DualQuaternion class added
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2 changed files with 304 additions and 1 deletions
273
fr/alnotz/DualQuaternion.java
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273
fr/alnotz/DualQuaternion.java
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package fr.alnotz;
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public class DualQuaternion implements IsDualQuaternion {
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private double rs;
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private double ri;
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private double rj;
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private double rk;
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private double ds;
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private double di;
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private double dj;
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private double dk;
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public DualQuaternion(){
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this.rs = 0;
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this.ri = 0;
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this.rj = 0;
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this.rk = 0;
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this.ds = 0;
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this.di = 0;
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this.dj = 0;
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this.dk = 0;
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}
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public DualQuaternion(Quaternion quaternion0, Quaternion quaternion1){
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this.rs = quaternion0.getS();
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this.ri = quaternion0.getI();
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this.rj = quaternion0.getJ();
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this.rk = quaternion0.getK();
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this.ds = quaternion1.getS();
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this.di = quaternion1.getI();
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this.dj = quaternion1.getJ();
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this.dk = quaternion1.getK();
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}
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public DualQuaternion(IsDual dual0, IsDual dual1, IsDual dual2, IsDual dual3){
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this.rs = dual0.getR();
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this.ri = dual1.getR();
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this.rj = dual2.getR();
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this.rk = dual3.getR();
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this.ds = dual0.getD();
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this.di = dual1.getD();
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this.dj = dual2.getD();
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this.dk = dual3.getD();
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}
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public DualQuaternion(double rs, double ri, double rj, double rk, double ds, double di, double dj, double dk){
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this.rs = rs;
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this.ri = ri;
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this.rj = rj;
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this.rk = rk;
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this.ds = ds;
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this.di = di;
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this.dj = dj;
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this.dk = dk;
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}
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@Override
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public IsQuaternion getR() {
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return new Quaternion(this.rs, this.ri, this.rj, this.rk);
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}
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@Override
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public IsQuaternion getD() {
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return new Quaternion(this.ds, this.di, this.dj, this.dk);
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}
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@Override
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public IsDual getS() {
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return new Dual(this.rs, this.ds);
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}
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@Override
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public IsDual getI() {
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return new Dual(this.ri, this.di);
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}
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@Override
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public IsDual getJ() {
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return new Dual(this.rj, this.dj);
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}
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@Override
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public IsDual getK() {
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return new Dual(this.rk, this.dk);
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}
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@Override
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public void setR(IsQuaternion quaternion) {
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this.rs = quaternion.getS();
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this.ri = quaternion.getI();
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this.rj = quaternion.getJ();
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this.rk = quaternion.getK();
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}
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@Override
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public void setD(IsQuaternion quaternion) {
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this.ds = quaternion.getS();
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this.di = quaternion.getI();
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this.dj = quaternion.getJ();
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this.dk = quaternion.getK();
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}
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@Override
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public void setS(IsDual dual) {
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this.rs = dual.getR();
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this.ds = dual.getD();
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}
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@Override
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public void setI(IsDual dual) {
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this.ri = dual.getR();
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this.di = dual.getD();
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}
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@Override
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public void setJ(IsDual dual) {
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this.rj = dual.getR();
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this.dj = dual.getD();
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}
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@Override
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public void setK(IsDual dual) {
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this.rk = dual.getR();
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this.dk = dual.getD();
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}
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@Override
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public double getRS() {
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return rs;
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}
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@Override
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public void setRS(double rs) {
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this.rs = rs;
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}
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@Override
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public double getRI() {
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return ri;
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}
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@Override
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public void setRI(double ri) {
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this.ri = ri;
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}
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@Override
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public double getRJ() {
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return rj;
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}
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@Override
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public void setRJ(double rj) {
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this.rj = rj;
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}
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@Override
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public double getRK() {
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return rk;
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}
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@Override
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public void setRK(double rk) {
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this.rk = rk;
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}
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@Override
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public double getDS() {
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return ds;
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}
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@Override
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public void setDS(double ds) {
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this.ds = ds;
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}
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@Override
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public double getDI() {
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return di;
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}
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@Override
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public void setDI(double di) {
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this.di = di;
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}
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@Override
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public double getDJ() {
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return dj;
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}
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@Override
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public void setDJ(double dj) {
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this.dj = dj;
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}
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@Override
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public double getDK() {
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return dk;
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}
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@Override
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public void setDK(double dk) {
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this.dk = dk;
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}
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@Override
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public IsDualQuaternion plus(IsDualQuaternion dualQuaternion) {
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return new DualQuaternion(this.rs + dualQuaternion.getRS(),
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this.ri + dualQuaternion.getRI(),
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this.rj + dualQuaternion.getRJ(),
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this.rk + dualQuaternion.getRK(),
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this.ds + dualQuaternion.getDS(),
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this.dk + dualQuaternion.getDI(),
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this.dj + dualQuaternion.getDJ(),
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this.dk + dualQuaternion.getDK()) {
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};
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}
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@Override
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public IsDualQuaternion times(IsDualQuaternion dualQuaternion) {
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/*
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* (a0 + b0i + c0j + d0k)(a1 + b1i + c1j + d1k)
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* (a0a1 - b0b1 - c0c1 - d0d1) +
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* (a0b1 + b0a1 + c0d1 - d0c1)i +
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* (a0c1 - b0d1 + c0a1 + d0b1)j +
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* (a0d1 + b0c1 - c0b1 + d0a1)k
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* a0b1 = R(a0)R(b1) + R(a0)D(b1)epsilon + D(a0)R(b1)epsilon
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*/
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double newRS = this.rs * dualQuaternion.getRS() -
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this.ri * dualQuaternion.getRI() -
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this.rj * dualQuaternion.getRJ() -
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this.rk * dualQuaternion.getRK();
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double newRI = this.rs * dualQuaternion.getRI() +
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this.ri * dualQuaternion.getRK() +
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this.rj * dualQuaternion.getRS() -
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this.rk * dualQuaternion.getRJ();
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double newRJ = this.rs * dualQuaternion.getRJ() -
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this.ri * dualQuaternion.getRK() +
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this.rj * dualQuaternion.getRS() +
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this.rk * dualQuaternion.getRI();
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double newRK = this.rs * dualQuaternion.getRK() +
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this.ri * dualQuaternion.getRJ() -
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this.rj * dualQuaternion.getRI() +
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this.rk * dualQuaternion.getRS();
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double newDS = this.rs * dualQuaternion.getDS() + this.ds * dualQuaternion.getRS() -
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this.ri * dualQuaternion.getDI() - this.di * dualQuaternion.getRI() -
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this.rj * dualQuaternion.getDJ() - this.dj * dualQuaternion.getRJ() -
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this.rk * dualQuaternion.getDK() - this.dk * dualQuaternion.getRK();
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double newDI = this.rs * dualQuaternion.getDI() + this.ds * dualQuaternion.getRI() +
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this.ri * dualQuaternion.getDK() + this.di * dualQuaternion.getRK() +
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this.rj * dualQuaternion.getDS() + this.dj * dualQuaternion.getRS() -
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this.rk * dualQuaternion.getDJ() - this.dk * dualQuaternion.getRJ();
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double newDJ = this.rs * dualQuaternion.getDJ() + this.ds * dualQuaternion.getRJ() -
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this.ri * dualQuaternion.getDK() - this.di * dualQuaternion.getRK() +
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this.rj * dualQuaternion.getDS() + this.dj * dualQuaternion.getRS() +
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this.rk * dualQuaternion.getDI() + this.dk * dualQuaternion.getRI();
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double newDK = this.rs * dualQuaternion.getDK() + this.ds * dualQuaternion.getRK() +
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this.ri * dualQuaternion.getDJ() + this.di * dualQuaternion.getRJ() -
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this.rj * dualQuaternion.getDI() - this.dj * dualQuaternion.getRI() +
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this.rk * dualQuaternion.getDS() + this.dk * dualQuaternion.getRS();
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IsDualQuaternion newDQ = new DualQuaternion(newRS, newRI, newRJ, newRK,
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newDS, newDI, newDJ, newDK);
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return newDQ;
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}
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@Override
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public boolean equals(IsDualQuaternion dualQuaternion) {
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return this.rs == dualQuaternion.getRS() &&
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this.ri == dualQuaternion.getRI() &&
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this.rj == dualQuaternion.getRJ() &&
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this.rk == dualQuaternion.getRK() &&
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this.ds == dualQuaternion.getDS() &&
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this.di == dualQuaternion.getDI() &&
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this.dj == dualQuaternion.getDJ() &&
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this.dk == dualQuaternion.getDK();
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}
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}
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@ -1,5 +1,35 @@
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package fr.alnotz;
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public interface IsDualQuaternion {
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/*…*/
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IsQuaternion getR();
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IsQuaternion getD();
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IsDual getS();
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IsDual getI();
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IsDual getJ();
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IsDual getK();
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double getRS();
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double getRI();
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double getRJ();
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double getRK();
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double getDS();
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double getDI();
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double getDJ();
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double getDK();
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void setR(IsQuaternion quaternion);
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void setD(IsQuaternion quaternion);
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void setS(IsDual dual);
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void setI(IsDual dual);
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void setJ(IsDual dual);
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void setK(IsDual dual);
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void setRS(double rs);
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void setRI(double ri);
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void setRJ(double rj);
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void setRK(double rk);
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void setDS(double ds);
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void setDI(double di);
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void setDJ(double dj);
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void setDK(double dk);
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IsDualQuaternion plus(IsDualQuaternion dualQuaternion);
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IsDualQuaternion times(IsDualQuaternion dualQuaternion);
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boolean equals(IsDualQuaternion dualQuaternion);
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}
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