Quat4fLogic.java

package jo.vecmath.logic;

import jo.vecmath.AxisAngle4f;
import jo.vecmath.Matrix3f;
import jo.vecmath.Quat4f;
import jo.vecmath.Tuple3f;

public class Quat4fLogic extends MathUtils {

    // angles in degrees
    public static Quat4f makeRotateEuler(Tuple3f angles) {
        return makeRotateEuler(angles.x, angles.y, angles.z);
    }

    // angles in degrees
    public static Quat4f makeRotateEuler(float x, float y, float z) {
        return makeRotate(x * DEG_TO_RAD, y * DEG_TO_RAD, z * DEG_TO_RAD);
    }

    // angles in degrees
    public static Quat4f makeRotate(Tuple3f angles) {
        return makeRotate(angles.x, angles.y, angles.z);
    }

    // angles in degrees
    public static Quat4f makeRotate(float x, float y, float z) {
        Quat4f xRot = makeRotX(x);
        Quat4f yRot = makeRotY(y);
        Quat4f zRot = makeRotZ(z);
        Quat4f m = new Quat4f();
        m.mul(xRot, yRot);
        m.mul(zRot);
        return m;
    }

    public static Quat4f makeRotate(float x, float y, float z, float a) {
        return makeRotate(new AxisAngle4f(x, y, z, a));
    }

    public static Quat4f makeRotate(AxisAngle4f axis) {
        Quat4f m = new Quat4f();
        m.set(axis);
        return m;
    }

    public static Quat4f makeRotate(Matrix3f rot) {
        Quat4f m = new Quat4f();
        m.set(rot);
        m.normalize();
        return m;
    }

    public static Quat4f makeRotX(float radians) {
        return makeRotate(1, 0, 0, radians);
    }

    public static Quat4f makeRotY(float radians) {
        return makeRotate(0, 1, 0, radians);
    }

    public static Quat4f makeRotZ(float radians) {
        return makeRotate(0, 0, 1, radians);
    }

    public static Quat4f makeIdentity() {
        Matrix3f m = new Matrix3f();
        m.setIdentity();
        return makeRotate(m);
    }
}