Strong mode and linter clean-up for quaternion
diff --git a/lib/src/vector_math/quaternion.dart b/lib/src/vector_math/quaternion.dart
index 54add8f..9fbd348 100644
--- a/lib/src/vector_math/quaternion.dart
+++ b/lib/src/vector_math/quaternion.dart
@@ -93,7 +93,7 @@
/// Copy [source] into [this].
void setFrom(Quaternion source) {
- final sourceStorage = source._qStorage;
+ final Float32List sourceStorage = source._qStorage;
_qStorage[0] = sourceStorage[0];
_qStorage[1] = sourceStorage[1];
_qStorage[2] = sourceStorage[2];
@@ -110,12 +110,12 @@
/// Set the quaternion with rotation of [radians] around [axis].
void setAxisAngle(Vector3 axis, double radians) {
- final len = axis.length;
+ final double len = axis.length;
if (len == 0.0) {
return;
}
- final halfSin = Math.sin(radians * 0.5) / len;
- final axisStorage = axis.storage;
+ final double halfSin = Math.sin(radians * 0.5) / len;
+ final Float32List axisStorage = axis.storage;
_qStorage[0] = axisStorage[0] * halfSin;
_qStorage[1] = axisStorage[1] * halfSin;
_qStorage[2] = axisStorage[2] * halfSin;
@@ -124,22 +124,22 @@
/// Set the quaternion with rotation from a rotation matrix [rotationMatrix].
void setFromRotation(Matrix3 rotationMatrix) {
- final rotationMatrixStorage = rotationMatrix.storage;
- final trace = rotationMatrix.trace();
+ final Float32List rotationMatrixStorage = rotationMatrix.storage;
+ final double trace = rotationMatrix.trace();
if (trace > 0.0) {
- var s = Math.sqrt(trace + 1.0);
+ double s = Math.sqrt(trace + 1.0);
_qStorage[3] = s * 0.5;
s = 0.5 / s;
_qStorage[0] = (rotationMatrixStorage[5] - rotationMatrixStorage[7]) * s;
_qStorage[1] = (rotationMatrixStorage[6] - rotationMatrixStorage[2]) * s;
_qStorage[2] = (rotationMatrixStorage[1] - rotationMatrixStorage[3]) * s;
} else {
- var i = rotationMatrixStorage[0] < rotationMatrixStorage[4]
+ final int i = rotationMatrixStorage[0] < rotationMatrixStorage[4]
? (rotationMatrixStorage[4] < rotationMatrixStorage[8] ? 2 : 1)
: (rotationMatrixStorage[0] < rotationMatrixStorage[8] ? 2 : 0);
- var j = (i + 1) % 3;
- var k = (i + 2) % 3;
- var s = Math.sqrt(rotationMatrixStorage[rotationMatrix.index(i, i)] -
+ final int j = (i + 1) % 3;
+ final int k = (i + 2) % 3;
+ double s = Math.sqrt(rotationMatrixStorage[rotationMatrix.index(i, i)] -
rotationMatrixStorage[rotationMatrix.index(j, j)] -
rotationMatrixStorage[rotationMatrix.index(k, k)] +
1.0);
@@ -158,10 +158,10 @@
}
void setFromTwoVectors(Vector3 a, Vector3 b) {
- Vector3 v1 = a.normalized();
- Vector3 v2 = b.normalized();
+ final Vector3 v1 = a.normalized();
+ final Vector3 v2 = b.normalized();
- double c = v1.dot(v2);
+ final double c = v1.dot(v2);
double angle = Math.acos(c);
Vector3 axis = v1.cross(v2);
@@ -193,15 +193,15 @@
void setRandom(Math.Random rn) {
// From: "Uniform Random Rotations", Ken Shoemake, Graphics Gems III,
// pg. 124-132.
- final x0 = rn.nextDouble();
- final r1 = Math.sqrt(1.0 - x0);
- final r2 = Math.sqrt(x0);
- final t1 = Math.PI * 2.0 * rn.nextDouble();
- final t2 = Math.PI * 2.0 * rn.nextDouble();
- final c1 = Math.cos(t1);
- final s1 = Math.sin(t1);
- final c2 = Math.cos(t2);
- final s2 = Math.sin(t2);
+ final double x0 = rn.nextDouble();
+ final double r1 = Math.sqrt(1.0 - x0);
+ final double r2 = Math.sqrt(x0);
+ final double t1 = Math.PI * 2.0 * rn.nextDouble();
+ final double t2 = Math.PI * 2.0 * rn.nextDouble();
+ final double c1 = Math.cos(t1);
+ final double s1 = Math.sin(t1);
+ final double c2 = Math.cos(t2);
+ final double s2 = Math.sin(t2);
_qStorage[0] = s1 * r1;
_qStorage[1] = c1 * r1;
_qStorage[2] = s2 * r2;
@@ -211,19 +211,19 @@
/// Set the quaternion to the time derivative of [q] with angular velocity
/// [omega].
void setDQ(Quaternion q, Vector3 omega) {
- final qStorage = q._qStorage;
- final omegaStorage = omega.storage;
- final qx = qStorage[0];
- final qy = qStorage[1];
- final qz = qStorage[2];
- final qw = qStorage[3];
- final ox = omegaStorage[0];
- final oy = omegaStorage[1];
- final oz = omegaStorage[2];
- final _x = ox * qw + oy * qz - oz * qy;
- final _y = oy * qw + oz * qx - ox * qz;
- final _z = oz * qw + ox * qy - oy * qx;
- final _w = -ox * qx - oy * qy - oz * qz;
+ final Float32List qStorage = q._qStorage;
+ final Float32List omegaStorage = omega.storage;
+ final double qx = qStorage[0];
+ final double qy = qStorage[1];
+ final double qz = qStorage[2];
+ final double qw = qStorage[3];
+ final double ox = omegaStorage[0];
+ final double oy = omegaStorage[1];
+ final double oz = omegaStorage[2];
+ final double _x = ox * qw + oy * qz - oz * qy;
+ final double _y = oy * qw + oz * qx - ox * qz;
+ final double _z = oz * qw + ox * qy - oy * qx;
+ final double _w = -ox * qx - oy * qy - oz * qz;
_qStorage[0] = _x * 0.5;
_qStorage[1] = _y * 0.5;
_qStorage[2] = _z * 0.5;
@@ -232,15 +232,15 @@
/// Set quaternion with rotation of [yaw], [pitch] and [roll].
void setEuler(double yaw, double pitch, double roll) {
- final halfYaw = yaw * 0.5;
- final halfPitch = pitch * 0.5;
- final halfRoll = roll * 0.5;
- final cosYaw = Math.cos(halfYaw);
- final sinYaw = Math.sin(halfYaw);
- final cosPitch = Math.cos(halfPitch);
- final sinPitch = Math.sin(halfPitch);
- final cosRoll = Math.cos(halfRoll);
- final sinRoll = Math.sin(halfRoll);
+ final double halfYaw = yaw * 0.5;
+ final double halfPitch = pitch * 0.5;
+ final double halfRoll = roll * 0.5;
+ final double cosYaw = Math.cos(halfYaw);
+ final double sinYaw = Math.sin(halfYaw);
+ final double cosPitch = Math.cos(halfPitch);
+ final double sinPitch = Math.sin(halfPitch);
+ final double cosRoll = Math.cos(halfRoll);
+ final double sinRoll = Math.sin(halfRoll);
_qStorage[0] = cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw;
_qStorage[1] = cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw;
_qStorage[2] = sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw;
@@ -249,11 +249,11 @@
/// Normalize [this].
double normalize() {
- double l = length;
+ final double l = length;
if (l == 0.0) {
return 0.0;
}
- var d = 1.0 / l;
+ final double d = 1.0 / l;
_qStorage[0] *= d;
_qStorage[1] *= d;
_qStorage[2] *= d;
@@ -270,7 +270,7 @@
/// Invert [this].
void inverse() {
- final l = 1.0 / length2;
+ final double l = 1.0 / length2;
_qStorage[3] = _qStorage[3] * l;
_qStorage[2] = -_qStorage[2] * l;
_qStorage[1] = -_qStorage[1] * l;
@@ -291,23 +291,23 @@
/// [axis] of rotation.
Vector3 get axis {
- final den = 1.0 - (_qStorage[3] * _qStorage[3]);
+ final double den = 1.0 - (_qStorage[3] * _qStorage[3]);
if (den < 0.0005) {
// 0-angle rotation, so axis does not matter
return new Vector3.zero();
}
- final scale = 1.0 / Math.sqrt(den);
+ final double scale = 1.0 / Math.sqrt(den);
return new Vector3(
_qStorage[0] * scale, _qStorage[1] * scale, _qStorage[2] * scale);
}
/// Length squared.
double get length2 {
- final x = _qStorage[0];
- final y = _qStorage[1];
- final z = _qStorage[2];
- final w = _qStorage[3];
+ final double x = _qStorage[0];
+ final double y = _qStorage[1];
+ final double z = _qStorage[2];
+ final double w = _qStorage[3];
return (x * x) + (y * y) + (z * z) + (w * w);
}
@@ -316,7 +316,7 @@
/// Returns a copy of [v] rotated by quaternion.
Vector3 rotated(Vector3 v) {
- final out = v.clone();
+ final Vector3 out = v.clone();
rotate(out);
return out;
}
@@ -324,22 +324,22 @@
/// Rotates [v] by [this].
Vector3 rotate(Vector3 v) {
// conjugate(this) * [v,0] * this
- final _w = _qStorage[3];
- final _z = _qStorage[2];
- final _y = _qStorage[1];
- final _x = _qStorage[0];
- final tiw = _w;
- final tiz = -_z;
- final tiy = -_y;
- final tix = -_x;
- final tx = tiw * v.x + tix * 0.0 + tiy * v.z - tiz * v.y;
- final ty = tiw * v.y + tiy * 0.0 + tiz * v.x - tix * v.z;
- final tz = tiw * v.z + tiz * 0.0 + tix * v.y - tiy * v.x;
- final tw = tiw * 0.0 - tix * v.x - tiy * v.y - tiz * v.z;
- final result_x = tw * _x + tx * _w + ty * _z - tz * _y;
- final result_y = tw * _y + ty * _w + tz * _x - tx * _z;
- final result_z = tw * _z + tz * _w + tx * _y - ty * _x;
- final vStorage = v.storage;
+ final double _w = _qStorage[3];
+ final double _z = _qStorage[2];
+ final double _y = _qStorage[1];
+ final double _x = _qStorage[0];
+ final double tiw = _w;
+ final double tiz = -_z;
+ final double tiy = -_y;
+ final double tix = -_x;
+ final double tx = tiw * v.x + tix * 0.0 + tiy * v.z - tiz * v.y;
+ final double ty = tiw * v.y + tiy * 0.0 + tiz * v.x - tix * v.z;
+ final double tz = tiw * v.z + tiz * 0.0 + tix * v.y - tiy * v.x;
+ final double tw = tiw * 0.0 - tix * v.x - tiy * v.y - tiz * v.z;
+ final double result_x = tw * _x + tx * _w + ty * _z - tz * _y;
+ final double result_y = tw * _y + ty * _w + tz * _x - tx * _z;
+ final double result_z = tw * _z + tz * _w + tx * _y - ty * _x;
+ final Float32List vStorage = v.storage;
vStorage[2] = result_z;
vStorage[1] = result_y;
vStorage[0] = result_x;
@@ -348,7 +348,7 @@
/// Add [arg] to [this].
void add(Quaternion arg) {
- final argStorage = arg._qStorage;
+ final Float32List argStorage = arg._qStorage;
_qStorage[0] = _qStorage[0] + argStorage[0];
_qStorage[1] = _qStorage[1] + argStorage[1];
_qStorage[2] = _qStorage[2] + argStorage[2];
@@ -357,7 +357,7 @@
/// Subtracts [arg] from [this].
void sub(Quaternion arg) {
- final argStorage = arg._qStorage;
+ final Float32List argStorage = arg._qStorage;
_qStorage[0] = _qStorage[0] - argStorage[0];
_qStorage[1] = _qStorage[1] - argStorage[1];
_qStorage[2] = _qStorage[2] - argStorage[2];
@@ -377,15 +377,15 @@
/// [this] rotated by [other].
Quaternion operator *(Quaternion other) {
- double _w = _qStorage[3];
- double _z = _qStorage[2];
- double _y = _qStorage[1];
- double _x = _qStorage[0];
- final otherStorage = other._qStorage;
- double ow = otherStorage[3];
- double oz = otherStorage[2];
- double oy = otherStorage[1];
- double ox = otherStorage[0];
+ final double _w = _qStorage[3];
+ final double _z = _qStorage[2];
+ final double _y = _qStorage[1];
+ final double _x = _qStorage[0];
+ final Float32List otherStorage = other._qStorage;
+ final double ow = otherStorage[3];
+ final double oz = otherStorage[2];
+ final double oy = otherStorage[1];
+ final double ox = otherStorage[0];
return new Quaternion(
_w * ox + _x * ow + _y * oz - _z * oy,
_w * oy + _y * ow + _z * ox - _x * oz,
@@ -416,32 +416,32 @@
/// Set [rotationMatrix] to a rotation matrix containing the same rotation as
/// [this].
Matrix3 copyRotationInto(Matrix3 rotationMatrix) {
- final d = length2;
+ final double d = length2;
assert(d != 0.0);
- final s = 2.0 / d;
+ final double s = 2.0 / d;
- final _x = _qStorage[0];
- final _y = _qStorage[1];
- final _z = _qStorage[2];
- final _w = _qStorage[3];
+ final double _x = _qStorage[0];
+ final double _y = _qStorage[1];
+ final double _z = _qStorage[2];
+ final double _w = _qStorage[3];
- final xs = _x * s;
- final ys = _y * s;
- final zs = _z * s;
+ final double xs = _x * s;
+ final double ys = _y * s;
+ final double zs = _z * s;
- final wx = _w * xs;
- final wy = _w * ys;
- final wz = _w * zs;
+ final double wx = _w * xs;
+ final double wy = _w * ys;
+ final double wz = _w * zs;
- final xx = _x * xs;
- final xy = _x * ys;
- final xz = _x * zs;
+ final double xx = _x * xs;
+ final double xy = _x * ys;
+ final double xz = _x * zs;
- final yy = _y * ys;
- final yz = _y * zs;
- final zz = _z * zs;
+ final double yy = _y * ys;
+ final double yz = _y * zs;
+ final double zz = _z * zs;
- final rotationMatrixStorage = rotationMatrix.storage;
+ final Float32List rotationMatrixStorage = rotationMatrix.storage;
rotationMatrixStorage[0] = 1.0 - (yy + zz); // column 0
rotationMatrixStorage[1] = xy + wz;
rotationMatrixStorage[2] = xz - wy;
@@ -455,22 +455,23 @@
}
/// Printable string.
+ @override
String toString() => '${_qStorage[0]}, ${_qStorage[1]},'
' ${_qStorage[2]} @ ${_qStorage[3]}';
/// Relative error between [this] and [correct].
double relativeError(Quaternion correct) {
- final diff = correct - this;
- final norm_diff = diff.length;
- final correct_norm = correct.length;
+ final Quaternion diff = correct - this;
+ final double norm_diff = diff.length;
+ final double correct_norm = correct.length;
return norm_diff / correct_norm;
}
/// Absolute error between [this] and [correct].
double absoluteError(Quaternion correct) {
- final this_norm = length;
- final correct_norm = correct.length;
- final norm_diff = (this_norm - correct_norm).abs();
+ final double this_norm = length;
+ final double correct_norm = correct.length;
+ final double norm_diff = (this_norm - correct_norm).abs();
return norm_diff;
}
}
