Module com.marginallyclever.robotoverlord

Package com.marginallyclever.convenience.helpers

Class MathHelper

java.lang.Object

com.marginallyclever.convenience.helpers.MathHelper

public class MathHelper
extends Object

Math methods.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	EPSILON
static final double	TWOPI

Constructor Summary

Constructors

Constructor	Description
MathHelper()

Method Summary

Modifier and Type	Method	Description
static boolean	equals(javax.vecmath.Vector3d a, javax.vecmath.Vector3d b, double v)	compare two vectors
static long	gcd(long a, long b)	greatest common divider
static double	interpolate(double a, double b, double t)	interpolate from a to b
static float	interpolate(float a, float b, double t)	interpolate from a to b
static javax.vecmath.Point3d	interpolate(javax.vecmath.Point3d start, javax.vecmath.Point3d end, double t)	interpolate from start to end
static javax.vecmath.Vector3d	interpolate(javax.vecmath.Vector3d start, javax.vecmath.Vector3d end, double t)	interpolate from start to end
static long	lcm(long a, long b)	least common multiplier
static double[]	quatToEuler(javax.vecmath.Quat4d q)	Convert quaternion 'q' to euler radian angles roll, pitch, yaw
static javax.vecmath.Vector3d	slerp(javax.vecmath.Vector3d a, javax.vecmath.Vector3d b, double t)	Spherical linear interpolation between two vectors.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

EPSILON

public static final double EPSILON

See Also:

• Constant Field Values

TWOPI

public static final double TWOPI

See Also:

• Constant Field Values

Constructor Details

MathHelper

public MathHelper()

Method Details

gcd

public static long gcd(long a,
 long b)

greatest common divider

Parameters:

a -

b -

Returns:

greatest common divider

lcm

public static long lcm(long a,
 long b)

least common multiplier

Parameters:

a -

b -

Returns:

least common multiplier

interpolate

public static float interpolate(float a,
 float b,
 double t)

interpolate from a to b

Parameters:

a -

b -

t - [0...1]

Returns:

a + (b-a)*t

interpolate

public static double interpolate(double a,
 double b,
 double t)

interpolate from a to b

Parameters:

a -

b -

t - [0...1]

Returns:

a + (b-a)*t

interpolate

public static javax.vecmath.Vector3d interpolate(javax.vecmath.Vector3d start,
 javax.vecmath.Vector3d end,
 double t)

interpolate from start to end

Parameters:

start -

end -

t - [0...1]

Returns:

interpolate

public static javax.vecmath.Point3d interpolate(javax.vecmath.Point3d start,
 javax.vecmath.Point3d end,
 double t)

interpolate from start to end

Parameters:

start -

end -

t - [0...1]

Returns:

slerp

public static javax.vecmath.Vector3d slerp(javax.vecmath.Vector3d a,
 javax.vecmath.Vector3d b,
 double t)

Spherical linear interpolation between two vectors.

Parameters:

a - start vector

b - end vector

t - [0...1]

Returns:

interpolated vector

quatToEuler

public static double[] quatToEuler(javax.vecmath.Quat4d q)

Convert quaternion 'q' to euler radian angles roll, pitch, yaw

Parameters:

q -

Returns:

equals

public static boolean equals(javax.vecmath.Vector3d a,
 javax.vecmath.Vector3d b,
 double v)

compare two vectors

Parameters:

a - the first vector

b - the second vector

v - tolerance

Returns:

true if the absolute difference on every axis is less than v