Reorganize math code into: com.jogamp.opengl.math and com.jogamp.opengl.math.geom packages

Note: WIP - We may relocate / reorg math package.

Public relocations:

com.jogamp.opengl.util -> com.jogamp.opengl.math
  - FixedPoint
  - FloatUtil

com.jogamp.graph.math -> com.jogamp.opengl.math
  - Quaternion
  - VectorUtil

com.jogamp.graph.geom -> com.jogamp.opengl.math.geom
  - AABBox

VectorUtil:
  Introducing Vert2fImmutable and Vert3fImmutable interfaces, allowing graph Vertex instances
  to be used 'graph' agnostic and to document 2d/3d use-cases.

7 files changed, 1806 insertions, 0 deletions

diff --git a/src/jogl/classes/com/jogamp/opengl/math/FixedPoint.java b/src/jogl/classes/com/jogamp/opengl/math/FixedPoint.java
new file mode 100644
index 000000000..e0acfec28
--- /dev/null
+++ b/src/jogl/classes/com/jogamp/opengl/math/FixedPoint.java
@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2009 Sun Microsystems, Inc. All Rights Reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ * 
+ * - Redistribution of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ * 
+ * - Redistribution 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.
+ * 
+ * Neither the name of Sun Microsystems, Inc. or the names of
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ * 
+ * This software is provided "AS IS," without a warranty of any kind. ALL
+ * EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND WARRANTIES,
+ * INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY, FITNESS FOR A
+ * PARTICULAR PURPOSE OR NON-INFRINGEMENT, ARE HEREBY EXCLUDED. SUN
+ * MICROSYSTEMS, INC. ("SUN") AND ITS LICENSORS SHALL NOT BE LIABLE FOR
+ * ANY DAMAGES SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING OR
+ * DISTRIBUTING THIS SOFTWARE OR ITS DERIVATIVES. IN NO EVENT WILL SUN OR
+ * ITS LICENSORS BE LIABLE FOR ANY LOST REVENUE, PROFIT OR DATA, OR FOR
+ * DIRECT, INDIRECT, SPECIAL, CONSEQUENTIAL, INCIDENTAL OR PUNITIVE
+ * DAMAGES, HOWEVER CAUSED AND REGARDLESS OF THE THEORY OF LIABILITY,
+ * ARISING OUT OF THE USE OF OR INABILITY TO USE THIS SOFTWARE, EVEN IF
+ * SUN HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
+ * 
+ */
+
+package com.jogamp.opengl.math;
+
+public class FixedPoint {
+  public static final int toFixed(int value) {
+    if (value < -32768) value = -32768;
+    if (value > 32767) value = 32767;
+    return value * 65536;
+  }
+
+  public static final int toFixed(float value) {
+    if (value < -32768) value = -32768;
+    if (value > 32767) value = 32767;
+    return (int)(value * 65536.0f);
+  }
+
+  public static final float toFloat(int value) {
+    return (float)value/65536.0f;
+  }
+
+  public static final int mult(int x1, int x2) {
+    return (int) ( ((long)x1*(long)x2)/65536 );
+  }
+
+  public static final int div(int x1, int x2) {
+    return (int) ( (((long)x1)<<16)/x2 );
+  }
+}
+
diff --git a/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java b/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java
new file mode 100644
index 000000000..9a51c32b3
--- /dev/null
+++ b/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java
@@ -0,0 +1,522 @@
+/**
+ * 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.opengl.math;
+
+import java.nio.FloatBuffer;
+
+import com.jogamp.common.os.Platform;
+
+/**
+ * Basic Float math utility functions.
+ * <p>
+ * Implementation assumes linear matrix layout in column-major order
+ * matching OpenGL's implementation.
+ * </p>
+ * <p>
+ * Derived from ProjectFloat.java - Created 11-jan-2004
+ * </p>
+ * 
+ * @author Erik Duijs
+ * @author Kenneth Russell
+ * @author Sven Gothel
+ */
+public class FloatUtil {
+  private static final float[] IDENTITY_MATRIX =
+    new float[] {
+      1.0f, 0.0f, 0.0f, 0.0f,
+      0.0f, 1.0f, 0.0f, 0.0f,
+      0.0f, 0.0f, 1.0f, 0.0f,
+      0.0f, 0.0f, 0.0f, 1.0f };
+
+  private static final float[] ZERO_MATRIX =
+    new float[] {
+      0.0f, 0.0f, 0.0f, 0.0f,
+      0.0f, 0.0f, 0.0f, 0.0f,
+      0.0f, 0.0f, 0.0f, 0.0f,
+      0.0f, 0.0f, 0.0f, 0.0f };
+
+  /**
+   * Make matrix an identity matrix
+   */
+  public static final void makeIdentityf(float[] m, int offset) {
+    for (int i = 0; i < 16; i++) {
+      m[i+offset] = IDENTITY_MATRIX[i];
+    }
+  }
+
+  /**
+   * Make matrix an identity matrix
+   */
+  public static final void makeIdentityf(FloatBuffer m) {
+    final int oldPos = m.position();
+    m.put(IDENTITY_MATRIX);
+    m.position(oldPos);
+  }
+
+  /**
+   * Make matrix an zero matrix
+   */
+  public static final void makeZero(float[] m, int offset) {
+    for (int i = 0; i < 16; i++) {
+      m[i+offset] = 0;
+    }
+  }
+
+  /**
+   * Make matrix an zero matrix
+   */
+  public static final void makeZero(FloatBuffer m) {
+    final int oldPos = m.position();
+    m.put(ZERO_MATRIX);
+    m.position(oldPos);
+  }
+  
+  /**
+   * @param a 4x4 matrix in column-major order
+   * @param b 4x4 matrix in column-major order
+   * @param d result a*b in column-major order
+   */
+  public static final void multMatrixf(final float[] a, int a_off, final float[] b, int b_off, float[] d, int d_off) {
+     for (int i = 0; i < 4; i++) {
+        // one row in column-major order
+        final float ai0=a[a_off+i+0*4],  ai1=a[a_off+i+1*4],  ai2=a[a_off+i+2*4],  ai3=a[a_off+i+3*4]; // row-i of a
+        d[d_off+i+0*4] = ai0 * b[b_off+0+0*4] + ai1 * b[b_off+1+0*4] + ai2 * b[b_off+2+0*4] + ai3 * b[b_off+3+0*4] ;
+        d[d_off+i+1*4] = ai0 * b[b_off+0+1*4] + ai1 * b[b_off+1+1*4] + ai2 * b[b_off+2+1*4] + ai3 * b[b_off+3+1*4] ;
+        d[d_off+i+2*4] = ai0 * b[b_off+0+2*4] + ai1 * b[b_off+1+2*4] + ai2 * b[b_off+2+2*4] + ai3 * b[b_off+3+2*4] ;
+        d[d_off+i+3*4] = ai0 * b[b_off+0+3*4] + ai1 * b[b_off+1+3*4] + ai2 * b[b_off+2+3*4] + ai3 * b[b_off+3+3*4] ;
+     }
+  }
+  
+  /**
+   * @param a 4x4 matrix in column-major order
+   * @param b 4x4 matrix in column-major order
+   * @param d result a*b in column-major order
+   */
+  public static final void multMatrixf(final float[] a, int a_off, final float[] b, int b_off, FloatBuffer d) {
+     final int dP = d.position();
+     for (int i = 0; i < 4; i++) {
+        // one row in column-major order
+        final float ai0=a[a_off+i+0*4],  ai1=a[a_off+i+1*4],  ai2=a[a_off+i+2*4],  ai3=a[a_off+i+3*4]; // row-i of a
+        d.put(dP+i+0*4 , ai0 * b[b_off+0+0*4] + ai1 * b[b_off+1+0*4] + ai2 * b[b_off+2+0*4] + ai3 * b[b_off+3+0*4] );
+        d.put(dP+i+1*4 , ai0 * b[b_off+0+1*4] + ai1 * b[b_off+1+1*4] + ai2 * b[b_off+2+1*4] + ai3 * b[b_off+3+1*4] );
+        d.put(dP+i+2*4 , ai0 * b[b_off+0+2*4] + ai1 * b[b_off+1+2*4] + ai2 * b[b_off+2+2*4] + ai3 * b[b_off+3+2*4] );
+        d.put(dP+i+3*4 , ai0 * b[b_off+0+3*4] + ai1 * b[b_off+1+3*4] + ai2 * b[b_off+2+3*4] + ai3 * b[b_off+3+3*4] );
+     }
+  }
+
+  /**
+   * @param a 4x4 matrix in column-major order
+   * @param b 4x4 matrix in column-major order
+   * @param d result a*b in column-major order
+   */
+  public static final void multMatrixf(final FloatBuffer a, final float[] b, int b_off, FloatBuffer d) {
+     final int aP = a.position(); 
+     final int dP = d.position();
+     for (int i = 0; i < 4; i++) {
+        // one row in column-major order
+        final float ai0=a.get(aP+i+0*4),  ai1=a.get(aP+i+1*4),  ai2=a.get(aP+i+2*4),  ai3=a.get(aP+i+3*4); // row-i of a
+        d.put(dP+i+0*4 , ai0 * b[b_off+0+0*4] + ai1 * b[b_off+1+0*4] + ai2 * b[b_off+2+0*4] + ai3 * b[b_off+3+0*4] );
+        d.put(dP+i+1*4 , ai0 * b[b_off+0+1*4] + ai1 * b[b_off+1+1*4] + ai2 * b[b_off+2+1*4] + ai3 * b[b_off+3+1*4] );
+        d.put(dP+i+2*4 , ai0 * b[b_off+0+2*4] + ai1 * b[b_off+1+2*4] + ai2 * b[b_off+2+2*4] + ai3 * b[b_off+3+2*4] );
+        d.put(dP+i+3*4 , ai0 * b[b_off+0+3*4] + ai1 * b[b_off+1+3*4] + ai2 * b[b_off+2+3*4] + ai3 * b[b_off+3+3*4] );
+     }
+  }
+
+  /**
+   * @param a 4x4 matrix in column-major order
+   * @param b 4x4 matrix in column-major order
+   * @param d result a*b in column-major order
+   */
+  public static final void multMatrixf(final FloatBuffer a, final FloatBuffer b, FloatBuffer d) {
+     final int aP = a.position(); 
+     final int bP = b.position();
+     final int dP = d.position();
+     for (int i = 0; i < 4; i++) {
+        // one row in column-major order
+        final float ai0=a.get(aP+i+0*4),  ai1=a.get(aP+i+1*4),  ai2=a.get(aP+i+2*4),  ai3=a.get(aP+i+3*4); // row-i of a
+        d.put(dP+i+0*4 , ai0 * b.get(bP+0+0*4) + ai1 * b.get(bP+1+0*4) + ai2 * b.get(bP+2+0*4) + ai3 * b.get(bP+3+0*4) );
+        d.put(dP+i+1*4 , ai0 * b.get(bP+0+1*4) + ai1 * b.get(bP+1+1*4) + ai2 * b.get(bP+2+1*4) + ai3 * b.get(bP+3+1*4) );
+        d.put(dP+i+2*4 , ai0 * b.get(bP+0+2*4) + ai1 * b.get(bP+1+2*4) + ai2 * b.get(bP+2+2*4) + ai3 * b.get(bP+3+2*4) );
+        d.put(dP+i+3*4 , ai0 * b.get(bP+0+3*4) + ai1 * b.get(bP+1+3*4) + ai2 * b.get(bP+2+3*4) + ai3 * b.get(bP+3+3*4) );
+     }
+  }
+  
+  /**
+   * @param a 4x4 matrix in column-major order
+   * @param b 4x4 matrix in column-major order
+   * @param d result a*b in column-major order
+   */
+  public static final void multMatrixf(final FloatBuffer a, final FloatBuffer b, float[] d, int d_off) {
+     final int aP = a.position(); 
+     final int bP = b.position();
+     for (int i = 0; i < 4; i++) {
+        // one row in column-major order
+        final float ai0=a.get(aP+i+0*4),  ai1=a.get(aP+i+1*4),  ai2=a.get(aP+i+2*4),  ai3=a.get(aP+i+3*4); // row-i of a
+        d[d_off+i+0*4] = ai0 * b.get(bP+0+0*4) + ai1 * b.get(bP+1+0*4) + ai2 * b.get(bP+2+0*4) + ai3 * b.get(bP+3+0*4) ;
+        d[d_off+i+1*4] = ai0 * b.get(bP+0+1*4) + ai1 * b.get(bP+1+1*4) + ai2 * b.get(bP+2+1*4) + ai3 * b.get(bP+3+1*4) ;
+        d[d_off+i+2*4] = ai0 * b.get(bP+0+2*4) + ai1 * b.get(bP+1+2*4) + ai2 * b.get(bP+2+2*4) + ai3 * b.get(bP+3+2*4) ;
+        d[d_off+i+3*4] = ai0 * b.get(bP+0+3*4) + ai1 * b.get(bP+1+3*4) + ai2 * b.get(bP+2+3*4) + ai3 * b.get(bP+3+3*4) ;
+     }
+  }
+  
+  /**
+   * Normalize vector
+   *
+   * @param v makes len(v)==1
+   */
+  public static final void normalize(float[] v) {
+    float r = (float) Math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
+    
+    if ( r == 0.0 || r == 1.0) {
+      return;
+    }
+
+    r = 1.0f / r;
+
+    v[0] *= r;
+    v[1] *= r;
+    v[2] *= r;
+  }
+
+  /**
+   * Normalize vector
+   *
+   * @param v makes len(v)==1
+   */
+  public static final void normalize(FloatBuffer v) {
+    final int vPos = v.position();
+
+    float r = (float) Math.sqrt(v.get(0+vPos) * v.get(0+vPos) +
+                                v.get(1+vPos) * v.get(1+vPos) +
+                                v.get(2+vPos) * v.get(2+vPos));
+    
+    if ( r == 0.0 || r == 1.0) {
+      return;
+    }
+
+    r = 1.0f / r;
+
+    v.put(0+vPos, v.get(0+vPos) * r);
+    v.put(1+vPos, v.get(1+vPos) * r);
+    v.put(2+vPos, v.get(2+vPos) * r);
+  }
+
+
+  /**
+   * Calculate cross-product of 2 vector
+   *
+   * @param v1 3-component vector
+   * @param v2 3-component vector
+   * @param result v1 X v2
+   */
+  public static final void cross(float[] v1, float[] v2, float[] result) {
+    result[0] = v1[1] * v2[2] - v1[2] * v2[1];
+    result[1] = v1[2] * v2[0] - v1[0] * v2[2];
+    result[2] = v1[0] * v2[1] - v1[1] * v2[0];
+  }
+
+  /**
+   * Calculate cross-product of 2 vector
+   *
+   * @param v1 3-component vector
+   * @param v2 3-component vector
+   * @param result v1 X v2
+   */
+  public static final void cross(FloatBuffer v1, FloatBuffer v2, FloatBuffer result) {
+    final int v1Pos = v1.position();
+    final int v2Pos = v2.position();
+    final int rPos  = result.position();
+
+    result.put(0+rPos, v1.get(1+v1Pos) * v2.get(2+v2Pos) - v1.get(2+v1Pos) * v2.get(1+v2Pos));
+    result.put(1+rPos, v1.get(2+v1Pos) * v2.get(0+v2Pos) - v1.get(0+v1Pos) * v2.get(2+v2Pos));
+    result.put(2+rPos, v1.get(0+v1Pos) * v2.get(1+v2Pos) - v1.get(1+v1Pos) * v2.get(0+v2Pos));
+  }
+
+  /**
+   * @param m_in 4x4 matrix in column-major order
+   * @param m_in_off
+   * @param v_in 4-component column-vector
+   * @param v_out m_in * v_in
+   */
+  public static final void multMatrixVecf(float[] m_in, int m_in_off, float[] v_in, int v_in_off, float[] v_out, int v_out_off) {
+    for (int i = 0; i < 4; i++) {
+      // (one matrix row in column-major order) X (column vector)
+      v_out[i + v_out_off] =
+        v_in[0+v_in_off] * m_in[0*4+i+m_in_off] +
+        v_in[1+v_in_off] * m_in[1*4+i+m_in_off] +
+        v_in[2+v_in_off] * m_in[2*4+i+m_in_off] +
+        v_in[3+v_in_off] * m_in[3*4+i+m_in_off];
+    }
+  }
+
+  /**
+   * @param m_in 4x4 matrix in column-major order
+   * @param m_in_off
+   * @param v_in 4-component column-vector
+   * @param v_out m_in * v_in
+   */
+  public static final void multMatrixVecf(float[] m_in, float[] v_in, float[] v_out) {
+    for (int i = 0; i < 4; i++) {
+      // (one matrix row in column-major order) X (column vector)
+      v_out[i] =
+        v_in[0] * m_in[0*4+i] +
+        v_in[1] * m_in[1*4+i] +
+        v_in[2] * m_in[2*4+i] +
+        v_in[3] * m_in[3*4+i];
+    }
+  }
+  
+  /**
+   * @param m_in 4x4 matrix in column-major order
+   * @param v_in 4-component column-vector
+   * @param v_out m_in * v_in
+   */
+  public static final void multMatrixVecf(FloatBuffer m_in, float[] v_in, int v_in_off, float[] v_out, int v_out_off) {
+    final int matrixPos = m_in.position();
+    for (int i = 0; i < 4; i++) {
+      // (one matrix row in column-major order) X (column vector)
+      v_out[i+v_out_off] =
+        v_in[0+v_in_off] * m_in.get(0*4+i+matrixPos) +
+        v_in[1+v_in_off] * m_in.get(1*4+i+matrixPos) +
+        v_in[2+v_in_off] * m_in.get(2*4+i+matrixPos) +
+        v_in[3+v_in_off] * m_in.get(3*4+i+matrixPos);      
+    }
+  }
+  
+  /**
+   * @param m_in 4x4 matrix in column-major order
+   * @param v_in 4-component column-vector
+   * @param v_out m_in * v_in
+   */
+  public static final void multMatrixVecf(FloatBuffer m_in, float[] v_in, float[] v_out) {
+    final int matrixPos = m_in.position();
+    for (int i = 0; i < 4; i++) {
+      // (one matrix row in column-major order) X (column vector)
+      v_out[i] =
+        v_in[0] * m_in.get(0*4+i+matrixPos) +
+        v_in[1] * m_in.get(1*4+i+matrixPos) +
+        v_in[2] * m_in.get(2*4+i+matrixPos) +
+        v_in[3] * m_in.get(3*4+i+matrixPos);      
+    }
+  }
+  
+  /**
+   * @param m_in 4x4 matrix in column-major order
+   * @param v_in 4-component column-vector
+   * @param v_out m_in * v_in
+   */
+  public static final void multMatrixVecf(FloatBuffer m_in, FloatBuffer v_in, FloatBuffer v_out) {
+    final int inPos = v_in.position();
+    final int outPos = v_out.position();
+    final int matrixPos = m_in.position();
+    for (int i = 0; i < 4; i++) {
+      // (one matrix row in column-major order) X (column vector)
+      v_out.put(i + outPos,
+              v_in.get(0+inPos) * m_in.get(0*4+i+matrixPos) +
+              v_in.get(1+inPos) * m_in.get(1*4+i+matrixPos) +
+              v_in.get(2+inPos) * m_in.get(2*4+i+matrixPos) +
+              v_in.get(3+inPos) * m_in.get(3*4+i+matrixPos));
+    }
+  }
+
+  /** 
+   * @param sb optional passed StringBuilder instance to be used
+   * @param f the format string of one floating point, i.e. "%10.5f", see {@link java.util.Formatter}
+   * @param a mxn matrix (rows x columns)
+   * @param aOffset offset to <code>a</code>'s current position
+   * @param rows
+   * @param columns
+   * @param rowMajorOrder if true floats are layed out in row-major-order, otherwise column-major-order (OpenGL)
+   * @param row row number to print 
+   * @return matrix row string representation
+   */
+  public static StringBuilder matrixRowToString(StringBuilder sb, String f, FloatBuffer a, int aOffset, int rows, int columns, boolean rowMajorOrder, int row) {
+      if(null == sb) {
+          sb = new StringBuilder();
+      }
+      final int a0 = aOffset + a.position();
+      if(rowMajorOrder) {
+          for(int c=0; c<columns; c++) {
+              sb.append( String.format( f+" ", a.get( a0 + row*columns + c ) ) ); 
+          }
+      } else {
+          for(int r=0; r<columns; r++) {
+              sb.append( String.format( f+" ", a.get( a0 + row + r*rows ) ) ); 
+          }
+      }
+      return sb;
+  }
+
+  /** 
+   * @param sb optional passed StringBuilder instance to be used
+   * @param f the format string of one floating point, i.e. "%10.5f", see {@link java.util.Formatter}
+   * @param a mxn matrix (rows x columns)
+   * @param aOffset offset to <code>a</code>'s current position
+   * @param rows
+   * @param columns
+   * @param rowMajorOrder if true floats are layed out in row-major-order, otherwise column-major-order (OpenGL)
+   * @param row row number to print 
+   * @return matrix row string representation
+   */
+  public static StringBuilder matrixRowToString(StringBuilder sb, String f, float[] a, int aOffset, int rows, int columns, boolean rowMajorOrder, int row) {
+      if(null == sb) {
+          sb = new StringBuilder();
+      }
+      if(rowMajorOrder) {
+          for(int c=0; c<columns; c++) {
+              sb.append( String.format( f+" ", a[ aOffset + row*columns + c ] ) ); 
+          }
+      } else {
+          for(int r=0; r<columns; r++) {
+              sb.append( String.format( f+" ", a[ aOffset + row + r*rows ] ) ); 
+          }
+      }
+      return sb;
+  }
+  
+  /** 
+   * @param sb optional passed StringBuilder instance to be used
+   * @param rowPrefix optional prefix for each row 
+   * @param f the format string of one floating point, i.e. "%10.5f", see {@link java.util.Formatter}
+   * @param a mxn matrix (rows x columns)
+   * @param aOffset offset to <code>a</code>'s current position
+   * @param rows
+   * @param columns
+   * @param rowMajorOrder if true floats are layed out in row-major-order, otherwise column-major-order (OpenGL)
+   * @return matrix string representation
+   */
+  public static StringBuilder matrixToString(StringBuilder sb, String rowPrefix, String f, FloatBuffer a, int aOffset, int rows, int columns, boolean rowMajorOrder) {
+      if(null == sb) {
+          sb = new StringBuilder();
+      }
+      final String prefix = ( null == rowPrefix ) ? "" : rowPrefix;
+      for(int i=0; i<rows; i++) {
+          sb.append(prefix).append("[ ");
+          matrixRowToString(sb, f, a, aOffset, rows, columns, rowMajorOrder, i);
+          sb.append("]").append(Platform.getNewline());      
+      }
+      return sb;
+  }
+
+  /** 
+   * @param sb optional passed StringBuilder instance to be used
+   * @param rowPrefix optional prefix for each row 
+   * @param f the format string of one floating point, i.e. "%10.5f", see {@link java.util.Formatter}
+   * @param a mxn matrix (rows x columns)
+   * @param aOffset offset to <code>a</code>'s current position
+   * @param rows
+   * @param columns
+   * @param rowMajorOrder if true floats are layed out in row-major-order, otherwise column-major-order (OpenGL)
+   * @return matrix string representation
+   */
+  public static StringBuilder matrixToString(StringBuilder sb, String rowPrefix, String f, float[] a, int aOffset, int rows, int columns, boolean rowMajorOrder) {
+      if(null == sb) {
+          sb = new StringBuilder();
+      }
+      final String prefix = ( null == rowPrefix ) ? "" : rowPrefix;
+      for(int i=0; i<rows; i++) {
+          sb.append(prefix).append("[ ");
+          matrixRowToString(sb, f, a, aOffset, rows, columns, rowMajorOrder, i);
+          sb.append("]").append(Platform.getNewline());      
+      }
+      return sb;
+  }
+  
+  /** 
+   * @param sb optional passed StringBuilder instance to be used
+   * @param rowPrefix optional prefix for each row 
+   * @param f the format string of one floating point, i.e. "%10.5f", see {@link java.util.Formatter}
+   * @param a 4x4 matrix in column major order (OpenGL)
+   * @param aOffset offset to <code>a</code>'s current position
+   * @param b 4x4 matrix in column major order (OpenGL)
+   * @param bOffset offset to <code>a</code>'s current position
+   * @param rows
+   * @param columns
+   * @param rowMajorOrder if true floats are layed out in row-major-order, otherwise column-major-order (OpenGL)
+   * @return side by side representation
+   */
+  public static StringBuilder matrixToString(StringBuilder sb, String rowPrefix, String f, FloatBuffer a, int aOffset, FloatBuffer b, int bOffset, int rows, int columns, boolean rowMajorOrder) {
+      if(null == sb) {
+          sb = new StringBuilder();
+      }
+      final String prefix = ( null == rowPrefix ) ? "" : rowPrefix;
+      for(int i=0; i<rows; i++) {
+          sb.append(prefix).append("[ ");
+          matrixRowToString(sb, f, a, aOffset, rows, columns, rowMajorOrder, i);
+          sb.append("=?= ");
+          matrixRowToString(sb, f, b, bOffset, rows, columns, rowMajorOrder, i);
+          sb.append("]").append(Platform.getNewline());      
+      }
+      return sb;
+  }
+
+  /** 
+   * @param sb optional passed StringBuilder instance to be used
+   * @param rowPrefix optional prefix for each row 
+   * @param f the format string of one floating point, i.e. "%10.5f", see {@link java.util.Formatter}
+   * @param a 4x4 matrix in column major order (OpenGL)
+   * @param aOffset offset to <code>a</code>'s current position
+   * @param b 4x4 matrix in column major order (OpenGL)
+   * @param bOffset offset to <code>a</code>'s current position
+   * @param rows
+   * @param columns
+   * @param rowMajorOrder if true floats are layed out in row-major-order, otherwise column-major-order (OpenGL)
+   * @return side by side representation
+   */
+  public static StringBuilder matrixToString(StringBuilder sb, String rowPrefix, String f, float[] a, int aOffset, float[] b, int bOffset, int rows, int columns, boolean rowMajorOrder) {
+      if(null == sb) {
+          sb = new StringBuilder();
+      }
+      final String prefix = ( null == rowPrefix ) ? "" : rowPrefix;
+      for(int i=0; i<rows; i++) {
+          sb.append(prefix).append("[ ");
+          matrixRowToString(sb, f, a, aOffset, rows, columns, rowMajorOrder, i);
+          sb.append("=?= ");
+          matrixRowToString(sb, f, b, bOffset, rows, columns, rowMajorOrder, i);
+          sb.append("]").append(Platform.getNewline());      
+      }
+      return sb;
+  }
+  
+  public static final float E = 2.7182818284590452354f;
+
+  public static final float PI = 3.14159265358979323846f;
+
+  public static float abs(float a) { return (float) java.lang.Math.abs(a);  }
+
+  public static float pow(float a, float b) { return (float) java.lang.Math.pow(a, b);  }
+
+  public static float sin(float a) { return (float) java.lang.Math.sin(a);  }
+
+  public static float cos(float a) { return (float) java.lang.Math.cos(a);  }
+
+  public static float acos(float a) { return (float) java.lang.Math.acos(a);  }
+
+  public static float sqrt(float a) { return (float) java.lang.Math.sqrt(a);  }
+  
+}
\ No newline at end of file
diff --git a/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java b/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java
new file mode 100755
index 000000000..7a753d18d
--- /dev/null
+++ b/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java
@@ -0,0 +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.opengl.math;
+
+
+
+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)FloatUtil.acos(dot(vector1, vector2));
+        float[] cross = cross(vector1,vector2);
+        cross = normalizeVec(cross);
+
+        this.x = (float)FloatUtil.sin(theta/2)*cross[0];
+        this.y = (float)FloatUtil.sin(theta/2)*cross[1];
+        this.z = (float)FloatUtil.sin(theta/2)*cross[2];
+        this.w = (float)FloatUtil.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)FloatUtil.sqrt(x * x + y * y + z * z);
+        vec[0] =(float) FloatUtil.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 = FloatUtil.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.x + x*q.w + y*q.z - z*q.y;
+        float y1 = w*q.y - x*q.z + y*q.w + x*q.x;
+        float z1 = w*q.z + x*q.y - y*q.x + y*q.w;
+
+        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)FloatUtil.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) > FloatUtil.E) {
+            if ((1.0f-cosom) > FloatUtil.E) {
+                omega = (float)FloatUtil.acos(cosom);
+                sinom = (float)FloatUtil.sin(omega);
+                sclp = (float)FloatUtil.sin((1.0f-t)*omega) / sinom;
+                sclq = (float)FloatUtil.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 = FloatUtil.sin((1.0f-t) * FloatUtil.PI * 0.5f);
+            sclq = FloatUtil.sin(t * FloatUtil.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)FloatUtil.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 = FloatUtil.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 = FloatUtil.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 = FloatUtil.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 (FloatUtil.abs(m[0]*m[3] + m[3]*m[4] + m[6]*m[7]) > epsilon) return false;
+        if (FloatUtil.abs(m[0]*m[2] + m[3]*m[5] + m[6]*m[8]) > epsilon) return false;
+        if (FloatUtil.abs(m[1]*m[2] + m[4]*m[5] + m[7]*m[8]) > epsilon) return false;
+        if (FloatUtil.abs(m[0]*m[0] + m[3]*m[3] + m[6]*m[6] - 1) > epsilon) return false;
+        if (FloatUtil.abs(m[1]*m[1] + m[4]*m[4] + m[7]*m[7] - 1) > epsilon) return false;
+        if (FloatUtil.abs(m[2]*m[2] + m[5]*m[5] + m[8]*m[8] - 1) > epsilon) return false;
+        return (FloatUtil.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/opengl/math/VectorUtil.java b/src/jogl/classes/com/jogamp/opengl/math/VectorUtil.java
new file mode 100755
index 000000000..5a75d016a
--- /dev/null
+++ b/src/jogl/classes/com/jogamp/opengl/math/VectorUtil.java
@@ -0,0 +1,427 @@
+/**
+ * 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.opengl.math;
+
+import java.util.ArrayList;
+
+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)
+    {
+        final float[] newVector = new float[3];
+
+        final float d = FloatUtil.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)
+    {
+        final 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)
+    {
+        final 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)
+    {
+        final 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)
+    {
+        final 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)
+    {
+        final 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)
+    {
+        final 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 FloatUtil.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)
+    {
+        final float w0 = point[0]-p0[0];
+        final float w1 = point[1]-p0[1];
+        final float w2 = point[2]-p0[2];
+
+        return FloatUtil.sqrt(w0*w0 + w1*w1 + w2*w2);
+    }
+
+    /**Check equality of 2 vec3 vectors
+     * @param v1 vertex 1
+     * @param v2 vertex 2
+     * @return
+     */
+    public static boolean checkEquality(float[] v1, float[] v2)
+    {
+        return Float.compare(v1[0], v2[0]) == 0 &&
+               Float.compare(v1[1], v2[1]) == 0 &&
+               Float.compare(v1[2], v2[2]) == 0 ;
+    }
+
+    /**Check equality of 2 vec2 vectors
+     * @param v1 vertex 1
+     * @param v2 vertex 2
+     * @return
+     */
+    public static boolean checkEqualityVec2(float[] v1, float[] v2)
+    {
+        return Float.compare(v1[0], v2[0]) == 0 && 
+               Float.compare(v1[1], v2[1]) == 0 ;
+    }
+
+    /** 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)
+    {
+        return 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];
+    }
+
+    /** 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)
+    {
+        final 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(Vert2fImmutable a, Vert2fImmutable b, Vert2fImmutable c, Vert2fImmutable 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(Vert2fImmutable a, Vert2fImmutable b, Vert2fImmutable 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(Vert2fImmutable a, Vert2fImmutable b, Vert2fImmutable 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(Vert2fImmutable a, Vert2fImmutable b, Vert2fImmutable 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<? extends Vert2fImmutable> 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<? extends Vert2fImmutable> 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(Vert2fImmutable a, Vert2fImmutable b, Vert2fImmutable c, Vert2fImmutable 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(Vert2fImmutable a, Vert2fImmutable b, Vert2fImmutable c, Vert2fImmutable 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(Vert2fImmutable a, Vert2fImmutable b, Vert2fImmutable c, Vert2fImmutable d, Vert2fImmutable 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;
+    }
+}
diff --git a/src/jogl/classes/com/jogamp/opengl/math/Vert2fImmutable.java b/src/jogl/classes/com/jogamp/opengl/math/Vert2fImmutable.java
new file mode 100644
index 000000000..13349884c
--- /dev/null
+++ b/src/jogl/classes/com/jogamp/opengl/math/Vert2fImmutable.java
@@ -0,0 +1,39 @@
+/**
+ * Copyright 2012 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.opengl.math;
+
+public interface Vert2fImmutable {
+    float getX();
+
+    float getY();
+
+    int getCoordCount();
+    
+    float[] getCoord();
+    
+}
diff --git a/src/jogl/classes/com/jogamp/opengl/math/Vert3fImmutable.java b/src/jogl/classes/com/jogamp/opengl/math/Vert3fImmutable.java
new file mode 100644
index 000000000..76bd02fbc
--- /dev/null
+++ b/src/jogl/classes/com/jogamp/opengl/math/Vert3fImmutable.java
@@ -0,0 +1,32 @@
+/**
+ * Copyright 2012 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.opengl.math;
+
+public interface Vert3fImmutable extends Vert2fImmutable {
+    float getZ();
+}
diff --git a/src/jogl/classes/com/jogamp/opengl/math/geom/AABBox.java b/src/jogl/classes/com/jogamp/opengl/math/geom/AABBox.java
new file mode 100644
index 000000000..4cd5b31e2
--- /dev/null
+++ b/src/jogl/classes/com/jogamp/opengl/math/geom/AABBox.java
@@ -0,0 +1,343 @@
+/**
+ * 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.opengl.math.geom;
+
+import com.jogamp.opengl.math.VectorUtil;
+
+
+/**
+ * Axis Aligned Bounding Box. Defined by two 3D coordinates (low and high)
+ * The low being the the lower left corner of the box, and the high being the upper 
+ * right corner of the box.
+ * 
+ */
+public class AABBox implements Cloneable {
+    private float[] low = new float[3];
+    private float[] high = new float[3];
+    private float[] center = new float[3];
+
+    /** Create a Axis Aligned bounding box (AABBox) 
+     * where the low and and high MAX float Values.
+     */
+    public AABBox() {
+        reset();
+    }
+
+    /** Create an AABBox specifying the coordinates 
+     * of the low and high
+     * @param lx min x-coordinate
+     * @param ly min y-coordnate
+     * @param lz min z-coordinate
+     * @param hx max x-coordinate
+     * @param hy max y-coordinate
+     * @param hz max z-coordinate
+     */
+    public AABBox(float lx, float ly, float lz,
+            float hx, float hy, float hz)
+    {
+        reset();
+        resize(lx, ly, lz);
+        resize(hx, hy, hz);
+
+        computeCenter();
+    }
+    
+    /** Create a AABBox defining the low and high
+     * @param low min xyz-coordinates
+     * @param high max xyz-coordinates
+     */
+    public AABBox(float[] low, float[] high) {
+        reset();
+        resize(low[0],low[1],low[2]);
+        resize(high[0],high[1],high[2]);
+
+        computeCenter();
+    }
+
+    /** resets this box to the inverse low/high, allowing the next {@link #resize(float, float, float)} command to hit. */
+    public final void reset() {
+        setLow(Float.MAX_VALUE,Float.MAX_VALUE,Float.MAX_VALUE);
+        setHigh(-1*Float.MAX_VALUE,-1*Float.MAX_VALUE,-1*Float.MAX_VALUE);
+        center[0] = 0f;
+        center[1] = 0f;
+        center[2] = 0f;
+    }
+    
+    /** Get the max xyz-coordinates
+     * @return a float array containing the max xyz coordinates
+     */
+    public final float[] getHigh() {
+        return high;
+    }
+    
+    private final void setHigh(float hx, float hy, float hz) {
+        this.high[0] = hx;
+        this.high[1] = hy;
+        this.high[2] = hz;
+    }
+    
+    /** Get the min xyz-coordinates
+     * @return a float array containing the min xyz coordinates
+     */
+    public final float[] getLow() {
+        return low;
+    }
+    
+    private final void setLow(float lx, float ly, float lz) {
+        this.low[0] = lx;
+        this.low[1] = ly;
+        this.low[2] = lz;
+    }
+
+    /** Resize the AABBox to encapsulate another AABox
+     * @param newBox AABBox to be encapsulated in
+     */
+    public final void resize(AABBox newBox) {
+        float[] newLow = newBox.getLow();
+        float[] newHigh = newBox.getHigh();
+
+        /** test low */
+        if (newLow[0] < low[0])
+            low[0] = newLow[0];
+        if (newLow[1] < low[1])
+            low[1] = newLow[1];
+        if (newLow[2] < low[2])
+            low[2] = newLow[2];
+
+        /** test high */
+        if (newHigh[0] > high[0])
+            high[0] = newHigh[0];
+        if (newHigh[1] > high[1])
+            high[1] = newHigh[1];
+        if (newHigh[2] > high[2])
+            high[2] = newHigh[2];
+
+        computeCenter();
+    }
+
+    private final void computeCenter() {
+        center[0] = (high[0] + low[0])/2;
+        center[1] = (high[1] + low[1])/2;
+        center[2] = (high[2] + low[2])/2;
+    }
+
+    /** Resize the AABBox to encapsulate the passed
+     * xyz-coordinates. 
+     * @param x x-axis coordinate value
+     * @param y y-axis coordinate value
+     * @param z z-axis coordinate value
+     */
+    public final void resize(float x, float y, float z) {    
+        /** test low */
+        if (x < low[0])
+            low[0] = x;
+        if (y < low[1])
+            low[1] = y;
+        if (z < low[2])
+            low[2] = z;
+
+        /** test high */
+        if (x > high[0])
+            high[0] = x;
+        if (y > high[1])
+            high[1] = y;
+        if (z > high[2])
+            high[2] = z;
+        
+        computeCenter();
+    }
+
+    /** Resize the AABBox to encapsulate the passed
+     * xyz-coordinates. 
+     * @param xyz xyz-axis coordinate values
+     * @param offset of the array
+     */
+    public final void resize(float[] xyz, int offset) {
+        resize(xyz[0+offset], xyz[1+offset], xyz[2+offset]);
+    }
+
+    /** Check if the x & y coordinates are bounded/contained
+     *  by this AABBox
+     * @param x  x-axis coordinate value
+     * @param y  y-axis coordinate value
+     * @return true if  x belong to (low.x, high.x) and
+     * y belong to (low.y, high.y)
+     */
+    public final boolean contains(float x, float y) {
+        if(x<low[0] || x>high[0]){
+            return false;
+        }
+        if(y<low[1]|| y>high[1]){
+            return false;
+        }
+        return true;
+    }
+    
+    /** Check if the xyz coordinates are bounded/contained
+     *  by this AABBox.
+     * @param x x-axis coordinate value
+     * @param y y-axis coordinate value
+     * @param z z-axis coordinate value
+     * @return true if  x belong to (low.x, high.x) and
+     * y belong to (low.y, high.y) and  z belong to (low.z, high.z)
+     */
+    public final boolean contains(float x, float y, float z) {
+        if(x<low[0] || x>high[0]){
+            return false;
+        }
+        if(y<low[1]|| y>high[1]){
+            return false;
+        }
+        if(z<low[2] || z>high[2]){
+            return false;
+        }
+        return true;
+    }
+    
+    /** Check if there is a common region between this AABBox and the passed
+     *     2D region irrespective of z range
+     * @param x lower left x-coord
+     * @param y lower left y-coord
+     * @param w width
+     * @param h hight
+     * @return true if this AABBox might have a common region with this 2D region
+     */
+    public final boolean intersects(float x, float y, float w, float h) {
+        if (w <= 0 || h <= 0) {
+            return false;
+        }
+        
+        final float _w = getWidth();
+        final float _h = getHeight();        
+        if (_w <= 0 || _h <= 0) {
+            return false;
+        }
+        
+        final float x0 = getMinX();
+        final float y0 = getMinY();
+        return (x + w > x0 &&
+                y + h > y0 &&
+                x < x0 + _w &&
+                y < y0 + _h);
+    }
+
+    
+    /** Get the size of the Box where the size is represented by the 
+     * length of the vector between low and high.
+     * @return a float representing the size of the AABBox
+     */
+    public final float getSize() {
+        return VectorUtil.computeLength(low, high);
+    }
+
+    /**Get the Center of the AABBox
+     * @return the xyz-coordinates of the center of the AABBox
+     */
+    public final float[] getCenter() {
+        return center;
+    }
+
+    /** Scale the AABBox by a constant
+     * @param size a constant float value
+     */
+    public final void scale(float size) {
+        float[] diffH = new float[3];
+        diffH[0] = high[0] - center[0];
+        diffH[1] = high[1] - center[1];
+        diffH[2] = high[2] - center[2];
+        
+        diffH = VectorUtil.scale(diffH, size);
+        
+        float[] diffL = new float[3];
+        diffL[0] = low[0] - center[0];
+        diffL[1] = low[1] - center[1];
+        diffL[2] = low[2] - center[2];
+        
+        diffL = VectorUtil.scale(diffL, size);
+        
+        high = VectorUtil.vectorAdd(center, diffH);
+        low = VectorUtil.vectorAdd(center, diffL);
+    }
+
+    public final float getMinX() {
+        return low[0];
+    }
+    
+    public final float getMinY() {
+        return low[1];
+    }
+    
+    public final float getMinZ() {
+        return low[2];
+    }
+    
+    public final float getMaxX() {
+        return high[0];
+    }
+    
+    public final float getMaxY() {
+        return high[1];
+    }
+    
+    public final float getMaxZ() {
+        return high[2];
+    }
+    
+    public final float getWidth(){
+        return high[0] - low[0];
+    }
+    
+    public final float getHeight() {
+        return high[1] - low[1];
+    }
+    
+    public final float getDepth() {
+        return high[2] - low[2];
+    }
+    
+    public final AABBox clone() {
+        return new AABBox(this.low, this.high);
+    }
+    
+    public final boolean equals(Object obj) {
+        if( obj == this ) {
+            return true;
+        }
+        if( null == obj || !(obj instanceof AABBox) ) {
+            return false;
+        }
+        final AABBox other = (AABBox) obj; 
+        return VectorUtil.checkEquality(low, other.low) &&          
+               VectorUtil.checkEquality(high, other.high) ;
+    }
+    
+    public final String toString() {
+        return "[ "+low[0]+"/"+low[1]+"/"+low[1]+" .. "+high[0]+"/"+high[0]+"/"+high[0]+", ctr "+
+                    center[0]+"/"+center[1]+"/"+center[1]+" ]";
+    }
+}