package com.seewo.factoryaging.opengl3d.h;

import android.opengl.Matrix;

/* JADX INFO: compiled from: JointTransform.java */
/* JADX INFO: loaded from: classes.dex */
public class i {
    private final float[] a = null;
    private final float[] b;
    private final k c;

    public i(float[] fArr, k kVar) {
        this.b = fArr;
        this.c = kVar;
    }

    protected static i b(i iVar, i iVar2, float f) {
        return new i(d(iVar.b, iVar2.b, f), k.a(iVar.c, iVar2.c, f));
    }

    protected static float[] c(i iVar, i iVar2, float f, float[] fArr, float[] fArr2) {
        float[] fArrD = d(iVar.b, iVar2.b, f);
        k kVarA = k.a(iVar.c, iVar2.c, f);
        Matrix.setIdentityM(fArr, 0);
        Matrix.translateM(fArr, 0, fArrD[0], fArrD[1], fArrD[2]);
        kVarA.c(fArr2);
        Matrix.multiplyMM(fArr, 0, fArr, 0, fArr2, 0);
        return fArr;
    }

    private static float[] d(float[] fArr, float[] fArr2, float f) {
        return new float[]{fArr[0] + ((fArr2[0] - fArr[0]) * f), fArr[1] + ((fArr2[1] - fArr[1]) * f), fArr[2] + ((fArr2[2] - fArr[2]) * f)};
    }

    public float[] a() {
        float[] fArr = this.a;
        if (fArr != null) {
            return fArr;
        }
        float[] fArr2 = new float[16];
        Matrix.setIdentityM(fArr2, 0);
        float[] fArr3 = this.b;
        Matrix.translateM(fArr2, 0, fArr3[0], fArr3[1], fArr3[2]);
        float[] fArr4 = new float[16];
        this.c.c(fArr4);
        Matrix.multiplyMM(fArr2, 0, fArr2, 0, fArr4, 0);
        return fArr2;
    }
}