Bug 1452 - Decouple math functionality to 'com.jogamp.math' to be toolkit agnostic (PMVMatrix, Matrix4f, Vec4f, ..)

Math functionality (PMVMatrix, Matrix4f, Vec4f, ..)
- shall be used toolkit agnostic, e.g. independent from OpenGL
- shall be reused within our upcoming Vulkan implementation
- may also move outside of JOGL, i.e. GlueGen or within its own package to be reused for other purposed.

The 'com.jogamp.opengl.util.PMVMatrix' currently also used to feed in GLUniformData
via the toolkit agnostic SyncAction and SyncBuffer
shall also be split to a toolkit agnostic variant.

An OpenGL PMVMatrix specialization implementing GLMatrixFunc can still exist,
being derived from the toolkit agnostic base implementation.

+++

Initial commit .. compile clean, passing most unit tests.

1 files changed, 397 insertions, 0 deletions

diff --git a/src/jogl/classes/com/jogamp/math/Vec3d.java b/src/jogl/classes/com/jogamp/math/Vec3d.java
new file mode 100644
index 000000000..14408f714
--- /dev/null
+++ b/src/jogl/classes/com/jogamp/math/Vec3d.java
@@ -0,0 +1,397 @@
+/**
+ * Copyright 2022-2023 JogAmp Community. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are
+ * permitted provided that the following conditions are met:
+ *
+ *    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.math;
+
+
+/**
+ * 3D Vector based upon three double components.
+ *
+ * Implementation borrowed from [gfxbox2](https://jausoft.com/cgit/cs_class/gfxbox2.git/tree/include/pixel/pixel3f.hpp#n29)
+ * and its data layout from JOAL's Vec3f.
+ */
+public final class Vec3d {
+    private double x;
+    private double y;
+    private double z;
+
+    public Vec3d() {}
+
+    public Vec3d(final Vec3d o) {
+        set(o);
+    }
+
+    /** Creating new Vec3f using Vec4f, dropping w. */
+    public Vec3d(final Vec4f o) {
+        set(o);
+    }
+
+    /** Creating new Vec3f using { Vec2f, z}. */
+    public Vec3d(final Vec2f o, final double z) {
+        set(o, z);
+    }
+
+    public Vec3d copy() {
+        return new Vec3d(this);
+    }
+
+    public Vec3d(final double[/*3*/] xyz) {
+        set(xyz);
+    }
+
+    public Vec3d(final double x, final double y, final double z) {
+        set(x, y, z);
+    }
+
+    /** this = o, returns this. */
+    public Vec3d set(final Vec3d o) {
+        this.x = o.x;
+        this.y = o.y;
+        this.z = o.z;
+        return this;
+    }
+
+    /** this = { o, z }, returns this. */
+    public Vec3d set(final Vec2f o, final double z) {
+        this.x = o.x();
+        this.y = o.y();
+        this.z = z;
+        return this;
+    }
+
+    /** this = o while dropping w, returns this. */
+    public Vec3d set(final Vec4f o) {
+        this.x = o.x();
+        this.y = o.y();
+        this.z = o.z();
+        return this;
+    }
+
+    /** this = { x, y, z }, returns this. */
+    public Vec3d set(final double x, final double y, final double z) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        return this;
+    }
+
+    /** this = xyz, returns this. */
+    public Vec3d set(final double[/*3*/] xyz) {
+        this.x = xyz[0];
+        this.y = xyz[1];
+        this.z = xyz[2];
+        return this;
+    }
+
+    /** Sets the ith component, 0 <= i < 3 */
+    public void set(final int i, final double val) {
+        switch (i) {
+            case 0: x = val; break;
+            case 1: y = val; break;
+            case 2: z = val; break;
+            default: throw new IndexOutOfBoundsException();
+        }
+    }
+
+    /** xyz = this, returns xyz. */
+    public double[] get(final double[/*3*/] xyz) {
+        xyz[0] = this.x;
+        xyz[1] = this.y;
+        xyz[2] = this.z;
+        return xyz;
+    }
+
+    /** Gets the ith component, 0 <= i < 3 */
+    public double get(final int i) {
+        switch (i) {
+            case 0: return x;
+            case 1: return y;
+            case 2: return z;
+            default: throw new IndexOutOfBoundsException();
+        }
+    }
+
+    public double x() { return x; }
+    public double y() { return y; }
+    public double z() { return z; }
+
+    public void setX(final double x) { this.x = x; }
+    public void setY(final double y) { this.y = y; }
+    public void setZ(final double z) { this.z = z; }
+
+    /** this = max(this, m), returns this. */
+    public Vec3d max(final Vec3d m) {
+        this.x = Math.max(this.x, m.x);
+        this.y = Math.max(this.y, m.y);
+        this.z = Math.max(this.z, m.z);
+        return this;
+    }
+    /** this = min(this, m), returns this. */
+    public Vec3d min(final Vec3d m) {
+        this.x = Math.min(this.x, m.x);
+        this.y = Math.min(this.y, m.y);
+        this.z = Math.min(this.z, m.z);
+        return this;
+    }
+
+    /** Returns this * val; creates new vector */
+    public Vec3d mul(final double val) {
+        return new Vec3d(this).scale(val);
+    }
+
+    /** this = a * b, returns this. */
+    public Vec3d mul(final Vec3d a, final Vec3d b) {
+        x = a.x * b.x;
+        y = a.y * b.y;
+        z = a.z * b.z;
+        return this;
+    }
+
+    /** this = this * s, returns this. */
+    public Vec3d scale(final double s) {
+        x *= s;
+        y *= s;
+        z *= s;
+        return this;
+    }
+
+    /** this = this * { sx, sy, sz }, returns this. */
+    public Vec3d scale(final double sx, final double sy, final double sz) {
+        x *= sx;
+        y *= sy;
+        z *= sz;
+        return this;
+    }
+
+    /** this = this * { s.x, s.y, s.z }, returns this. */
+    public Vec3d scale(final Vec3d s) { return scale(s.x, s.y, s.z); }
+
+    /** Returns this + arg; creates new vector */
+    public Vec3d plus(final Vec3d arg) {
+        return new Vec3d(this).add(arg);
+    }
+
+    /** this = a + b, returns this. */
+    public Vec3d plus(final Vec3d a, final Vec3d b) {
+        x = a.x + b.x;
+        y = a.y + b.y;
+        z = a.z + b.z;
+        return this;
+    }
+
+    /** this = this + { dx, dy, dz }, returns this. */
+    public Vec3d add(final double dx, final double dy, final double dz) {
+        x += dx;
+        y += dy;
+        z += dz;
+        return this;
+    }
+
+    /** this = this + b, returns this. */
+    public Vec3d add(final Vec3d b) {
+        x += b.x;
+        y += b.y;
+        z += b.z;
+        return this;
+    }
+
+    /** Returns this - arg; creates new vector */
+    public Vec3d minus(final Vec3d arg) {
+        return new Vec3d(this).sub(arg);
+    }
+
+    /** this = a - b, returns this. */
+    public Vec3d minus(final Vec3d a, final Vec3d b) {
+        x = a.x - b.x;
+        y = a.y - b.y;
+        z = a.z - b.z;
+        return this;
+    }
+
+    /** this = this - b, returns this. */
+    public Vec3d sub(final Vec3d b) {
+        x -= b.x;
+        y -= b.y;
+        z -= b.z;
+        return this;
+    }
+
+    /** Return true if all components are zero, i.e. it's absolute value < {@link #EPSILON}. */
+    public boolean isZero() {
+        return DoubleUtil.isZero(x) && DoubleUtil.isZero(y) && DoubleUtil.isZero(z);
+    }
+
+    /**
+     * Return the length of this vector, a.k.a the <i>norm</i> or <i>magnitude</i>
+     */
+    public double length() {
+        return Math.sqrt(lengthSq());
+    }
+
+    /**
+     * Return the squared length of this vector, a.k.a the squared <i>norm</i> or squared <i>magnitude</i>
+     */
+    public double lengthSq() {
+        return x*x + y*y + z*z;
+    }
+
+    /**
+     * Normalize this vector in place
+     */
+    public Vec3d normalize() {
+        final double lengthSq = lengthSq();
+        if ( DoubleUtil.isZero( lengthSq ) ) {
+            x = 0.0f;
+            y = 0.0f;
+            z = 0.0f;
+        } else {
+            final double invSqr = 1.0f / Math.sqrt(lengthSq);
+            x *= invSqr;
+            y *= invSqr;
+            z *= invSqr;
+        }
+        return this;
+    }
+
+    /**
+     * Return the squared distance between this vector and the given one.
+     * <p>
+     * When comparing the relative distance between two points it is usually sufficient to compare the squared
+     * distances, thus avoiding an expensive square root operation.
+     * </p>
+     */
+    public double distSq(final Vec3d o) {
+        final double dx = x - o.x;
+        final double dy = y - o.y;
+        final double dz = z - o.z;
+        return dx*dx + dy*dy + dz*dz;
+    }
+
+    /**
+     * Return the distance between this vector and the given one.
+     */
+    public double dist(final Vec3d o) {
+        return Math.sqrt(distSq(o));
+    }
+
+
+    /**
+     * Return the dot product of this vector and the given one
+     * @return the dot product as double
+     */
+    public double dot(final Vec3d o) {
+        return x*o.x + y*o.y + z*o.z;
+    }
+
+    /** Returns this cross arg; creates new vector */
+    public Vec3d cross(final Vec3d arg) {
+        return new Vec3d().cross(this, arg);
+    }
+
+    /** this = a cross b. NOTE: "this" must be a different vector than
+      both a and b. */
+    public Vec3d cross(final Vec3d a, final Vec3d b) {
+        x = a.y * b.z - a.z * b.y;
+        y = a.z * b.x - a.x * b.z;
+        z = a.x * b.y - a.y * b.x;
+        return this;
+    }
+
+    /**
+     * Return the cosine of the angle between two vectors using {@link #dot(Vec3d)}
+     */
+    public double cosAngle(final Vec3d o) {
+        return dot(o) / ( length() * o.length() ) ;
+    }
+
+    /**
+     * Return the angle between two vectors in radians using {@link Math#acos(double)} on {@link #cosAngle(Vec3d)}.
+     */
+    public double angle(final Vec3d o) {
+        return Math.acos( cosAngle(o) );
+    }
+
+    /**
+     * Equals check using a given {@link DoubleUtil#EPSILON} value and {@link DoubleUtil#isEqual(double, double, double)}.
+     * <p>
+     * Implementation considers following corner cases:
+     * <ul>
+     *    <li>NaN == NaN</li>
+     *    <li>+Inf == +Inf</li>
+     *    <li>-Inf == -Inf</li>
+     * </ul>
+     * @param o comparison value
+     * @param epsilon consider using {@link DoubleUtil#EPSILON}
+     * @return true if all components differ less than {@code epsilon}, otherwise false.
+     */
+    public boolean isEqual(final Vec3d o, final double epsilon) {
+        if( this == o ) {
+            return true;
+        } else {
+            return DoubleUtil.isEqual(x, o.x, epsilon) &&
+                   DoubleUtil.isEqual(y, o.y, epsilon) &&
+                   DoubleUtil.isEqual(z, o.z, epsilon);
+        }
+    }
+
+    /**
+     * Equals check using {@link DoubleUtil#EPSILON} in {@link DoubleUtil#isEqual(double, double)}.
+     * <p>
+     * Implementation considers following corner cases:
+     * <ul>
+     *    <li>NaN == NaN</li>
+     *    <li>+Inf == +Inf</li>
+     *    <li>-Inf == -Inf</li>
+     * </ul>
+     * @param o comparison value
+     * @return true if all components differ less than {@link DoubleUtil#EPSILON}, otherwise false.
+     */
+    public boolean isEqual(final Vec3d o) {
+        if( this == o ) {
+            return true;
+        } else {
+            return DoubleUtil.isEqual(x, o.x) &&
+                   DoubleUtil.isEqual(y, o.y) &&
+                   DoubleUtil.isEqual(z, o.z);
+        }
+    }
+
+    @Override
+    public boolean equals(final Object o) {
+        if( o instanceof Vec3d ) {
+            return isEqual((Vec3d)o);
+        } else {
+            return false;
+        }
+    }
+
+    @Override
+    public String toString() {
+        return x + " / " + y + " / " + z;
+    }
+}