( y * invMag );
z = (float) ( z * invMag );
} else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/**
* Sets the value of this axis-angle to the rotational component of the
* passed matrix. If the specified matrix has no rotational component, the
* value of this AxisAngle4f is set to an angle of 0 about an axis of
* (0,1,0).
*
* @param m1
* the matrix3d
*/
public final void set( Matrix3d m1 )
{
x = (float) ( m1.m21 - m1.m12 );
y = (float) ( m1.m02 - m1.m20 );
z = (float) ( m1.m10 - m1.m01 );
double mag = x * x + y * y + z * z;
if ( mag > EPS )
{
mag = Math.sqrt( mag );
double sin = 0.5 * mag;
double cos = 0.5 * ( m1.m00 + m1.m11 + m1.m22 - 1.0 );
angle = (float) Math.atan2( sin, cos );
double invMag = 1.0 / mag;
x = (float) ( x * invMag );
y = (float) ( y * invMag );
z = (float) ( z * invMag );
} else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/**
* Returns a string that contains the values of this AxisAngle4f. The form
* is (x,y,z,angle).
*
* @return the String representation
*/
@Override
public String toString()
{
return "(" + this.x + ", " + this.y + ", " + this.z + ", " + this.angle
+ ")";
}
/**
* Returns true if all of the data members of AxisAngle4f a1 are equal to
* the corresponding data members in this AxisAngle4f.
*
* @param a1
* the axis-angle with which the comparison is made
* @return true or false
*/
public boolean equals( AxisAngle4f a1 )
{
try
{
return ( this.x == a1.x && this.y == a1.y && this.z == a1.z && this.angle == a1.angle );
} catch ( NullPointerException e2 )
{
return false;
}
}
/**
* Returns true if the Object o1 is of type AxisAngle4f and all of the data
* members of o1 are equal to the corresponding data members in this
* AxisAngle4f.
*
* @param o1
* the object with which the comparison is made
* @return true or false
*/
@Override
public boolean equals( Object o1 )
{
try
{
AxisAngle4f a2 = (AxisAngle4f) o1;
return ( this.x == a2.x && this.y == a2.y && this.z == a2.z && this.angle == a2.angle );
} catch ( NullPointerException e2 )
{
return false;
} catch ( ClassCastException e1 )
{
return false;
}
}
/**
* Returns true if the L-infinite distance between this axis-angle and
* axis-angle a1 is less than or equal to the epsilon parameter, otherwise
* returns false. The L-infinite distance is equal to MAX[abs(x1-x2),
* abs(y1-y2), abs(z1-z2), abs(angle1-angle2)].
*
* @param a1
* the axis-angle to be compared to this axis-angle
* @param epsilon
* the threshold value
*/
public boolean epsilonEquals( AxisAngle4f a1, float epsilon )
{
float diff;
diff = x - a1.x;
if ( ( diff < 0 ? -diff : diff ) > epsilon )
return false;
diff = y - a1.y;
if ( ( diff < 0 ? -diff : diff ) > epsilon )
return false;
diff = z - a1.z;
if ( ( diff < 0 ? -diff : diff ) > epsilon )
return false;
diff = angle - a1.angle;
if ( ( diff < 0 ? -diff : diff ) > epsilon )
return false;
return true;
}
/**
* Returns a hash code value based on the data values in this object. Two
* different AxisAngle4f objects with identical data values (i.e.,
* AxisAngle4f.equals returns true) will return the same hash code value.
* Two objects with different data members may return the same hash value,
* although this is not likely.
*
* @return the integer hash code value
*/
@Override
public int hashCode()
{
long bits = 1L;
bits = VecMathUtil.hashFloatBits( bits, x );
bits = VecMathUtil.hashFloatBits( bits, y );
bits = VecMathUtil.hashFloatBits( bits, z );
bits = VecMathUtil.hashFloatBits( bits, angle );
return VecMathUtil.hashFinish( bits );
}
/**
* Creates a new object of the same class as this object.
*
* @return a clone of this instance.
* @exception OutOfMemoryError
* if there is not enough memory.
* @see java.lang.Cloneable
* @since vecmath 1.3
*/
@Override
public Object clone()
{
// Since there are no arrays we can just use Object.clone()
try
{
return super.clone();
} catch ( CloneNotSupportedException e )
{
// this shouldn't happen, since we are Cloneable
throw new InternalError();
}
}
/**
* Get the axis angle, in radians.<br>
* An axis angle is a rotation angle about the vector (x,y,z).
*
* @return Returns the angle, in radians.
*
* @since vecmath 1.5
*/
public final float getAngle()
{
return angle;
}
/**
* Set the axis angle, in radians.<br>
* An axis angle is a rotation angle about the vector (x,y,z).
*
* @param angle
* The angle to set, in radians.
*
* @since vecmath 1.5
*/
public final void setAngle( float angle )
{
this.angle = angle;
}
/**
* Get value of <i>x</i> coordinate.
*
* @return the <i>x</i> coordinate.
*
* @since vecmath 1.5
*/
public final float getX()
{
return x;
}
/**
* Set a new value for <i>x</i> coordinate.
*
* @param x
* the <i>x</i> coordinate.
*
* @since vecmath 1.5
*/
public final void setX( float x )
{
this.x = x;
}
/**
* Get value of <i>y</i> coordinate.
*
* @return the <i>y</i> coordinate
*
* @since vecmath 1.5
*/
public final float getY()
{
return y;
}
/**
* Set a new value for <i>y</i> coordinate.
*
* @param y
* the <i>y</i> coordinate.
*
* @since vecmath 1.5
*/
public final void setY( float y )
{
this.y = y;
}
/**
* Get value of <i>z</i> coordinate.
*
* @return the <i>z</i> coordinate.
*
* @since vecmath 1.5
*/
public final float getZ()
{
return z;
}
/**
* Set a new value for <i>z</i> coordinate.
*
* @param z
* the <i>z</i> coordinate.
*
* @since vecmath 1.5
*/
public final void setZ( float z )
{
this.z = z;
}
}