Example usage for org.apache.commons.math3.complex Quaternion getQ1

Introduction

In this page you can find the example usage for org.apache.commons.math3.complex Quaternion getQ1.

Prototype

public double getQ1() 

Source Link

Document

Gets the second component of the quaternion (first component of the vector part).

Usage

From source file:sceneGraph.Rot.java

public Quaternion slerp(double amount, Quaternion value1, Quaternion value2) {
    if (amount < 0.0)
        return value1;
    else if (amount > 1.0)
        return value2;

    double dot = value1.dotProduct(value2);
    double x2, y2, z2, w2;
    if (dot < 0.0) {
        dot = 0.0 - dot;//w  w w.j  ava2  s  .  com
        x2 = 0.0 - value2.getQ1();
        y2 = 0.0 - value2.getQ2();
        z2 = 0.0 - value2.getQ3();
        w2 = 0.0 - value2.getQ0();
    } else {
        x2 = value2.getQ1();
        y2 = value2.getQ2();
        z2 = value2.getQ3();
        w2 = value2.getQ0();
    }

    double t1, t2;

    final double EPSILON = 0.0001;
    if ((1.0 - dot) > EPSILON) // standard case (slerp)
    {
        double angle = Math.acos(dot);
        double sinAngle = Math.sin(angle);
        t1 = Math.sin((1.0 - amount) * angle) / sinAngle;
        t2 = Math.sin(amount * angle) / sinAngle;
    } else // just lerp
    {
        t1 = 1.0 - amount;
        t2 = amount;
    }

    return new Quaternion((value1.getQ1() * t1) + (x2 * t2), (value1.getQ2() * t1) + (y2 * t2),
            (value1.getQ3() * t1) + (z2 * t2), (value1.getQ0() * t1) + (w2 * t2));
}

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