Math: Complete Matrix4f w/ Vec[234]f and adopt it throughout Quaternion, Ray, AABBox, Frustum, Stereo*, ... adding hook to PMVMatrix

Motivation was to simplify matrix + vector math usage, ease review and avoid usage bugs.

Matrix4f implementation uses dedicated float fields instead of an array.

Performance didn't increase much,
as JVM >= 11(?) has some optimizations to drop the array bounds check.

AMD64 + OpenJDK17
- Matrix4f.mul(a, b) got a roughly ~10% enhancement over FloatUtil.multMatrix(a, b, dest)
- Matrix4f.mul(b) roughly ~3% slower than FloatUtil.multMatrix(a, b, dest)
- FloatUtil.multMatrix(a, a_off, b, b_off, dest) is considerable slower than all
- Matrix4f.invert(..) roughly ~3% slower than FloatUtil.invertMatrix(..)

RaspberryPi 4b aarch64 + OpenJDK17
- Matrix4f.mul(a, b) got a roughly ~10% enhancement over FloatUtil.multMatrix(a, b, dest)
- Matrix4f.mul(b) roughly ~20% slower than FloatUtil.multMatrix(a, b)
- FloatUtil.multMatrix(a, a_off, b, b_off, dest) is considerable slower than all
- Matrix4f.invert(..) roughly ~4% slower than FloatUtil.invertMatrix(..)

Conclusion
- Matrix4f.mul(b) needs to be revised (esp for aarch64)
- Matrix4f.invert(..) should also not be slower ..

1 files changed, 12 insertions, 8 deletions

diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/ViewerPose.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/ViewerPose.java
index 10ee4c994..5d2cf925c 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/ViewerPose.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/ViewerPose.java
@@ -1,5 +1,5 @@
 /**
- * Copyright 2014 JogAmp Community. All rights reserved.
+ * Copyright 2014-2023 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:
@@ -28,13 +28,14 @@
 package com.jogamp.opengl.util.stereo;
 
 import com.jogamp.opengl.math.Quaternion;
+import com.jogamp.opengl.math.Vec3f;
 
 /**
  * {@link #position} and {@link #orientation} of viewer.
  */
 public final class ViewerPose {
     /**
-     * float[3] position of viewer in meter.
+     * position of viewer in meter.
      * <p>
      * Apply the following to resolve the actual eye position:
      * <ul>
@@ -43,13 +44,13 @@ public final class ViewerPose {
      * </ul>
      * </p>
      */
-    public final float[] position;
+    public final Vec3f position;
 
     /** Orientation of viewer. */
     public final Quaternion orientation;
 
     public ViewerPose() {
-        this.position = new float[3];
+        this.position = new Vec3f();
         this.orientation = new Quaternion();
     }
     public ViewerPose(final float[] position, final Quaternion orientation) {
@@ -64,11 +65,14 @@ public final class ViewerPose {
     }
     /** Set position and orientation of this instance. */
     public final void setPosition(final float posX, final float posY, final float posZ) {
-        position[0] = posX;
-        position[1] = posY;
-        position[2] = posZ;
+        position.set( posX, posY, posZ );
     }
+    /** Set position and orientation of this instance. */
+    public final void setPosition(final Vec3f pos) {
+        position.set( pos );
+    }
+    @Override
     public final String toString() {
-        return "ViewerPose[pos["+position[0]+", "+position[1]+", "+position[2]+"], "+orientation+"]";
+        return "ViewerPose[pos["+position+"], "+orientation+"]";
     }
 }
\ No newline at end of file