/*
 * Copyright (c) 2009-2015 jMonkeyEngine
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are
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 * * Redistributions of source code must retain the above copyright
 *   notice, this list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright
 *   notice, this list of conditions and the following disclaimer in the
 *   documentation and/or other materials provided with the distribution.
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 * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
 *   may be used to endorse or promote products derived from this software
 *   without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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 */
package com.jme3.scene.plugins.fbx.node;

import com.jme3.math.FastMath;
import com.jme3.math.Quaternion;

public class FbxNodeUtil {
    public static Quaternion quatFromBoneAngles(float xAngle, float yAngle, float zAngle) {
        float angle;
        float sinY, sinZ, sinX, cosY, cosZ, cosX;
        angle = zAngle * 0.5f;
        sinZ = FastMath.sin(angle);
        cosZ = FastMath.cos(angle);
        angle = yAngle * 0.5f;
        sinY = FastMath.sin(angle);
        cosY = FastMath.cos(angle);
        angle = xAngle * 0.5f;
        sinX = FastMath.sin(angle);
        cosX = FastMath.cos(angle);
        float cosYXcosZ = cosY * cosZ;
        float sinYXsinZ = sinY * sinZ;
        float cosYXsinZ = cosY * sinZ;
        float sinYXcosZ = sinY * cosZ;
        // For some reason bone space is differ, this is modified formulas
        float w = (cosYXcosZ * cosX + sinYXsinZ * sinX);
        float x = (cosYXcosZ * sinX - sinYXsinZ * cosX);
        float y = (sinYXcosZ * cosX + cosYXsinZ * sinX);
        float z = (cosYXsinZ * cosX - sinYXcosZ * sinX);
        return new Quaternion(x, y, z, w).normalizeLocal();
    }
}
