From 101567f5f16d91a13c8067764d5e14eefb2b9936 Mon Sep 17 00:00:00 2001 From: Sven Gothel Date: Sat, 15 Mar 2014 16:54:34 +0100 Subject: FloatUtil/VectorUtil: Enhance isEqual/compare w/ and w/o epsilon, add unit tests - Cleanup VectorUtil (vec2/3 naming, remove dedundant functions) --- .../com/jogamp/graph/curve/OutlineShape.java | 13 +- .../classes/com/jogamp/graph/geom/Outline.java | 2 +- .../classes/com/jogamp/graph/geom/SVertex.java | 5 +- .../classes/com/jogamp/opengl/math/FloatUtil.java | 88 ++++++- .../classes/com/jogamp/opengl/math/Quaternion.java | 34 +-- .../classes/com/jogamp/opengl/math/VectorUtil.java | 287 ++++++++++----------- .../com/jogamp/opengl/math/geom/AABBox.java | 31 ++- src/jogl/classes/jogamp/graph/curve/tess/Loop.java | 16 +- src/jogl/classes/jogamp/opengl/ProjectFloat.java | 8 +- 9 files changed, 280 insertions(+), 204 deletions(-) (limited to 'src/jogl') diff --git a/src/jogl/classes/com/jogamp/graph/curve/OutlineShape.java b/src/jogl/classes/com/jogamp/graph/curve/OutlineShape.java index 160e171e4..bac67eb5f 100644 --- a/src/jogl/classes/com/jogamp/graph/curve/OutlineShape.java +++ b/src/jogl/classes/com/jogamp/graph/curve/OutlineShape.java @@ -436,9 +436,9 @@ public class OutlineShape implements Comparable { } private void subdivideTriangle(final Outline outline, Vertex a, Vertex b, Vertex c, int index){ - VectorUtil.mid(tmpV1, a.getCoord(), b.getCoord()); - VectorUtil.mid(tmpV3, b.getCoord(), c.getCoord()); - VectorUtil.mid(tmpV2, tmpV1, tmpV3); + VectorUtil.midVec3(tmpV1, a.getCoord(), b.getCoord()); + VectorUtil.midVec3(tmpV3, b.getCoord(), c.getCoord()); + VectorUtil.midVec3(tmpV2, tmpV1, tmpV3); //drop off-curve vertex to image on the curve b.setCoord(tmpV2, 0, 3); @@ -517,7 +517,7 @@ public class OutlineShape implements Comparable { continue; } - if( VectorUtil.vertexInTriangle3(a.getCoord(), b.getCoord(), c.getCoord(), + if( VectorUtil.isVec3InTriangle3(a.getCoord(), b.getCoord(), c.getCoord(), current.getCoord(), nextV.getCoord(), prevV.getCoord(), tmpV1, tmpV2, tmpV3) ) { return current; @@ -542,7 +542,7 @@ public class OutlineShape implements Comparable { final Vertex currentVertex = outline.getVertex(i); final Vertex nextVertex = outline.getVertex((i+1)%vertexCount); if ( !currentVertex.isOnCurve() && !nextVertex.isOnCurve() ) { - VectorUtil.mid(tmpV1, currentVertex.getCoord(), nextVertex.getCoord()); + VectorUtil.midVec3(tmpV1, currentVertex.getCoord(), nextVertex.getCoord()); final Vertex v = vertexFactory.create(tmpV1, 0, 3, true); i++; vertexCount++; @@ -557,8 +557,7 @@ public class OutlineShape implements Comparable { } if( vertexCount > 0 ) { - if(VectorUtil.checkEquality(outline.getVertex(0).getCoord(), - outline.getLastVertex().getCoord())) { + if(VectorUtil.isVec3Equal( outline.getVertex(0).getCoord(), 0, outline.getLastVertex().getCoord(), 0, FloatUtil.EPSILON )) { outline.removeVertex(vertexCount-1); } } diff --git a/src/jogl/classes/com/jogamp/graph/geom/Outline.java b/src/jogl/classes/com/jogamp/graph/geom/Outline.java index 9d4d1f26d..80aea2af4 100644 --- a/src/jogl/classes/com/jogamp/graph/geom/Outline.java +++ b/src/jogl/classes/com/jogamp/graph/geom/Outline.java @@ -172,7 +172,7 @@ public class Outline implements Cloneable, Comparable { if( !isEmpty() ) { final Vertex first = vertices.get(0); final Vertex last = getLastVertex(); - if( !VectorUtil.checkEquality( first.getCoord(), last.getCoord() ) ) { + if( !VectorUtil.isVec3Equal( first.getCoord(), 0, last.getCoord(), 0, FloatUtil.EPSILON ) ) { if( closeTail ) { vertices.add(first.clone()); } else { diff --git a/src/jogl/classes/com/jogamp/graph/geom/SVertex.java b/src/jogl/classes/com/jogamp/graph/geom/SVertex.java index 99f10a694..beac908d4 100644 --- a/src/jogl/classes/com/jogamp/graph/geom/SVertex.java +++ b/src/jogl/classes/com/jogamp/graph/geom/SVertex.java @@ -27,6 +27,7 @@ */ package com.jogamp.graph.geom; +import com.jogamp.opengl.math.FloatUtil; import com.jogamp.opengl.math.VectorUtil; /** A Simple Vertex Implementation. Where the coordinates, and other attributes are @@ -188,8 +189,8 @@ public class SVertex implements Vertex { final Vertex v = (Vertex) obj; return this == v || isOnCurve() == v.isOnCurve() && - VectorUtil.checkEqualityVec2(getTexCoord(), v.getTexCoord()) && - VectorUtil.checkEquality(getCoord(), v.getCoord()) ; + VectorUtil.isVec2Equal(getTexCoord(), 0, v.getTexCoord(), 0, FloatUtil.EPSILON) && + VectorUtil.isVec3Equal(getCoord(), 0, v.getCoord(), 0, FloatUtil.EPSILON) ; } @Override diff --git a/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java b/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java index ee57fc7e8..bb40fed33 100644 --- a/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java +++ b/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java @@ -122,7 +122,7 @@ public class FloatUtil { final float s = sin(angrad); tmpVec3f[0]=x; tmpVec3f[1]=y; tmpVec3f[2]=z; - VectorUtil.normalize(tmpVec3f); + VectorUtil.normalizeVec3(tmpVec3f); x = tmpVec3f[0]; y = tmpVec3f[1]; z = tmpVec3f[2]; // Rotation matrix (Row Order): @@ -712,12 +712,96 @@ public class FloatUtil { */ public static final float EPSILON = 1.1920929E-7f; // Float.MIN_VALUE == 1.4e-45f ; double EPSILON 2.220446049250313E-16d + /** + * Return true if both values are equal w/o regarding an epsilon. + *

+ * Implementation considers following corner cases: + *

    + *
  • NaN == NaN
    • + *
  • +Inf == +Inf
    • + *
  • -Inf == -Inf
    • + *
+ *

+ * @see #isEqual(float, float, float) + */ + public static boolean isEqual(final float a, final float b) { + // Values are equal (Inf, Nan .. ) + return Float.floatToIntBits(a) == Float.floatToIntBits(b); + } + /** * Return true if both values are equal, i.e. their absolute delta < epsilon. + *

+ * Implementation considers following corner cases: + *

    + *
  • NaN == NaN
    • + *
  • +Inf == +Inf
    • + *
  • -Inf == -Inf
    • + *
+ *

* @see #EPSILON */ public static boolean isEqual(final float a, final float b, final float epsilon) { - return Math.abs(a - b) < epsilon; + if ( Math.abs(a - b) < epsilon ) { + return true; + } else { + // Values are equal (Inf, Nan .. ) + return Float.floatToIntBits(a) == Float.floatToIntBits(b); + } + } + + /** + * Return true if both values are equal w/o regarding an epsilon. + *

+ * Implementation considers following corner cases: + *

    + *
  • NaN == NaN
    • + *
  • +Inf == +Inf
    • + *
  • -Inf == -Inf
    • + *
  • NaN > 0
    • + *
  • +Inf > -Inf
    • + *
+ *

+ * @see #compare(float, float, float) + */ + public static int compare(final float a, final float b) { + if (a < b) { + return -1; // Neither is NaN, a is smaller + } + if (a > b) { + return 1; // Neither is NaN, a is larger + } + final int aBits = Float.floatToIntBits(a); + final int bBits = Float.floatToIntBits(b); + if( aBits == bBits ) { + return 0; // Values are equal (Inf, Nan .. ) + } else if( aBits < bBits ) { + return -1; // (-0.0, 0.0) or (!NaN, NaN) + } else { + return 1; // ( 0.0, -0.0) or ( NaN, !NaN) + } + } + + /** + * Return true if both values are equal, i.e. their absolute delta < epsilon. + *

+ * Implementation considers following corner cases: + *

    + *
  • NaN == NaN
    • + *
  • +Inf == +Inf
    • + *
  • -Inf == -Inf
    • + *
  • NaN > 0
    • + *
  • +Inf > -Inf
    • + *
+ *

+ * @see #EPSILON + */ + public static int compare(final float a, final float b, final float epsilon) { + if ( Math.abs(a - b) < epsilon ) { + return 0; + } else { + return compare(a, b); + } } /** diff --git a/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java b/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java index 6e567fc1d..e2b23544a 100644 --- a/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java +++ b/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java @@ -404,7 +404,7 @@ public class Quaternion { * @see Matrix-FAQ Q63 */ public final float[] rotateVector(final float[] vecOut, final int vecOutOffset, final float[] vecIn, final int vecInOffset) { - if ( VectorUtil.isZero(vecIn, vecInOffset, FloatUtil.EPSILON) ) { + if ( VectorUtil.isVec3Zero(vecIn, vecInOffset, FloatUtil.EPSILON) ) { vecOut[0+vecOutOffset] = 0f; vecOut[1+vecOutOffset] = 0f; vecOut[2+vecOutOffset] = 0f; @@ -537,18 +537,18 @@ public class Quaternion { public Quaternion setLookAt(final float[] directionIn, final float[] upIn, final float[] xAxisOut, final float[] yAxisOut, final float[] zAxisOut) { // Z = norm(dir) - VectorUtil.normalize(zAxisOut, directionIn); + VectorUtil.normalizeVec3(zAxisOut, directionIn); // X = upIn x Z // (borrow yAxisOut for upNorm) - VectorUtil.normalize(yAxisOut, upIn); - VectorUtil.cross(xAxisOut, yAxisOut, zAxisOut); - VectorUtil.normalize(xAxisOut); + VectorUtil.normalizeVec3(yAxisOut, upIn); + VectorUtil.crossVec3(xAxisOut, yAxisOut, zAxisOut); + VectorUtil.normalizeVec3(xAxisOut); // Y = Z x X // - VectorUtil.cross(yAxisOut, zAxisOut, xAxisOut); - VectorUtil.normalize(yAxisOut); + VectorUtil.crossVec3(yAxisOut, zAxisOut, xAxisOut); + VectorUtil.normalizeVec3(yAxisOut); /** final float m00 = xAxisOut[0]; @@ -588,16 +588,16 @@ public class Quaternion { * @return this quaternion for chaining. */ public final Quaternion setFromVectors(final float[] v1, final float[] v2, final float[] tmpPivotVec, final float[] tmpNormalVec) { - final float factor = VectorUtil.length(v1) * VectorUtil.length(v2); + final float factor = VectorUtil.vec3Length(v1) * VectorUtil.vec3Length(v2); if ( FloatUtil.isZero(factor, FloatUtil.EPSILON ) ) { return setIdentity(); } else { - final float dot = VectorUtil.dot(v1, v2) / factor; // normalize + final float dot = VectorUtil.vec3Dot(v1, v2) / factor; // normalize final float theta = FloatUtil.acos(Math.max(-1.0f, Math.min(dot, 1.0f))); // clipping [-1..1] - VectorUtil.cross(tmpPivotVec, v1, v2); + VectorUtil.crossVec3(tmpPivotVec, v1, v2); - if ( dot < 0.0f && FloatUtil.isZero( VectorUtil.length(tmpPivotVec), FloatUtil.EPSILON ) ) { + if ( dot < 0.0f && FloatUtil.isZero( VectorUtil.vec3Length(tmpPivotVec), FloatUtil.EPSILON ) ) { // Vectors parallel and opposite direction, therefore a rotation of 180 degrees about any vector // perpendicular to this vector will rotate vector a onto vector b. // @@ -643,16 +643,16 @@ public class Quaternion { * @return this quaternion for chaining. */ public final Quaternion setFromNormalVectors(final float[] v1, final float[] v2, final float[] tmpPivotVec) { - final float factor = VectorUtil.length(v1) * VectorUtil.length(v2); + final float factor = VectorUtil.vec3Length(v1) * VectorUtil.vec3Length(v2); if ( FloatUtil.isZero(factor, FloatUtil.EPSILON ) ) { return setIdentity(); } else { - final float dot = VectorUtil.dot(v1, v2) / factor; // normalize + final float dot = VectorUtil.vec3Dot(v1, v2) / factor; // normalize final float theta = FloatUtil.acos(Math.max(-1.0f, Math.min(dot, 1.0f))); // clipping [-1..1] - VectorUtil.cross(tmpPivotVec, v1, v2); + VectorUtil.crossVec3(tmpPivotVec, v1, v2); - if ( dot < 0.0f && FloatUtil.isZero( VectorUtil.length(tmpPivotVec), FloatUtil.EPSILON ) ) { + if ( dot < 0.0f && FloatUtil.isZero( VectorUtil.vec3Length(tmpPivotVec), FloatUtil.EPSILON ) ) { // Vectors parallel and opposite direction, therefore a rotation of 180 degrees about any vector // perpendicular to this vector will rotate vector a onto vector b. // @@ -696,7 +696,7 @@ public class Quaternion { * @see #toAngleAxis(float[]) */ public final Quaternion setFromAngleAxis(final float angle, final float[] vector, final float[] tmpV3f) { - VectorUtil.normalize(tmpV3f, vector); + VectorUtil.normalizeVec3(tmpV3f, vector); return setFromAngleNormalAxis(angle, tmpV3f); } @@ -716,7 +716,7 @@ public class Quaternion { * @see #toAngleAxis(float[]) */ public final Quaternion setFromAngleNormalAxis(final float angle, final float[] vector) { - if ( VectorUtil.isZero(vector, 0, FloatUtil.EPSILON) ) { + if ( VectorUtil.isVec3Zero(vector, 0, FloatUtil.EPSILON) ) { setIdentity(); } else { final float halfangle = angle * 0.5f; diff --git a/src/jogl/classes/com/jogamp/opengl/math/VectorUtil.java b/src/jogl/classes/com/jogamp/opengl/math/VectorUtil.java index 4aa1baf78..778c17a53 100644 --- a/src/jogl/classes/com/jogamp/opengl/math/VectorUtil.java +++ b/src/jogl/classes/com/jogamp/opengl/math/VectorUtil.java @@ -31,9 +31,6 @@ import java.util.ArrayList; public class VectorUtil { - /** Zero vector */ - public static final float[] ZERO = new float[] { 0f, 0f, 0f }; - public enum Winding { CW(-1), CCW(1); @@ -44,8 +41,6 @@ public class VectorUtil { } } - public static final int COLLINEAR = 0; - /** * Copies a vector of length 3 * @param dst output vector @@ -75,47 +70,78 @@ public class VectorUtil { } /** - * Return true if both vectors are equal, no {@link FloatUtil#EPSILON} is taken into consideration. + * Return true if both vectors are equal w/o regarding an epsilon. + *

+ * Implementation uses {@link FloatUtil#isEqual(float, float)}, see API doc for details. + *

+ */ + public static boolean isVec2Equal(final float[] vec1, int vec1Offset, final float[] vec2, int vec2Offset) { + return FloatUtil.isEqual(vec1[0+vec1Offset], vec2[0+vec2Offset]) && + FloatUtil.isEqual(vec1[1+vec1Offset], vec2[1+vec2Offset]) ; + } + + /** + * Return true if both vectors are equal w/o regarding an epsilon. + *

+ * Implementation uses {@link FloatUtil#isEqual(float, float)}, see API doc for details. + *

*/ - public static boolean isEqual(final float[] vec1, int vec1Offset, final float[] vec2, int vec2Offset) { - return vec1[0+vec1Offset] == vec2[0+vec2Offset] && - vec1[1+vec1Offset] == vec2[1+vec2Offset] && - vec1[2+vec1Offset] == vec2[2+vec2Offset]; + public static boolean isVec3Equal(final float[] vec1, int vec1Offset, final float[] vec2, int vec2Offset) { + return FloatUtil.isEqual(vec1[0+vec1Offset], vec2[0+vec2Offset]) && + FloatUtil.isEqual(vec1[1+vec1Offset], vec2[1+vec2Offset]) && + FloatUtil.isEqual(vec1[2+vec1Offset], vec2[2+vec2Offset]) ; } /** * Return true if both vectors are equal, i.e. their absolute delta < epsilon. - * @see FloatUtil#EPSILON + *

+ * Implementation uses {@link FloatUtil#isEqual(float, float, float)}, see API doc for details. + *

*/ - public static boolean isEqual(final float[] vec1, int vec1Offset, final float[] vec2, int vec2Offset, final float epsilon) { - return Math.abs(vec1[0+vec1Offset] - vec2[0+vec2Offset]) < epsilon && - Math.abs(vec1[1+vec1Offset] - vec2[1+vec2Offset]) < epsilon && - Math.abs(vec1[2+vec1Offset] - vec2[2+vec2Offset]) < epsilon ; + public static boolean isVec2Equal(final float[] vec1, int vec1Offset, final float[] vec2, int vec2Offset, final float epsilon) { + return FloatUtil.isEqual(vec1[0+vec1Offset], vec2[0+vec2Offset], epsilon) && + FloatUtil.isEqual(vec1[1+vec1Offset], vec2[1+vec2Offset], epsilon) ; + } + + /** + * Return true if both vectors are equal, i.e. their absolute delta < epsilon. + *

+ * Implementation uses {@link FloatUtil#isEqual(float, float, float)}, see API doc for details. + *

+ */ + public static boolean isVec3Equal(final float[] vec1, int vec1Offset, final float[] vec2, int vec2Offset, final float epsilon) { + return FloatUtil.isEqual(vec1[0+vec1Offset], vec2[0+vec2Offset], epsilon) && + FloatUtil.isEqual(vec1[1+vec1Offset], vec2[1+vec2Offset], epsilon) && + FloatUtil.isEqual(vec1[2+vec1Offset], vec2[2+vec2Offset], epsilon) ; } /** * Return true if vector is zero, no {@link FloatUtil#EPSILON} is taken into consideration. */ - public static boolean isZero(final float[] vec, final int vecOffset) { + public static boolean isVec3Zero(final float[] vec, final int vecOffset) { return 0f == vec[0+vecOffset] && 0f == vec[1+vecOffset] && 0f == vec[2+vecOffset]; } /** * Return true if vector is zero, i.e. it's absolute components < epsilon. - * @see FloatUtil#EPSILON + *

+ * Implementation uses {@link FloatUtil#isZero(float, float)}, see API doc for details. + *

*/ - public static boolean isZero(final float[] vec, final int vecOffset, final float epsilon) { + public static boolean isVec3Zero(final float[] vec, final int vecOffset, final float epsilon) { return isZero(vec[0+vecOffset], vec[1+vecOffset], vec[2+vecOffset], epsilon); } /** * Return true if all three vector components are zero, i.e. it's their absolute value < epsilon. - * @see FloatUtil#EPSILON + *

+ * Implementation uses {@link FloatUtil#isZero(float, float)}, see API doc for details. + *

*/ public static boolean isZero(final float x, final float y, final float z, final float epsilon) { - return Math.abs(x) < epsilon && - Math.abs(y) < epsilon && - Math.abs(z) < epsilon ; + return FloatUtil.isZero(x, epsilon) && + FloatUtil.isZero(y, epsilon) && + FloatUtil.isZero(z, epsilon) ; } /** @@ -125,7 +151,7 @@ public class VectorUtil { * distances, thus avoiding an expensive square root operation. *

*/ - public static float distanceSquared(final float[] v1, final float[] v2) { + public static float vec3DistanceSquare(final float[] v1, final float[] v2) { final float dx = v1[0] - v2[0]; final float dy = v1[1] - v2[1]; final float dz = v1[2] - v2[2]; @@ -135,41 +161,43 @@ public class VectorUtil { /** * Return the distance between the given two points described vector v1 and v2. */ - public static float distance(final float[] v1, final float[] v2) { - return FloatUtil.sqrt(distanceSquared(v1, v2)); + public static float vec3Distance(final float[] v1, final float[] v2) { + return FloatUtil.sqrt(vec3DistanceSquare(v1, v2)); } - /** compute the dot product of two points + /** + * 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(final float[] vec1, final float[] vec2) + public static float vec3Dot(final float[] vec1, final float[] vec2) { - return (vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2]); + return vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2]; } /** * Compute the squared length of a vector, a.k.a the squared norm */ - public static float lengthSquared(final float[] vec) { + public static float vec3LengthSquare(final float[] vec) { return vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]; } /** * Compute the length of a vector, a.k.a the norm */ - public static float length(final float[] vec) { - return FloatUtil.sqrt(lengthSquared(vec)); + public static float vec3Length(final float[] vec) { + return FloatUtil.sqrt(vec3LengthSquare(vec)); } /** * Normalize a vector - * @param result output vector + * @param result output vector, may be vector (in-place) * @param vector input vector * @return normalized output vector + * @return result vector for chaining */ - public static float[] normalize(final float[] result, final float[] vector) { - final float lengthSq = lengthSquared(vector); + public static float[] normalizeVec3(final float[] result, final float[] vector) { + final float lengthSq = vec3LengthSquare(vector); if ( FloatUtil.isZero(lengthSq, FloatUtil.EPSILON) ) { result[0] = 0f; result[1] = 0f; @@ -185,12 +213,11 @@ public class VectorUtil { /** * Normalize a vector in place - * @param result output vector * @param vector input vector * @return normalized output vector */ - public static float[] normalize(final float[] vector) { - final float lengthSq = lengthSquared(vector); + public static float[] normalizeVec3(final float[] vector) { + final float lengthSq = vec3LengthSquare(vector); if ( FloatUtil.isZero(lengthSq, FloatUtil.EPSILON) ) { vector[0] = 0f; vector[1] = 0f; @@ -206,24 +233,26 @@ public class VectorUtil { /** * Scales a vector by param using given result float[] - * @param result vector for the result + * @param result vector for the result, may be vector (in-place) * @param vector input vector * @param scale single scale constant for all vector components + * @return result vector for chaining */ - public static float[] scale(final float[] result, final float[] vector, final float scale) { + public static float[] scaleVec3(final float[] result, final float[] vector, final float scale) { result[0] = vector[0] * scale; result[1] = vector[1] * scale; result[2] = vector[2] * scale; return result; } - /** Scales a vector by param using given result float[] - * @param result vector for the result + /** + * Scales a vector by param using given result float[] + * @param result vector for the result, may be vector (in-place) * @param vector input vector * @param scale 3 component scale constant for each vector component - * @return given result vector + * @return result vector for chaining */ - public static float[] scale(final float[] result, final float[] vector, final float[] scale) + public static float[] scaleVec3(final float[] result, final float[] vector, final float[] scale) { result[0] = vector[0] * scale[0]; result[1] = vector[1] * scale[1]; @@ -232,12 +261,13 @@ public class VectorUtil { } /** - * Adds two vectors + * Adds two vectors, result = v1 + v2 + * @param result float[3] result vector, may be either v1 or v2 (in-place) * @param v1 vector 1 * @param v2 vector 2 - * @return v1 + v2 + * @return result vector for chaining */ - public static float[] vectorAdd(final float[] result, final float[] v1, final float[] v2) { + public static float[] addVec3(final float[] result, final float[] v1, final float[] v2) { result[0] = v1[0] + v2[0]; result[1] = v1[1] + v2[1]; result[2] = v1[2] + v2[2]; @@ -245,12 +275,13 @@ public class VectorUtil { } /** - * Subtracts two vectors + * Subtracts two vectors, result = v1 - v2 + * @param result float[3] result vector, may be either v1 or v2 (in-place) * @param v1 vector 1 * @param v2 vector 2 - * @return v1 - v2 + * @return result vector for chaining */ - public static float[] vectorSub(final float[] result, final float[] v1, final float[] v2) { + public static float[] subVec3(final float[] result, final float[] v1, final float[] v2) { result[0] = v1[0] - v2[0]; result[1] = v1[1] - v2[1]; result[2] = v1[2] - v2[2]; @@ -263,7 +294,7 @@ public class VectorUtil { * @param v2 vector 2 * @return the resulting vector */ - public static float[] cross(final float[] result, final float[] v1, final float[] v2) + public static float[] crossVec3(final float[] result, final float[] v1, final float[] v2) { result[0] = v1[1] * v2[2] - v1[2] * v2[1]; result[1] = v1[2] * v2[0] - v1[0] * v2[2]; @@ -271,12 +302,13 @@ public class VectorUtil { return result; } - /** Column Matrix Vector multiplication + /** + * Multiplication of column-major 4x4 matrix with vector * @param colMatrix column matrix (4x4) * @param vec vector(x,y,z) * @return result */ - public static float[] colMatrixVectorMult(final float[] result, final float[] colMatrix, final float[] vec) + public static float[] mulColMat4Vec3(final float[] result, final float[] colMatrix, final float[] vec) { result[0] = vec[0]*colMatrix[0] + vec[1]*colMatrix[4] + vec[2]*colMatrix[8] + colMatrix[12]; result[1] = vec[0]*colMatrix[1] + vec[1]*colMatrix[5] + vec[2]*colMatrix[9] + colMatrix[13]; @@ -285,12 +317,13 @@ public class VectorUtil { return result; } - /** Matrix Vector multiplication + /** + * Matrix Vector multiplication * @param rawMatrix column matrix (4x4) * @param vec vector(x,y,z) * @return result */ - public static float[] rowMatrixVectorMult(final float[] result, final float[] rawMatrix, final float[] vec) + public static float[] mulRowMat4Vec3(final float[] result, final float[] rawMatrix, final float[] vec) { result[0] = vec[0]*rawMatrix[0] + vec[1]*rawMatrix[1] + vec[2]*rawMatrix[2] + rawMatrix[3]; result[1] = vec[0]*rawMatrix[4] + vec[1]*rawMatrix[5] + vec[2]*rawMatrix[6] + rawMatrix[7]; @@ -299,103 +332,53 @@ public class VectorUtil { return result; } - /** Calculate the midpoint of two values + /** + * Calculate the midpoint of two values * @param p1 first value * @param p2 second vale * @return midpoint */ - public static float mid(final float p1, final float p2) - { + public static float mid(final float p1, final float p2) { return (p1+p2)/2.0f; } /** * Calculate the midpoint of two points - * @param p1 first point - * @param p2 second point + * @param p1 first point vector + * @param p2 second point vector * @return midpoint */ - public static float[] mid(final float[] result, final float[] p1, final float[] p2) - { + public static float[] midVec3(final float[] result, final float[] p1, final float[] p2) { result[0] = (p1[0] + p2[0])*0.5f; result[1] = (p1[1] + p2[1])*0.5f; result[2] = (p1[2] + p2[2])*0.5f; - return result; } - /** 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(final float[] p0, final 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(final float[] v1, final 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(final float[] v1, final float[] v2) - { - return Float.compare(v1[0], v2[0]) == 0 && - Float.compare(v1[1], v2[1]) == 0 ; - } - - /** Compute the determinant of 3 vectors + /** + * 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(final float[] a, final float[] b, final float[] c) - { + public static float vec3Determinant(final float[] a, final float[] b, final 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 + /** + * 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(final float[] v1, final float[] v2, final float[] v3) - { - return (computeDeterminant(v1, v2, v3) == VectorUtil.COLLINEAR); + public static boolean isVec3Collinear(final float[] v1, final float[] v2, final float[] v3) { + return FloatUtil.isZero( vec3Determinant(v1, v2, v3), FloatUtil.EPSILON ); } - /** Compute Vector - * @param vector storage for resulting Vector V1V2 - * @param v1 vertex 1 - * @param v2 vertex2 2 - */ - public static void computeVector(final float[] vector, final float[] v1, final float[] v2) { - vector[0] = v2[0] - v1[0]; - vector[1] = v2[1] - v1[1]; - vector[2] = v2[2] - v1[2]; - } - - /** Check if vertices in triangle circumcircle + /** + * Check if vertices in triangle circumcircle * @param a triangle vertex 1 * @param b triangle vertex 2 * @param c triangle vertex 3 @@ -403,7 +386,7 @@ public class VectorUtil { * @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(final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c, final Vert2fImmutable d) { + public static boolean isInCircle(final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c, final Vert2fImmutable d) { final float[] A = a.getCoord(); final float[] B = b.getCoord(); final float[] C = c.getCoord(); @@ -414,7 +397,8 @@ public class VectorUtil { (D[0] * D[0] + D[1] * D[1]) * triArea(A, B, C) > 0; } - /** Computes oriented area of a triangle + /** + * Computes oriented area of a triangle * @param a first vertex * @param b second vertex * @param c third vertex @@ -428,7 +412,8 @@ public class VectorUtil { return (B[0] - A[0]) * (C[1] - A[1]) - (B[1] - A[1]) * (C[0] - A[0]); } - /** Computes oriented area of a triangle + /** + * Computes oriented area of a triangle * @param A first vertex * @param B second vertex * @param C third vertex @@ -439,7 +424,8 @@ public class VectorUtil { return (B[0] - A[0]) * (C[1] - A[1]) - (B[1] - A[1])*(C[0] - A[0]); } - /** Check if a vertex is in triangle using + /** + * Check if a vertex is in triangle using * barycentric coordinates computation. * @param a first triangle vertex * @param b second triangle vertex @@ -447,20 +433,20 @@ public class VectorUtil { * @param p the vertex in question * @return true if p is in triangle (a, b, c), false otherwise. */ - public static boolean vertexInTriangle(final float[] a, final float[] b, final float[] c, + public static boolean isVec3InTriangle(final float[] a, final float[] b, final float[] c, final float[] p, final float[] ac, final float[] ab, final float[] ap){ // Compute vectors - computeVector(ac, a, c); //v0 - computeVector(ab, a, b); //v1 - computeVector(ap, a, p); //v2 + subVec3(ac, c, a); //v0 + subVec3(ab, b, a); //v1 + subVec3(ap, p, a); //v2 // Compute dot products - final float dot00 = dot(ac, ac); - final float dot01 = dot(ac, ab); - final float dot02 = dot(ac, ap); - final float dot11 = dot(ab, ab); - final float dot12 = dot(ab, ap); + final float dot00 = vec3Dot(ac, ac); + final float dot01 = vec3Dot(ac, ab); + final float dot02 = vec3Dot(ac, ap); + final float dot11 = vec3Dot(ab, ab); + final float dot12 = vec3Dot(ab, ap); // Compute barycentric coordinates final float invDenom = 1 / (dot00 * dot11 - dot01 * dot01); @@ -485,24 +471,24 @@ public class VectorUtil { * @param tmpAP * @return true if p1 or p2 or p3 is in triangle (a, b, c), false otherwise. */ - public static boolean vertexInTriangle3(final float[] a, final float[] b, final float[] c, + public static boolean isVec3InTriangle3(final float[] a, final float[] b, final float[] c, final float[] p1, final float[] p2, final float[] p3, final float[] tmpAC, final float[] tmpAB, final float[] tmpAP){ // Compute vectors - computeVector(tmpAC, a, c); //v0 - computeVector(tmpAB, a, b); //v1 + subVec3(tmpAC, c, a); //v0 + subVec3(tmpAB, b, a); //v1 // Compute dot products - final float dotAC_AC = dot(tmpAC, tmpAC); - final float dotAC_AB = dot(tmpAC, tmpAB); - final float dotAB_AB = dot(tmpAB, tmpAB); + final float dotAC_AC = vec3Dot(tmpAC, tmpAC); + final float dotAC_AB = vec3Dot(tmpAC, tmpAB); + final float dotAB_AB = vec3Dot(tmpAB, tmpAB); // Compute barycentric coordinates final float invDenom = 1 / (dotAC_AC * dotAB_AB - dotAC_AB * dotAC_AB); { - computeVector(tmpAP, a, p1); //v2 - final float dotAC_AP1 = dot(tmpAC, tmpAP); - final float dotAB_AP1 = dot(tmpAB, tmpAP); + subVec3(tmpAP, p1, a); //v2 + final float dotAC_AP1 = vec3Dot(tmpAC, tmpAP); + final float dotAB_AP1 = vec3Dot(tmpAB, tmpAP); final float u1 = (dotAB_AB * dotAC_AP1 - dotAC_AB * dotAB_AP1) * invDenom; final float v1 = (dotAC_AC * dotAB_AP1 - dotAC_AB * dotAC_AP1) * invDenom; @@ -513,9 +499,9 @@ public class VectorUtil { } { - computeVector(tmpAP, a, p2); //v2 - final float dotAC_AP2 = dot(tmpAC, tmpAP); - final float dotAB_AP2 = dot(tmpAB, tmpAP); + subVec3(tmpAP, p1, a); //v2 + final float dotAC_AP2 = vec3Dot(tmpAC, tmpAP); + final float dotAB_AP2 = vec3Dot(tmpAB, tmpAP); final float u = (dotAB_AB * dotAC_AP2 - dotAC_AB * dotAB_AP2) * invDenom; final float v = (dotAC_AC * dotAB_AP2 - dotAC_AB * dotAC_AP2) * invDenom; @@ -526,9 +512,9 @@ public class VectorUtil { } { - computeVector(tmpAP, a, p3); //v2 - final float dotAC_AP3 = dot(tmpAC, tmpAP); - final float dotAB_AP3 = dot(tmpAB, tmpAP); + subVec3(tmpAP, p2, a); //v2 + final float dotAC_AP3 = vec3Dot(tmpAC, tmpAP); + final float dotAB_AP3 = vec3Dot(tmpAB, tmpAP); final float u = (dotAB_AB * dotAC_AP3 - dotAC_AB * dotAB_AP3) * invDenom; final float v = (dotAC_AC * dotAB_AP3 - dotAC_AB * dotAC_AP3) * invDenom; @@ -655,7 +641,9 @@ public class VectorUtil { * @return the intersection coordinates if the lines intersect, otherwise * returns null */ - public static float[] line2lineIntersection(final float[] result, final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c, final Vert2fImmutable d) { + public static float[] line2lineIntersection(final float[] result, + final Vert2fImmutable a, final Vert2fImmutable b, + final Vert2fImmutable c, final Vert2fImmutable d) { final float determinant = (a.getX()-b.getX())*(c.getY()-d.getY()) - (a.getY()-b.getY())*(c.getX()-d.getX()); if (determinant == 0) @@ -680,7 +668,8 @@ public class VectorUtil { * @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 testTri2SegIntersection(final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c, final Vert2fImmutable d, final Vert2fImmutable e){ + public static boolean testTri2SegIntersection(final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c, + final Vert2fImmutable d, final Vert2fImmutable e){ return testSeg2SegIntersection(a, b, d, e) || testSeg2SegIntersection(b, c, d, e) || testSeg2SegIntersection(a, c, d, e) ; diff --git a/src/jogl/classes/com/jogamp/opengl/math/geom/AABBox.java b/src/jogl/classes/com/jogamp/opengl/math/geom/AABBox.java index 23edfd6e7..3be8a77f8 100644 --- a/src/jogl/classes/com/jogamp/opengl/math/geom/AABBox.java +++ b/src/jogl/classes/com/jogamp/opengl/math/geom/AABBox.java @@ -245,8 +245,9 @@ public class AABBox implements Cloneable { resize(xyz[0], xyz[1], xyz[2]); } - /** Check if the x & y coordinates are bounded/contained - * by this AABBox + /** + * 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 @@ -262,8 +263,9 @@ public class AABBox implements Cloneable { return true; } - /** Check if the xyz coordinates are bounded/contained - * by this AABBox. + /** + * 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 @@ -283,8 +285,9 @@ public class AABBox implements Cloneable { return true; } - /** Check if there is a common region between this AABBox and the passed - * 2D region irrespective of z range + /** + * 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 @@ -316,7 +319,7 @@ public class AABBox implements Cloneable { * @return a float representing the size of the AABBox */ public final float getSize() { - return VectorUtil.computeLength(low, high); + return VectorUtil.vec3Distance(low, high); } /**Get the Center of the AABBox @@ -336,15 +339,15 @@ public class AABBox implements Cloneable { tmpV3[1] = high[1] - center[1]; tmpV3[2] = high[2] - center[2]; - VectorUtil.scale(tmpV3, tmpV3, size); // in-place scale - VectorUtil.vectorAdd(high, center, tmpV3); + VectorUtil.scaleVec3(tmpV3, tmpV3, size); // in-place scale + VectorUtil.addVec3(high, center, tmpV3); tmpV3[0] = low[0] - center[0]; tmpV3[1] = low[1] - center[1]; tmpV3[2] = low[2] - center[2]; - VectorUtil.scale(tmpV3, tmpV3, size); // in-place scale - VectorUtil.vectorAdd(low, center, tmpV3); + VectorUtil.scaleVec3(tmpV3, tmpV3, size); // in-place scale + VectorUtil.addVec3(low, center, tmpV3); } public final float getMinX() { @@ -396,9 +399,9 @@ public class AABBox implements Cloneable { if( null == obj || !(obj instanceof AABBox) ) { return false; } - final AABBox other = (AABBox) obj; - return VectorUtil.checkEquality(low, other.low) && - VectorUtil.checkEquality(high, other.high) ; + final AABBox other = (AABBox) obj; + return VectorUtil.isVec2Equal(low, 0, other.low, 0, FloatUtil.EPSILON) && + VectorUtil.isVec3Equal(high, 0, other.high, 0, FloatUtil.EPSILON) ; } /** diff --git a/src/jogl/classes/jogamp/graph/curve/tess/Loop.java b/src/jogl/classes/jogamp/graph/curve/tess/Loop.java index 5810e3bc9..f96726e5b 100644 --- a/src/jogl/classes/jogamp/graph/curve/tess/Loop.java +++ b/src/jogl/classes/jogamp/graph/curve/tess/Loop.java @@ -192,20 +192,20 @@ public class Loop { float minDistance = Float.MAX_VALUE; boolean inValid = false; - ArrayList initVertices = initialOutline.getGraphPoint(); - ArrayList vertices = polyline.getGraphPoint(); + final ArrayList initVertices = initialOutline.getGraphPoint(); + final ArrayList vertices = polyline.getGraphPoint(); for(int i=0; i< initVertices.size()-1; i++){ - GraphVertex v = initVertices.get(i); - GraphVertex nextV = initVertices.get(i+1); + final GraphVertex v = initVertices.get(i); + final GraphVertex nextV = initVertices.get(i+1); for(int pos=0; pos