Math: Complete Matrix4f w/ Vec[234]f and adopt it throughout Quaternion, Ray, AABBox, Frustum, Stereo*, ... adding hook to PMVMatrix

Motivation was to simplify matrix + vector math usage, ease review and avoid usage bugs.

Matrix4f implementation uses dedicated float fields instead of an array.

Performance didn't increase much,
as JVM >= 11(?) has some optimizations to drop the array bounds check.

AMD64 + OpenJDK17
- Matrix4f.mul(a, b) got a roughly ~10% enhancement over FloatUtil.multMatrix(a, b, dest)
- Matrix4f.mul(b) roughly ~3% slower than FloatUtil.multMatrix(a, b, dest)
- FloatUtil.multMatrix(a, a_off, b, b_off, dest) is considerable slower than all
- Matrix4f.invert(..) roughly ~3% slower than FloatUtil.invertMatrix(..)

RaspberryPi 4b aarch64 + OpenJDK17
- Matrix4f.mul(a, b) got a roughly ~10% enhancement over FloatUtil.multMatrix(a, b, dest)
- Matrix4f.mul(b) roughly ~20% slower than FloatUtil.multMatrix(a, b)
- FloatUtil.multMatrix(a, a_off, b, b_off, dest) is considerable slower than all
- Matrix4f.invert(..) roughly ~4% slower than FloatUtil.invertMatrix(..)

Conclusion
- Matrix4f.mul(b) needs to be revised (esp for aarch64)
- Matrix4f.invert(..) should also not be slower ..

7 files changed, 173 insertions, 67 deletions

diff --git a/src/jogl/classes/com/jogamp/opengl/util/PMVMatrix.java b/src/jogl/classes/com/jogamp/opengl/util/PMVMatrix.java
index f8f1d3930..1aa305c2e 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/PMVMatrix.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/PMVMatrix.java
@@ -46,6 +46,7 @@ import jogamp.common.os.PlatformPropsImpl;
 import com.jogamp.common.nio.Buffers;
 import com.jogamp.common.util.FloatStack;
 import com.jogamp.opengl.math.FloatUtil;
+import com.jogamp.opengl.math.Matrix4f;
 import com.jogamp.opengl.math.Quaternion;
 import com.jogamp.opengl.math.Ray;
 import com.jogamp.opengl.math.geom.AABBox;
@@ -208,9 +209,9 @@ public final class PMVMatrix implements GLMatrixFunc {
           // Mvit Modelview-Inverse-Transpose
           matrixArray = new float[5*16];
 
-          mP_offset   = 0*16;
-          mMv_offset  = 1*16;
-          mTex_offset = 4*16;
+          // mP_offset   = 0*16;
+          // mMv_offset  = 1*16;
+          // mTex_offset = 4*16;
 
           matrixPMvMvit = Buffers.slice2Float(matrixArray,  0*16, 4*16);  // P + Mv + Mvi + Mvit
           matrixPMvMvi  = Buffers.slice2Float(matrixArray,  0*16, 3*16);  // P + Mv + Mvi
@@ -241,6 +242,8 @@ public final class PMVMatrix implements GLMatrixFunc {
      * Issues {@link #glLoadIdentity()} on all matrices,
      * i.e. {@link GLMatrixFunc#GL_MODELVIEW GL_MODELVIEW}, {@link GLMatrixFunc#GL_PROJECTION GL_PROJECTION} or {@link GL#GL_TEXTURE GL_TEXTURE}
      * and resets all internal states.
+     *
+     * Leaves {@link GLMatrixFunc#GL_MODELVIEW GL_MODELVIEW} the active matrix mode.
      */
     public final void reset() {
         FloatUtil.makeIdentity(matrixArray, mMv_offset);
@@ -403,7 +406,6 @@ public final class PMVMatrix implements GLMatrixFunc {
         }
     }
 
-
     /**
      * Multiplies the {@link #glGetPMatrixf() P} and {@link #glGetMvMatrixf() Mv} matrix, i.e.
      * <pre>
@@ -432,6 +434,71 @@ public final class PMVMatrix implements GLMatrixFunc {
         return mat4MvP;
     }
 
+    /**
+     * v_out = Mv * v_in
+     * @param v_in float[4] input vector
+     * @param v_out float[4] output vector
+     */
+    public final void multMvMatVec4f(final float[/*4*/] v_in, final float[/*4*/] v_out) {
+        FloatUtil.multMatrixVec(matrixArray, mMv_offset, v_in, v_out);
+    }
+
+    /**
+     * v_out = Mv * v_in
+     *
+     * Affine 3f-vector transformation by 4x4 matrix, see {@link FloatUtil#multMatrixVec3(float[], int, float[], float[])}.
+     *
+     * @param v_in float[3] input vector
+     * @param v_out float[3] output vector
+     */
+    public final void multMvMatVec3f(final float[/*3*/] v_in, final float[/*3*/] v_out) {
+        FloatUtil.multMatrixVec3(matrixArray, mMv_offset, v_in, v_out);
+    }
+
+    /**
+     * v_out = P * v_in
+     * @param v_in float[4] input vector
+     * @param v_out float[4] output vector
+     */
+    public final void multPMatVec4f(final float[/*4*/] v_in, final float[/*4*/] v_out) {
+        FloatUtil.multMatrixVec(matrixArray, v_in, v_out); // mP_offset := 0
+    }
+
+    /**
+     * v_out = P * v_in
+     *
+     * Affine 3f-vector transformation by 4x4 matrix, see {@link FloatUtil#multMatrixVec3(float[], int, float[], float[])}.
+     *
+     * @param v_in float[3] input vector
+     * @param v_out float[3] output vector
+     */
+    public final void multPMatVec3f(final float[/*3*/] v_in, final float[/*3*/] v_out) {
+        FloatUtil.multMatrixVec3(matrixArray, v_in, v_out); // mP_offset := 0
+    }
+
+    /**
+     * v_out = P * Mv * v_in
+     * @param v_in float[4] input vector
+     * @param v_out float[4] output vector
+     */
+    public final void multPMvMatVec4f(final float[/*4*/] v_in, final float[/*4*/] v_out) {
+        FloatUtil.multMatrixVec(matrixArray, mMv_offset, v_in, mat4Tmp1);
+        FloatUtil.multMatrixVec(matrixArray, mat4Tmp1, v_out); // mP_offset := 0
+    }
+
+    /**
+     * v_out = P * Mv * v_in
+     *
+     * Affine 3f-vector transformation by 4x4 matrix, see {@link FloatUtil#multMatrixVec3(float[], int, float[], float[])}.
+     *
+     * @param v_in float[3] input vector
+     * @param v_out float[3] output vector
+     */
+    public final void multPMvMatVec3f(final float[/*3*/] v_in, final float[/*3*/] v_out) {
+        FloatUtil.multMatrixVec3(matrixArray, mMv_offset, v_in, mat4Tmp1);
+        FloatUtil.multMatrixVec3(matrixArray, mat4Tmp1, v_out); // mP_offset := 0
+    }
+
     //
     // GLMatrixFunc implementation
     //
@@ -534,6 +601,24 @@ public final class PMVMatrix implements GLMatrixFunc {
     }
 
     /**
+     * Load the current matrix with the values of the given {@link Matrix4f}.
+     */
+    public final void glLoadMatrixf(final Matrix4f m) {
+        if(matrixMode==GL_MODELVIEW) {
+            m.get(matrixArray, mMv_offset);
+            dirtyBits |= DIRTY_INVERSE_MODELVIEW | DIRTY_INVERSE_TRANSPOSED_MODELVIEW | DIRTY_FRUSTUM ;
+            modifiedBits |= MODIFIED_MODELVIEW;
+        } else if(matrixMode==GL_PROJECTION) {
+            m.get(matrixArray, mP_offset);
+            dirtyBits |= DIRTY_FRUSTUM ;
+            modifiedBits |= MODIFIED_PROJECTION;
+        } else if(matrixMode==GL.GL_TEXTURE) {
+            m.get(matrixArray, mTex_offset);
+            modifiedBits |= MODIFIED_TEXTURE;
+        }
+    }
+
+    /**
      * Load the current matrix with the values of the given {@link Quaternion}'s rotation {@link Quaternion#toMatrix(float[], int) matrix representation}.
      */
     public final void glLoadMatrix(final Quaternion quat) {
@@ -633,6 +718,21 @@ public final class PMVMatrix implements GLMatrixFunc {
         }
     }
 
+    public final void glMultMatrixf(final Matrix4f m) {
+        if(matrixMode==GL_MODELVIEW) {
+            new Matrix4f(matrixArray, mMv_offset).mul(m).get(matrixArray, mMv_offset);
+            dirtyBits |= DIRTY_INVERSE_MODELVIEW | DIRTY_INVERSE_TRANSPOSED_MODELVIEW | DIRTY_FRUSTUM ;
+            modifiedBits |= MODIFIED_MODELVIEW;
+        } else if(matrixMode==GL_PROJECTION) {
+            new Matrix4f(matrixArray, mP_offset).mul(m).get(matrixArray, mP_offset);
+            dirtyBits |= DIRTY_FRUSTUM ;
+            modifiedBits |= MODIFIED_PROJECTION;
+        } else if(matrixMode==GL.GL_TEXTURE) {
+            new Matrix4f(matrixArray, mTex_offset).mul(m).get(matrixArray, mTex_offset);
+            modifiedBits |= MODIFIED_TEXTURE;
+        }
+    }
+
     @Override
     public final void glTranslatef(final float x, final float y, final float z) {
         glMultMatrixf(FloatUtil.makeTranslation(matrixTxSx, false, x, y, z), 0);
@@ -645,7 +745,7 @@ public final class PMVMatrix implements GLMatrixFunc {
 
     @Override
     public final void glRotatef(final float ang_deg, final float x, final float y, final float z) {
-        glMultMatrixf(FloatUtil.makeRotationAxis(mat4Tmp1, 0, ang_deg * FloatUtil.PI / 180.0f, x, y, z, mat4Tmp2), 0);
+        glMultMatrixf(FloatUtil.makeRotationAxis(mat4Tmp1, 0, FloatUtil.adegToRad(ang_deg), x, y, z, mat4Tmp2), 0);
     }
 
     /**
@@ -728,7 +828,7 @@ public final class PMVMatrix implements GLMatrixFunc {
     public final boolean gluProject(final float objx, final float objy, final float objz,
                                     final int[] viewport, final int viewport_offset,
                                     final float[] win_pos, final int win_pos_offset ) {
-        return FloatUtil.mapObjToWinCoords(objx, objy, objz,
+        return FloatUtil.mapObjToWin(objx, objy, objz,
                           matrixArray, mMv_offset,
                           matrixArray, mP_offset,
                           viewport, viewport_offset,
@@ -754,7 +854,7 @@ public final class PMVMatrix implements GLMatrixFunc {
     public final boolean gluUnProject(final float winx, final float winy, final float winz,
                                       final int[] viewport, final int viewport_offset,
                                       final float[] obj_pos, final int obj_pos_offset) {
-        return FloatUtil.mapWinToObjCoords(winx, winy, winz,
+        return FloatUtil.mapWinToObj(winx, winy, winz,
                                            matrixArray, mMv_offset,
                                            matrixArray, mP_offset,
                                            viewport, viewport_offset,
@@ -788,7 +888,7 @@ public final class PMVMatrix implements GLMatrixFunc {
                                  final int[] viewport, final int viewport_offset,
                                  final float near, final float far,
                                  final float[] obj_pos, final int obj_pos_offset ) {
-        return FloatUtil.mapWinToObjCoords(winx, winy, winz, clipw,
+        return FloatUtil.mapWinToObj4(winx, winy, winz, clipw,
                 matrixArray, mMv_offset,
                 matrixArray, mP_offset,
                 viewport, viewport_offset,
@@ -842,14 +942,12 @@ public final class PMVMatrix implements GLMatrixFunc {
      * @return true if successful, otherwise false (failed to invert matrix, or becomes z is infinity)
      */
     public final boolean gluUnProjectRay(final float winx, final float winy, final float winz0, final float winz1,
-                                         final int[] viewport, final int viewport_offset,
+                                         final int[] viewport,
                                          final Ray ray) {
         return FloatUtil.mapWinToRay(winx, winy, winz0, winz1,
                 matrixArray, mMv_offset,
-                matrixArray, mP_offset,
-                viewport, viewport_offset,
-                ray,
-                mat4Tmp1, mat4Tmp2, mat4Tmp3);
+                matrixArray, mP_offset, viewport,
+                ray, mat4Tmp1, mat4Tmp2, mat4Tmp3);
     }
 
     public StringBuilder toString(StringBuilder sb, final String f) {
@@ -1066,8 +1164,10 @@ public final class PMVMatrix implements GLMatrixFunc {
         return res;
     }
 
+    private static final int mP_offset   = 0*16;
+    private static final int mMv_offset  = 1*16;
+    private static final int mTex_offset = 4*16;
     private final float[] matrixArray;
-    private final int mP_offset, mMv_offset, mTex_offset;
     private final FloatBuffer matrixPMvMvit, matrixPMvMvi, matrixPMv, matrixP, matrixTex, matrixMv, matrixMvi, matrixMvit;
     private final float[] matrixTxSx;
     private final float[] mat4Tmp1, mat4Tmp2, mat4Tmp3;
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/EyeParameter.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/EyeParameter.java
index 43a6cfc58..e0f465da7 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/EyeParameter.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/EyeParameter.java
@@ -1,5 +1,5 @@
 /**
- * Copyright 2014 JogAmp Community. All rights reserved.
+ * Copyright 2014-2023 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:
@@ -28,6 +28,7 @@
 package com.jogamp.opengl.util.stereo;
 
 import com.jogamp.opengl.math.FovHVHalves;
+import com.jogamp.opengl.math.Vec3f;
 
 /**
  * Constant single eye parameter of the viewer, relative to its {@link ViewerPose}.
@@ -36,8 +37,8 @@ public final class EyeParameter {
     /** Eye number, <code>0</code> for the left eye and <code>1</code> for the right eye. */
     public final int number;
 
-    /** float[3] eye position vector used to define eye height in meter relative to <i>actor</i>. */
-    public final float[] positionOffset;
+    /** eye position vector used to define eye height in meter relative to <i>actor</i>. */
+    public final Vec3f positionOffset;
 
     /** Field of view in both directions, may not be centered, either {@link FovHVHalves#inTangents} or radians. */
     public final FovHVHalves fovhv;
@@ -51,18 +52,18 @@ public final class EyeParameter {
     /** Z-axis eye relief in meter. */
     public final float eyeReliefZ;
 
-    public EyeParameter(final int number, final float[] positionOffset, final FovHVHalves fovhv,
+    public EyeParameter(final int number, final Vec3f positionOffset, final FovHVHalves fovhv,
                         final float distNoseToPupil, final float verticalDelta, final float eyeRelief) {
         this.number = number;
-        this.positionOffset = new float[3];
-        System.arraycopy(positionOffset, 0, this.positionOffset, 0, 3);
+        this.positionOffset = new Vec3f(positionOffset);
         this.fovhv = fovhv;
         this.distNoseToPupilX = distNoseToPupil;
         this.distMiddleToPupilY = verticalDelta;
         this.eyeReliefZ = eyeRelief;
     }
+    @Override
     public final String toString() {
-        return "EyeParam[num "+number+", posOff["+positionOffset[0]+", "+positionOffset[1]+", "+positionOffset[2]+"], "+fovhv+
-                      ", distPupil[noseX "+distNoseToPupilX+", middleY "+distMiddleToPupilY+", reliefZ "+eyeReliefZ+"]]";
+        return "EyeParam[num "+number+", posOff["+positionOffset+"], "+fovhv+
+               ", distPupil[noseX "+distNoseToPupilX+", middleY "+distMiddleToPupilY+", reliefZ "+eyeReliefZ+"]]";
     }
 }
\ No newline at end of file
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/LocationSensorParameter.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/LocationSensorParameter.java
index b795927cd..6294adee1 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/LocationSensorParameter.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/LocationSensorParameter.java
@@ -1,5 +1,5 @@
 /**
- * Copyright 2015 JogAmp Community. All rights reserved.
+ * Copyright 2015-2023 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:
@@ -27,6 +27,7 @@
  */
 package com.jogamp.opengl.util.stereo;
 
+import com.jogamp.opengl.math.Matrix4f;
 import com.jogamp.opengl.math.geom.Frustum;
 
 /**
@@ -38,13 +39,15 @@ public final class LocationSensorParameter {
     /** The {@link Frustum}'s {@link Frustum.FovDesc} description of the location sensor. */
     public final Frustum.FovDesc frustumDesc;
     /** The {@link Frustum}'s float[16] projection matrix of the location sensor. */
-    public final float[] frustumProjMat;
+    public final Matrix4f frustumProjMat;
 
     public LocationSensorParameter(final Frustum.FovDesc fovDesc) {
         this.frustumDesc = fovDesc;
         this.frustum = new Frustum();
-        this.frustumProjMat = frustum.updateByFovDesc(new float[16], 0, true, fovDesc);
+        this.frustumProjMat = frustum.updateByFovDesc(new Matrix4f(), fovDesc);
     }
+
+    @Override
     public final String toString() {
         return "LocationSensor["+frustumDesc+"]";
     }
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDevice.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDevice.java
index b6112650a..85e752302 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDevice.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDevice.java
@@ -1,5 +1,5 @@
 /**
- * Copyright 2014 JogAmp Community. All rights reserved.
+ * Copyright 2014-2023 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:
@@ -33,6 +33,7 @@ import com.jogamp.nativewindow.util.PointImmutable;
 import jogamp.opengl.Debug;
 
 import com.jogamp.opengl.math.FovHVHalves;
+import com.jogamp.opengl.math.Vec3f;
 
 /**
  * Interface describing a native stereoscopic device
@@ -94,7 +95,7 @@ public interface StereoDevice {
     public int getRequiredRotation();
 
     /**
-     * Return the device default eye position offset for {@link #createRenderer(int, int, float[], FovHVHalves[], float)}.
+     * Return the device default eye position offset for {@link #createRenderer(int, int, Vec3f, FovHVHalves[], float)}.
      * <p>
      * Result is an array of float values for
      * <ul>
@@ -105,7 +106,7 @@ public interface StereoDevice {
      * </p>
      * @return
      */
-    public float[] getDefaultEyePositionOffset();
+    public Vec3f getDefaultEyePositionOffset();
 
     /**
      * Returns the device default {@link FovHVHalves} for all supported eyes
@@ -198,7 +199,7 @@ public interface StereoDevice {
      * Returns the supported distortion compensation of the {@link StereoDeviceRenderer},
      * e.g. {@link StereoDeviceRenderer#DISTORTION_BARREL}, {@link StereoDeviceRenderer#DISTORTION_CHROMATIC}, etc.
      * @see StereoDeviceRenderer#getDistortionBits()
-     * @see #createRenderer(int, int, float[], FovHVHalves[], float, int)
+     * @see #createRenderer(int, int, Vec3f, FovHVHalves[], float, int)
      * @see #getRecommendedDistortionBits()
      * @see #getMinimumDistortionBits()
      */
@@ -212,7 +213,7 @@ public interface StereoDevice {
      * User shall use the recommended distortion compensation to achieve a distortion free view.
      * </p>
      * @see StereoDeviceRenderer#getDistortionBits()
-     * @see #createRenderer(int, int, float[], FovHVHalves[], float, int)
+     * @see #createRenderer(int, int, Vec3f, FovHVHalves[], float, int)
      * @see #getSupportedDistortionBits()
      * @see #getMinimumDistortionBits()
      */
@@ -227,7 +228,7 @@ public interface StereoDevice {
      * @see #getSupportedDistortionBits()
      * @see #getRecommendedDistortionBits()
      * @see StereoDeviceRenderer#getDistortionBits()
-     * @see #createRenderer(int, int, float[], FovHVHalves[], float, int)
+     * @see #createRenderer(int, int, Vec3f, FovHVHalves[], float, int)
      */
     public int getMinimumDistortionBits();
 
@@ -245,6 +246,6 @@ public interface StereoDevice {
      * @return
      */
     public StereoDeviceRenderer createRenderer(final int distortionBits,
-                                               final int textureCount, final float[] eyePositionOffset,
+                                               final int textureCount, final Vec3f eyePositionOffset,
                                                final FovHVHalves[] eyeFov, final float pixelsPerDisplayPixel, final int textureUnit);
 }
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoUtil.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoUtil.java
index b6f76a343..63cb3e1e7 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoUtil.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoUtil.java
@@ -1,5 +1,5 @@
 /**
- * Copyright 2014 JogAmp Community. All rights reserved.
+ * Copyright 2014-2023 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:
@@ -27,9 +27,9 @@
  */
 package com.jogamp.opengl.util.stereo;
 
-import com.jogamp.opengl.math.FloatUtil;
+import com.jogamp.opengl.math.Matrix4f;
 import com.jogamp.opengl.math.Quaternion;
-import com.jogamp.opengl.math.VectorUtil;
+import com.jogamp.opengl.math.Vec3f;
 import com.jogamp.opengl.util.CustomGLEventListener;
 import com.jogamp.opengl.util.stereo.StereoDeviceRenderer.Eye;
 
@@ -137,24 +137,24 @@ public class StereoUtil {
      * @param eye
      * @param zNear frustum near value
      * @param zFar frustum far value
-     * @param mat4Projection float[16] projection matrix result
-     * @param mat4Modelview float[16] modelview matrix result
+     * @param mat4Projection projection matrix result
+     * @param mat4Modelview modelview matrix result
      */
     public static void getSBSUpstreamPMV(final ViewerPose viewerPose, final Eye eye,
                                          final float zNear, final float zFar,
-                                         final float[] mat4Projection, final float[] mat4Modelview) {
-        final float[] mat4Tmp1 = new float[16];
-        final float[] mat4Tmp2 = new float[16];
-        final float[] vec3Tmp1 = new float[3];
-        final float[] vec3Tmp2 = new float[3];
-        final float[] vec3Tmp3 = new float[3];
+                                         final Matrix4f mat4Projection, final Matrix4f mat4Modelview) {
+        final Matrix4f mat4Tmp1 = new Matrix4f();
+        final Matrix4f mat4Tmp2 = new Matrix4f();
+        final Vec3f vec3Tmp1 = new Vec3f();
+        final Vec3f vec3Tmp2 = new Vec3f();
+        final Vec3f vec3Tmp3 = new Vec3f();
 
         final EyeParameter eyeParam = eye.getEyeParameter();
 
         //
         // Projection
         //
-        FloatUtil.makePerspective(mat4Projection, 0, true, eyeParam.fovhv, zNear, zFar);
+        mat4Projection.setToPerspective(eyeParam.fovhv, zNear, zFar);
 
         //
         // Modelview
@@ -162,21 +162,17 @@ public class StereoUtil {
         final Quaternion rollPitchYaw = new Quaternion();
         // private final float eyeYaw = FloatUtil.PI; // 180 degrees in radians
         // rollPitchYaw.rotateByAngleY(eyeYaw);
-        final float[] shiftedEyePos = rollPitchYaw.rotateVector(vec3Tmp1, 0, viewerPose.position, 0);
-        VectorUtil.addVec3(shiftedEyePos, shiftedEyePos, eyeParam.positionOffset);
+        final Vec3f shiftedEyePos = rollPitchYaw.rotateVector(viewerPose.position, vec3Tmp1).add(eyeParam.positionOffset);
 
         rollPitchYaw.mult(viewerPose.orientation);
-        final float[] up = rollPitchYaw.rotateVector(vec3Tmp2, 0, VectorUtil.VEC3_UNIT_Y, 0);
-        final float[] forward = rollPitchYaw.rotateVector(vec3Tmp3, 0, VectorUtil.VEC3_UNIT_Z_NEG, 0);
-        final float[] center = VectorUtil.addVec3(forward, shiftedEyePos, forward);
+        final Vec3f up = rollPitchYaw.rotateVector(Vec3f.UNIT_Y, vec3Tmp2);
+        final Vec3f forward = rollPitchYaw.rotateVector(Vec3f.UNIT_Z_NEG, vec3Tmp3); // -> center
+        final Vec3f center = forward.add(shiftedEyePos);
 
-        final float[] mLookAt = FloatUtil.makeLookAt(mat4Tmp2, 0, shiftedEyePos, 0, center, 0, up, 0, mat4Tmp1);
-        final float[] mViewAdjust = FloatUtil.makeTranslation(mat4Modelview, true,
-                                                              eyeParam.distNoseToPupilX,
-                                                              eyeParam.distMiddleToPupilY,
-                                                              eyeParam.eyeReliefZ);
-
-        /* mat4Modelview = */ FloatUtil.multMatrix(mViewAdjust, mLookAt);
+        final Matrix4f mLookAt = mat4Tmp2.setToLookAt(shiftedEyePos, center, up, mat4Tmp1);
+        mat4Modelview.mul( mat4Tmp1.setToTranslation( eyeParam.distNoseToPupilX,
+                                                      eyeParam.distMiddleToPupilY,
+                                                      eyeParam.eyeReliefZ ), mLookAt);
     }
 
 }
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/ViewerPose.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/ViewerPose.java
index 10ee4c994..5d2cf925c 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/ViewerPose.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/ViewerPose.java
@@ -1,5 +1,5 @@
 /**
- * Copyright 2014 JogAmp Community. All rights reserved.
+ * Copyright 2014-2023 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:
@@ -28,13 +28,14 @@
 package com.jogamp.opengl.util.stereo;
 
 import com.jogamp.opengl.math.Quaternion;
+import com.jogamp.opengl.math.Vec3f;
 
 /**
  * {@link #position} and {@link #orientation} of viewer.
  */
 public final class ViewerPose {
     /**
-     * float[3] position of viewer in meter.
+     * position of viewer in meter.
      * <p>
      * Apply the following to resolve the actual eye position:
      * <ul>
@@ -43,13 +44,13 @@ public final class ViewerPose {
      * </ul>
      * </p>
      */
-    public final float[] position;
+    public final Vec3f position;
 
     /** Orientation of viewer. */
     public final Quaternion orientation;
 
     public ViewerPose() {
-        this.position = new float[3];
+        this.position = new Vec3f();
         this.orientation = new Quaternion();
     }
     public ViewerPose(final float[] position, final Quaternion orientation) {
@@ -64,11 +65,14 @@ public final class ViewerPose {
     }
     /** Set position and orientation of this instance. */
     public final void setPosition(final float posX, final float posY, final float posZ) {
-        position[0] = posX;
-        position[1] = posY;
-        position[2] = posZ;
+        position.set( posX, posY, posZ );
     }
+    /** Set position and orientation of this instance. */
+    public final void setPosition(final Vec3f pos) {
+        position.set( pos );
+    }
+    @Override
     public final String toString() {
-        return "ViewerPose[pos["+position[0]+", "+position[1]+", "+position[2]+"], "+orientation+"]";
+        return "ViewerPose[pos["+position+"], "+orientation+"]";
     }
 }
\ No newline at end of file
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceFactory.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceFactory.java
index 957758e78..0cdef8770 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceFactory.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceFactory.java
@@ -35,6 +35,7 @@ import com.jogamp.nativewindow.util.Dimension;
 import com.jogamp.nativewindow.util.DimensionImmutable;
 import com.jogamp.opengl.math.FloatUtil;
 import com.jogamp.opengl.math.FovHVHalves;
+import com.jogamp.opengl.math.Vec3f;
 import com.jogamp.opengl.util.stereo.EyeParameter;
 import com.jogamp.opengl.util.stereo.StereoDevice;
 import com.jogamp.opengl.util.stereo.StereoDeviceConfig;
@@ -53,7 +54,7 @@ public class GenericStereoDeviceFactory extends StereoDeviceFactory {
      */
     public static GenericStereoDeviceConfig createMono(final String name,
                              final DimensionImmutable surfaceSizeInPixel, final float[] screenSizeInMeters,
-                             final float[] defaultEyePositionOffset) {
+                             final Vec3f defaultEyePositionOffset) {
         final float pupilCenterFromScreenTopInMeters = screenSizeInMeters[1] / 2f;
         final float d2r = FloatUtil.PI / 180.0f;
         return new GenericStereoDeviceConfig(
@@ -90,7 +91,7 @@ public class GenericStereoDeviceFactory extends StereoDeviceFactory {
     public static GenericStereoDeviceConfig createStereoSBS(final String name,
                              final DimensionImmutable surfaceSizeInPixel, final float[] screenSizeInMeters,
                              final float interpupillaryDistanceInMeters, final float fovy,
-                             final float[] defaultEyePositionOffset) {
+                             final Vec3f defaultEyePositionOffset) {
         final float pupilCenterFromScreenTopInMeters = screenSizeInMeters[1] / 2f;
         final float d2r = FloatUtil.PI / 180.0f;
 
@@ -138,7 +139,7 @@ public class GenericStereoDeviceFactory extends StereoDeviceFactory {
                              final DimensionImmutable surfaceSizeInPixel, final float[] screenSizeInMeters,
                              final float interpupillaryDistanceInMeters, final float fovy,
                              final DimensionImmutable eyeTextureSize,
-                             final float[] defaultEyePositionOffset) {
+                             final Vec3f defaultEyePositionOffset) {
         DistortionMesh.Producer lenseDistMeshProduce = null;
         try {
             lenseDistMeshProduce =