1 Clazz.declarePackage ("javajs.util");
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2 Clazz.load (["javajs.util.P4"], "javajs.util.Quat", ["java.lang.Float", "javajs.util.A4", "$.M3", "$.V3"], function () {
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3 c$ = Clazz.decorateAsClass (function () {
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9 Clazz.instantialize (this, arguments);
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10 }, javajs.util, "Quat");
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11 Clazz.makeConstructor (c$,
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15 c$.newQ = Clazz.defineMethod (c$, "newQ",
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17 var q1 = new javajs.util.Quat ();
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20 }, "javajs.util.Quat");
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21 c$.newVA = Clazz.defineMethod (c$, "newVA",
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22 function (v, theta) {
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23 var q = new javajs.util.Quat ();
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26 }, "javajs.util.T3,~N");
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27 c$.newM = Clazz.defineMethod (c$, "newM",
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29 var q = new javajs.util.Quat ();
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30 q.setM (javajs.util.M3.newM3 (mat));
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32 }, "javajs.util.M3");
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33 c$.newAA = Clazz.defineMethod (c$, "newAA",
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35 var q = new javajs.util.Quat ();
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38 }, "javajs.util.A4");
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39 c$.newP4 = Clazz.defineMethod (c$, "newP4",
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41 var q = new javajs.util.Quat ();
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44 }, "javajs.util.P4");
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45 c$.new4 = Clazz.defineMethod (c$, "new4",
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46 function (q1, q2, q3, q0) {
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47 var q = new javajs.util.Quat ();
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60 Clazz.defineMethod (c$, "set",
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66 }, "javajs.util.Quat");
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67 Clazz.defineMethod (c$, "setP4",
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68 ($fz = function (pt) {
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69 var factor = (pt == null ? 0 : pt.distance4 (javajs.util.Quat.qZero));
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73 }this.q0 = pt.w / factor;
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74 this.q1 = pt.x / factor;
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75 this.q2 = pt.y / factor;
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76 this.q3 = pt.z / factor;
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77 }, $fz.isPrivate = true, $fz), "javajs.util.P4");
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78 Clazz.defineMethod (c$, "setTA",
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79 function (pt, theta) {
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80 if (pt.x == 0 && pt.y == 0 && pt.z == 0) {
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83 }var fact = (Math.sin (theta / 2 * 0.017453292519943295) / Math.sqrt (pt.x * pt.x + pt.y * pt.y + pt.z * pt.z));
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84 this.q0 = (Math.cos (theta / 2 * 0.017453292519943295));
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85 this.q1 = (pt.x * fact);
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86 this.q2 = (pt.y * fact);
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87 this.q3 = (pt.z * fact);
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88 }, "javajs.util.T3,~N");
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89 Clazz.defineMethod (c$, "setAA",
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91 var aa = javajs.util.A4.newAA (a);
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92 if (aa.angle == 0) aa.y = 1;
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93 this.setM ( new javajs.util.M3 ().setAA (aa));
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94 }, "javajs.util.A4");
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95 Clazz.defineMethod (c$, "setM",
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96 ($fz = function (mat) {
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98 var trace = mat.m00 + mat.m11 + mat.m22;
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104 if (trace >= 0.5) {
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105 w = Math.sqrt (1.0 + trace);
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106 x = (mat.m21 - mat.m12) / w;
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107 y = (mat.m02 - mat.m20) / w;
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108 z = (mat.m10 - mat.m01) / w;
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109 } else if ((temp = mat.m00 + mat.m00 - trace) >= 0.5) {
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110 x = Math.sqrt (1.0 + temp);
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111 w = (mat.m21 - mat.m12) / x;
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112 y = (mat.m10 + mat.m01) / x;
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113 z = (mat.m20 + mat.m02) / x;
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114 } else if ((temp = mat.m11 + mat.m11 - trace) >= 0.5 || mat.m11 > mat.m22) {
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115 y = Math.sqrt (1.0 + temp);
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116 w = (mat.m02 - mat.m20) / y;
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117 x = (mat.m10 + mat.m01) / y;
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118 z = (mat.m21 + mat.m12) / y;
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120 z = Math.sqrt (1.0 + mat.m22 + mat.m22 - trace);
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121 w = (mat.m10 - mat.m01) / z;
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122 x = (mat.m20 + mat.m02) / z;
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123 y = (mat.m21 + mat.m12) / z;
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124 }this.q0 = (w * 0.5);
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125 this.q1 = (x * 0.5);
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126 this.q2 = (y * 0.5);
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127 this.q3 = (z * 0.5);
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128 }, $fz.isPrivate = true, $fz), "javajs.util.M3");
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129 Clazz.defineMethod (c$, "setRef",
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131 if (qref == null) {
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132 this.mul (this.getFixFactor ());
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134 }if (this.dot (qref) >= 0) return;
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139 }, "javajs.util.Quat");
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140 c$.getQuaternionFrame = Clazz.defineMethod (c$, "getQuaternionFrame",
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141 function (center, x, xy) {
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142 var vA = javajs.util.V3.newV (x);
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143 var vB = javajs.util.V3.newV (xy);
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144 if (center != null) {
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147 }return javajs.util.Quat.getQuaternionFrameV (vA, vB, null, false);
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148 }, "javajs.util.P3,javajs.util.T3,javajs.util.T3");
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149 c$.getQuaternionFrameV = Clazz.defineMethod (c$, "getQuaternionFrameV",
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150 function (vA, vB, vC, yBased) {
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152 vC = new javajs.util.V3 ();
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154 if (yBased) vA.cross (vB, vC);
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155 }var vBprime = new javajs.util.V3 ();
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156 vBprime.cross (vC, vA);
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158 vBprime.normalize ();
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160 var mat = new javajs.util.M3 ();
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161 mat.setColumnV (0, vA);
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162 mat.setColumnV (1, vBprime);
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163 mat.setColumnV (2, vC);
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164 var q = javajs.util.Quat.newM (mat);
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166 }, "javajs.util.V3,javajs.util.V3,javajs.util.V3,~B");
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167 Clazz.defineMethod (c$, "getMatrix",
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169 if (this.mat == null) this.setMatrix ();
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172 Clazz.defineMethod (c$, "setMatrix",
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173 ($fz = function () {
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174 this.mat = new javajs.util.M3 ();
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175 this.mat.m00 = this.q0 * this.q0 + this.q1 * this.q1 - this.q2 * this.q2 - this.q3 * this.q3;
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176 this.mat.m01 = 2 * this.q1 * this.q2 - 2 * this.q0 * this.q3;
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177 this.mat.m02 = 2 * this.q1 * this.q3 + 2 * this.q0 * this.q2;
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178 this.mat.m10 = 2 * this.q1 * this.q2 + 2 * this.q0 * this.q3;
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179 this.mat.m11 = this.q0 * this.q0 - this.q1 * this.q1 + this.q2 * this.q2 - this.q3 * this.q3;
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180 this.mat.m12 = 2 * this.q2 * this.q3 - 2 * this.q0 * this.q1;
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181 this.mat.m20 = 2 * this.q1 * this.q3 - 2 * this.q0 * this.q2;
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182 this.mat.m21 = 2 * this.q2 * this.q3 + 2 * this.q0 * this.q1;
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183 this.mat.m22 = this.q0 * this.q0 - this.q1 * this.q1 - this.q2 * this.q2 + this.q3 * this.q3;
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184 }, $fz.isPrivate = true, $fz));
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185 Clazz.defineMethod (c$, "add",
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187 return javajs.util.Quat.newVA (this.getNormal (), this.getTheta () + x);
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189 Clazz.defineMethod (c$, "mul",
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191 return (x == 1 ? javajs.util.Quat.new4 (this.q1, this.q2, this.q3, this.q0) : javajs.util.Quat.newVA (this.getNormal (), this.getTheta () * x));
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193 Clazz.defineMethod (c$, "mulQ",
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195 return javajs.util.Quat.new4 (this.q0 * p.q1 + this.q1 * p.q0 + this.q2 * p.q3 - this.q3 * p.q2, this.q0 * p.q2 + this.q2 * p.q0 + this.q3 * p.q1 - this.q1 * p.q3, this.q0 * p.q3 + this.q3 * p.q0 + this.q1 * p.q2 - this.q2 * p.q1, this.q0 * p.q0 - this.q1 * p.q1 - this.q2 * p.q2 - this.q3 * p.q3);
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196 }, "javajs.util.Quat");
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197 Clazz.defineMethod (c$, "div",
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199 return this.mulQ (p.inv ());
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200 }, "javajs.util.Quat");
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201 Clazz.defineMethod (c$, "divLeft",
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203 return this.inv ().mulQ (p);
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204 }, "javajs.util.Quat");
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205 Clazz.defineMethod (c$, "dot",
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207 return this.q0 * q.q0 + this.q1 * q.q1 + this.q2 * q.q2 + this.q3 * q.q3;
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208 }, "javajs.util.Quat");
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209 Clazz.defineMethod (c$, "inv",
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211 return javajs.util.Quat.new4 (-this.q1, -this.q2, -this.q3, this.q0);
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213 Clazz.defineMethod (c$, "negate",
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215 return javajs.util.Quat.new4 (-this.q1, -this.q2, -this.q3, -this.q0);
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217 Clazz.defineMethod (c$, "getFixFactor",
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218 ($fz = function () {
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219 return (this.q0 < 0 || this.q0 == 0 && (this.q1 < 0 || this.q1 == 0 && (this.q2 < 0 || this.q2 == 0 && this.q3 < 0)) ? -1 : 1);
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220 }, $fz.isPrivate = true, $fz));
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221 Clazz.defineMethod (c$, "getVector",
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223 return this.getVectorScaled (i, 1);
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225 Clazz.defineMethod (c$, "getVectorScaled",
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226 function (i, scale) {
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228 scale *= this.getFixFactor ();
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229 return javajs.util.V3.new3 (this.q1 * scale, this.q2 * scale, this.q3 * scale);
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230 }if (this.mat == null) this.setMatrix ();
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231 var v = new javajs.util.V3 ();
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232 this.mat.getColumnV (i, v);
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233 if (scale != 1) v.scale (scale);
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236 Clazz.defineMethod (c$, "getNormal",
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238 var v = javajs.util.Quat.getRawNormal (this);
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239 v.scale (this.getFixFactor ());
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242 c$.getRawNormal = Clazz.defineMethod (c$, "getRawNormal",
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243 ($fz = function (q) {
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244 var v = javajs.util.V3.new3 (q.q1, q.q2, q.q3);
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245 if (v.length () == 0) return javajs.util.V3.new3 (0, 0, 1);
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248 }, $fz.isPrivate = true, $fz), "javajs.util.Quat");
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249 Clazz.defineMethod (c$, "getTheta",
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251 return (Math.acos (Math.abs (this.q0)) * 2 * 180 / 3.141592653589793);
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253 Clazz.defineMethod (c$, "getThetaRadians",
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255 return (Math.acos (Math.abs (this.q0)) * 2);
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257 Clazz.defineMethod (c$, "getNormalDirected",
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259 var v = this.getNormal ();
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260 if (v.x * v0.x + v.y * v0.y + v.z * v0.z < 0) {
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263 }, "javajs.util.V3");
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264 Clazz.defineMethod (c$, "get3dProjection",
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266 v3d.set (this.q1, this.q2, this.q3);
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268 }, "javajs.util.V3");
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269 Clazz.defineMethod (c$, "getThetaDirected",
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270 function (axisAngle) {
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271 var theta = this.getTheta ();
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272 var v = this.getNormal ();
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273 if (axisAngle.x * this.q1 + axisAngle.y * this.q2 + axisAngle.z * this.q3 < 0) {
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276 }axisAngle.set4 (v.x, v.y, v.z, theta);
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278 }, "javajs.util.P4");
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279 Clazz.defineMethod (c$, "getThetaDirectedV",
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280 function (vector) {
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281 var theta = this.getTheta ();
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282 var v = this.getNormal ();
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283 if (vector.x * this.q1 + vector.y * this.q2 + vector.z * this.q3 < 0) {
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287 }, "javajs.util.V3");
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288 Clazz.defineMethod (c$, "toPoint4f",
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290 return javajs.util.P4.new4 (this.q1, this.q2, this.q3, this.q0);
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292 Clazz.defineMethod (c$, "toAxisAngle4f",
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294 var theta = 2 * Math.acos (Math.abs (this.q0));
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295 var sinTheta2 = Math.sin (theta / 2);
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296 var v = this.getNormal ();
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297 if (sinTheta2 < 0) {
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299 theta = 3.141592653589793 - theta;
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300 }return javajs.util.A4.newVA (v, theta);
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302 Clazz.defineMethod (c$, "transform2",
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303 function (pt, ptNew) {
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304 if (this.mat == null) this.setMatrix ();
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305 this.mat.rotate2 (pt, ptNew);
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307 }, "javajs.util.T3,javajs.util.T3");
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308 Clazz.defineMethod (c$, "leftDifference",
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310 var q2adjusted = (this.dot (q2) < 0 ? q2.negate () : q2);
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311 return this.inv ().mulQ (q2adjusted);
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312 }, "javajs.util.Quat");
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313 Clazz.defineMethod (c$, "rightDifference",
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315 var q2adjusted = (this.dot (q2) < 0 ? q2.negate () : q2);
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316 return this.mulQ (q2adjusted.inv ());
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317 }, "javajs.util.Quat");
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318 Clazz.overrideMethod (c$, "toString",
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320 return "{" + this.q1 + " " + this.q2 + " " + this.q3 + " " + this.q0 + "}";
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322 c$.div = Clazz.defineMethod (c$, "div",
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323 function (data1, data2, nMax, isRelative) {
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325 if (data1 == null || data2 == null || (n = Math.min (data1.length, data2.length)) == 0) return null;
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326 if (nMax > 0 && n > nMax) n = nMax;
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327 var dqs = new Array (n);
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328 for (var i = 0; i < n; i++) {
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329 if (data1[i] == null || data2[i] == null) return null;
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330 dqs[i] = (isRelative ? data1[i].divLeft (data2[i]) : data1[i].div (data2[i]));
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334 c$.sphereMean = Clazz.defineMethod (c$, "sphereMean",
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335 function (data, retStddev, criterion) {
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336 if (data == null || data.length == 0) return new javajs.util.Quat ();
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337 if (retStddev == null) retStddev = Clazz.newFloatArray (1, 0);
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338 if (data.length == 1) {
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340 return javajs.util.Quat.newQ (data[0]);
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341 }var diff = 3.4028235E38;
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342 var lastStddev = 3.4028235E38;
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343 var qMean = javajs.util.Quat.simpleAverage (data);
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346 while (diff > criterion && lastStddev != 0 && iter < maxIter) {
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347 qMean = javajs.util.Quat.newMean (data, qMean);
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348 retStddev[0] = javajs.util.Quat.stdDev (data, qMean);
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349 diff = Math.abs (retStddev[0] - lastStddev);
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350 lastStddev = retStddev[0];
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354 c$.simpleAverage = Clazz.defineMethod (c$, "simpleAverage",
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355 ($fz = function (ndata) {
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356 var mean = javajs.util.V3.new3 (0, 0, 1);
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357 var v = ndata[0].getNormal ();
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359 for (var i = ndata.length; --i >= 0; ) mean.add (ndata[i].getNormalDirected (mean));
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364 for (var i = ndata.length; --i >= 0; ) f += Math.abs (ndata[i].get3dProjection (v).dot (mean));
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366 if (f != 0) mean.scale (f / ndata.length);
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367 f = Math.sqrt (1 - mean.lengthSquared ());
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368 if (Float.isNaN (f)) f = 0;
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369 return javajs.util.Quat.newP4 (javajs.util.P4.new4 (mean.x, mean.y, mean.z, f));
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370 }, $fz.isPrivate = true, $fz), "~A");
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371 c$.newMean = Clazz.defineMethod (c$, "newMean",
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372 ($fz = function (data, mean) {
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373 var sum = new javajs.util.V3 ();
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377 for (var i = data.length; --i >= 0; ) {
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380 v = dq.getNormal ();
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381 v.scale (dq.getTheta ());
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384 sum.scale (1 / data.length);
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385 var dqMean = javajs.util.Quat.newVA (sum, sum.length ());
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386 return dqMean.mulQ (mean);
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387 }, $fz.isPrivate = true, $fz), "~A,javajs.util.Quat");
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388 c$.stdDev = Clazz.defineMethod (c$, "stdDev",
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389 ($fz = function (data, mean) {
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391 var n = data.length;
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392 for (var i = n; --i >= 0; ) {
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393 var theta = data[i].div (mean).getTheta ();
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394 sum2 += theta * theta;
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396 return Math.sqrt (sum2 / n);
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397 }, $fz.isPrivate = true, $fz), "~A,javajs.util.Quat");
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398 Clazz.defineMethod (c$, "getEulerZYZ",
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403 if (this.q1 == 0 && this.q2 == 0) {
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404 var theta = this.getTheta ();
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405 return Clazz.newFloatArray (-1, [this.q3 < 0 ? -theta : theta, 0, 0]);
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406 }rA = Math.atan2 (2 * (this.q2 * this.q3 + this.q0 * this.q1), 2 * (-this.q1 * this.q3 + this.q0 * this.q2));
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407 rB = Math.acos (this.q3 * this.q3 - this.q2 * this.q2 - this.q1 * this.q1 + this.q0 * this.q0);
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408 rG = Math.atan2 (2 * (this.q2 * this.q3 - this.q0 * this.q1), 2 * (this.q0 * this.q2 + this.q1 * this.q3));
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409 return Clazz.newFloatArray (-1, [(rA / 0.017453292519943295), (rB / 0.017453292519943295), (rG / 0.017453292519943295)]);
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411 Clazz.defineMethod (c$, "getEulerZXZ",
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416 if (this.q1 == 0 && this.q2 == 0) {
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417 var theta = this.getTheta ();
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418 return Clazz.newFloatArray (-1, [this.q3 < 0 ? -theta : theta, 0, 0]);
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419 }rA = Math.atan2 (2 * (this.q1 * this.q3 - this.q0 * this.q2), 2 * (this.q0 * this.q1 + this.q2 * this.q3));
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420 rB = Math.acos (this.q3 * this.q3 - this.q2 * this.q2 - this.q1 * this.q1 + this.q0 * this.q0);
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421 rG = Math.atan2 (2 * (this.q1 * this.q3 + this.q0 * this.q2), 2 * (-this.q2 * this.q3 + this.q0 * this.q1));
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422 return Clazz.newFloatArray (-1, [(rA / 0.017453292519943295), (rB / 0.017453292519943295), (rG / 0.017453292519943295)]);
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424 c$.qZero = c$.prototype.qZero = new javajs.util.P4 ();
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425 Clazz.defineStatics (c$,
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426 "RAD_PER_DEG", 0.017453292519943295);
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