Example usage for org.apache.commons.math3.complex Quaternion getQ2

Introduction

In this page you can find the example usage for org.apache.commons.math3.complex Quaternion getQ2.

Prototype

public double getQ2() 

Source Link

Document

Gets the third component of the quaternion (second 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;/*  www .ja  v a  2  s .  c o m*/
        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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