Java Source Files: dos -> unix format

2 files changed, 815 insertions, 815 deletions

diff --git a/src/jogl/classes/com/jogamp/graph/math/Quaternion.java b/src/jogl/classes/com/jogamp/graph/math/Quaternion.java
index 38638dc5a..adaf073e3 100755
--- a/src/jogl/classes/com/jogamp/graph/math/Quaternion.java
+++ b/src/jogl/classes/com/jogamp/graph/math/Quaternion.java
@@ -1,382 +1,382 @@
-/**

- * Copyright 2010 JogAmp Community. All rights reserved.

- *

- * Redistribution and use in source and binary forms, with or without modification, are

- * permitted provided that the following conditions are met:

- *

- *    1. Redistributions of source code must retain the above copyright notice, this list of

- *       conditions and the following disclaimer.

- *

- *    2. 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.

- *

- * THIS SOFTWARE IS PROVIDED BY JogAmp Community ``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 JogAmp Community OR

- * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON

- * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING

- * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF

- * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

- *

- * The views and conclusions contained in the software and documentation are those of the

- * authors and should not be interpreted as representing official policies, either expressed

- * or implied, of JogAmp Community.

- */

-package com.jogamp.graph.math;

-

-import jogamp.graph.math.MathFloat;

-

-public class Quaternion {

-    protected float x,y,z,w;

-

-    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);

-

-        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];

-

-        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;

-    }

-

-    /** 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;

-

-        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;

-

-        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;

-

-        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[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];

-    }

-}

+/**
+ * Copyright 2010 JogAmp Community. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are
+ * permitted provided that the following conditions are met:
+ *
+ *    1. Redistributions of source code must retain the above copyright notice, this list of
+ *       conditions and the following disclaimer.
+ *
+ *    2. 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY JogAmp Community ``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 JogAmp Community OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * The views and conclusions contained in the software and documentation are those of the
+ * authors and should not be interpreted as representing official policies, either expressed
+ * or implied, of JogAmp Community.
+ */
+package com.jogamp.graph.math;
+
+import jogamp.graph.math.MathFloat;
+
+public class Quaternion {
+    protected float x,y,z,w;
+
+    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);
+
+        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];
+
+        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;
+    }
+
+    /** 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;
+
+        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;
+
+        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;
+
+        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[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 b1f2023f3..d51afcbab 100755
--- a/src/jogl/classes/com/jogamp/graph/math/VectorUtil.java
+++ b/src/jogl/classes/com/jogamp/graph/math/VectorUtil.java
@@ -1,433 +1,433 @@
-/**

- * Copyright 2010 JogAmp Community. All rights reserved.

- *

- * Redistribution and use in source and binary forms, with or without modification, are

- * permitted provided that the following conditions are met:

- *

- *    1. Redistributions of source code must retain the above copyright notice, this list of

- *       conditions and the following disclaimer.

- *

- *    2. 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.

- *

- * THIS SOFTWARE IS PROVIDED BY JogAmp Community ``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 JogAmp Community OR

- * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON

- * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING

- * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF

- * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

- *

- * The views and conclusions contained in the software and documentation are those of the

- * authors and should not be interpreted as representing official policies, either expressed

- * or implied, of JogAmp Community.

- */

-package com.jogamp.graph.math;

-

-import java.util.ArrayList;

-

-import jogamp.graph.math.MathFloat;

-

-import com.jogamp.graph.geom.Vertex;

-

-public class VectorUtil {

-

-    public enum Winding {

-        CW(-1), CCW(1);

-

-        public final int dir;

-

-        Winding(int dir) {

-            this.dir = dir;

-        }

-    } 

-

-    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];

-

-        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];

-

-        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;

-    }

-

-    /** 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];

-

-        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];

-

-        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];

-

-        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])*0.5f;

-        midPoint[1] = (p1[1] + p2[1])*0.5f;

-        midPoint[2] = (p1[2] + p2[2])*0.5f;

-

-        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]);

-

-        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 vec2 vectors

-     * @param v1 vertex 1

-     * @param v2 vertex 2

-     * @return

-     */

-    public static boolean checkEqualityVec2(float[] v1, float[] v2)

-    {

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

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

-    }

-

-    /** 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;

-    }

-

-    /** 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());

-    }

-

-    /** Check if a vertex is in triangle using 

-     * barycentric coordinates computation. 

-     * @param a first triangle vertex

-     * @param b second triangle vertex

-     * @param c third triangle vertex

-     * @param p the vertex in question

-     * @return true if p is in triangle (a, b, c), false otherwise.

-     */

-    public static boolean vertexInTriangle(float[] a, float[]  b, float[]  c, float[]  p){

-        // Compute vectors        

-        float[] ac = computeVector(a, c); //v0

-        float[] ab = computeVector(a, b); //v1

-        float[] ap = computeVector(a, p); //v2

-

-        // Compute dot products

-        float dot00 = dot(ac, ac);

-        float dot01 = dot(ac, ab);

-        float dot02 = dot(ac, ap);

-        float dot11 = dot(ab, ab);

-        float dot12 = dot(ab, ap);

-

-        // Compute barycentric coordinates

-        float invDenom = 1 / (dot00 * dot11 - dot01 * dot01);

-        float u = (dot11 * dot02 - dot01 * dot12) * invDenom;

-        float v = (dot00 * dot12 - dot01 * dot02) * invDenom;

-

-        // Check if point is in triangle

-        return (u >= 0) && (v >= 0) && (u + v < 1);

-    }

-

-    /** 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;

-    }

-

-    /** Compute the winding of given points

-     * @param a first vertex

-     * @param b second vertex

-     * @param c third vertex

-     * @return Winding

-     */

-    public static Winding getWinding(Vertex a, Vertex b, Vertex c) {

-        return triArea(a,b,c) > 0 ? Winding.CCW : Winding.CW ;

-    }

-

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

-     * @param vertices

-     * @return positive 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;

-    }

-

-    /** Compute the  general winding of the vertices

-     * @param vertices array of Vertices

-     * @return CCW or CW {@link Winding}

-     */

-    public static Winding getWinding(ArrayList<Vertex> vertices) {

-        return area(vertices) >= 0 ? Winding.CCW : Winding.CW ;

-    }

-

-

-    /** Compute intersection between two segments

-     * @param a vertex 1 of first segment

-     * @param b vertex 2 of first segment

-     * @param c vertex 1 of second segment

-     * @param d vertex 2 of second segment

-     * @return the intersection coordinates if the segments intersect, otherwise 

-     * returns null 

-     */

-    public static float[] seg2SegIntersection(Vertex a, Vertex b, Vertex c, Vertex d) {

-        float determinant = (a.getX()-b.getX())*(c.getY()-d.getY()) - (a.getY()-b.getY())*(c.getX()-d.getX());

-

-        if (determinant == 0) 

-            return null;

-

-        float alpha = (a.getX()*b.getY()-a.getY()*b.getX());

-        float beta = (c.getX()*d.getY()-c.getY()*d.getY());

-        float xi = ((c.getX()-d.getX())*alpha-(a.getX()-b.getX())*beta)/determinant;

-        float yi = ((c.getY()-d.getY())*alpha-(a.getY()-b.getY())*beta)/determinant;

-

-        float gamma = (xi - a.getX())/(b.getX() - a.getX());

-        float gamma1 = (xi - c.getX())/(d.getX() - c.getX());

-        if(gamma <= 0 || gamma >= 1) return null;

-        if(gamma1 <= 0 || gamma1 >= 1) return null;

-

-        return new float[]{xi,yi,0};

-    }

-

-    /** Compute intersection between two lines

-     * @param a vertex 1 of first line

-     * @param b vertex 2 of first line

-     * @param c vertex 1 of second line

-     * @param d vertex 2 of second line

-     * @return the intersection coordinates if the lines intersect, otherwise 

-     * returns null 

-     */

-    public static float[] line2lineIntersection(Vertex a, Vertex b, Vertex c, Vertex d) {

-        float determinant = (a.getX()-b.getX())*(c.getY()-d.getY()) - (a.getY()-b.getY())*(c.getX()-d.getX());

-

-        if (determinant == 0) 

-            return null;

-

-        float alpha = (a.getX()*b.getY()-a.getY()*b.getX());

-        float beta = (c.getX()*d.getY()-c.getY()*d.getY());

-        float xi = ((c.getX()-d.getX())*alpha-(a.getX()-b.getX())*beta)/determinant;

-        float yi = ((c.getY()-d.getY())*alpha-(a.getY()-b.getY())*beta)/determinant;

-

-        return new float[]{xi,yi,0};

-    }

-

-    /** Check if a segment intersects with a triangle

-     * @param a vertex 1 of the triangle

-     * @param b vertex 2 of the triangle

-     * @param c vertex 3 of the triangle

-     * @param d vertex 1 of first segment

-     * @param e vertex 2 of first segment

-     * @return true if the segment intersects at least one segment of the triangle, false otherwise

-     */

-    public static boolean tri2SegIntersection(Vertex a, Vertex b, Vertex c, Vertex d, Vertex e){

-        if(seg2SegIntersection(a, b, d, e) != null)

-            return true;

-        if(seg2SegIntersection(b, c, d, e) != null)

-            return true;

-        if(seg2SegIntersection(a, c, d, e) != null)

-            return true;

-

-        return false;

-    }

-}

+/**
+ * Copyright 2010 JogAmp Community. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are
+ * permitted provided that the following conditions are met:
+ *
+ *    1. Redistributions of source code must retain the above copyright notice, this list of
+ *       conditions and the following disclaimer.
+ *
+ *    2. 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY JogAmp Community ``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 JogAmp Community OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * The views and conclusions contained in the software and documentation are those of the
+ * authors and should not be interpreted as representing official policies, either expressed
+ * or implied, of JogAmp Community.
+ */
+package com.jogamp.graph.math;
+
+import java.util.ArrayList;
+
+import jogamp.graph.math.MathFloat;
+
+import com.jogamp.graph.geom.Vertex;
+
+public class VectorUtil {
+
+    public enum Winding {
+        CW(-1), CCW(1);
+
+        public final int dir;
+
+        Winding(int dir) {
+            this.dir = dir;
+        }
+    } 
+
+    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];
+
+        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];
+
+        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;
+    }
+
+    /** 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];
+
+        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];
+
+        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];
+
+        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])*0.5f;
+        midPoint[1] = (p1[1] + p2[1])*0.5f;
+        midPoint[2] = (p1[2] + p2[2])*0.5f;
+
+        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]);
+
+        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 vec2 vectors
+     * @param v1 vertex 1
+     * @param v2 vertex 2
+     * @return
+     */
+    public static boolean checkEqualityVec2(float[] v1, float[] v2)
+    {
+        if(Float.compare(v1[0], v2[0]) == 0 && 
+                Float.compare(v1[1], v2[1]) == 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;
+    }
+
+    /** 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;
+    }
+
+    /** 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());
+    }
+
+    /** Check if a vertex is in triangle using 
+     * barycentric coordinates computation. 
+     * @param a first triangle vertex
+     * @param b second triangle vertex
+     * @param c third triangle vertex
+     * @param p the vertex in question
+     * @return true if p is in triangle (a, b, c), false otherwise.
+     */
+    public static boolean vertexInTriangle(float[] a, float[]  b, float[]  c, float[]  p){
+        // Compute vectors        
+        float[] ac = computeVector(a, c); //v0
+        float[] ab = computeVector(a, b); //v1
+        float[] ap = computeVector(a, p); //v2
+
+        // Compute dot products
+        float dot00 = dot(ac, ac);
+        float dot01 = dot(ac, ab);
+        float dot02 = dot(ac, ap);
+        float dot11 = dot(ab, ab);
+        float dot12 = dot(ab, ap);
+
+        // Compute barycentric coordinates
+        float invDenom = 1 / (dot00 * dot11 - dot01 * dot01);
+        float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
+        float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+
+        // Check if point is in triangle
+        return (u >= 0) && (v >= 0) && (u + v < 1);
+    }
+
+    /** 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;
+    }
+
+    /** Compute the winding of given points
+     * @param a first vertex
+     * @param b second vertex
+     * @param c third vertex
+     * @return Winding
+     */
+    public static Winding getWinding(Vertex a, Vertex b, Vertex c) {
+        return triArea(a,b,c) > 0 ? Winding.CCW : Winding.CW ;
+    }
+
+    /** Computes the area of a list of vertices to check if ccw
+     * @param vertices
+     * @return positive 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;
+    }
+
+    /** Compute the  general winding of the vertices
+     * @param vertices array of Vertices
+     * @return CCW or CW {@link Winding}
+     */
+    public static Winding getWinding(ArrayList<Vertex> vertices) {
+        return area(vertices) >= 0 ? Winding.CCW : Winding.CW ;
+    }
+
+
+    /** Compute intersection between two segments
+     * @param a vertex 1 of first segment
+     * @param b vertex 2 of first segment
+     * @param c vertex 1 of second segment
+     * @param d vertex 2 of second segment
+     * @return the intersection coordinates if the segments intersect, otherwise 
+     * returns null 
+     */
+    public static float[] seg2SegIntersection(Vertex a, Vertex b, Vertex c, Vertex d) {
+        float determinant = (a.getX()-b.getX())*(c.getY()-d.getY()) - (a.getY()-b.getY())*(c.getX()-d.getX());
+
+        if (determinant == 0) 
+            return null;
+
+        float alpha = (a.getX()*b.getY()-a.getY()*b.getX());
+        float beta = (c.getX()*d.getY()-c.getY()*d.getY());
+        float xi = ((c.getX()-d.getX())*alpha-(a.getX()-b.getX())*beta)/determinant;
+        float yi = ((c.getY()-d.getY())*alpha-(a.getY()-b.getY())*beta)/determinant;
+
+        float gamma = (xi - a.getX())/(b.getX() - a.getX());
+        float gamma1 = (xi - c.getX())/(d.getX() - c.getX());
+        if(gamma <= 0 || gamma >= 1) return null;
+        if(gamma1 <= 0 || gamma1 >= 1) return null;
+
+        return new float[]{xi,yi,0};
+    }
+
+    /** Compute intersection between two lines
+     * @param a vertex 1 of first line
+     * @param b vertex 2 of first line
+     * @param c vertex 1 of second line
+     * @param d vertex 2 of second line
+     * @return the intersection coordinates if the lines intersect, otherwise 
+     * returns null 
+     */
+    public static float[] line2lineIntersection(Vertex a, Vertex b, Vertex c, Vertex d) {
+        float determinant = (a.getX()-b.getX())*(c.getY()-d.getY()) - (a.getY()-b.getY())*(c.getX()-d.getX());
+
+        if (determinant == 0) 
+            return null;
+
+        float alpha = (a.getX()*b.getY()-a.getY()*b.getX());
+        float beta = (c.getX()*d.getY()-c.getY()*d.getY());
+        float xi = ((c.getX()-d.getX())*alpha-(a.getX()-b.getX())*beta)/determinant;
+        float yi = ((c.getY()-d.getY())*alpha-(a.getY()-b.getY())*beta)/determinant;
+
+        return new float[]{xi,yi,0};
+    }
+
+    /** Check if a segment intersects with a triangle
+     * @param a vertex 1 of the triangle
+     * @param b vertex 2 of the triangle
+     * @param c vertex 3 of the triangle
+     * @param d vertex 1 of first segment
+     * @param e vertex 2 of first segment
+     * @return true if the segment intersects at least one segment of the triangle, false otherwise
+     */
+    public static boolean tri2SegIntersection(Vertex a, Vertex b, Vertex c, Vertex d, Vertex e){
+        if(seg2SegIntersection(a, b, d, e) != null)
+            return true;
+        if(seg2SegIntersection(b, c, d, e) != null)
+            return true;
+        if(seg2SegIntersection(a, c, d, e) != null)
+            return true;
+
+        return false;
+    }
+}