Fix TAB: Replace all TAB with 4 spaces

2 files changed, 567 insertions, 567 deletions

diff --git a/src/jogl/classes/com/jogamp/graph/math/Quaternion.java b/src/jogl/classes/com/jogamp/graph/math/Quaternion.java
index b77a5fa08..38638dc5a 100755
--- a/src/jogl/classes/com/jogamp/graph/math/Quaternion.java
+++ b/src/jogl/classes/com/jogamp/graph/math/Quaternion.java
@@ -30,353 +30,353 @@ package com.jogamp.graph.math;
 import jogamp.graph.math.MathFloat;

 

 public class Quaternion {

-	protected float x,y,z,w;

+    protected float x,y,z,w;

 

-	public Quaternion(){

+    public Quaternion(){

 

-	}

-	

-	public Quaternion(float x, float y, float z, float w) {

-		this.x = x;

-		this.y = y;

-		this.z = z;

-		this.w = w;

-	}

-	

-	/** Constructor to create a rotation based quaternion from two vectors

-	 * @param vector1

-	 * @param vector2

-	 */

-	public Quaternion(float[] vector1, float[] vector2) 

-	{

-		float theta = (float)MathFloat.acos(dot(vector1, vector2));

-		float[] cross = cross(vector1,vector2);

-		cross = normalizeVec(cross);

+    }

+    

+    public Quaternion(float x, float y, float z, float w) {

+        this.x = x;

+        this.y = y;

+        this.z = z;

+        this.w = w;

+    }

+    

+    /** Constructor to create a rotation based quaternion from two vectors

+     * @param vector1

+     * @param vector2

+     */

+    public Quaternion(float[] vector1, float[] vector2) 

+    {

+        float theta = (float)MathFloat.acos(dot(vector1, vector2));

+        float[] cross = cross(vector1,vector2);

+        cross = normalizeVec(cross);

 

-		this.x = (float)MathFloat.sin(theta/2)*cross[0];

-		this.y = (float)MathFloat.sin(theta/2)*cross[1];

-		this.z = (float)MathFloat.sin(theta/2)*cross[2];

-		this.w = (float)MathFloat.cos(theta/2);

-		this.normalize();

-	}

-	

-	/** Transform the rotational quaternion to axis based rotation angles

-	 * @return new float[4] with ,theta,Rx,Ry,Rz

-	 */

-	public float[] toAxis()

-	{

-		float[] vec = new float[4];

-		float scale = (float)MathFloat.sqrt(x * x + y * y + z * z);

-		vec[0] =(float) MathFloat.acos(w) * 2.0f;

-		vec[1] = x / scale;

-		vec[2] = y / scale;

-		vec[3] = z / scale;

-		return vec;

-	}

-	

-	/** Normalize a vector

-	 * @param vector input vector

-	 * @return normalized vector

-	 */

-	private float[] normalizeVec(float[] vector)

-	{

-		float[] newVector = new float[3];

+        this.x = (float)MathFloat.sin(theta/2)*cross[0];

+        this.y = (float)MathFloat.sin(theta/2)*cross[1];

+        this.z = (float)MathFloat.sin(theta/2)*cross[2];

+        this.w = (float)MathFloat.cos(theta/2);

+        this.normalize();

+    }

+    

+    /** Transform the rotational quaternion to axis based rotation angles

+     * @return new float[4] with ,theta,Rx,Ry,Rz

+     */

+    public float[] toAxis()

+    {

+        float[] vec = new float[4];

+        float scale = (float)MathFloat.sqrt(x * x + y * y + z * z);

+        vec[0] =(float) MathFloat.acos(w) * 2.0f;

+        vec[1] = x / scale;

+        vec[2] = y / scale;

+        vec[3] = z / scale;

+        return vec;

+    }

+    

+    /** Normalize a vector

+     * @param vector input vector

+     * @return normalized vector

+     */

+    private float[] normalizeVec(float[] vector)

+    {

+        float[] newVector = new float[3];

 

-		float d = MathFloat.sqrt(vector[0]*vector[0] + vector[1]*vector[1] + vector[2]*vector[2]);

-		if(d> 0.0f)

-		{

-			newVector[0] = vector[0]/d;

-			newVector[1] = vector[1]/d;

-			newVector[2] = vector[2]/d;

-		}

-		return newVector;

-	}

-	/** compute the dot product of two points

-	 * @param vec1 vector 1

-	 * @param vec2 vector 2

-	 * @return the dot product as float

-	 */

-	private float dot(float[] vec1, float[] vec2)

-	{

-		return (vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2]);

-	}

-	/** cross product vec1 x vec2

-	 * @param vec1 vector 1

-	 * @param vec2 vecttor 2

-	 * @return the resulting vector

-	 */

-	private float[] cross(float[] vec1, float[] vec2)

-	{

-		float[] out = new float[3];

+        float d = MathFloat.sqrt(vector[0]*vector[0] + vector[1]*vector[1] + vector[2]*vector[2]);

+        if(d> 0.0f)

+        {

+            newVector[0] = vector[0]/d;

+            newVector[1] = vector[1]/d;

+            newVector[2] = vector[2]/d;

+        }

+        return newVector;

+    }

+    /** compute the dot product of two points

+     * @param vec1 vector 1

+     * @param vec2 vector 2

+     * @return the dot product as float

+     */

+    private float dot(float[] vec1, float[] vec2)

+    {

+        return (vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2]);

+    }

+    /** cross product vec1 x vec2

+     * @param vec1 vector 1

+     * @param vec2 vecttor 2

+     * @return the resulting vector

+     */

+    private float[] cross(float[] vec1, float[] vec2)

+    {

+        float[] out = new float[3];

 

-		out[0] = vec2[2]*vec1[1] - vec2[1]*vec1[2];

-		out[1] = vec2[0]*vec1[2] - vec2[2]*vec1[0];

-		out[2] = vec2[1]*vec1[0] - vec2[0]*vec1[1];

+        out[0] = vec2[2]*vec1[1] - vec2[1]*vec1[2];

+        out[1] = vec2[0]*vec1[2] - vec2[2]*vec1[0];

+        out[2] = vec2[1]*vec1[0] - vec2[0]*vec1[1];

 

-		return out;

-	}

-	public float getW() {

-		return w;

-	}

-	public void setW(float w) {

-		this.w = w;

-	}

-	public float getX() {

-		return x;

-	}

-	public void setX(float x) {

-		this.x = x;

-	}

-	public float getY() {

-		return y;

-	}

-	public void setY(float y) {

-		this.y = y;

-	}

-	public float getZ() {

-		return z;

-	}

-	public void setZ(float z) {

-		this.z = z;

-	}

+        return out;

+    }

+    public float getW() {

+        return w;

+    }

+    public void setW(float w) {

+        this.w = w;

+    }

+    public float getX() {

+        return x;

+    }

+    public void setX(float x) {

+        this.x = x;

+    }

+    public float getY() {

+        return y;

+    }

+    public void setY(float y) {

+        this.y = y;

+    }

+    public float getZ() {

+        return z;

+    }

+    public void setZ(float z) {

+        this.z = z;

+    }

 

-	/** Add a quaternion

-	 * @param q quaternion

-	 */

-	public void add(Quaternion q)

-	{

-		x+=q.x;

-		y+=q.y;

-		z+=q.z;

-	}

-	

-	/** Subtract a quaternion

-	 * @param q quaternion

-	 */

-	public void subtract(Quaternion q)

-	{

-		x-=q.x;

-		y-=q.y;

-		z-=q.z;

-	}

-	

-	/** Divide a quaternion by a constant

-	 * @param n a float to divide by

-	 */

-	public void divide(float n)

-	{

-		x/=n;

-		y/=n;

-		z/=n;

-	}

-	

-	/** Multiply this quaternion by 

-	 * the param quaternion

-	 * @param q a quaternion to multiply with

-	 */

-	public void mult(Quaternion q)

-	{

-		float w1 = w*q.w - (x*q.x + y*q.y + z*q.z);

+    /** Add a quaternion

+     * @param q quaternion

+     */

+    public void add(Quaternion q)

+    {

+        x+=q.x;

+        y+=q.y;

+        z+=q.z;

+    }

+    

+    /** Subtract a quaternion

+     * @param q quaternion

+     */

+    public void subtract(Quaternion q)

+    {

+        x-=q.x;

+        y-=q.y;

+        z-=q.z;

+    }

+    

+    /** Divide a quaternion by a constant

+     * @param n a float to divide by

+     */

+    public void divide(float n)

+    {

+        x/=n;

+        y/=n;

+        z/=n;

+    }

+    

+    /** Multiply this quaternion by 

+     * the param quaternion

+     * @param q a quaternion to multiply with

+     */

+    public void mult(Quaternion q)

+    {

+        float w1 = w*q.w - (x*q.x + y*q.y + z*q.z);

 

-		float x1 = w*q.z + q.w*z + y*q.z - z*q.y;

-		float y1 = w*q.x + q.w*x + z*q.x - x*q.z;

-		float z1 = w*q.y + q.w*y + x*q.y - y*q.x;

+        float x1 = w*q.z + q.w*z + y*q.z - z*q.y;

+        float y1 = w*q.x + q.w*x + z*q.x - x*q.z;

+        float z1 = w*q.y + q.w*y + x*q.y - y*q.x;

 

-		w = w1;

-		x = x1;

-		y = y1;

-		z = z1; 

-	}

-	

-	/** Multiply a quaternion by a constant

-	 * @param n a float constant

-	 */

-	public void mult(float n)

-	{

-		x*=n;

-		y*=n;

-		z*=n;

-	}

-	

-	/** Normalize a quaternion required if  

-	 *  to be used as a rotational quaternion

-	 */

-	public void normalize()

-	{

-		float norme = (float)MathFloat.sqrt(w*w + x*x + y*y + z*z);

-		if (norme == 0.0f)

-		{

-			w = 1.0f; 

-			x = y = z = 0.0f;

-		}

-		else

-		{

-			float recip = 1.0f/norme;

+        w = w1;

+        x = x1;

+        y = y1;

+        z = z1; 

+    }

+    

+    /** Multiply a quaternion by a constant

+     * @param n a float constant

+     */

+    public void mult(float n)

+    {

+        x*=n;

+        y*=n;

+        z*=n;

+    }

+    

+    /** Normalize a quaternion required if  

+     *  to be used as a rotational quaternion

+     */

+    public void normalize()

+    {

+        float norme = (float)MathFloat.sqrt(w*w + x*x + y*y + z*z);

+        if (norme == 0.0f)

+        {

+            w = 1.0f; 

+            x = y = z = 0.0f;

+        }

+        else

+        {

+            float recip = 1.0f/norme;

 

-			w *= recip;

-			x *= recip;

-			y *= recip;

-			z *= recip;

-		}

-	}

-	

-	/** Invert the quaternion If rotational, 

-	 * will produce a the inverse rotation

-	 */

-	public void inverse()

-	{

-		float norm = w*w + x*x + y*y + z*z;

+            w *= recip;

+            x *= recip;

+            y *= recip;

+            z *= recip;

+        }

+    }

+    

+    /** Invert the quaternion If rotational, 

+     * will produce a the inverse rotation

+     */

+    public void inverse()

+    {

+        float norm = w*w + x*x + y*y + z*z;

 

-		float recip = 1.0f/norm;

+        float recip = 1.0f/norm;

 

-		w *= recip;

-		x = -1*x*recip;

-		y = -1*y*recip;

-		z = -1*z*recip;

-	}

-	

-	/** Transform this quaternion to a

-	 * 4x4 column matrix representing the rotation

-	 * @return new float[16] column matrix 4x4 

-	 */

-	public float[] toMatrix()

-	{

-		float[] matrix = new float[16];

-		matrix[0] = 1.0f - 2*y*y - 2*z*z;

-		matrix[1] = 2*x*y + 2*w*z;

-		matrix[2] = 2*x*z - 2*w*y;

-		matrix[3] = 0;

+        w *= recip;

+        x = -1*x*recip;

+        y = -1*y*recip;

+        z = -1*z*recip;

+    }

+    

+    /** Transform this quaternion to a

+     * 4x4 column matrix representing the rotation

+     * @return new float[16] column matrix 4x4 

+     */

+    public float[] toMatrix()

+    {

+        float[] matrix = new float[16];

+        matrix[0] = 1.0f - 2*y*y - 2*z*z;

+        matrix[1] = 2*x*y + 2*w*z;

+        matrix[2] = 2*x*z - 2*w*y;

+        matrix[3] = 0;

 

-		matrix[4] = 2*x*y - 2*w*z;

-		matrix[5] = 1.0f - 2*x*x - 2*z*z;

-		matrix[6] = 2*y*z + 2*w*x;

-		matrix[7] = 0;

+        matrix[4] = 2*x*y - 2*w*z;

+        matrix[5] = 1.0f - 2*x*x - 2*z*z;

+        matrix[6] = 2*y*z + 2*w*x;

+        matrix[7] = 0;

 

-		matrix[8]  = 2*x*z + 2*w*y;

-		matrix[9]  = 2*y*z - 2*w*x;

-		matrix[10] = 1.0f - 2*x*x - 2*y*y;

-		matrix[11] = 0;

+        matrix[8]  = 2*x*z + 2*w*y;

+        matrix[9]  = 2*y*z - 2*w*x;

+        matrix[10] = 1.0f - 2*x*x - 2*y*y;

+        matrix[11] = 0;

 

-		matrix[12] = 0;

-		matrix[13] = 0;

-		matrix[14] = 0;

-		matrix[15] = 1;

-		return matrix;

-	}

-	

-	/** Set this quaternion from a Sphereical interpolation

-	 *  of two param quaternion, used mostly for rotational animation

-	 * @param a initial quaternion

-	 * @param b target quaternion

-	 * @param t float between 0 and 1 representing interp.

-	 */

-	public void slerp(Quaternion a,Quaternion b, float t)

-	{

-		float omega, cosom, sinom, sclp, sclq;

-		cosom = a.x*b.x + a.y*b.y + a.z*b.z + a.w*b.w;

-		if ((1.0f+cosom) > MathFloat.E) {

-			if ((1.0f-cosom) > MathFloat.E) {

-				omega = (float)MathFloat.acos(cosom);

-				sinom = (float)MathFloat.sin(omega);

-				sclp = (float)MathFloat.sin((1.0f-t)*omega) / sinom;

-				sclq = (float)MathFloat.sin(t*omega) / sinom;

-			}

-			else {

-				sclp = 1.0f - t;

-				sclq = t;

-			}

-			x = sclp*a.x + sclq*b.x;

-			y = sclp*a.y + sclq*b.y;

-			z = sclp*a.z + sclq*b.z;

-			w = sclp*a.w + sclq*b.w;

-		}

-		else {

-			x =-a.y;

-			y = a.x;

-			z =-a.w;

-			w = a.z;

-			sclp = MathFloat.sin((1.0f-t) * MathFloat.PI * 0.5f);

-			sclq = MathFloat.sin(t * MathFloat.PI * 0.5f);

-			x = sclp*a.x + sclq*b.x;

-			y = sclp*a.y + sclq*b.y;

-			z = sclp*a.z + sclq*b.z;

-		}

-	}

-	

-	/** Check if this quaternion is empty, ie (0,0,0,1)

-	 * @return true if empty, false otherwise

-	 */

-	public boolean isEmpty()

-	{

-		if (w==1 && x==0 && y==0 && z==0)

-			return true;

-		return false;

-	}

-	

-	/** Check if this quaternion represents an identity

-	 * matrix, for rotation.

-	 * @return true if it is an identity rep., false otherwise

-	 */

-	public boolean isIdentity()

-	{

-		if (w==0 && x==0 && y==0 && z==0)

-			return true;

-		return false;

-	}

-	

-	/** compute the quaternion from a 3x3 column matrix

-	 * @param m 3x3 column matrix 

-	 */

-	public void setFromMatrix(float[] m) {

-		float T= m[0] + m[4] + m[8] + 1;

-		if (T>0){

-			float S = 0.5f / (float)MathFloat.sqrt(T);

-			w = 0.25f / S;

-			x = ( m[5] - m[7]) * S;

-			y = ( m[6] - m[2]) * S;

-			z = ( m[1] - m[3] ) * S;

-		}

-		else{

-			if ((m[0] > m[4])&(m[0] > m[8])) { 

-				float S = MathFloat.sqrt( 1.0f + m[0] - m[4] - m[8] ) * 2f; // S=4*qx 

-				w = (m[7] - m[5]) / S;

-				x = 0.25f * S;

-				y = (m[3] + m[1]) / S; 

-				z = (m[6] + m[2]) / S; 

-			} 

-			else if (m[4] > m[8]) { 

-				float S = MathFloat.sqrt( 1.0f + m[4] - m[0] - m[8] ) * 2f; // S=4*qy

-				w = (m[6] - m[2]) / S;

-				x = (m[3] + m[1]) / S; 

-				y = 0.25f * S;

-				z = (m[7] + m[5]) / S; 

-			} 

-			else { 

-				float S = MathFloat.sqrt( 1.0f + m[8] - m[0] - m[4] ) * 2f; // S=4*qz

-				w = (m[3] - m[1]) / S;

-				x = (m[6] + m[2]) / S; 

-				y = (m[7] + m[5]) / S; 

-				z = 0.25f * S;

-			} 

-		}

-	}

-	

-	/** Check if the the 3x3 matrix (param) is in fact 

-	 * an affine rotational matrix

-	 * @param m 3x3 column matrix

-	 * @return true if representing a rotational matrix, false otherwise

-	 */

-	public boolean isRotationMatrix(float[] m) {

-		double epsilon = 0.01; // margin to allow for rounding errors

-		if (MathFloat.abs(m[0]*m[3] + m[3]*m[4] + m[6]*m[7]) > epsilon) return false;

-		if (MathFloat.abs(m[0]*m[2] + m[3]*m[5] + m[6]*m[8]) > epsilon) return false;

-		if (MathFloat.abs(m[1]*m[2] + m[4]*m[5] + m[7]*m[8]) > epsilon) return false;

-		if (MathFloat.abs(m[0]*m[0] + m[3]*m[3] + m[6]*m[6] - 1) > epsilon) return false;

-		if (MathFloat.abs(m[1]*m[1] + m[4]*m[4] + m[7]*m[7] - 1) > epsilon) return false;

-		if (MathFloat.abs(m[2]*m[2] + m[5]*m[5] + m[8]*m[8] - 1) > epsilon) return false;

-		return (MathFloat.abs(determinant(m)-1) < epsilon);

-	}

-	private float determinant(float[] m) {

-	      return m[0]*m[4]*m[8] + m[3]*m[7]*m[2] + m[6]*m[1]*m[5] - m[0]*m[7]*m[5] - m[3]*m[1]*m[8] - m[6]*m[4]*m[2];

-	}

+        matrix[12] = 0;

+        matrix[13] = 0;

+        matrix[14] = 0;

+        matrix[15] = 1;

+        return matrix;

+    }

+    

+    /** Set this quaternion from a Sphereical interpolation

+     *  of two param quaternion, used mostly for rotational animation

+     * @param a initial quaternion

+     * @param b target quaternion

+     * @param t float between 0 and 1 representing interp.

+     */

+    public void slerp(Quaternion a,Quaternion b, float t)

+    {

+        float omega, cosom, sinom, sclp, sclq;

+        cosom = a.x*b.x + a.y*b.y + a.z*b.z + a.w*b.w;

+        if ((1.0f+cosom) > MathFloat.E) {

+            if ((1.0f-cosom) > MathFloat.E) {

+                omega = (float)MathFloat.acos(cosom);

+                sinom = (float)MathFloat.sin(omega);

+                sclp = (float)MathFloat.sin((1.0f-t)*omega) / sinom;

+                sclq = (float)MathFloat.sin(t*omega) / sinom;

+            }

+            else {

+                sclp = 1.0f - t;

+                sclq = t;

+            }

+            x = sclp*a.x + sclq*b.x;

+            y = sclp*a.y + sclq*b.y;

+            z = sclp*a.z + sclq*b.z;

+            w = sclp*a.w + sclq*b.w;

+        }

+        else {

+            x =-a.y;

+            y = a.x;

+            z =-a.w;

+            w = a.z;

+            sclp = MathFloat.sin((1.0f-t) * MathFloat.PI * 0.5f);

+            sclq = MathFloat.sin(t * MathFloat.PI * 0.5f);

+            x = sclp*a.x + sclq*b.x;

+            y = sclp*a.y + sclq*b.y;

+            z = sclp*a.z + sclq*b.z;

+        }

+    }

+    

+    /** Check if this quaternion is empty, ie (0,0,0,1)

+     * @return true if empty, false otherwise

+     */

+    public boolean isEmpty()

+    {

+        if (w==1 && x==0 && y==0 && z==0)

+            return true;

+        return false;

+    }

+    

+    /** Check if this quaternion represents an identity

+     * matrix, for rotation.

+     * @return true if it is an identity rep., false otherwise

+     */

+    public boolean isIdentity()

+    {

+        if (w==0 && x==0 && y==0 && z==0)

+            return true;

+        return false;

+    }

+    

+    /** compute the quaternion from a 3x3 column matrix

+     * @param m 3x3 column matrix 

+     */

+    public void setFromMatrix(float[] m) {

+        float T= m[0] + m[4] + m[8] + 1;

+        if (T>0){

+            float S = 0.5f / (float)MathFloat.sqrt(T);

+            w = 0.25f / S;

+            x = ( m[5] - m[7]) * S;

+            y = ( m[6] - m[2]) * S;

+            z = ( m[1] - m[3] ) * S;

+        }

+        else{

+            if ((m[0] > m[4])&(m[0] > m[8])) { 

+                float S = MathFloat.sqrt( 1.0f + m[0] - m[4] - m[8] ) * 2f; // S=4*qx 

+                w = (m[7] - m[5]) / S;

+                x = 0.25f * S;

+                y = (m[3] + m[1]) / S; 

+                z = (m[6] + m[2]) / S; 

+            } 

+            else if (m[4] > m[8]) { 

+                float S = MathFloat.sqrt( 1.0f + m[4] - m[0] - m[8] ) * 2f; // S=4*qy

+                w = (m[6] - m[2]) / S;

+                x = (m[3] + m[1]) / S; 

+                y = 0.25f * S;

+                z = (m[7] + m[5]) / S; 

+            } 

+            else { 

+                float S = MathFloat.sqrt( 1.0f + m[8] - m[0] - m[4] ) * 2f; // S=4*qz

+                w = (m[3] - m[1]) / S;

+                x = (m[6] + m[2]) / S; 

+                y = (m[7] + m[5]) / S; 

+                z = 0.25f * S;

+            } 

+        }

+    }

+    

+    /** Check if the the 3x3 matrix (param) is in fact 

+     * an affine rotational matrix

+     * @param m 3x3 column matrix

+     * @return true if representing a rotational matrix, false otherwise

+     */

+    public boolean isRotationMatrix(float[] m) {

+        double epsilon = 0.01; // margin to allow for rounding errors

+        if (MathFloat.abs(m[0]*m[3] + m[3]*m[4] + m[6]*m[7]) > epsilon) return false;

+        if (MathFloat.abs(m[0]*m[2] + m[3]*m[5] + m[6]*m[8]) > epsilon) return false;

+        if (MathFloat.abs(m[1]*m[2] + m[4]*m[5] + m[7]*m[8]) > epsilon) return false;

+        if (MathFloat.abs(m[0]*m[0] + m[3]*m[3] + m[6]*m[6] - 1) > epsilon) return false;

+        if (MathFloat.abs(m[1]*m[1] + m[4]*m[4] + m[7]*m[7] - 1) > epsilon) return false;

+        if (MathFloat.abs(m[2]*m[2] + m[5]*m[5] + m[8]*m[8] - 1) > epsilon) return false;

+        return (MathFloat.abs(determinant(m)-1) < epsilon);

+    }

+    private float determinant(float[] m) {

+          return m[0]*m[4]*m[8] + m[3]*m[7]*m[2] + m[6]*m[1]*m[5] - m[0]*m[7]*m[5] - m[3]*m[1]*m[8] - m[6]*m[4]*m[2];

+    }

 }

diff --git a/src/jogl/classes/com/jogamp/graph/math/VectorUtil.java b/src/jogl/classes/com/jogamp/graph/math/VectorUtil.java
index cca9a454f..7cbb742e5 100755
--- a/src/jogl/classes/com/jogamp/graph/math/VectorUtil.java
+++ b/src/jogl/classes/com/jogamp/graph/math/VectorUtil.java
@@ -35,261 +35,261 @@ import com.jogamp.graph.geom.Vertex;
 

 public class VectorUtil {

 

-	public static final int CW = -1;

-	public static final int CCW = 1;

-	public static final int COLLINEAR = 0;

+    public static final int CW = -1;

+    public static final int CCW = 1;

+    public static final int COLLINEAR = 0;

 

-	/** compute the dot product of two points

-	 * @param vec1 vector 1

-	 * @param vec2 vector 2

-	 * @return the dot product as float

-	 */

-	public static float dot(float[] vec1, float[] vec2)

-	{

-		return (vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2]);

-	}

-	/** Normalize a vector

-	 * @param vector input vector

-	 * @return normalized vector

-	 */

-	public static float[] normalize(float[] vector)

-	{

-		float[] newVector = new float[3];

+    /** compute the dot product of two points

+     * @param vec1 vector 1

+     * @param vec2 vector 2

+     * @return the dot product as float

+     */

+    public static float dot(float[] vec1, float[] vec2)

+    {

+        return (vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2]);

+    }

+    /** Normalize a vector

+     * @param vector input vector

+     * @return normalized vector

+     */

+    public static float[] normalize(float[] vector)

+    {

+        float[] newVector = new float[3];

 

-		float d = MathFloat.sqrt(vector[0]*vector[0] + vector[1]*vector[1] + vector[2]*vector[2]);

-		if(d> 0.0f)

-		{

-			newVector[0] = vector[0]/d;

-			newVector[1] = vector[1]/d;

-			newVector[2] = vector[2]/d;

-		}

-		return newVector;

-	}

+        float d = MathFloat.sqrt(vector[0]*vector[0] + vector[1]*vector[1] + vector[2]*vector[2]);

+        if(d> 0.0f)

+        {

+            newVector[0] = vector[0]/d;

+            newVector[1] = vector[1]/d;

+            newVector[2] = vector[2]/d;

+        }

+        return newVector;

+    }

 

-	/** Scales a vector by param

-	 * @param vector input vector

-	 * @param scale constant to scale by

-	 * @return scaled vector

-	 */

-	public static float[] scale(float[] vector, float scale)

-	{

-		float[] newVector = new float[3];

+    /** Scales a vector by param

+     * @param vector input vector

+     * @param scale constant to scale by

+     * @return scaled vector

+     */

+    public static float[] scale(float[] vector, float scale)

+    {

+        float[] newVector = new float[3];

 

-		newVector[0] = vector[0]*scale;

-		newVector[1] = vector[1]*scale;

-		newVector[2] = vector[2]*scale;

-		return newVector;

-	}

-	

-	/** Adds to vectors

-	 * @param v1 vector 1

-	 * @param v2 vector 2

-	 * @return v1 + v2

-	 */

-	public static float[] vectorAdd(float[] v1, float[] v2)

-	{

-		float[] newVector = new float[3];

+        newVector[0] = vector[0]*scale;

+        newVector[1] = vector[1]*scale;

+        newVector[2] = vector[2]*scale;

+        return newVector;

+    }

+    

+    /** Adds to vectors

+     * @param v1 vector 1

+     * @param v2 vector 2

+     * @return v1 + v2

+     */

+    public static float[] vectorAdd(float[] v1, float[] v2)

+    {

+        float[] newVector = new float[3];

 

-		newVector[0] = v1[0] + v2[0];

-		newVector[1] = v1[1] + v2[1];

-		newVector[2] = v1[2] + v2[2];

-		return newVector;

-	}

+        newVector[0] = v1[0] + v2[0];

+        newVector[1] = v1[1] + v2[1];

+        newVector[2] = v1[2] + v2[2];

+        return newVector;

+    }

 

-	/** cross product vec1 x vec2

-	 * @param vec1 vector 1

-	 * @param vec2 vecttor 2

-	 * @return the resulting vector

-	 */

-	public static float[] cross(float[] vec1, float[] vec2)

-	{

-		float[] out = new float[3];

+    /** cross product vec1 x vec2

+     * @param vec1 vector 1

+     * @param vec2 vecttor 2

+     * @return the resulting vector

+     */

+    public static float[] cross(float[] vec1, float[] vec2)

+    {

+        float[] out = new float[3];

 

-		out[0] = vec2[2]*vec1[1] - vec2[1]*vec1[2];

-		out[1] = vec2[0]*vec1[2] - vec2[2]*vec1[0];

-		out[2] = vec2[1]*vec1[0] - vec2[0]*vec1[1];

+        out[0] = vec2[2]*vec1[1] - vec2[1]*vec1[2];

+        out[1] = vec2[0]*vec1[2] - vec2[2]*vec1[0];

+        out[2] = vec2[1]*vec1[0] - vec2[0]*vec1[1];

 

-		return out;

-	}

+        return out;

+    }

 

-	/** Column Matrix Vector multiplication

-	 * @param colMatrix column matrix (4x4)

-	 * @param vec vector(x,y,z)

-	 * @return result new float[3] 

-	 */

-	public static float[] colMatrixVectorMult(float[] colMatrix, float[] vec)

-	{

-		float[] out = new float[3];

+    /** Column Matrix Vector multiplication

+     * @param colMatrix column matrix (4x4)

+     * @param vec vector(x,y,z)

+     * @return result new float[3] 

+     */

+    public static float[] colMatrixVectorMult(float[] colMatrix, float[] vec)

+    {

+        float[] out = new float[3];

 

-		out[0] = vec[0]*colMatrix[0] + vec[1]*colMatrix[4] + vec[2]*colMatrix[8] + colMatrix[12]; 

-		out[1] = vec[0]*colMatrix[1] + vec[1]*colMatrix[5] + vec[2]*colMatrix[9] + colMatrix[13]; 

-		out[2] = vec[0]*colMatrix[2] + vec[1]*colMatrix[6] + vec[2]*colMatrix[10] + colMatrix[14]; 

+        out[0] = vec[0]*colMatrix[0] + vec[1]*colMatrix[4] + vec[2]*colMatrix[8] + colMatrix[12]; 

+        out[1] = vec[0]*colMatrix[1] + vec[1]*colMatrix[5] + vec[2]*colMatrix[9] + colMatrix[13]; 

+        out[2] = vec[0]*colMatrix[2] + vec[1]*colMatrix[6] + vec[2]*colMatrix[10] + colMatrix[14]; 

 

-		return out;

-	}

-	

-	/** Matrix Vector multiplication

-	 * @param rawMatrix column matrix (4x4)

-	 * @param vec vector(x,y,z)

-	 * @return result new float[3] 

-	 */

-	public static float[] rowMatrixVectorMult(float[] rawMatrix, float[] vec)

-	{

-		float[] out = new float[3];

+        return out;

+    }

+    

+    /** Matrix Vector multiplication

+     * @param rawMatrix column matrix (4x4)

+     * @param vec vector(x,y,z)

+     * @return result new float[3] 

+     */

+    public static float[] rowMatrixVectorMult(float[] rawMatrix, float[] vec)

+    {

+        float[] out = new float[3];

 

-		out[0] = vec[0]*rawMatrix[0] + vec[1]*rawMatrix[1] + vec[2]*rawMatrix[2] + rawMatrix[3]; 

-		out[1] = vec[0]*rawMatrix[4] + vec[1]*rawMatrix[5] + vec[2]*rawMatrix[6] + rawMatrix[7]; 

-		out[2] = vec[0]*rawMatrix[8] + vec[1]*rawMatrix[9] + vec[2]*rawMatrix[10] + rawMatrix[11]; 

+        out[0] = vec[0]*rawMatrix[0] + vec[1]*rawMatrix[1] + vec[2]*rawMatrix[2] + rawMatrix[3]; 

+        out[1] = vec[0]*rawMatrix[4] + vec[1]*rawMatrix[5] + vec[2]*rawMatrix[6] + rawMatrix[7]; 

+        out[2] = vec[0]*rawMatrix[8] + vec[1]*rawMatrix[9] + vec[2]*rawMatrix[10] + rawMatrix[11]; 

 

-		return out;

-	}

-	

-	/** Calculate the midpoint of two values

-	 * @param p1 first value

-	 * @param p2 second vale

-	 * @return midpoint

-	 */

-	public static float mid(float p1, float p2)

-	{

-		return (p1+p2)/2.0f;

-	}

-	/** Calculate the midpoint of two points

-	 * @param p1 first point

-	 * @param p2 second point

-	 * @return midpoint

-	 */

-	public static float[] mid(float[] p1, float[] p2)

-	{

-		float[] midPoint = new float[3];

-		midPoint[0] = (p1[0] + p2[0])/2.0f;

-		midPoint[1] = (p1[1] + p2[1])/2.0f;

-		midPoint[2] = (p1[2] + p2[2])/2.0f;

+        return out;

+    }

+    

+    /** Calculate the midpoint of two values

+     * @param p1 first value

+     * @param p2 second vale

+     * @return midpoint

+     */

+    public static float mid(float p1, float p2)

+    {

+        return (p1+p2)/2.0f;

+    }

+    /** Calculate the midpoint of two points

+     * @param p1 first point

+     * @param p2 second point

+     * @return midpoint

+     */

+    public static float[] mid(float[] p1, float[] p2)

+    {

+        float[] midPoint = new float[3];

+        midPoint[0] = (p1[0] + p2[0])/2.0f;

+        midPoint[1] = (p1[1] + p2[1])/2.0f;

+        midPoint[2] = (p1[2] + p2[2])/2.0f;

 

-		return midPoint;

-	}

-	/** Compute the norm of a vector

-	 * @param vec vector

-	 * @return vorm

-	 */

-	public static float norm(float[] vec)

-	{

-		return MathFloat.sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]);

-	}

-	/** Compute distance between 2 points

-	 * @param p0 a ref point on the line

-	 * @param vec vector representing the direction of the line

-	 * @param point the point to compute the relative distance of

-	 * @return distance float

-	 */

-	public static float computeLength(float[] p0, float[] point)

-	{

-		float[] w = new float[]{point[0]-p0[0],point[1]-p0[1],point[2]-p0[2]};

+        return midPoint;

+    }

+    /** Compute the norm of a vector

+     * @param vec vector

+     * @return vorm

+     */

+    public static float norm(float[] vec)

+    {

+        return MathFloat.sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]);

+    }

+    /** Compute distance between 2 points

+     * @param p0 a ref point on the line

+     * @param vec vector representing the direction of the line

+     * @param point the point to compute the relative distance of

+     * @return distance float

+     */

+    public static float computeLength(float[] p0, float[] point)

+    {

+        float[] w = new float[]{point[0]-p0[0],point[1]-p0[1],point[2]-p0[2]};

 

-		float distance = MathFloat.sqrt(w[0]*w[0] + w[1]*w[1] + w[2]*w[2]);

+        float distance = MathFloat.sqrt(w[0]*w[0] + w[1]*w[1] + w[2]*w[2]);

 

-		return distance;

-	}

+        return distance;

+    }

 

-	/**Check equality of 2 vec3 vectors

-	 * @param v1 vertex 1

-	 * @param v2 vertex 2

-	 * @return

-	 */

-	public static boolean checkEquality(float[] v1, float[] v2)

-	{

-		if(Float.compare(v1[0], v2[0]) == 0 

-				&& Float.compare(v1[1] , v2[1]) == 0

-				&& Float.compare(v1[2], v2[2]) == 0 )

-			return true;

-		return false;

-	}

+    /**Check equality of 2 vec3 vectors

+     * @param v1 vertex 1

+     * @param v2 vertex 2

+     * @return

+     */

+    public static boolean checkEquality(float[] v1, float[] v2)

+    {

+        if(Float.compare(v1[0], v2[0]) == 0 

+                && Float.compare(v1[1] , v2[1]) == 0

+                && Float.compare(v1[2], v2[2]) == 0 )

+            return true;

+        return false;

+    }

 

-	/** Compute the determinant of 3 vectors

-	 * @param a vector 1

-	 * @param b vector 2

-	 * @param c vector 3

-	 * @return the determinant value

-	 */

-	public static float computeDeterminant(float[] a, float[] b, float[] c)

-	{

-		float area = a[0]*b[1]*c[2] + a[1]*b[2]*c[0] + a[2]*b[0]*c[1] - a[0]*b[2]*c[1] - a[1]*b[0]*c[2] - a[2]*b[1]*c[0];

-		return area;

-	}

+    /** Compute the determinant of 3 vectors

+     * @param a vector 1

+     * @param b vector 2

+     * @param c vector 3

+     * @return the determinant value

+     */

+    public static float computeDeterminant(float[] a, float[] b, float[] c)

+    {

+        float area = a[0]*b[1]*c[2] + a[1]*b[2]*c[0] + a[2]*b[0]*c[1] - a[0]*b[2]*c[1] - a[1]*b[0]*c[2] - a[2]*b[1]*c[0];

+        return area;

+    }

 

-	/** Check if three vertices are colliniear

-	 * @param v1 vertex 1

-	 * @param v2 vertex 2

-	 * @param v3 vertex 3

-	 * @return true if collinear, false otherwise

-	 */

-	public static boolean checkCollinear(float[] v1, float[] v2, float[] v3)

-	{

-		return (computeDeterminant(v1, v2, v3) == VectorUtil.COLLINEAR);

-	}

+    /** Check if three vertices are colliniear

+     * @param v1 vertex 1

+     * @param v2 vertex 2

+     * @param v3 vertex 3

+     * @return true if collinear, false otherwise

+     */

+    public static boolean checkCollinear(float[] v1, float[] v2, float[] v3)

+    {

+        return (computeDeterminant(v1, v2, v3) == VectorUtil.COLLINEAR);

+    }

 

-	/** Compute Vector

-	 * @param v1 vertex 1

-	 * @param v2 vertex2 2

-	 * @return Vector V1V2

-	 */

-	public static float[] computeVector(float[] v1, float[] v2)

-	{

-		float[] vector = new float[3];

-		vector[0] = v2[0] - v1[0];

-		vector[1] = v2[1] - v1[1];

-		vector[2] = v2[2] - v1[2];

-		return vector;

-	}

+    /** Compute Vector

+     * @param v1 vertex 1

+     * @param v2 vertex2 2

+     * @return Vector V1V2

+     */

+    public static float[] computeVector(float[] v1, float[] v2)

+    {

+        float[] vector = new float[3];

+        vector[0] = v2[0] - v1[0];

+        vector[1] = v2[1] - v1[1];

+        vector[2] = v2[2] - v1[2];

+        return vector;

+    }

 

-	/** Check if vertices in triangle circumcircle

-	 * @param a triangle vertex 1

-	 * @param b triangle vertex 2

-	 * @param c triangle vertex 3

-	 * @param d vertex in question

-	 * @return true if the vertex d is inside the circle defined by the 

-	 * vertices a, b, c. from paper by Guibas and Stolfi (1985).

-	 */

-	public static boolean inCircle(Vertex a, Vertex b, Vertex c, Vertex d){

-		return (a.getX() * a.getX() + a.getY() * a.getY()) * triArea(b, c, d) -

-		(b.getX() * b.getX() + b.getY() * b.getY()) * triArea(a, c, d) +

-		(c.getX() * c.getX() + c.getY() * c.getY()) * triArea(a, b, d) -

-		(d.getX() * d.getX() + d.getY() * d.getY()) * triArea(a, b, c) > 0;

-	}

+    /** Check if vertices in triangle circumcircle

+     * @param a triangle vertex 1

+     * @param b triangle vertex 2

+     * @param c triangle vertex 3

+     * @param d vertex in question

+     * @return true if the vertex d is inside the circle defined by the 

+     * vertices a, b, c. from paper by Guibas and Stolfi (1985).

+     */

+    public static boolean inCircle(Vertex a, Vertex b, Vertex c, Vertex d){

+        return (a.getX() * a.getX() + a.getY() * a.getY()) * triArea(b, c, d) -

+        (b.getX() * b.getX() + b.getY() * b.getY()) * triArea(a, c, d) +

+        (c.getX() * c.getX() + c.getY() * c.getY()) * triArea(a, b, d) -

+        (d.getX() * d.getX() + d.getY() * d.getY()) * triArea(a, b, c) > 0;

+    }

 

-	/** Computes oriented area of a triangle

-	 * @param a first vertex

-	 * @param b second vertex

-	 * @param c third vertex

-	 * @return compute twice the area of the oriented triangle (a,b,c), the area

-	 * is positive if the triangle is oriented counterclockwise.

-	 */

-	public static float triArea(Vertex a, Vertex b, Vertex c){

-		return (b.getX() - a.getX()) * (c.getY() - a.getY()) - (b.getY() - a.getY())*(c.getX() - a.getX());

-	}

+    /** Computes oriented area of a triangle

+     * @param a first vertex

+     * @param b second vertex

+     * @param c third vertex

+     * @return compute twice the area of the oriented triangle (a,b,c), the area

+     * is positive if the triangle is oriented counterclockwise.

+     */

+    public static float triArea(Vertex a, Vertex b, Vertex c){

+        return (b.getX() - a.getX()) * (c.getY() - a.getY()) - (b.getY() - a.getY())*(c.getX() - a.getX());

+    }

 

-	/** Check if points are in ccw order

-	 * @param a first vertex

-	 * @param b second vertex

-	 * @param c third vertex

-	 * @return true if the points a,b,c are in a ccw order

-	 */

-	public static boolean ccw(Vertex a, Vertex b, Vertex c){

-		return triArea(a,b,c) > 0;

-	}

+    /** Check if points are in ccw order

+     * @param a first vertex

+     * @param b second vertex

+     * @param c third vertex

+     * @return true if the points a,b,c are in a ccw order

+     */

+    public static boolean ccw(Vertex a, Vertex b, Vertex c){

+        return triArea(a,b,c) > 0;

+    }

 

-	/** Computes the area of a list of vertices to check if ccw

-	 * @param vertices

-	 * @return positve area if ccw else negative area value

-	 */

-	public static float area(ArrayList<Vertex> vertices) {

-		int n = vertices.size();

-		float area = 0.0f;

-		for (int p = n - 1, q = 0; q < n; p = q++)

-		{

-			float[] pCoord = vertices.get(p).getCoord();

-			float[] qCoord = vertices.get(q).getCoord();

-			area += pCoord[0] * qCoord[1] - qCoord[0] * pCoord[1];

-		}

-		return area;

-	}

+    /** Computes the area of a list of vertices to check if ccw

+     * @param vertices

+     * @return positve area if ccw else negative area value

+     */

+    public static float area(ArrayList<Vertex> vertices) {

+        int n = vertices.size();

+        float area = 0.0f;

+        for (int p = n - 1, q = 0; q < n; p = q++)

+        {

+            float[] pCoord = vertices.get(p).getCoord();

+            float[] qCoord = vertices.get(q).getCoord();

+            area += pCoord[0] * qCoord[1] - qCoord[0] * pCoord[1];

+        }

+        return area;

+    }

 }