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rich cleanup #1348

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e89efc2
rich cleanup
baltzell Jul 14, 2026
fd59c14
unify comment format
baltzell Jul 14, 2026
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299 changes: 143 additions & 156 deletions reconstruction/rich/src/main/java/org/jlab/rec/rich/Quaternion.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,107 +5,105 @@
import org.jlab.geom.prim.Vector3D;

//Class created by gangel
//for the JLAB package
//for the JLAB package
//
// The quaternion here is defined as:
// The quaternion here is defined as:
//
public class Quaternion {
//Definition of the components for the Quaternion
public double x;
public double y;
public double z;
public double w;

public Quaternion() {
}

public Quaternion(double angle, Vector3D rotationAxis) {
x = rotationAxis.x() * Math.sin(angle / 2);
y = rotationAxis.y() * Math.sin(angle / 2);
z = rotationAxis.z() * Math.sin(angle / 2);
w = Math.cos(angle / 2);
}

public Quaternion(double w, double x, double y, double z) {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
}
/**
* Set the rotation Quaternion
* @param angle the angle of rotation
* @param rotationAxis the rotation axis (normal two the vector plane)
*/
public void set(double angle, Vector3D rotationAxis) {
x = rotationAxis.x() * Math.sin(angle / 2);
y = rotationAxis.y() * Math.sin(angle / 2);
z = rotationAxis.z() * Math.sin(angle / 2);
w = Math.cos(angle / 2);
}

public void set (double w, double x, double y, double z) {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
}

/**
* Set the Quaternion using another one
* @param q
*/
public void set (Quaternion q) {
this.x = q.x;
this.y = q.y;
this.z = q.z;
this.w = q.w;
}

public double getSize() {
return Math.sqrt(w * w + x * x + y * y + z * z);
}

public void normalize() {
double sizeInv = 1 / getSize();
x *= sizeInv;
y *= sizeInv;
z *= sizeInv;
w *= sizeInv;
}
/**
* Multiplication between two Quaternions
* @param qb the one that multiply
* @return result of the multiplication
*/
public Quaternion multiply(Quaternion qb) {
Quaternion qa = this;
Quaternion qr = new Quaternion();
qr.w = (qa.w * qb.w) - (qa.x * qb.x) - (qa.y * qb.y) - (qa.z * qb.z);
qr.x = (qa.x * qb.w) + (qa.w * qb.x) + (qa.y * qb.z) - (qa.z * qb.y);
qr.y = (qa.y * qb.w) + (qa.w * qb.y) + (qa.z * qb.x) - (qa.x * qb.z);
qr.z = (qa.z * qb.w) + (qa.w * qb.z) + (qa.x * qb.y) - (qa.y * qb.x);
return qr;
}

public void conjugate() {
//w = w;
x = -x;
y = -y;
z = -z;
}


//-----------------
public Vector3D rotate(Vector3D vector) {
//-----------------
/**
* public void rotate(Vector3D vector, Vector3D rotatedVector) {
* Implementing the Quaternion Fomula for Rotation: P' = Q.P.Q*
* @param vetor the vector 3d that needs to be rotate
* @param rotatedVector the rotated vector
//Definition of the components for the Quaternion
public double x;
public double y;
public double z;
public double w;

public Quaternion() {
}

public Quaternion(double angle, Vector3D rotationAxis) {
x = rotationAxis.x() * Math.sin(angle / 2);
y = rotationAxis.y() * Math.sin(angle / 2);
z = rotationAxis.z() * Math.sin(angle / 2);
w = Math.cos(angle / 2);
}

public Quaternion(double w, double x, double y, double z) {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
}
/**
* Set the rotation Quaternion
* @param angle the angle of rotation
* @param rotationAxis the rotation axis (normal two the vector plane)
*/

public void set(double angle, Vector3D rotationAxis) {
x = rotationAxis.x() * Math.sin(angle / 2);
y = rotationAxis.y() * Math.sin(angle / 2);
z = rotationAxis.z() * Math.sin(angle / 2);
w = Math.cos(angle / 2);
}

public void set (double w, double x, double y, double z) {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
}

/**
* Set the Quaternion using another one
* @param q
*/
public void set (Quaternion q) {
this.x = q.x;
this.y = q.y;
this.z = q.z;
this.w = q.w;
}

public double getSize() {
return Math.sqrt(w * w + x * x + y * y + z * z);
}

public void normalize() {
double sizeInv = 1 / getSize();
x *= sizeInv;
y *= sizeInv;
z *= sizeInv;
w *= sizeInv;
}
/**
* Multiplication between two Quaternions
* @param qb the one that multiply
* @return result of the multiplication
*/
public Quaternion multiply(Quaternion qb) {
Quaternion qa = this;
Quaternion qr = new Quaternion();
qr.w = (qa.w * qb.w) - (qa.x * qb.x) - (qa.y * qb.y) - (qa.z * qb.z);
qr.x = (qa.x * qb.w) + (qa.w * qb.x) + (qa.y * qb.z) - (qa.z * qb.y);
qr.y = (qa.y * qb.w) + (qa.w * qb.y) + (qa.z * qb.x) - (qa.x * qb.z);
qr.z = (qa.z * qb.w) + (qa.w * qb.z) + (qa.x * qb.y) - (qa.y * qb.x);
return qr;
}

public void conjugate() {
//w = w;
x = -x;
y = -y;
z = -z;
}


public Vector3D rotate(Vector3D vector) {
/**
* public void rotate(Vector3D vector, Vector3D rotatedVector) {
* Implementing the Quaternion Fomula for Rotation: P' = Q.P.Q*
* @param vetor the vector 3d that needs to be rotate
* @param rotatedVector the rotated vector
*/

Vector3D rotatedVector = new Vector3D(0.,0.,0.);
Quaternion quatTp1 = new Quaternion(0, vector.x(), vector.y(), vector.z());
Quaternion quatTp2 = new Quaternion();
Expand All @@ -114,81 +112,70 @@ public Vector3D rotate(Vector3D vector) {
quatTp1.set(this);
quatTp1.conjugate();
quatTp3 = quatTp2.multiply(quatTp1);

rotatedVector.setX(quatTp3.x);
rotatedVector.setY(quatTp3.y);
rotatedVector.setZ(quatTp3.z);

return rotatedVector;
}


// To finish this code
public Matrix toRotation(Quaternion q1)
{
Matrix Matrice = new Matrix(3,3);
double heading =0;
double attitude =0 ;
double bank=0;

double test = q1.x*q1.y + q1.z*q1.w;
if (test > 0.499) { // singularity at north pole
heading = 2 * Math.atan2(q1.x,q1.w);
attitude = Math.PI/2;
bank = 0;
return null;
}
if (test < -0.499) { // singularity at south pole
heading = -2 * Math.atan2(q1.x,q1.w);
attitude = - Math.PI/2;
bank = 0;
return null;
}
double sqx = q1.x*q1.x;
double sqy = q1.y*q1.y;
double sqz = q1.z*q1.z;
heading = Math.atan2(2*q1.y*q1.w-2*q1.x*q1.z , 1 - 2*sqy - 2*sqz);
attitude = Math.asin(2*test);
bank = Math.atan2(2*q1.x*q1.w-2*q1.y*q1.z , 1 - 2*sqx - 2*sqz);


// to finis the implementations of this effect
return Matrice;
}

//-----------------
public double GetX() {
//-----------------


// To finish this code
public Matrix toRotation(Quaternion q1)
{
Matrix Matrice = new Matrix(3,3);
double heading =0;
double attitude =0 ;
double bank=0;

double test = q1.x*q1.y + q1.z*q1.w;
if (test > 0.499) { // singularity at north pole
heading = 2 * Math.atan2(q1.x,q1.w);
attitude = Math.PI/2;
bank = 0;
return null;
}
if (test < -0.499) { // singularity at south pole
heading = -2 * Math.atan2(q1.x,q1.w);
attitude = - Math.PI/2;
bank = 0;
return null;
}
double sqx = q1.x*q1.x;
double sqy = q1.y*q1.y;
double sqz = q1.z*q1.z;
heading = Math.atan2(2*q1.y*q1.w-2*q1.x*q1.z , 1 - 2*sqy - 2*sqz);
attitude = Math.asin(2*test);
bank = Math.atan2(2*q1.x*q1.w-2*q1.y*q1.z , 1 - 2*sqx - 2*sqz);

// to finis the implementations of this effect
return Matrice;
}

public double GetX() {

return x;
}

//-----------------
public double GetY() {
//-----------------

public double GetY() {

return y;
}

//-----------------
public double GetZ() {
//-----------------

public double GetZ() {

return z;
}

//-----------------
public double GetW() {
//-----------------


public double GetW() {

return w;
}

//-----------------

public void show() {
//-----------------

System.out.format(" Quaternion axis %8.3f %8.3f %8.3f angle %8.3f (%8.3f) \n",x,y,z,w,w*57.3);

System.out.format(" Quaternion axis %8.3f %8.3f %8.3f angle %8.3f (%8.3f) \n",x,y,z,w,w*57.3);
}

}
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