X-Git-Url: http://source.jalview.org/gitweb/?p=jalviewjs.git;a=blobdiff_plain;f=site%2Fj2s%2FJU%2FQuat.js;h=7e15934cf8efbfe536d71ecb9fc69b6e3325979f;hp=a16b51d4c87d0110c272a731cd2ba6c53719f33e;hb=b9b7a352eee79b7764c3b09c9d19663075061d8c;hpb=8ffd05b3abe52c0b6b79b011c0966361f82d5fe6

diff --git a/site/j2s/JU/Quat.js b/site/j2s/JU/Quat.js
index a16b51d..7e15934 100644
--- a/site/j2s/JU/Quat.js
+++ b/site/j2s/JU/Quat.js
@@ -1,427 +1,427 @@
-Clazz.declarePackage ("JU");
-Clazz.load (["JU.P4"], "JU.Quat", ["java.lang.Float", "JU.A4", "$.M3", "$.V3"], function () {
-c$ = Clazz.decorateAsClass (function () {
-this.q0 = 0;
-this.q1 = 0;
-this.q2 = 0;
-this.q3 = 0;
-this.mat = null;
-Clazz.instantialize (this, arguments);
-}, JU, "Quat");
-Clazz.makeConstructor (c$, 
-function () {
-this.q0 = 1;
-});
-c$.newQ = Clazz.defineMethod (c$, "newQ", 
-function (q) {
-var q1 =  new JU.Quat ();
-q1.set (q);
-return q1;
-}, "JU.Quat");
-c$.newVA = Clazz.defineMethod (c$, "newVA", 
-function (v, theta) {
-var q =  new JU.Quat ();
-q.setTA (v, theta);
-return q;
-}, "JU.T3,~N");
-c$.newM = Clazz.defineMethod (c$, "newM", 
-function (mat) {
-var q =  new JU.Quat ();
-q.setM (JU.M3.newM3 (mat));
-return q;
-}, "JU.M3");
-c$.newAA = Clazz.defineMethod (c$, "newAA", 
-function (a) {
-var q =  new JU.Quat ();
-q.setAA (a);
-return q;
-}, "JU.A4");
-c$.newP4 = Clazz.defineMethod (c$, "newP4", 
-function (pt) {
-var q =  new JU.Quat ();
-q.setP4 (pt);
-return q;
-}, "JU.P4");
-c$.new4 = Clazz.defineMethod (c$, "new4", 
-function (q1, q2, q3, q0) {
-var q =  new JU.Quat ();
-if (q0 < -1) {
-q.q0 = -1;
-return q;
-}if (q0 > 1) {
-q.q0 = 1;
-return q;
-}q.q0 = q0;
-q.q1 = q1;
-q.q2 = q2;
-q.q3 = q3;
-return q;
-}, "~N,~N,~N,~N");
-Clazz.defineMethod (c$, "set", 
-function (q) {
-this.q0 = q.q0;
-this.q1 = q.q1;
-this.q2 = q.q2;
-this.q3 = q.q3;
-}, "JU.Quat");
-Clazz.defineMethod (c$, "setP4", 
- function (pt) {
-var factor = (pt == null ? 0 : pt.distance4 (JU.Quat.qZero));
-if (factor == 0) {
-this.q0 = 1;
-return;
-}this.q0 = pt.w / factor;
-this.q1 = pt.x / factor;
-this.q2 = pt.y / factor;
-this.q3 = pt.z / factor;
-}, "JU.P4");
-Clazz.defineMethod (c$, "setTA", 
-function (pt, theta) {
-if (pt.x == 0 && pt.y == 0 && pt.z == 0) {
-this.q0 = 1;
-return;
-}var fact = (Math.sin (theta / 2 * 0.017453292519943295) / Math.sqrt (pt.x * pt.x + pt.y * pt.y + pt.z * pt.z));
-this.q0 = (Math.cos (theta / 2 * 0.017453292519943295));
-this.q1 = (pt.x * fact);
-this.q2 = (pt.y * fact);
-this.q3 = (pt.z * fact);
-}, "JU.T3,~N");
-Clazz.defineMethod (c$, "setAA", 
-function (a) {
-var aa = JU.A4.newAA (a);
-if (aa.angle == 0) aa.y = 1;
-this.setM ( new JU.M3 ().setAA (aa));
-}, "JU.A4");
-Clazz.defineMethod (c$, "setM", 
- function (mat) {
-this.mat = mat;
-var trace = mat.m00 + mat.m11 + mat.m22;
-var temp;
-var w;
-var x;
-var y;
-var z;
-if (trace >= 0.5) {
-w = Math.sqrt (1.0 + trace);
-x = (mat.m21 - mat.m12) / w;
-y = (mat.m02 - mat.m20) / w;
-z = (mat.m10 - mat.m01) / w;
-} else if ((temp = mat.m00 + mat.m00 - trace) >= 0.5) {
-x = Math.sqrt (1.0 + temp);
-w = (mat.m21 - mat.m12) / x;
-y = (mat.m10 + mat.m01) / x;
-z = (mat.m20 + mat.m02) / x;
-} else if ((temp = mat.m11 + mat.m11 - trace) >= 0.5 || mat.m11 > mat.m22) {
-y = Math.sqrt (1.0 + temp);
-w = (mat.m02 - mat.m20) / y;
-x = (mat.m10 + mat.m01) / y;
-z = (mat.m21 + mat.m12) / y;
-} else {
-z = Math.sqrt (1.0 + mat.m22 + mat.m22 - trace);
-w = (mat.m10 - mat.m01) / z;
-x = (mat.m20 + mat.m02) / z;
-y = (mat.m21 + mat.m12) / z;
-}this.q0 = (w * 0.5);
-this.q1 = (x * 0.5);
-this.q2 = (y * 0.5);
-this.q3 = (z * 0.5);
-}, "JU.M3");
-Clazz.defineMethod (c$, "setRef", 
-function (qref) {
-if (qref == null) {
-this.mul (this.getFixFactor ());
-return;
-}if (this.dot (qref) >= 0) return;
-this.q0 *= -1;
-this.q1 *= -1;
-this.q2 *= -1;
-this.q3 *= -1;
-}, "JU.Quat");
-c$.getQuaternionFrame = Clazz.defineMethod (c$, "getQuaternionFrame", 
-function (center, x, xy) {
-var vA = JU.V3.newV (x);
-var vB = JU.V3.newV (xy);
-if (center != null) {
-vA.sub (center);
-vB.sub (center);
-}return JU.Quat.getQuaternionFrameV (vA, vB, null, false);
-}, "JU.P3,JU.T3,JU.T3");
-c$.getQuaternionFrameV = Clazz.defineMethod (c$, "getQuaternionFrameV", 
-function (vA, vB, vC, yBased) {
-if (vC == null) {
-vC =  new JU.V3 ();
-vC.cross (vA, vB);
-if (yBased) vA.cross (vB, vC);
-}var vBprime =  new JU.V3 ();
-vBprime.cross (vC, vA);
-vA.normalize ();
-vBprime.normalize ();
-vC.normalize ();
-var mat =  new JU.M3 ();
-mat.setColumnV (0, vA);
-mat.setColumnV (1, vBprime);
-mat.setColumnV (2, vC);
-var q = JU.Quat.newM (mat);
-return q;
-}, "JU.V3,JU.V3,JU.V3,~B");
-Clazz.defineMethod (c$, "getMatrix", 
-function () {
-if (this.mat == null) this.setMatrix ();
-return this.mat;
-});
-Clazz.defineMethod (c$, "setMatrix", 
- function () {
-this.mat =  new JU.M3 ();
-this.mat.m00 = this.q0 * this.q0 + this.q1 * this.q1 - this.q2 * this.q2 - this.q3 * this.q3;
-this.mat.m01 = 2 * this.q1 * this.q2 - 2 * this.q0 * this.q3;
-this.mat.m02 = 2 * this.q1 * this.q3 + 2 * this.q0 * this.q2;
-this.mat.m10 = 2 * this.q1 * this.q2 + 2 * this.q0 * this.q3;
-this.mat.m11 = this.q0 * this.q0 - this.q1 * this.q1 + this.q2 * this.q2 - this.q3 * this.q3;
-this.mat.m12 = 2 * this.q2 * this.q3 - 2 * this.q0 * this.q1;
-this.mat.m20 = 2 * this.q1 * this.q3 - 2 * this.q0 * this.q2;
-this.mat.m21 = 2 * this.q2 * this.q3 + 2 * this.q0 * this.q1;
-this.mat.m22 = this.q0 * this.q0 - this.q1 * this.q1 - this.q2 * this.q2 + this.q3 * this.q3;
-});
-Clazz.defineMethod (c$, "add", 
-function (x) {
-return JU.Quat.newVA (this.getNormal (), this.getTheta () + x);
-}, "~N");
-Clazz.defineMethod (c$, "mul", 
-function (x) {
-return (x == 1 ? JU.Quat.new4 (this.q1, this.q2, this.q3, this.q0) : JU.Quat.newVA (this.getNormal (), this.getTheta () * x));
-}, "~N");
-Clazz.defineMethod (c$, "mulQ", 
-function (p) {
-return JU.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);
-}, "JU.Quat");
-Clazz.defineMethod (c$, "div", 
-function (p) {
-return this.mulQ (p.inv ());
-}, "JU.Quat");
-Clazz.defineMethod (c$, "divLeft", 
-function (p) {
-return this.inv ().mulQ (p);
-}, "JU.Quat");
-Clazz.defineMethod (c$, "dot", 
-function (q) {
-return this.q0 * q.q0 + this.q1 * q.q1 + this.q2 * q.q2 + this.q3 * q.q3;
-}, "JU.Quat");
-Clazz.defineMethod (c$, "inv", 
-function () {
-return JU.Quat.new4 (-this.q1, -this.q2, -this.q3, this.q0);
-});
-Clazz.defineMethod (c$, "negate", 
-function () {
-return JU.Quat.new4 (-this.q1, -this.q2, -this.q3, -this.q0);
-});
-Clazz.defineMethod (c$, "getFixFactor", 
- function () {
-return (this.q0 < 0 || this.q0 == 0 && (this.q1 < 0 || this.q1 == 0 && (this.q2 < 0 || this.q2 == 0 && this.q3 < 0)) ? -1 : 1);
-});
-Clazz.defineMethod (c$, "getVector", 
-function (i) {
-return this.getVectorScaled (i, 1);
-}, "~N");
-Clazz.defineMethod (c$, "getVectorScaled", 
-function (i, scale) {
-if (i == -1) {
-scale *= this.getFixFactor ();
-return JU.V3.new3 (this.q1 * scale, this.q2 * scale, this.q3 * scale);
-}if (this.mat == null) this.setMatrix ();
-var v =  new JU.V3 ();
-this.mat.getColumnV (i, v);
-if (scale != 1) v.scale (scale);
-return v;
-}, "~N,~N");
-Clazz.defineMethod (c$, "getNormal", 
-function () {
-var v = JU.Quat.getRawNormal (this);
-v.scale (this.getFixFactor ());
-return v;
-});
-c$.getRawNormal = Clazz.defineMethod (c$, "getRawNormal", 
- function (q) {
-var v = JU.V3.new3 (q.q1, q.q2, q.q3);
-if (v.length () == 0) return JU.V3.new3 (0, 0, 1);
-v.normalize ();
-return v;
-}, "JU.Quat");
-Clazz.defineMethod (c$, "getTheta", 
-function () {
-return (Math.acos (Math.abs (this.q0)) * 2 * 180 / 3.141592653589793);
-});
-Clazz.defineMethod (c$, "getThetaRadians", 
-function () {
-return (Math.acos (Math.abs (this.q0)) * 2);
-});
-Clazz.defineMethod (c$, "getNormalDirected", 
-function (v0) {
-var v = this.getNormal ();
-if (v.x * v0.x + v.y * v0.y + v.z * v0.z < 0) {
-v.scale (-1);
-}return v;
-}, "JU.V3");
-Clazz.defineMethod (c$, "get3dProjection", 
-function (v3d) {
-v3d.set (this.q1, this.q2, this.q3);
-return v3d;
-}, "JU.V3");
-Clazz.defineMethod (c$, "getThetaDirected", 
-function (axisAngle) {
-var theta = this.getTheta ();
-var v = this.getNormal ();
-if (axisAngle.x * this.q1 + axisAngle.y * this.q2 + axisAngle.z * this.q3 < 0) {
-v.scale (-1);
-theta = -theta;
-}axisAngle.set4 (v.x, v.y, v.z, theta);
-return axisAngle;
-}, "JU.P4");
-Clazz.defineMethod (c$, "getThetaDirectedV", 
-function (vector) {
-var theta = this.getTheta ();
-var v = this.getNormal ();
-if (vector.x * this.q1 + vector.y * this.q2 + vector.z * this.q3 < 0) {
-v.scale (-1);
-theta = -theta;
-}return theta;
-}, "JU.V3");
-Clazz.defineMethod (c$, "toPoint4f", 
-function () {
-return JU.P4.new4 (this.q1, this.q2, this.q3, this.q0);
-});
-Clazz.defineMethod (c$, "toAxisAngle4f", 
-function () {
-var theta = 2 * Math.acos (Math.abs (this.q0));
-var sinTheta2 = Math.sin (theta / 2);
-var v = this.getNormal ();
-if (sinTheta2 < 0) {
-v.scale (-1);
-theta = 3.141592653589793 - theta;
-}return JU.A4.newVA (v, theta);
-});
-Clazz.defineMethod (c$, "transform2", 
-function (pt, ptNew) {
-if (this.mat == null) this.setMatrix ();
-this.mat.rotate2 (pt, ptNew);
-return ptNew;
-}, "JU.T3,JU.T3");
-Clazz.defineMethod (c$, "leftDifference", 
-function (q2) {
-var q2adjusted = (this.dot (q2) < 0 ? q2.negate () : q2);
-return this.inv ().mulQ (q2adjusted);
-}, "JU.Quat");
-Clazz.defineMethod (c$, "rightDifference", 
-function (q2) {
-var q2adjusted = (this.dot (q2) < 0 ? q2.negate () : q2);
-return this.mulQ (q2adjusted.inv ());
-}, "JU.Quat");
-Clazz.overrideMethod (c$, "toString", 
-function () {
-return "{" + this.q1 + " " + this.q2 + " " + this.q3 + " " + this.q0 + "}";
-});
-c$.div = Clazz.defineMethod (c$, "div", 
-function (data1, data2, nMax, isRelative) {
-var n;
-if (data1 == null || data2 == null || (n = Math.min (data1.length, data2.length)) == 0) return null;
-if (nMax > 0 && n > nMax) n = nMax;
-var dqs =  new Array (n);
-for (var i = 0; i < n; i++) {
-if (data1[i] == null || data2[i] == null) return null;
-dqs[i] = (isRelative ? data1[i].divLeft (data2[i]) : data1[i].div (data2[i]));
-}
-return dqs;
-}, "~A,~A,~N,~B");
-c$.sphereMean = Clazz.defineMethod (c$, "sphereMean", 
-function (data, retStddev, criterion) {
-if (data == null || data.length == 0) return  new JU.Quat ();
-if (retStddev == null) retStddev =  Clazz.newFloatArray (1, 0);
-if (data.length == 1) {
-retStddev[0] = 0;
-return JU.Quat.newQ (data[0]);
-}var diff = 3.4028235E38;
-var lastStddev = 3.4028235E38;
-var qMean = JU.Quat.simpleAverage (data);
-var maxIter = 100;
-var iter = 0;
-while (diff > criterion && lastStddev != 0 && iter < maxIter) {
-qMean = JU.Quat.newMean (data, qMean);
-retStddev[0] = JU.Quat.stdDev (data, qMean);
-diff = Math.abs (retStddev[0] - lastStddev);
-lastStddev = retStddev[0];
-}
-return qMean;
-}, "~A,~A,~N");
-c$.simpleAverage = Clazz.defineMethod (c$, "simpleAverage", 
- function (ndata) {
-var mean = JU.V3.new3 (0, 0, 1);
-var v = ndata[0].getNormal ();
-mean.add (v);
-for (var i = ndata.length; --i >= 0; ) mean.add (ndata[i].getNormalDirected (mean));
-
-mean.sub (v);
-mean.normalize ();
-var f = 0;
-for (var i = ndata.length; --i >= 0; ) f += Math.abs (ndata[i].get3dProjection (v).dot (mean));
-
-if (f != 0) mean.scale (f / ndata.length);
-f = Math.sqrt (1 - mean.lengthSquared ());
-if (Float.isNaN (f)) f = 0;
-return JU.Quat.newP4 (JU.P4.new4 (mean.x, mean.y, mean.z, f));
-}, "~A");
-c$.newMean = Clazz.defineMethod (c$, "newMean", 
- function (data, mean) {
-var sum =  new JU.V3 ();
-var v;
-var q;
-var dq;
-for (var i = data.length; --i >= 0; ) {
-q = data[i];
-dq = q.div (mean);
-v = dq.getNormal ();
-v.scale (dq.getTheta ());
-sum.add (v);
-}
-sum.scale (1 / data.length);
-var dqMean = JU.Quat.newVA (sum, sum.length ());
-return dqMean.mulQ (mean);
-}, "~A,JU.Quat");
-c$.stdDev = Clazz.defineMethod (c$, "stdDev", 
- function (data, mean) {
-var sum2 = 0;
-var n = data.length;
-for (var i = n; --i >= 0; ) {
-var theta = data[i].div (mean).getTheta ();
-sum2 += theta * theta;
-}
-return Math.sqrt (sum2 / n);
-}, "~A,JU.Quat");
-Clazz.defineMethod (c$, "getEulerZYZ", 
-function () {
-var rA;
-var rB;
-var rG;
-if (this.q1 == 0 && this.q2 == 0) {
-var theta = this.getTheta ();
-return  Clazz.newFloatArray (-1, [this.q3 < 0 ? -theta : theta, 0, 0]);
-}rA = Math.atan2 (2 * (this.q2 * this.q3 + this.q0 * this.q1), 2 * (-this.q1 * this.q3 + this.q0 * this.q2));
-rB = Math.acos (this.q3 * this.q3 - this.q2 * this.q2 - this.q1 * this.q1 + this.q0 * this.q0);
-rG = Math.atan2 (2 * (this.q2 * this.q3 - this.q0 * this.q1), 2 * (this.q0 * this.q2 + this.q1 * this.q3));
-return  Clazz.newFloatArray (-1, [(rA / 0.017453292519943295), (rB / 0.017453292519943295), (rG / 0.017453292519943295)]);
-});
-Clazz.defineMethod (c$, "getEulerZXZ", 
-function () {
-var rA;
-var rB;
-var rG;
-if (this.q1 == 0 && this.q2 == 0) {
-var theta = this.getTheta ();
-return  Clazz.newFloatArray (-1, [this.q3 < 0 ? -theta : theta, 0, 0]);
-}rA = Math.atan2 (2 * (this.q1 * this.q3 - this.q0 * this.q2), 2 * (this.q0 * this.q1 + this.q2 * this.q3));
-rB = Math.acos (this.q3 * this.q3 - this.q2 * this.q2 - this.q1 * this.q1 + this.q0 * this.q0);
-rG = Math.atan2 (2 * (this.q1 * this.q3 + this.q0 * this.q2), 2 * (-this.q2 * this.q3 + this.q0 * this.q1));
-return  Clazz.newFloatArray (-1, [(rA / 0.017453292519943295), (rB / 0.017453292519943295), (rG / 0.017453292519943295)]);
-});
-c$.qZero = c$.prototype.qZero =  new JU.P4 ();
-Clazz.defineStatics (c$,
-"RAD_PER_DEG", 0.017453292519943295);
-});
+Clazz.declarePackage ("JU");
+Clazz.load (["JU.P4"], "JU.Quat", ["java.lang.Float", "JU.A4", "$.M3", "$.V3"], function () {
+c$ = Clazz.decorateAsClass (function () {
+this.q0 = 0;
+this.q1 = 0;
+this.q2 = 0;
+this.q3 = 0;
+this.mat = null;
+Clazz.instantialize (this, arguments);
+}, JU, "Quat");
+Clazz.makeConstructor (c$, 
+function () {
+this.q0 = 1;
+});
+c$.newQ = Clazz.defineMethod (c$, "newQ", 
+function (q) {
+var q1 =  new JU.Quat ();
+q1.set (q);
+return q1;
+}, "JU.Quat");
+c$.newVA = Clazz.defineMethod (c$, "newVA", 
+function (v, theta) {
+var q =  new JU.Quat ();
+q.setTA (v, theta);
+return q;
+}, "JU.T3,~N");
+c$.newM = Clazz.defineMethod (c$, "newM", 
+function (mat) {
+var q =  new JU.Quat ();
+q.setM (JU.M3.newM3 (mat));
+return q;
+}, "JU.M3");
+c$.newAA = Clazz.defineMethod (c$, "newAA", 
+function (a) {
+var q =  new JU.Quat ();
+q.setAA (a);
+return q;
+}, "JU.A4");
+c$.newP4 = Clazz.defineMethod (c$, "newP4", 
+function (pt) {
+var q =  new JU.Quat ();
+q.setP4 (pt);
+return q;
+}, "JU.P4");
+c$.new4 = Clazz.defineMethod (c$, "new4", 
+function (q1, q2, q3, q0) {
+var q =  new JU.Quat ();
+if (q0 < -1) {
+q.q0 = -1;
+return q;
+}if (q0 > 1) {
+q.q0 = 1;
+return q;
+}q.q0 = q0;
+q.q1 = q1;
+q.q2 = q2;
+q.q3 = q3;
+return q;
+}, "~N,~N,~N,~N");
+Clazz.defineMethod (c$, "set", 
+function (q) {
+this.q0 = q.q0;
+this.q1 = q.q1;
+this.q2 = q.q2;
+this.q3 = q.q3;
+}, "JU.Quat");
+Clazz.defineMethod (c$, "setP4", 
+ function (pt) {
+var factor = (pt == null ? 0 : pt.distance4 (JU.Quat.qZero));
+if (factor == 0) {
+this.q0 = 1;
+return;
+}this.q0 = pt.w / factor;
+this.q1 = pt.x / factor;
+this.q2 = pt.y / factor;
+this.q3 = pt.z / factor;
+}, "JU.P4");
+Clazz.defineMethod (c$, "setTA", 
+function (pt, theta) {
+if (pt.x == 0 && pt.y == 0 && pt.z == 0) {
+this.q0 = 1;
+return;
+}var fact = (Math.sin (theta / 2 * 0.017453292519943295) / Math.sqrt (pt.x * pt.x + pt.y * pt.y + pt.z * pt.z));
+this.q0 = (Math.cos (theta / 2 * 0.017453292519943295));
+this.q1 = (pt.x * fact);
+this.q2 = (pt.y * fact);
+this.q3 = (pt.z * fact);
+}, "JU.T3,~N");
+Clazz.defineMethod (c$, "setAA", 
+function (a) {
+var aa = JU.A4.newAA (a);
+if (aa.angle == 0) aa.y = 1;
+this.setM ( new JU.M3 ().setAA (aa));
+}, "JU.A4");
+Clazz.defineMethod (c$, "setM", 
+ function (mat) {
+this.mat = mat;
+var trace = mat.m00 + mat.m11 + mat.m22;
+var temp;
+var w;
+var x;
+var y;
+var z;
+if (trace >= 0.5) {
+w = Math.sqrt (1.0 + trace);
+x = (mat.m21 - mat.m12) / w;
+y = (mat.m02 - mat.m20) / w;
+z = (mat.m10 - mat.m01) / w;
+} else if ((temp = mat.m00 + mat.m00 - trace) >= 0.5) {
+x = Math.sqrt (1.0 + temp);
+w = (mat.m21 - mat.m12) / x;
+y = (mat.m10 + mat.m01) / x;
+z = (mat.m20 + mat.m02) / x;
+} else if ((temp = mat.m11 + mat.m11 - trace) >= 0.5 || mat.m11 > mat.m22) {
+y = Math.sqrt (1.0 + temp);
+w = (mat.m02 - mat.m20) / y;
+x = (mat.m10 + mat.m01) / y;
+z = (mat.m21 + mat.m12) / y;
+} else {
+z = Math.sqrt (1.0 + mat.m22 + mat.m22 - trace);
+w = (mat.m10 - mat.m01) / z;
+x = (mat.m20 + mat.m02) / z;
+y = (mat.m21 + mat.m12) / z;
+}this.q0 = (w * 0.5);
+this.q1 = (x * 0.5);
+this.q2 = (y * 0.5);
+this.q3 = (z * 0.5);
+}, "JU.M3");
+Clazz.defineMethod (c$, "setRef", 
+function (qref) {
+if (qref == null) {
+this.mul (this.getFixFactor ());
+return;
+}if (this.dot (qref) >= 0) return;
+this.q0 *= -1;
+this.q1 *= -1;
+this.q2 *= -1;
+this.q3 *= -1;
+}, "JU.Quat");
+c$.getQuaternionFrame = Clazz.defineMethod (c$, "getQuaternionFrame", 
+function (center, x, xy) {
+var vA = JU.V3.newV (x);
+var vB = JU.V3.newV (xy);
+if (center != null) {
+vA.sub (center);
+vB.sub (center);
+}return JU.Quat.getQuaternionFrameV (vA, vB, null, false);
+}, "JU.P3,JU.T3,JU.T3");
+c$.getQuaternionFrameV = Clazz.defineMethod (c$, "getQuaternionFrameV", 
+function (vA, vB, vC, yBased) {
+if (vC == null) {
+vC =  new JU.V3 ();
+vC.cross (vA, vB);
+if (yBased) vA.cross (vB, vC);
+}var vBprime =  new JU.V3 ();
+vBprime.cross (vC, vA);
+vA.normalize ();
+vBprime.normalize ();
+vC.normalize ();
+var mat =  new JU.M3 ();
+mat.setColumnV (0, vA);
+mat.setColumnV (1, vBprime);
+mat.setColumnV (2, vC);
+var q = JU.Quat.newM (mat);
+return q;
+}, "JU.V3,JU.V3,JU.V3,~B");
+Clazz.defineMethod (c$, "getMatrix", 
+function () {
+if (this.mat == null) this.setMatrix ();
+return this.mat;
+});
+Clazz.defineMethod (c$, "setMatrix", 
+ function () {
+this.mat =  new JU.M3 ();
+this.mat.m00 = this.q0 * this.q0 + this.q1 * this.q1 - this.q2 * this.q2 - this.q3 * this.q3;
+this.mat.m01 = 2 * this.q1 * this.q2 - 2 * this.q0 * this.q3;
+this.mat.m02 = 2 * this.q1 * this.q3 + 2 * this.q0 * this.q2;
+this.mat.m10 = 2 * this.q1 * this.q2 + 2 * this.q0 * this.q3;
+this.mat.m11 = this.q0 * this.q0 - this.q1 * this.q1 + this.q2 * this.q2 - this.q3 * this.q3;
+this.mat.m12 = 2 * this.q2 * this.q3 - 2 * this.q0 * this.q1;
+this.mat.m20 = 2 * this.q1 * this.q3 - 2 * this.q0 * this.q2;
+this.mat.m21 = 2 * this.q2 * this.q3 + 2 * this.q0 * this.q1;
+this.mat.m22 = this.q0 * this.q0 - this.q1 * this.q1 - this.q2 * this.q2 + this.q3 * this.q3;
+});
+Clazz.defineMethod (c$, "add", 
+function (x) {
+return JU.Quat.newVA (this.getNormal (), this.getTheta () + x);
+}, "~N");
+Clazz.defineMethod (c$, "mul", 
+function (x) {
+return (x == 1 ? JU.Quat.new4 (this.q1, this.q2, this.q3, this.q0) : JU.Quat.newVA (this.getNormal (), this.getTheta () * x));
+}, "~N");
+Clazz.defineMethod (c$, "mulQ", 
+function (p) {
+return JU.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);
+}, "JU.Quat");
+Clazz.defineMethod (c$, "div", 
+function (p) {
+return this.mulQ (p.inv ());
+}, "JU.Quat");
+Clazz.defineMethod (c$, "divLeft", 
+function (p) {
+return this.inv ().mulQ (p);
+}, "JU.Quat");
+Clazz.defineMethod (c$, "dot", 
+function (q) {
+return this.q0 * q.q0 + this.q1 * q.q1 + this.q2 * q.q2 + this.q3 * q.q3;
+}, "JU.Quat");
+Clazz.defineMethod (c$, "inv", 
+function () {
+return JU.Quat.new4 (-this.q1, -this.q2, -this.q3, this.q0);
+});
+Clazz.defineMethod (c$, "negate", 
+function () {
+return JU.Quat.new4 (-this.q1, -this.q2, -this.q3, -this.q0);
+});
+Clazz.defineMethod (c$, "getFixFactor", 
+ function () {
+return (this.q0 < 0 || this.q0 == 0 && (this.q1 < 0 || this.q1 == 0 && (this.q2 < 0 || this.q2 == 0 && this.q3 < 0)) ? -1 : 1);
+});
+Clazz.defineMethod (c$, "getVector", 
+function (i) {
+return this.getVectorScaled (i, 1);
+}, "~N");
+Clazz.defineMethod (c$, "getVectorScaled", 
+function (i, scale) {
+if (i == -1) {
+scale *= this.getFixFactor ();
+return JU.V3.new3 (this.q1 * scale, this.q2 * scale, this.q3 * scale);
+}if (this.mat == null) this.setMatrix ();
+var v =  new JU.V3 ();
+this.mat.getColumnV (i, v);
+if (scale != 1) v.scale (scale);
+return v;
+}, "~N,~N");
+Clazz.defineMethod (c$, "getNormal", 
+function () {
+var v = JU.Quat.getRawNormal (this);
+v.scale (this.getFixFactor ());
+return v;
+});
+c$.getRawNormal = Clazz.defineMethod (c$, "getRawNormal", 
+ function (q) {
+var v = JU.V3.new3 (q.q1, q.q2, q.q3);
+if (v.length () == 0) return JU.V3.new3 (0, 0, 1);
+v.normalize ();
+return v;
+}, "JU.Quat");
+Clazz.defineMethod (c$, "getTheta", 
+function () {
+return (Math.acos (Math.abs (this.q0)) * 2 * 180 / 3.141592653589793);
+});
+Clazz.defineMethod (c$, "getThetaRadians", 
+function () {
+return (Math.acos (Math.abs (this.q0)) * 2);
+});
+Clazz.defineMethod (c$, "getNormalDirected", 
+function (v0) {
+var v = this.getNormal ();
+if (v.x * v0.x + v.y * v0.y + v.z * v0.z < 0) {
+v.scale (-1);
+}return v;
+}, "JU.V3");
+Clazz.defineMethod (c$, "get3dProjection", 
+function (v3d) {
+v3d.set (this.q1, this.q2, this.q3);
+return v3d;
+}, "JU.V3");
+Clazz.defineMethod (c$, "getThetaDirected", 
+function (axisAngle) {
+var theta = this.getTheta ();
+var v = this.getNormal ();
+if (axisAngle.x * this.q1 + axisAngle.y * this.q2 + axisAngle.z * this.q3 < 0) {
+v.scale (-1);
+theta = -theta;
+}axisAngle.set4 (v.x, v.y, v.z, theta);
+return axisAngle;
+}, "JU.P4");
+Clazz.defineMethod (c$, "getThetaDirectedV", 
+function (vector) {
+var theta = this.getTheta ();
+var v = this.getNormal ();
+if (vector.x * this.q1 + vector.y * this.q2 + vector.z * this.q3 < 0) {
+v.scale (-1);
+theta = -theta;
+}return theta;
+}, "JU.V3");
+Clazz.defineMethod (c$, "toPoint4f", 
+function () {
+return JU.P4.new4 (this.q1, this.q2, this.q3, this.q0);
+});
+Clazz.defineMethod (c$, "toAxisAngle4f", 
+function () {
+var theta = 2 * Math.acos (Math.abs (this.q0));
+var sinTheta2 = Math.sin (theta / 2);
+var v = this.getNormal ();
+if (sinTheta2 < 0) {
+v.scale (-1);
+theta = 3.141592653589793 - theta;
+}return JU.A4.newVA (v, theta);
+});
+Clazz.defineMethod (c$, "transform2", 
+function (pt, ptNew) {
+if (this.mat == null) this.setMatrix ();
+this.mat.rotate2 (pt, ptNew);
+return ptNew;
+}, "JU.T3,JU.T3");
+Clazz.defineMethod (c$, "leftDifference", 
+function (q2) {
+var q2adjusted = (this.dot (q2) < 0 ? q2.negate () : q2);
+return this.inv ().mulQ (q2adjusted);
+}, "JU.Quat");
+Clazz.defineMethod (c$, "rightDifference", 
+function (q2) {
+var q2adjusted = (this.dot (q2) < 0 ? q2.negate () : q2);
+return this.mulQ (q2adjusted.inv ());
+}, "JU.Quat");
+Clazz.overrideMethod (c$, "toString", 
+function () {
+return "{" + this.q1 + " " + this.q2 + " " + this.q3 + " " + this.q0 + "}";
+});
+c$.div = Clazz.defineMethod (c$, "div", 
+function (data1, data2, nMax, isRelative) {
+var n;
+if (data1 == null || data2 == null || (n = Math.min (data1.length, data2.length)) == 0) return null;
+if (nMax > 0 && n > nMax) n = nMax;
+var dqs =  new Array (n);
+for (var i = 0; i < n; i++) {
+if (data1[i] == null || data2[i] == null) return null;
+dqs[i] = (isRelative ? data1[i].divLeft (data2[i]) : data1[i].div (data2[i]));
+}
+return dqs;
+}, "~A,~A,~N,~B");
+c$.sphereMean = Clazz.defineMethod (c$, "sphereMean", 
+function (data, retStddev, criterion) {
+if (data == null || data.length == 0) return  new JU.Quat ();
+if (retStddev == null) retStddev =  Clazz.newFloatArray (1, 0);
+if (data.length == 1) {
+retStddev[0] = 0;
+return JU.Quat.newQ (data[0]);
+}var diff = 3.4028235E38;
+var lastStddev = 3.4028235E38;
+var qMean = JU.Quat.simpleAverage (data);
+var maxIter = 100;
+var iter = 0;
+while (diff > criterion && lastStddev != 0 && iter < maxIter) {
+qMean = JU.Quat.newMean (data, qMean);
+retStddev[0] = JU.Quat.stdDev (data, qMean);
+diff = Math.abs (retStddev[0] - lastStddev);
+lastStddev = retStddev[0];
+}
+return qMean;
+}, "~A,~A,~N");
+c$.simpleAverage = Clazz.defineMethod (c$, "simpleAverage", 
+ function (ndata) {
+var mean = JU.V3.new3 (0, 0, 1);
+var v = ndata[0].getNormal ();
+mean.add (v);
+for (var i = ndata.length; --i >= 0; ) mean.add (ndata[i].getNormalDirected (mean));
+
+mean.sub (v);
+mean.normalize ();
+var f = 0;
+for (var i = ndata.length; --i >= 0; ) f += Math.abs (ndata[i].get3dProjection (v).dot (mean));
+
+if (f != 0) mean.scale (f / ndata.length);
+f = Math.sqrt (1 - mean.lengthSquared ());
+if (Float.isNaN (f)) f = 0;
+return JU.Quat.newP4 (JU.P4.new4 (mean.x, mean.y, mean.z, f));
+}, "~A");
+c$.newMean = Clazz.defineMethod (c$, "newMean", 
+ function (data, mean) {
+var sum =  new JU.V3 ();
+var v;
+var q;
+var dq;
+for (var i = data.length; --i >= 0; ) {
+q = data[i];
+dq = q.div (mean);
+v = dq.getNormal ();
+v.scale (dq.getTheta ());
+sum.add (v);
+}
+sum.scale (1 / data.length);
+var dqMean = JU.Quat.newVA (sum, sum.length ());
+return dqMean.mulQ (mean);
+}, "~A,JU.Quat");
+c$.stdDev = Clazz.defineMethod (c$, "stdDev", 
+ function (data, mean) {
+var sum2 = 0;
+var n = data.length;
+for (var i = n; --i >= 0; ) {
+var theta = data[i].div (mean).getTheta ();
+sum2 += theta * theta;
+}
+return Math.sqrt (sum2 / n);
+}, "~A,JU.Quat");
+Clazz.defineMethod (c$, "getEulerZYZ", 
+function () {
+var rA;
+var rB;
+var rG;
+if (this.q1 == 0 && this.q2 == 0) {
+var theta = this.getTheta ();
+return  Clazz.newFloatArray (-1, [this.q3 < 0 ? -theta : theta, 0, 0]);
+}rA = Math.atan2 (2 * (this.q2 * this.q3 + this.q0 * this.q1), 2 * (-this.q1 * this.q3 + this.q0 * this.q2));
+rB = Math.acos (this.q3 * this.q3 - this.q2 * this.q2 - this.q1 * this.q1 + this.q0 * this.q0);
+rG = Math.atan2 (2 * (this.q2 * this.q3 - this.q0 * this.q1), 2 * (this.q0 * this.q2 + this.q1 * this.q3));
+return  Clazz.newFloatArray (-1, [(rA / 0.017453292519943295), (rB / 0.017453292519943295), (rG / 0.017453292519943295)]);
+});
+Clazz.defineMethod (c$, "getEulerZXZ", 
+function () {
+var rA;
+var rB;
+var rG;
+if (this.q1 == 0 && this.q2 == 0) {
+var theta = this.getTheta ();
+return  Clazz.newFloatArray (-1, [this.q3 < 0 ? -theta : theta, 0, 0]);
+}rA = Math.atan2 (2 * (this.q1 * this.q3 - this.q0 * this.q2), 2 * (this.q0 * this.q1 + this.q2 * this.q3));
+rB = Math.acos (this.q3 * this.q3 - this.q2 * this.q2 - this.q1 * this.q1 + this.q0 * this.q0);
+rG = Math.atan2 (2 * (this.q1 * this.q3 + this.q0 * this.q2), 2 * (-this.q2 * this.q3 + this.q0 * this.q1));
+return  Clazz.newFloatArray (-1, [(rA / 0.017453292519943295), (rB / 0.017453292519943295), (rG / 0.017453292519943295)]);
+});
+c$.qZero = c$.prototype.qZero =  new JU.P4 ();
+Clazz.defineStatics (c$,
+"RAD_PER_DEG", 0.017453292519943295);
+});