From cd8caf797faf6b08e18f85afa5a4b6cce8bc7692 Mon Sep 17 00:00:00 2001 From: Sven Gothel Date: Fri, 1 Apr 2011 07:06:55 +0200 Subject: Folded turtle2d into jogl folders --- turtle2d/src/com/jogamp/graph/math/Quaternion.java | 382 --------------------- turtle2d/src/com/jogamp/graph/math/VectorUtil.java | 295 ---------------- 2 files changed, 677 deletions(-) delete mode 100755 turtle2d/src/com/jogamp/graph/math/Quaternion.java delete mode 100755 turtle2d/src/com/jogamp/graph/math/VectorUtil.java (limited to 'turtle2d/src/com/jogamp/graph/math') diff --git a/turtle2d/src/com/jogamp/graph/math/Quaternion.java b/turtle2d/src/com/jogamp/graph/math/Quaternion.java deleted file mode 100755 index b77a5fa08..000000000 --- a/turtle2d/src/com/jogamp/graph/math/Quaternion.java +++ /dev/null @@ -1,382 +0,0 @@ -/** - * Copyright 2010 JogAmp Community. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without modification, are - * permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, this list of - * conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, this list - * of conditions and the following disclaimer in the documentation and/or other materials - * provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY JogAmp Community ``AS IS'' AND ANY EXPRESS OR IMPLIED - * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND - * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL JogAmp Community OR - * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * The views and conclusions contained in the software and documentation are those of the - * authors and should not be interpreted as representing official policies, either expressed - * or implied, of JogAmp Community. - */ -package com.jogamp.graph.math; - -import jogamp.graph.math.MathFloat; - -public class Quaternion { - protected float x,y,z,w; - - public Quaternion(){ - - } - - public Quaternion(float x, float y, float z, float w) { - this.x = x; - this.y = y; - this.z = z; - this.w = w; - } - - /** Constructor to create a rotation based quaternion from two vectors - * @param vector1 - * @param vector2 - */ - public Quaternion(float[] vector1, float[] vector2) - { - float theta = (float)MathFloat.acos(dot(vector1, vector2)); - float[] cross = cross(vector1,vector2); - cross = normalizeVec(cross); - - this.x = (float)MathFloat.sin(theta/2)*cross[0]; - this.y = (float)MathFloat.sin(theta/2)*cross[1]; - this.z = (float)MathFloat.sin(theta/2)*cross[2]; - this.w = (float)MathFloat.cos(theta/2); - this.normalize(); - } - - /** Transform the rotational quaternion to axis based rotation angles - * @return new float[4] with ,theta,Rx,Ry,Rz - */ - public float[] toAxis() - { - float[] vec = new float[4]; - float scale = (float)MathFloat.sqrt(x * x + y * y + z * z); - vec[0] =(float) MathFloat.acos(w) * 2.0f; - vec[1] = x / scale; - vec[2] = y / scale; - vec[3] = z / scale; - return vec; - } - - /** Normalize a vector - * @param vector input vector - * @return normalized vector - */ - private float[] normalizeVec(float[] vector) - { - float[] newVector = new float[3]; - - float d = MathFloat.sqrt(vector[0]*vector[0] + vector[1]*vector[1] + vector[2]*vector[2]); - if(d> 0.0f) - { - newVector[0] = vector[0]/d; - newVector[1] = vector[1]/d; - newVector[2] = vector[2]/d; - } - return newVector; - } - /** compute the dot product of two points - * @param vec1 vector 1 - * @param vec2 vector 2 - * @return the dot product as float - */ - private float dot(float[] vec1, float[] vec2) - { - return (vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2]); - } - /** cross product vec1 x vec2 - * @param vec1 vector 1 - * @param vec2 vecttor 2 - * @return the resulting vector - */ - private float[] cross(float[] vec1, float[] vec2) - { - float[] out = new float[3]; - - out[0] = vec2[2]*vec1[1] - vec2[1]*vec1[2]; - out[1] = vec2[0]*vec1[2] - vec2[2]*vec1[0]; - out[2] = vec2[1]*vec1[0] - vec2[0]*vec1[1]; - - return out; - } - public float getW() { - return w; - } - public void setW(float w) { - this.w = w; - } - public float getX() { - return x; - } - public void setX(float x) { - this.x = x; - } - public float getY() { - return y; - } - public void setY(float y) { - this.y = y; - } - public float getZ() { - return z; - } - public void setZ(float z) { - this.z = z; - } - - /** Add a quaternion - * @param q quaternion - */ - public void add(Quaternion q) - { - x+=q.x; - y+=q.y; - z+=q.z; - } - - /** Subtract a quaternion - * @param q quaternion - */ - public void subtract(Quaternion q) - { - x-=q.x; - y-=q.y; - z-=q.z; - } - - /** Divide a quaternion by a constant - * @param n a float to divide by - */ - public void divide(float n) - { - x/=n; - y/=n; - z/=n; - } - - /** Multiply this quaternion by - * the param quaternion - * @param q a quaternion to multiply with - */ - public void mult(Quaternion q) - { - float w1 = w*q.w - (x*q.x + y*q.y + z*q.z); - - float x1 = w*q.z + q.w*z + y*q.z - z*q.y; - float y1 = w*q.x + q.w*x + z*q.x - x*q.z; - float z1 = w*q.y + q.w*y + x*q.y - y*q.x; - - w = w1; - x = x1; - y = y1; - z = z1; - } - - /** Multiply a quaternion by a constant - * @param n a float constant - */ - public void mult(float n) - { - x*=n; - y*=n; - z*=n; - } - - /** Normalize a quaternion required if - * to be used as a rotational quaternion - */ - public void normalize() - { - float norme = (float)MathFloat.sqrt(w*w + x*x + y*y + z*z); - if (norme == 0.0f) - { - w = 1.0f; - x = y = z = 0.0f; - } - else - { - float recip = 1.0f/norme; - - w *= recip; - x *= recip; - y *= recip; - z *= recip; - } - } - - /** Invert the quaternion If rotational, - * will produce a the inverse rotation - */ - public void inverse() - { - float norm = w*w + x*x + y*y + z*z; - - float recip = 1.0f/norm; - - w *= recip; - x = -1*x*recip; - y = -1*y*recip; - z = -1*z*recip; - } - - /** Transform this quaternion to a - * 4x4 column matrix representing the rotation - * @return new float[16] column matrix 4x4 - */ - public float[] toMatrix() - { - float[] matrix = new float[16]; - matrix[0] = 1.0f - 2*y*y - 2*z*z; - matrix[1] = 2*x*y + 2*w*z; - matrix[2] = 2*x*z - 2*w*y; - matrix[3] = 0; - - matrix[4] = 2*x*y - 2*w*z; - matrix[5] = 1.0f - 2*x*x - 2*z*z; - matrix[6] = 2*y*z + 2*w*x; - matrix[7] = 0; - - matrix[8] = 2*x*z + 2*w*y; - matrix[9] = 2*y*z - 2*w*x; - matrix[10] = 1.0f - 2*x*x - 2*y*y; - matrix[11] = 0; - - matrix[12] = 0; - matrix[13] = 0; - matrix[14] = 0; - matrix[15] = 1; - return matrix; - } - - /** Set this quaternion from a Sphereical interpolation - * of two param quaternion, used mostly for rotational animation - * @param a initial quaternion - * @param b target quaternion - * @param t float between 0 and 1 representing interp. - */ - public void slerp(Quaternion a,Quaternion b, float t) - { - float omega, cosom, sinom, sclp, sclq; - cosom = a.x*b.x + a.y*b.y + a.z*b.z + a.w*b.w; - if ((1.0f+cosom) > MathFloat.E) { - if ((1.0f-cosom) > MathFloat.E) { - omega = (float)MathFloat.acos(cosom); - sinom = (float)MathFloat.sin(omega); - sclp = (float)MathFloat.sin((1.0f-t)*omega) / sinom; - sclq = (float)MathFloat.sin(t*omega) / sinom; - } - else { - sclp = 1.0f - t; - sclq = t; - } - x = sclp*a.x + sclq*b.x; - y = sclp*a.y + sclq*b.y; - z = sclp*a.z + sclq*b.z; - w = sclp*a.w + sclq*b.w; - } - else { - x =-a.y; - y = a.x; - z =-a.w; - w = a.z; - sclp = MathFloat.sin((1.0f-t) * MathFloat.PI * 0.5f); - sclq = MathFloat.sin(t * MathFloat.PI * 0.5f); - x = sclp*a.x + sclq*b.x; - y = sclp*a.y + sclq*b.y; - z = sclp*a.z + sclq*b.z; - } - } - - /** Check if this quaternion is empty, ie (0,0,0,1) - * @return true if empty, false otherwise - */ - public boolean isEmpty() - { - if (w==1 && x==0 && y==0 && z==0) - return true; - return false; - } - - /** Check if this quaternion represents an identity - * matrix, for rotation. - * @return true if it is an identity rep., false otherwise - */ - public boolean isIdentity() - { - if (w==0 && x==0 && y==0 && z==0) - return true; - return false; - } - - /** compute the quaternion from a 3x3 column matrix - * @param m 3x3 column matrix - */ - public void setFromMatrix(float[] m) { - float T= m[0] + m[4] + m[8] + 1; - if (T>0){ - float S = 0.5f / (float)MathFloat.sqrt(T); - w = 0.25f / S; - x = ( m[5] - m[7]) * S; - y = ( m[6] - m[2]) * S; - z = ( m[1] - m[3] ) * S; - } - else{ - if ((m[0] > m[4])&(m[0] > m[8])) { - float S = MathFloat.sqrt( 1.0f + m[0] - m[4] - m[8] ) * 2f; // S=4*qx - w = (m[7] - m[5]) / S; - x = 0.25f * S; - y = (m[3] + m[1]) / S; - z = (m[6] + m[2]) / S; - } - else if (m[4] > m[8]) { - float S = MathFloat.sqrt( 1.0f + m[4] - m[0] - m[8] ) * 2f; // S=4*qy - w = (m[6] - m[2]) / S; - x = (m[3] + m[1]) / S; - y = 0.25f * S; - z = (m[7] + m[5]) / S; - } - else { - float S = MathFloat.sqrt( 1.0f + m[8] - m[0] - m[4] ) * 2f; // S=4*qz - w = (m[3] - m[1]) / S; - x = (m[6] + m[2]) / S; - y = (m[7] + m[5]) / S; - z = 0.25f * S; - } - } - } - - /** Check if the the 3x3 matrix (param) is in fact - * an affine rotational matrix - * @param m 3x3 column matrix - * @return true if representing a rotational matrix, false otherwise - */ - public boolean isRotationMatrix(float[] m) { - double epsilon = 0.01; // margin to allow for rounding errors - if (MathFloat.abs(m[0]*m[3] + m[3]*m[4] + m[6]*m[7]) > epsilon) return false; - if (MathFloat.abs(m[0]*m[2] + m[3]*m[5] + m[6]*m[8]) > epsilon) return false; - if (MathFloat.abs(m[1]*m[2] + m[4]*m[5] + m[7]*m[8]) > epsilon) return false; - if (MathFloat.abs(m[0]*m[0] + m[3]*m[3] + m[6]*m[6] - 1) > epsilon) return false; - if (MathFloat.abs(m[1]*m[1] + m[4]*m[4] + m[7]*m[7] - 1) > epsilon) return false; - if (MathFloat.abs(m[2]*m[2] + m[5]*m[5] + m[8]*m[8] - 1) > epsilon) return false; - return (MathFloat.abs(determinant(m)-1) < epsilon); - } - private float determinant(float[] m) { - return m[0]*m[4]*m[8] + m[3]*m[7]*m[2] + m[6]*m[1]*m[5] - m[0]*m[7]*m[5] - m[3]*m[1]*m[8] - m[6]*m[4]*m[2]; - } -} diff --git a/turtle2d/src/com/jogamp/graph/math/VectorUtil.java b/turtle2d/src/com/jogamp/graph/math/VectorUtil.java deleted file mode 100755 index cca9a454f..000000000 --- a/turtle2d/src/com/jogamp/graph/math/VectorUtil.java +++ /dev/null @@ -1,295 +0,0 @@ -/** - * Copyright 2010 JogAmp Community. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without modification, are - * permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, this list of - * conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, this list - * of conditions and the following disclaimer in the documentation and/or other materials - * provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY JogAmp Community ``AS IS'' AND ANY EXPRESS OR IMPLIED - * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND - * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL JogAmp Community OR - * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * The views and conclusions contained in the software and documentation are those of the - * authors and should not be interpreted as representing official policies, either expressed - * or implied, of JogAmp Community. - */ -package com.jogamp.graph.math; - -import java.util.ArrayList; - -import jogamp.graph.math.MathFloat; - -import com.jogamp.graph.geom.Vertex; - -public class VectorUtil { - - public static final int CW = -1; - public static final int CCW = 1; - 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) - { - float[] newVector = new float[3]; - - float d = MathFloat.sqrt(vector[0]*vector[0] + vector[1]*vector[1] + vector[2]*vector[2]); - if(d> 0.0f) - { - newVector[0] = vector[0]/d; - newVector[1] = vector[1]/d; - newVector[2] = vector[2]/d; - } - return newVector; - } - - /** 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) - { - 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) - { - 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) - { - 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) - { - 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) - { - 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) - { - float[] midPoint = new float[3]; - midPoint[0] = (p1[0] + p2[0])/2.0f; - midPoint[1] = (p1[1] + p2[1])/2.0f; - midPoint[2] = (p1[2] + p2[2])/2.0f; - - return midPoint; - } - /** Compute the norm of a vector - * @param vec vector - * @return vorm - */ - public static float norm(float[] vec) - { - return MathFloat.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) - { - float[] w = new float[]{point[0]-p0[0],point[1]-p0[1],point[2]-p0[2]}; - - float distance = MathFloat.sqrt(w[0]*w[0] + w[1]*w[1] + w[2]*w[2]); - - return distance; - } - - /**Check equality of 2 vec3 vectors - * @param v1 vertex 1 - * @param v2 vertex 2 - * @return - */ - public static boolean checkEquality(float[] v1, float[] v2) - { - if(Float.compare(v1[0], v2[0]) == 0 - && Float.compare(v1[1] , v2[1]) == 0 - && Float.compare(v1[2], v2[2]) == 0 ) - return true; - return false; - } - - /** 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) - { - float area = 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]; - return area; - } - - /** 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) - { - 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(Vertex a, Vertex b, Vertex c, Vertex 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(Vertex a, Vertex b, Vertex c){ - return (b.getX() - a.getX()) * (c.getY() - a.getY()) - (b.getY() - a.getY())*(c.getX() - a.getX()); - } - - /** 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(Vertex a, Vertex b, Vertex c){ - return triArea(a,b,c) > 0; - } - - /** Computes the area of a list of vertices to check if ccw - * @param vertices - * @return positve area if ccw else negative area value - */ - public static float area(ArrayList 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; - } -} -- cgit v1.2.3