diff options
Diffstat (limited to 'src/jogl/classes/com/jogamp/opengl/math')
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]+" ]"; + } +} |