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DualQuaternion class added

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F. Y. H. 2023-05-22 17:20:01 +02:00
parent a4d95d9b5e
commit 405dc0096a
Signed by: Alnotz
GPG key ID: B808CA1113935C00
2 changed files with 304 additions and 1 deletions
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273
fr/alnotz/DualQuaternion.java Normal file
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@ -0,0 +1,273 @@
package fr.alnotz;
public class DualQuaternion implements IsDualQuaternion {
private double rs;
private double ri;
private double rj;
private double rk;
private double ds;
private double di;
private double dj;
private double dk;
public DualQuaternion(){
this.rs = 0;
this.ri = 0;
this.rj = 0;
this.rk = 0;
this.ds = 0;
this.di = 0;
this.dj = 0;
this.dk = 0;
}
public DualQuaternion(Quaternion quaternion0, Quaternion quaternion1){
this.rs = quaternion0.getS();
this.ri = quaternion0.getI();
this.rj = quaternion0.getJ();
this.rk = quaternion0.getK();
this.ds = quaternion1.getS();
this.di = quaternion1.getI();
this.dj = quaternion1.getJ();
this.dk = quaternion1.getK();
}
public DualQuaternion(IsDual dual0, IsDual dual1, IsDual dual2, IsDual dual3){
this.rs = dual0.getR();
this.ri = dual1.getR();
this.rj = dual2.getR();
this.rk = dual3.getR();
this.ds = dual0.getD();
this.di = dual1.getD();
this.dj = dual2.getD();
this.dk = dual3.getD();
}
public DualQuaternion(double rs, double ri, double rj, double rk, double ds, double di, double dj, double dk){
this.rs = rs;
this.ri = ri;
this.rj = rj;
this.rk = rk;
this.ds = ds;
this.di = di;
this.dj = dj;
this.dk = dk;
}
@Override
public IsQuaternion getR() {
return new Quaternion(this.rs, this.ri, this.rj, this.rk);
}
@Override
public IsQuaternion getD() {
return new Quaternion(this.ds, this.di, this.dj, this.dk);
}
@Override
public IsDual getS() {
return new Dual(this.rs, this.ds);
}
@Override
public IsDual getI() {
return new Dual(this.ri, this.di);
}
@Override
public IsDual getJ() {
return new Dual(this.rj, this.dj);
}
@Override
public IsDual getK() {
return new Dual(this.rk, this.dk);
}
@Override
public void setR(IsQuaternion quaternion) {
this.rs = quaternion.getS();
this.ri = quaternion.getI();
this.rj = quaternion.getJ();
this.rk = quaternion.getK();
}
@Override
public void setD(IsQuaternion quaternion) {
this.ds = quaternion.getS();
this.di = quaternion.getI();
this.dj = quaternion.getJ();
this.dk = quaternion.getK();
}
@Override
public void setS(IsDual dual) {
this.rs = dual.getR();
this.ds = dual.getD();
}
@Override
public void setI(IsDual dual) {
this.ri = dual.getR();
this.di = dual.getD();
}
@Override
public void setJ(IsDual dual) {
this.rj = dual.getR();
this.dj = dual.getD();
}
@Override
public void setK(IsDual dual) {
this.rk = dual.getR();
this.dk = dual.getD();
}
@Override
public double getRS() {
return rs;
}
@Override
public void setRS(double rs) {
this.rs = rs;
}
@Override
public double getRI() {
return ri;
}
@Override
public void setRI(double ri) {
this.ri = ri;
}
@Override
public double getRJ() {
return rj;
}
@Override
public void setRJ(double rj) {
this.rj = rj;
}
@Override
public double getRK() {
return rk;
}
@Override
public void setRK(double rk) {
this.rk = rk;
}
@Override
public double getDS() {
return ds;
}
@Override
public void setDS(double ds) {
this.ds = ds;
}
@Override
public double getDI() {
return di;
}
@Override
public void setDI(double di) {
this.di = di;
}
@Override
public double getDJ() {
return dj;
}
@Override
public void setDJ(double dj) {
this.dj = dj;
}
@Override
public double getDK() {
return dk;
}
@Override
public void setDK(double dk) {
this.dk = dk;
}
@Override
public IsDualQuaternion plus(IsDualQuaternion dualQuaternion) {
return new DualQuaternion(this.rs + dualQuaternion.getRS(),
this.ri + dualQuaternion.getRI(),
this.rj + dualQuaternion.getRJ(),
this.rk + dualQuaternion.getRK(),
this.ds + dualQuaternion.getDS(),
this.dk + dualQuaternion.getDI(),
this.dj + dualQuaternion.getDJ(),
this.dk + dualQuaternion.getDK()) {
};
}
@Override
public IsDualQuaternion times(IsDualQuaternion dualQuaternion) {
/*
* (a0 + b0i + c0j + d0k)(a1 + b1i + c1j + d1k)
* (a0a1 - b0b1 - c0c1 - d0d1) +
* (a0b1 + b0a1 + c0d1 - d0c1)i +
* (a0c1 - b0d1 + c0a1 + d0b1)j +
* (a0d1 + b0c1 - c0b1 + d0a1)k
* a0b1 = R(a0)R(b1) + R(a0)D(b1)epsilon + D(a0)R(b1)epsilon
*/
double newRS = this.rs * dualQuaternion.getRS() -
this.ri * dualQuaternion.getRI() -
this.rj * dualQuaternion.getRJ() -
this.rk * dualQuaternion.getRK();
double newRI = this.rs * dualQuaternion.getRI() +
this.ri * dualQuaternion.getRK() +
this.rj * dualQuaternion.getRS() -
this.rk * dualQuaternion.getRJ();
double newRJ = this.rs * dualQuaternion.getRJ() -
this.ri * dualQuaternion.getRK() +
this.rj * dualQuaternion.getRS() +
this.rk * dualQuaternion.getRI();
double newRK = this.rs * dualQuaternion.getRK() +
this.ri * dualQuaternion.getRJ() -
this.rj * dualQuaternion.getRI() +
this.rk * dualQuaternion.getRS();
double newDS = this.rs * dualQuaternion.getDS() + this.ds * dualQuaternion.getRS() -
this.ri * dualQuaternion.getDI() - this.di * dualQuaternion.getRI() -
this.rj * dualQuaternion.getDJ() - this.dj * dualQuaternion.getRJ() -
this.rk * dualQuaternion.getDK() - this.dk * dualQuaternion.getRK();
double newDI = this.rs * dualQuaternion.getDI() + this.ds * dualQuaternion.getRI() +
this.ri * dualQuaternion.getDK() + this.di * dualQuaternion.getRK() +
this.rj * dualQuaternion.getDS() + this.dj * dualQuaternion.getRS() -
this.rk * dualQuaternion.getDJ() - this.dk * dualQuaternion.getRJ();
double newDJ = this.rs * dualQuaternion.getDJ() + this.ds * dualQuaternion.getRJ() -
this.ri * dualQuaternion.getDK() - this.di * dualQuaternion.getRK() +
this.rj * dualQuaternion.getDS() + this.dj * dualQuaternion.getRS() +
this.rk * dualQuaternion.getDI() + this.dk * dualQuaternion.getRI();
double newDK = this.rs * dualQuaternion.getDK() + this.ds * dualQuaternion.getRK() +
this.ri * dualQuaternion.getDJ() + this.di * dualQuaternion.getRJ() -
this.rj * dualQuaternion.getDI() - this.dj * dualQuaternion.getRI() +
this.rk * dualQuaternion.getDS() + this.dk * dualQuaternion.getRS();
IsDualQuaternion newDQ = new DualQuaternion(newRS, newRI, newRJ, newRK,
newDS, newDI, newDJ, newDK);
return newDQ;
}
@Override
public boolean equals(IsDualQuaternion dualQuaternion) {
return this.rs == dualQuaternion.getRS() &&
this.ri == dualQuaternion.getRI() &&
this.rj == dualQuaternion.getRJ() &&
this.rk == dualQuaternion.getRK() &&
this.ds == dualQuaternion.getDS() &&
this.di == dualQuaternion.getDI() &&
this.dj == dualQuaternion.getDJ() &&
this.dk == dualQuaternion.getDK();
}
}

32
fr/alnotz/IsDualQuaternion.java
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@ -1,5 +1,35 @@
package fr.alnotz;
public interface IsDualQuaternion {
/*…*/
IsQuaternion getR();
IsQuaternion getD();
IsDual getS();
IsDual getI();
IsDual getJ();
IsDual getK();
double getRS();
double getRI();
double getRJ();
double getRK();
double getDS();
double getDI();
double getDJ();
double getDK();
void setR(IsQuaternion quaternion);
void setD(IsQuaternion quaternion);
void setS(IsDual dual);
void setI(IsDual dual);
void setJ(IsDual dual);
void setK(IsDual dual);
void setRS(double rs);
void setRI(double ri);
void setRJ(double rj);
void setRK(double rk);
void setDS(double ds);
void setDI(double di);
void setDJ(double dj);
void setDK(double dk);
IsDualQuaternion plus(IsDualQuaternion dualQuaternion);
IsDualQuaternion times(IsDualQuaternion dualQuaternion);
boolean equals(IsDualQuaternion dualQuaternion);
}