Don't know how to create my hybrid DualQuaternion
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fr/alnotz/IsDualQuaternion.java
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fr/alnotz/IsDualQuaternion.java
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@ -0,0 +1,5 @@
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package fr.alnotz;
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public interface IsDualQuaternion {
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/*…*/
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}
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@ -17,6 +17,44 @@ public class Quaternion implements IsQuaternion{
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this.j = j;
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this.j = j;
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this.k = k;
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this.k = k;
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}
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}
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public static Quaternion plus(IsQuaternion quaternion0, IsQuaternion quaternion1){
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return new Quaternion(quaternion0.getS() + quaternion1.getS(),
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quaternion0.getI() + quaternion1.getI(),
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quaternion0.getJ() + quaternion1.getJ(),
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quaternion0.getK() + quaternion1.getK());
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}
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public static Quaternion times(IsQuaternion quaternion0, IsQuaternion quaternion1){
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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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*/
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double newS = quaternion0.getS() * quaternion1.getS() -
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quaternion1.getI() * quaternion1.getI() -
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quaternion0.getJ() * quaternion1.getJ() -
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quaternion0.getK() * quaternion1.getK();
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double newI = quaternion0.getS() * quaternion1.getI() +
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quaternion0.getI() * quaternion1.getK() +
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quaternion0.getJ() * quaternion1.getS() -
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quaternion0.getK() * quaternion1.getJ();
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double newJ = quaternion0.getS() * quaternion1.getJ() -
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quaternion0.getI() * quaternion1.getK() +
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quaternion0.getJ() * quaternion1.getS() +
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quaternion0.getK() * quaternion1.getI();
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double newK = quaternion0.getS() * quaternion1.getK() +
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quaternion0.getI() * quaternion1.getJ() -
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quaternion0.getJ() * quaternion1.getI() +
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quaternion0.getK() * quaternion1.getS();
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return new Quaternion(newS, newI, newJ, newK);
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}
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public static Quaternion conjugate(IsQuaternion quaternion) {
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return new Quaternion(quaternion.getS(),
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-1 * quaternion.getI(),
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-1 * quaternion.getJ(),
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-1 * quaternion.getK());
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}
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@Override
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@Override
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public double getS() {
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public double getS() {
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return this.s;
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return this.s;
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