nova.core.util.math

Class RotationUtil

java.lang.Object

nova.core.util.math.RotationUtil

public class RotationUtil
extends java.lang.Object

A rotation utility class.

Field Summary

Fields

Modifier and Type	Field and Description
static org.apache.commons.math3.geometry.euclidean.threed.RotationOrder	DEFAULT_ORDER Rotation order that is used by defualt in Nova.
static int[]	sideRotOffsets Rotate pi/2 * this offset for [side] about y axis before rotating to the side for the rotation indicies to line up

Method Summary

Modifier and Type	Method and Description
static double	dotProduct(org.apache.commons.math3.geometry.euclidean.threed.Rotation a, org.apache.commons.math3.geometry.euclidean.threed.Rotation b) Returns the "dot" product of this Quaternion and b: this.x * b.x + this.y * b.y + this.z * b.z + this.w * b.w
static Direction	getRelativeSide(Direction front, Direction side) Finds the direction relative to a base direction.
static int	rotateSide(int s, int r) Rotates a relative side into a Direction global size.
static int	rotationTo(int s1, int s2) Rotates a Direction global size into a relative side.
static org.apache.commons.math3.geometry.euclidean.threed.Rotation	slerp(org.apache.commons.math3.geometry.euclidean.threed.Rotation a, org.apache.commons.math3.geometry.euclidean.threed.Rotation b, double t) Wrapper function that simply calls slerp(a, b, t, true).
static org.apache.commons.math3.geometry.euclidean.threed.Rotation	slerp(org.apache.commons.math3.geometry.euclidean.threed.Rotation a, org.apache.commons.math3.geometry.euclidean.threed.Rotation b, double t, boolean allowFlip) Returns the slerp interpolation of Rotations a and b, at time t.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

DEFAULT_ORDER

public static final org.apache.commons.math3.geometry.euclidean.threed.RotationOrder DEFAULT_ORDER

Rotation order that is used by defualt in Nova.

sideRotOffsets

public static int[] sideRotOffsets

Rotate pi/2 * this offset for [side] about y axis before rotating to the side for the rotation indicies to line up

Method Detail

rotateSide

public static int rotateSide(int s,
                             int r)

Rotates a relative side into a Direction global size.

Parameters:

s - - The current face we are on (0-6)

r - - The rotation to be applied (0-3)

Returns:

The Direction ordinal from 0-5.

rotationTo

public static int rotationTo(int s1,
                             int s2)

Rotates a Direction global size into a relative side.

Parameters:

s1 - Side 1

s2 - Side 2

Returns:

The Direction ordinal from 0-5.

getRelativeSide

public static Direction getRelativeSide(Direction front,
                                        Direction side)

Finds the direction relative to a base direction.

Parameters:

front - The direction in which this block is facing/front. Use a number between 0 and 5. Default is 3.

side - The side you are trying to find. A number between 0 and 5.

Returns:

The side relative to the facing direction.

slerp

public static org.apache.commons.math3.geometry.euclidean.threed.Rotation slerp(org.apache.commons.math3.geometry.euclidean.threed.Rotation a,
                                                                                org.apache.commons.math3.geometry.euclidean.threed.Rotation b,
                                                                                double t)

Wrapper function that simply calls slerp(a, b, t, true).

See slerp(Rotation, Rotation, double, boolean) for details.

Parameters:

a - the first Rotation

b - the second Rotation

t - the temporal interpolation parameter

Returns:

The slerp interpolation of Rotations a and b, at time t.

slerp

public static org.apache.commons.math3.geometry.euclidean.threed.Rotation slerp(org.apache.commons.math3.geometry.euclidean.threed.Rotation a,
                                                                                org.apache.commons.math3.geometry.euclidean.threed.Rotation b,
                                                                                double t,
                                                                                boolean allowFlip)

Returns the slerp interpolation of Rotations a and b, at time t.

t should range in [0,1]. Result is a when t=0 and b when t=1.

When allowFlip is true (default) the slerp interpolation will always use the "shortest path" between the Rotations' orientations, by "flipping" the source Rotation if needed.

Parameters:

a - the first Rotation

b - the second Rotation

t - the temporal interpolation parameter

allowFlip - tells whether or not the interpolation allows axis flip

Returns:

The slerp interpolation of Rotations a and b, at time t.

dotProduct

public static double dotProduct(org.apache.commons.math3.geometry.euclidean.threed.Rotation a,
                                org.apache.commons.math3.geometry.euclidean.threed.Rotation b)

Returns the "dot" product of this Quaternion and b:

this.x * b.x + this.y * b.y + this.z * b.z + this.w * b.w

Parameters:

a - This

b - the Quaternion

Returns:

The dot product