Math: Align Frustum/Matrix dependency w/ native jaulib

7 files changed, 57 insertions, 55 deletions

diff --git a/src/demos/com/jogamp/opengl/demos/graph/ui/UIShapeClippingDemo01.java b/src/demos/com/jogamp/opengl/demos/graph/ui/UIShapeClippingDemo01.java
index 9df5c1591..69751c458 100644
--- a/src/demos/com/jogamp/opengl/demos/graph/ui/UIShapeClippingDemo01.java
+++ b/src/demos/com/jogamp/opengl/demos/graph/ui/UIShapeClippingDemo01.java
@@ -161,7 +161,7 @@ public class UIShapeClippingDemo01 {
 
                         final boolean isOutMv = frustumCbMv.isOutside( shapedMv );
 
-                        final Frustum frustumPMv = pmv.getPMv().updateFrustumPlanes(new Frustum());
+                        final Frustum frustumPMv = new Frustum().setFromMat(pmv.getPMv());
                         final boolean isOutPMv = frustumPMv.isOutside( shapeBox );
 
                         System.err.println("ClipBox  "+box);
diff --git a/src/jogl/classes/com/jogamp/math/Matrix4f.java b/src/jogl/classes/com/jogamp/math/Matrix4f.java
index 06e20ed01..f4d5160cd 100644
--- a/src/jogl/classes/com/jogamp/math/Matrix4f.java
+++ b/src/jogl/classes/com/jogamp/math/Matrix4f.java
@@ -86,7 +86,7 @@ import com.jogamp.math.geom.Frustum.Plane;
  * @see com.jogamp.math.util.PMVMatrix4f
  * @see FloatUtil
  */
-public class Matrix4f {
+public final class Matrix4f {
 
     /**
      * Creates a new identity matrix.
@@ -1179,12 +1179,11 @@ public class Matrix4f {
      * Returns the rotation [m00 .. m22] fields converted to a Quaternion.
      * @param res resulting Quaternion
      * @return the resulting Quaternion for chaining.
-     * @see Quaternion#setFromMatrix(float, float, float, float, float, float, float, float, float)
+     * @see Quaternion#setFromMat(float, float, float, float, float, float, float, float, float)
      * @see #setToRotation(Quaternion)
      */
     public final Quaternion getRotation(final Quaternion res) {
-        res.setFromMatrix(m00, m01, m02, m10, m11, m12, m20, m21, m22);
-        return res;
+        return res.setFromMat(m00, m01, m02, m10, m11, m12, m20, m21, m22);
     }
 
     /**
@@ -1331,20 +1330,19 @@ public class Matrix4f {
 
     /**
      * Calculate the frustum planes in world coordinates
-     * using this premultiplied P*MV (column major order) matrix.
+     * using this column major order matrix, usually a projection (P) or premultiplied P*MV matrix.
      * <p>
      * Frustum plane's normals will point to the inside of the viewing frustum,
      * as required by the {@link Frustum} class.
      * </p>
-     * @see Frustum#updateFrustumPlanes(Matrix4f)
+     * @see Frustum#setFromMat(Matrix4f)
      */
-    public Frustum updateFrustumPlanes(final Frustum frustum) {
+    public Frustum getFrustum(final Frustum frustum) {
         // Left:   a = m41 + m11, b = m42 + m12, c = m43 + m13, d = m44 + m14  - [1..4] column-major
         // Left:   a = m30 + m00, b = m31 + m01, c = m32 + m02, d = m33 + m03  - [0..3] column-major
         {
             final Frustum.Plane p = frustum.getPlanes()[Frustum.LEFT];
-            final Vec3f p_n = p.n;
-            p_n.set( m30 + m00,
+            p.n.set( m30 + m00,
                      m31 + m01,
                      m32 + m02 );
             p.d    = m33 + m03;
@@ -1354,8 +1352,7 @@ public class Matrix4f {
         // Right:  a = m30 - m00, b = m31 - m01, c = m32 - m02, d = m33 - m03  - [0..3] column-major
         {
             final Frustum.Plane p = frustum.getPlanes()[Frustum.RIGHT];
-            final Vec3f p_n = p.n;
-            p_n.set( m30 - m00,
+            p.n.set( m30 - m00,
                      m31 - m01,
                      m32 - m02 );
             p.d    = m33 - m03;
@@ -1365,8 +1362,7 @@ public class Matrix4f {
         // Bottom: a = m30m10, b = m31m11, c = m32m12, d = m33m13  - [0..3] column-major
         {
             final Frustum.Plane p = frustum.getPlanes()[Frustum.BOTTOM];
-            final Vec3f p_n = p.n;
-            p_n.set( m30 + m10,
+            p.n.set( m30 + m10,
                      m31 + m11,
                      m32 + m12 );
             p.d    = m33 + m13;
@@ -1376,8 +1372,7 @@ public class Matrix4f {
         // Top:   a = m30 - m10, b = m31 - m11, c = m32 - m12, d = m33 - m13  - [0..3] column-major
         {
             final Frustum.Plane p = frustum.getPlanes()[Frustum.TOP];
-            final Vec3f p_n = p.n;
-            p_n.set( m30 - m10,
+            p.n.set( m30 - m10,
                      m31 - m11,
                      m32 - m12 );
             p.d    = m33 - m13;
@@ -1387,8 +1382,7 @@ public class Matrix4f {
         // Near:  a = m30m20, b = m31m21, c = m32m22, d = m33m23  - [0..3] column-major
         {
             final Frustum.Plane p = frustum.getPlanes()[Frustum.NEAR];
-            final Vec3f p_n = p.n;
-            p_n.set( m30 + m20,
+            p.n.set( m30 + m20,
                      m31 + m21,
                      m32 + m22 );
             p.d    = m33 + m23;
@@ -1398,8 +1392,7 @@ public class Matrix4f {
         // Far:   a = m30 - m20, b = m31 - m21, c = m32m22, d = m33m23  - [0..3] column-major
         {
             final Frustum.Plane p = frustum.getPlanes()[Frustum.FAR];
-            final Vec3f p_n = p.n;
-            p_n.set( m30 - m20,
+            p.n.set( m30 - m20,
                      m31 - m21,
                      m32 - m22 );
             p.d    = m33 - m23;
@@ -2128,8 +2121,7 @@ public class Matrix4f {
                 if( 0 >= growSize ) {
                     throw new IndexOutOfBoundsException("Out of fixed stack size: "+this);
                 }
-                final float[] newBuffer =
-                        new float[buffer.length + growSize];
+                final float[] newBuffer = new float[buffer.length + Math.max(length, growSize)];
                 System.arraycopy(buffer, 0, newBuffer, 0, position);
                 buffer = newBuffer;
             }
diff --git a/src/jogl/classes/com/jogamp/math/Quaternion.java b/src/jogl/classes/com/jogamp/math/Quaternion.java
index 038745a51..f7a348b20 100644
--- a/src/jogl/classes/com/jogamp/math/Quaternion.java
+++ b/src/jogl/classes/com/jogamp/math/Quaternion.java
@@ -42,7 +42,7 @@ package com.jogamp.math;
  * See <a href="http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/index.htm">euclideanspace.com-Quaternion</a>
  * </p>
  */
-public class Quaternion {
+public final class Quaternion {
     private float x, y, z, w;
 
     /**
@@ -947,11 +947,11 @@ public class Quaternion {
      * </p>
      *
      * @return this quaternion for chaining.
-     * @see #setFromMatrix(Matrix4f)
+     * @see #setFromMat(Matrix4f)
      */
-    public Quaternion setFromMatrix(final float m00, final float m01, final float m02,
-                                    final float m10, final float m11, final float m12,
-                                    final float m20, final float m21, final float m22) {
+    public Quaternion setFromMat(final float m00, final float m01, final float m02,
+                                 final float m10, final float m11, final float m12,
+                                 final float m20, final float m21, final float m22) {
         // Note: Other implementations uses 'T' w/o '+1f' and compares 'T >= 0' while adding missing 1f in sqrt expr.
         //       However .. this causes setLookAt(..) to fail and actually violates the 'trace definition'.
 
@@ -992,7 +992,7 @@ public class Quaternion {
     }
 
     /**
-     * Compute the quaternion from a 3x3 column rotation matrix
+     * Compute the quaternion from a 3x3 column rotation matrix from {@link Matrix4f} instance
      * <p>
      * See <a href="ftp://ftp.cis.upenn.edu/pub/graphics/shoemake/quatut.ps.Z">Graphics Gems Code</a>,<br/>
      * <a href="http://mathworld.wolfram.com/MatrixTrace.html">MatrixTrace</a>.
@@ -1003,9 +1003,9 @@ public class Quaternion {
      *
      * @return this quaternion for chaining.
      * @see Matrix4f#getRotation(Quaternion)
-     * @see #setFromMatrix(float, float, float, float, float, float, float, float, float)
+     * @see #setFromMat(float, float, float, float, float, float, float, float, float)
      */
-    public Quaternion setFromMatrix(final Matrix4f m) {
+    public Quaternion setFromMat(final Matrix4f m) {
         return m.getRotation(this);
     }
 
@@ -1021,8 +1021,8 @@ public class Quaternion {
      * @param matrix float[16] store for the resulting normalized column matrix 4x4
      * @return the given matrix store
      * @see <a href="http://web.archive.org/web/20041029003853/http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q54">Matrix-FAQ Q54</a>
-     * @see #setFromMatrix(Matrix4f)
-     * @see #setFromMatrix(float, float, float, float, float, float, float, float, float)
+     * @see #setFromMat(Matrix4f)
+     * @see #setFromMat(float, float, float, float, float, float, float, float, float)
      */
     public final float[] toMatrix(final float[] matrix) {
         // pre-multiply scaled-reciprocal-magnitude to reduce multiplications
@@ -1086,7 +1086,7 @@ public class Quaternion {
      * @param matrix store for the resulting normalized column matrix 4x4
      * @return the given matrix store
      * @see <a href="http://web.archive.org/web/20041029003853/http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q54">Matrix-FAQ Q54</a>
-     * @see #setFromMatrix(float, float, float, float, float, float, float, float, float)
+     * @see #setFromMat(float, float, float, float, float, float, float, float, float)
      * @see Matrix4f#setToRotation(Quaternion)
      */
     public final Matrix4f toMatrix(final Matrix4f matrix) {
@@ -1105,7 +1105,7 @@ public class Quaternion {
      * @return this quaternion for chaining.
      */
     public final Quaternion setFromAxes(final Vec3f xAxis, final Vec3f yAxis, final Vec3f zAxis) {
-        return setFromMatrix(xAxis.x(), yAxis.x(), zAxis.x(),
+        return setFromMat(xAxis.x(), yAxis.x(), zAxis.x(),
                              xAxis.y(), yAxis.y(), zAxis.y(),
                              xAxis.z(), yAxis.z(), zAxis.z());
     }
diff --git a/src/jogl/classes/com/jogamp/math/geom/Frustum.java b/src/jogl/classes/com/jogamp/math/geom/Frustum.java
index 6efc2529c..7d35fab97 100644
--- a/src/jogl/classes/com/jogamp/math/geom/Frustum.java
+++ b/src/jogl/classes/com/jogamp/math/geom/Frustum.java
@@ -78,7 +78,7 @@ import com.jogamp.math.Vec4f;
  * </pre>
  * </p>
  */
-public class Frustum {
+public final class Frustum {
     /**
      * {@link Frustum} description by {@link #fovhv} and {@link #zNear}, {@link #zFar}.
      */
@@ -345,7 +345,7 @@ public class Frustum {
      *   <li>The given {@link FovDesc} will be transformed
      *       into the given perspective matrix (column major order) first,
      *       see {@link Matrix4f#setToPerspective(FovHVHalves, float, float)}.</li>
-     *   <li>Then the perspective matrix is used to {@link Matrix4f#updateFrustumPlanes(Frustum)} this instance.</li>
+     *   <li>Then the perspective matrix is used to {@link Matrix4f#getFrustum(Frustum)} this instance.</li>
      * </ul>
      * </p>
      * <p>
@@ -357,26 +357,26 @@ public class Frustum {
      * @param fovDesc {@link Frustum} {@link FovDesc}
      * @return given matrix for chaining
      * @see Matrix4f#setToPerspective(FovHVHalves, float, float)
-     * @see Matrix4f#updateFrustumPlanes(Frustum)
+     * @see Matrix4f#getFrustum(Frustum)
      * @see Matrix4f#getFrustum(Frustum, FovDesc)
      */
     public Matrix4f updateByFovDesc(final Matrix4f m, final FovDesc fovDesc) {
         m.setToPerspective(fovDesc.fovhv, fovDesc.zNear, fovDesc.zFar);
-        m.updateFrustumPlanes(this);
+        setFromMat(m);
         return m;
     }
 
     /**
      * Calculate the frustum planes in world coordinates
-     * using the passed premultiplied P*MV (column major order) matrix.
+     * using the passed column major order matrix, usually a projection (P) or premultiplied P*MV matrix.
      * <p>
      * Frustum plane's normals will point to the inside of the viewing frustum,
      * as required by this class.
      * </p>
-     * @see Matrix4f#updateFrustumPlanes(Frustum)
+     * @see Matrix4f#getFrustum(Frustum)
      */
-    public Frustum updateFrustumPlanes(final Matrix4f pmv) {
-        return pmv.updateFrustumPlanes(this);
+    public Frustum setFromMat(final Matrix4f pmv) {
+        return pmv.getFrustum(this);
     }
 
     /**
diff --git a/src/jogl/classes/com/jogamp/math/util/PMVMatrix4f.java b/src/jogl/classes/com/jogamp/math/util/PMVMatrix4f.java
index 7d02904be..650289d1f 100644
--- a/src/jogl/classes/com/jogamp/math/util/PMVMatrix4f.java
+++ b/src/jogl/classes/com/jogamp/math/util/PMVMatrix4f.java
@@ -1259,7 +1259,7 @@ public class PMVMatrix4f {
             if( null == frustum ) {
                 frustum = new Frustum();
             }
-            getPMv().updateFrustumPlanes(frustum);
+            frustum.setFromMat(getPMv());
             dirtyBits &= ~FRUSTUM;
         }
         return frustum;
diff --git a/src/test/com/jogamp/opengl/test/junit/math/Matrix4fb.java b/src/test/com/jogamp/opengl/test/junit/math/Matrix4fb.java
index 9a7d9f7ff..d76040904 100644
--- a/src/test/com/jogamp/opengl/test/junit/math/Matrix4fb.java
+++ b/src/test/com/jogamp/opengl/test/junit/math/Matrix4fb.java
@@ -1032,11 +1032,11 @@ public class Matrix4fb {
      * Returns the rotation [m[0+0*4] .. m[2+2*4]] fields converted to a Quaternion.
      * @param res resulting Quaternion
      * @return the resulting Quaternion for chaining.
-     * @see Quaternion#setFromMatrix(float, float, float, float, float, float, float, float, float)
+     * @see Quaternion#setFromMat(float, float, float, float, float, float, float, float, float)
      * @see #setToRotation(Quaternion)
      */
     public final Quaternion getRotation(final Quaternion res) {
-        res.setFromMatrix(m[0+0*4], m[0+1*4], m[0+2*4], m[1+0*4], m[1+1*4], m[1+2*4], m[2+0*4], m[2+1*4], m[2+2*4]);
+        res.setFromMat(m[0+0*4], m[0+1*4], m[0+2*4], m[1+0*4], m[1+1*4], m[1+2*4], m[2+0*4], m[2+1*4], m[2+2*4]);
         return res;
     }
 
diff --git a/src/test/com/jogamp/opengl/test/junit/math/TestQuaternion01NOUI.java b/src/test/com/jogamp/opengl/test/junit/math/TestQuaternion01NOUI.java
index 8e4957d97..f13003175 100644
--- a/src/test/com/jogamp/opengl/test/junit/math/TestQuaternion01NOUI.java
+++ b/src/test/com/jogamp/opengl/test/junit/math/TestQuaternion01NOUI.java
@@ -309,7 +309,7 @@ public class TestQuaternion01NOUI extends JunitTracer {
             Assert.assertEquals( 0f, Math.abs( UNIT_Z.dist(vecHas) ), Quaternion.ALLOWED_DEVIANCE );

         }

         mat1.getRotation(quat);

-        quat.setFromMatrix(mat1);

+        quat.setFromMat(mat1);

         quat.rotateVector(UNIT_Y, vecHas);

         // System.err.println("exp0 "+Arrays.toString(UNIT_Z));

         // System.err.println("has0 "+Arrays.toString(vecHas));

@@ -388,7 +388,7 @@ public class TestQuaternion01NOUI extends JunitTracer {
             // System.err.println("has0 "+Arrays.toString(vecHas));

             Assert.assertEquals( 0f, Math.abs( NEG_UNIT_Y.dist(vecHas) ), Quaternion.ALLOWED_DEVIANCE );

         }

-        quat.setFromMatrix(mat1);

+        quat.setFromMat(mat1);

         quat.rotateVector(UNIT_Y, vecHas);

         // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_Y));

         // System.err.println("has0 "+Arrays.toString(vecHas));

@@ -423,7 +423,7 @@ public class TestQuaternion01NOUI extends JunitTracer {
             // System.err.println("has0 "+Arrays.toString(vecHas));

             Assert.assertEquals( 0f, Math.abs( NEG_UNIT_X.dist(vecHas) ), Quaternion.ALLOWED_DEVIANCE );

         }

-        quat.setFromMatrix(mat1);

+        quat.setFromMat(mat1);

         quat.rotateVector(UNIT_X, vecHas);

         // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_X));

         // System.err.println("has0 "+Arrays.toString(vecHas));

@@ -458,7 +458,7 @@ public class TestQuaternion01NOUI extends JunitTracer {
             // System.err.println("has0 "+Arrays.toString(vecHas));

             Assert.assertEquals( 0f, Math.abs( NEG_UNIT_X.dist(vecHas) ), Quaternion.ALLOWED_DEVIANCE );

         }

-        quat.setFromMatrix(mat1);

+        quat.setFromMat(mat1);

         quat.rotateVector(UNIT_X, vecHas);

         // System.err.println("exp0 "+Arrays.toString(NEG_UNIT_X));

         // System.err.println("has0 "+Arrays.toString(vecHas));

@@ -517,7 +517,7 @@ public class TestQuaternion01NOUI extends JunitTracer {
 

         final Vec3f eulerHas = new Vec3f();

         final Quaternion quat2 = new Quaternion();

-        quat2.setFromMatrix(matExp1);

+        quat2.setFromMat(matExp1);

         quat2.toEuler(eulerHas);

         // System.err.println("exp-euler "+Arrays.toString(eulerExp));

         // System.err.println("has-euler "+Arrays.toString(eulerHas));

@@ -546,7 +546,7 @@ public class TestQuaternion01NOUI extends JunitTracer {
 

         final Vec3f eulerHas = new Vec3f();

         final Quaternion quat2 = new Quaternion();

-        quat2.setFromMatrix(matExp);

+        quat2.setFromMat(matExp);

         quat2.toEuler(eulerHas);

         // System.err.println("exp-euler "+Arrays.toString(eulerExp));

         // System.err.println("has-euler "+Arrays.toString(eulerHas));

@@ -578,7 +578,7 @@ public class TestQuaternion01NOUI extends JunitTracer {
 

         final Vec3f eulerHas1 = new Vec3f();

         final Quaternion quat2 = new Quaternion();

-        quat2.setFromMatrix(matExp);

+        quat2.setFromMat(matExp);

         quat2.toEuler(eulerHas1); // Vec3f

         if( DEBUG ) {

             System.err.println("PI");

@@ -789,7 +789,7 @@ public class TestQuaternion01NOUI extends JunitTracer {
 

         final Quaternion quat1 = new Quaternion().setFromAxes(xAxis, yAxis, zAxis);

         Assert.assertEquals(quat0, quat1);

-        final Quaternion quat2 = new Quaternion().setFromMatrix(rotMat);

+        final Quaternion quat2 = new Quaternion().setFromMat(rotMat);

         Assert.assertEquals(quat2, quat1);

 

         quat1.toAxes(xAxis, yAxis, zAxis, rotMat);

@@ -889,12 +889,22 @@ public class TestQuaternion01NOUI extends JunitTracer {
         Assert.assertEquals(0f, direction.dist( quat.rotateVector(UNIT_Z, vecHas) ), Quaternion.ALLOWED_DEVIANCE);

         Assert.assertEquals(direction, vecHas);

 

-        if( DEBUG ) System.err.println("LookAt #02");

+        if( DEBUG ) {

+            System.err.println("quat0.0 "+quat);

+            System.err.println("exp0 "+direction+", len "+direction.length());

+            System.err.println("has0 "+vecHas+", len "+vecHas.length());

+            System.err.println();

+            System.err.println("LookAt #02");

+        }

         direction.set(ONE).normalize();

         quat.setLookAt(direction, UNIT_Y, xAxis, yAxis, zAxis);

-        if( DEBUG )System.err.println("quat0 "+quat);

+        if( DEBUG ) {

+            System.err.println("direction "+direction);

+            System.err.println("quat0.0 "+quat);

+        }

         quat.rotateVector(UNIT_Z, vecHas);

         if( DEBUG ) {

+            System.err.println("quat0.1 "+quat);

             System.err.println("xAxis "+xAxis+", len "+xAxis.length());

             System.err.println("yAxis "+yAxis+", len "+yAxis.length());

             System.err.println("zAxis "+zAxis+", len "+zAxis.length());