Folded turtle2d into jogl folders

1 files changed, 0 insertions, 382 deletions

diff --git a/turtle2d/src/com/jogamp/graph/math/Quaternion.java b/turtle2d/src/com/jogamp/graph/math/Quaternion.java
deleted file mode 100755
index b77a5fa08..000000000
--- a/turtle2d/src/com/jogamp/graph/math/Quaternion.java
+++ /dev/null
@@ -1,382 +0,0 @@
-/**

- * Copyright 2010 JogAmp Community. All rights reserved.

- *

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

- * permitted provided that the following conditions are met:

- *

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

- *       conditions and the following disclaimer.

- *

- *    2. Redistributions in binary form must reproduce the above copyright notice, this list

- *       of conditions and the following disclaimer in the documentation and/or other materials

- *       provided with the distribution.

- *

- * THIS SOFTWARE IS PROVIDED BY JogAmp Community ``AS IS'' AND ANY EXPRESS OR IMPLIED

- * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND

- * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL JogAmp Community OR

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

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

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

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

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

- * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

- *

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

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

- * or implied, of JogAmp Community.

- */

-package com.jogamp.graph.math;

-

-import jogamp.graph.math.MathFloat;

-

-public class Quaternion {

-	protected float x,y,z,w;

-

-	public Quaternion(){

-

-	}

-	

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

-		this.x = x;

-		this.y = y;

-		this.z = z;

-		this.w = w;

-	}

-	

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

-	 * @param vector1

-	 * @param vector2

-	 */

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

-	{

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

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

-		cross = normalizeVec(cross);

-

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

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

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

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

-		this.normalize();

-	}

-	

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

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

-	 */

-	public float[] toAxis()

-	{

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

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

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

-		vec[1] = x / scale;

-		vec[2] = y / scale;

-		vec[3] = z / scale;

-		return vec;

-	}

-	

-	/** Normalize a vector

-	 * @param vector input vector

-	 * @return normalized vector

-	 */

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

-	{

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

-

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

-		if(d> 0.0f)

-		{

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

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

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

-		}

-		return newVector;

-	}

-	/** compute the dot product of two points

-	 * @param vec1 vector 1

-	 * @param vec2 vector 2

-	 * @return the dot product as float

-	 */

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

-	{

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

-	}

-	/** cross product vec1 x vec2

-	 * @param vec1 vector 1

-	 * @param vec2 vecttor 2

-	 * @return the resulting vector

-	 */

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

-	{

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

-

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

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

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

-

-		return out;

-	}

-	public float getW() {

-		return w;

-	}

-	public void setW(float w) {

-		this.w = w;

-	}

-	public float getX() {

-		return x;

-	}

-	public void setX(float x) {

-		this.x = x;

-	}

-	public float getY() {

-		return y;

-	}

-	public void setY(float y) {

-		this.y = y;

-	}

-	public float getZ() {

-		return z;

-	}

-	public void setZ(float z) {

-		this.z = z;

-	}

-

-	/** Add a quaternion

-	 * @param q quaternion

-	 */

-	public void add(Quaternion q)

-	{

-		x+=q.x;

-		y+=q.y;

-		z+=q.z;

-	}

-	

-	/** Subtract a quaternion

-	 * @param q quaternion

-	 */

-	public void subtract(Quaternion q)

-	{

-		x-=q.x;

-		y-=q.y;

-		z-=q.z;

-	}

-	

-	/** Divide a quaternion by a constant

-	 * @param n a float to divide by

-	 */

-	public void divide(float n)

-	{

-		x/=n;

-		y/=n;

-		z/=n;

-	}

-	

-	/** Multiply this quaternion by 

-	 * the param quaternion

-	 * @param q a quaternion to multiply with

-	 */

-	public void mult(Quaternion q)

-	{

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

-

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

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

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

-

-		w = w1;

-		x = x1;

-		y = y1;

-		z = z1; 

-	}

-	

-	/** Multiply a quaternion by a constant

-	 * @param n a float constant

-	 */

-	public void mult(float n)

-	{

-		x*=n;

-		y*=n;

-		z*=n;

-	}

-	

-	/** Normalize a quaternion required if  

-	 *  to be used as a rotational quaternion

-	 */

-	public void normalize()

-	{

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

-		if (norme == 0.0f)

-		{

-			w = 1.0f; 

-			x = y = z = 0.0f;

-		}

-		else

-		{

-			float recip = 1.0f/norme;

-

-			w *= recip;

-			x *= recip;

-			y *= recip;

-			z *= recip;

-		}

-	}

-	

-	/** Invert the quaternion If rotational, 

-	 * will produce a the inverse rotation

-	 */

-	public void inverse()

-	{

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

-

-		float recip = 1.0f/norm;

-

-		w *= recip;

-		x = -1*x*recip;

-		y = -1*y*recip;

-		z = -1*z*recip;

-	}

-	

-	/** Transform this quaternion to a

-	 * 4x4 column matrix representing the rotation

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

-	 */

-	public float[] toMatrix()

-	{

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

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

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

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

-		matrix[3] = 0;

-

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

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

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

-		matrix[7] = 0;

-

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

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

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

-		matrix[11] = 0;

-

-		matrix[12] = 0;

-		matrix[13] = 0;

-		matrix[14] = 0;

-		matrix[15] = 1;

-		return matrix;

-	}

-	

-	/** Set this quaternion from a Sphereical interpolation

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

-	 * @param a initial quaternion

-	 * @param b target quaternion

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

-	 */

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

-	{

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

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

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

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

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

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

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

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

-			}

-			else {

-				sclp = 1.0f - t;

-				sclq = t;

-			}

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

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

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

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

-		}

-		else {

-			x =-a.y;

-			y = a.x;

-			z =-a.w;

-			w = a.z;

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

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

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

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

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

-		}

-	}

-	

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

-	 * @return true if empty, false otherwise

-	 */

-	public boolean isEmpty()

-	{

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

-			return true;

-		return false;

-	}

-	

-	/** Check if this quaternion represents an identity

-	 * matrix, for rotation.

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

-	 */

-	public boolean isIdentity()

-	{

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

-			return true;

-		return false;

-	}

-	

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

-	 * @param m 3x3 column matrix 

-	 */

-	public void setFromMatrix(float[] m) {

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

-		if (T>0){

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

-			w = 0.25f / S;

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

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

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

-		}

-		else{

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

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

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

-				x = 0.25f * S;

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

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

-			} 

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

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

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

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

-				y = 0.25f * S;

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

-			} 

-			else { 

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

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

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

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

-				z = 0.25f * S;

-			} 

-		}

-	}

-	

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

-	 * an affine rotational matrix

-	 * @param m 3x3 column matrix

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

-	 */

-	public boolean isRotationMatrix(float[] m) {

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

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

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

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

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

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

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

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

-	}

-	private float determinant(float[] m) {

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

-	}

-}