90 lines
2.3 KiB
Java
90 lines
2.3 KiB
Java
package io.github.simplexdev.polarize.math;
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import io.github.simplexdev.polarize.api.IQuaternion;
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public class Quaternion implements IQuaternion {
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private double w, x, y, z;
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public Quaternion(double w, double x, double y, double z) {
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this.w = w;
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this.x = x;
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this.y = y;
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this.z = z;
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}
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@Override
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public double getW() {
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return w;
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}
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@Override
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public double getX() {
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return x;
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}
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@Override
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public double getY() {
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return y;
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}
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@Override
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public double getZ() {
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return z;
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}
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@Override
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public IQuaternion add(double scalar) {
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return new Quaternion(this.w + scalar, this.x, this.y, this.z);
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}
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@Override
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public IQuaternion add(IQuaternion q) {
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return new Quaternion(this.w + q.getW(), this.x + q.getX(), this.y + q.getY(), this.z + q.getZ());
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}
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@Override
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public IQuaternion multiply(double scalar) {
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return new Quaternion(this.w * scalar, this.x * scalar, this.y * scalar, this.z * scalar);
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}
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@Override
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public IQuaternion multiply(IQuaternion q) {
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double w1 = this.w,
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x1 = this.x,
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y1 = this.y,
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z1 = this.z;
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double w2 = q.getW(),
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x2 = q.getX(),
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y2 = q.getY(),
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z2 = q.getZ();
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double w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2;
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double x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2;
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double y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2;
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double z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2;
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return new Quaternion(w, x, y, z);
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}
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@Override
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public IQuaternion normalize() {
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double magnitude = this.getMagnitude();
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return new Quaternion(this.w / magnitude, this.x / magnitude, this.y / magnitude, this.z / magnitude);
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}
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@Override
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public IQuaternion inverse() {
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double magnitudeSquared = this.getMagnitude() * this.getMagnitude();
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return new Quaternion(this.w / magnitudeSquared, -this.x / magnitudeSquared, -this.y / magnitudeSquared, -this.z / magnitudeSquared);
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}
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@Override
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public IQuaternion conjugate() {
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return new Quaternion(this.w, -this.x, -this.y, -this.z);
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}
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@Override
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public double getMagnitude() {
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return Math.sqrt(w * w + x * x + y * y + z * z);
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}
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} |