From 3595f18c35676ed5e420174acd8f2f8dd75ca3be Mon Sep 17 00:00:00 2001
From: Sven Gothel <sgothel@jausoft.com>
Date: Mon, 17 Mar 2014 09:22:51 +0100
Subject: Quaternion: Add rotateByEuler(..); AABBox: Add translate(..); Minor
edits ..
---
.../com/jogamp/graph/curve/OutlineShape.java | 2 +-
.../classes/com/jogamp/opengl/math/FloatUtil.java | 8 ++
.../classes/com/jogamp/opengl/math/Quaternion.java | 119 +++++++++++++++------
.../classes/com/jogamp/opengl/math/VectorUtil.java | 3 +
.../com/jogamp/opengl/math/geom/AABBox.java | 16 ++-
.../javax/media/opengl/fixedfunc/GLMatrixFunc.java | 4 +-
6 files changed, 113 insertions(+), 39 deletions(-)
(limited to 'src')
diff --git a/src/jogl/classes/com/jogamp/graph/curve/OutlineShape.java b/src/jogl/classes/com/jogamp/graph/curve/OutlineShape.java
index bac67eb5f..44744584d 100644
--- a/src/jogl/classes/com/jogamp/graph/curve/OutlineShape.java
+++ b/src/jogl/classes/com/jogamp/graph/curve/OutlineShape.java
@@ -641,7 +641,7 @@ public class OutlineShape implements Comparable<OutlineShape> {
updated = false;
}
if(Region.DEBUG_INSTANCE) {
- System.err.println("OutlineShape.getTriangles().2: "+triangles.size()+", updated "+updated);
+ System.err.println("OutlineShape.getTriangles().X: "+triangles.size()+", updated "+updated);
}
return triangles;
}
diff --git a/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java b/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java
index bb40fed33..9d3ee412b 100644
--- a/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java
+++ b/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java
@@ -199,6 +199,7 @@ public class FloatUtil {
}
/**
+ * Multiply matrix: [d] = [a] x [b]
* @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
@@ -215,6 +216,7 @@ public class FloatUtil {
}
/**
+ * Multiply matrix: [a] = [a] x [b]
* @param a 4x4 matrix in column-major order (also result)
* @param b 4x4 matrix in column-major order
*/
@@ -231,6 +233,7 @@ public class FloatUtil {
}
/**
+ * Multiply matrix: [d] = [a] x [b]
* @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
@@ -248,6 +251,7 @@ public class FloatUtil {
}
/**
+ * Multiply matrix: [d] = [a] x [b]
* @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
@@ -266,6 +270,7 @@ public class FloatUtil {
}
/**
+ * Multiply matrix: [a] = [a] x [b]
* @param a 4x4 matrix in column-major order (also result)
* @param b 4x4 matrix in column-major order
*/
@@ -283,6 +288,7 @@ public class FloatUtil {
}
/**
+ * Multiply matrix: [d] = [a] x [b]
* @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
@@ -302,6 +308,7 @@ public class FloatUtil {
}
/**
+ * Multiply matrix: [a] = [a] x [b]
* @param a 4x4 matrix in column-major order (also result)
* @param b 4x4 matrix in column-major order
*/
@@ -320,6 +327,7 @@ public class FloatUtil {
}
/**
+ * Multiply matrix: [d] = [a] x [b]
* @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
diff --git a/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java b/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java
index e2b23544a..cc2a3a1cc 100644
--- a/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java
+++ b/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java
@@ -185,10 +185,11 @@ public class Quaternion {
if ( FloatUtil.isZero(norm, FloatUtil.EPSILON) ) {
setIdentity();
} else {
- w /= norm;
- x /= norm;
- y /= norm;
- z /= norm;
+ final float invNorm = 1f/norm;
+ w *= invNorm;
+ x *= invNorm;
+ y *= invNorm;
+ z *= invNorm;
}
return this;
}
@@ -221,10 +222,11 @@ public class Quaternion {
if ( FloatUtil.isEqual(1.0f, magnitudeSQ, FloatUtil.EPSILON) ) {
conjugate();
} else {
- w /= magnitudeSQ;
- x = -x / magnitudeSQ;
- y = -y / magnitudeSQ;
- z = -z / magnitudeSQ;
+ final float invmsq = 1f/magnitudeSQ;
+ w *= invmsq;
+ x = -x * invmsq;
+ y = -y * invmsq;
+ z = -z * invmsq;
}
return this;
}
@@ -393,6 +395,61 @@ public class Quaternion {
-z * sin + w * cos);
}
+ /**
+ * Rotates this quaternion from the given Euler rotation array <code>angradXYZ</code> in radians.
+ * <p>
+ * The <code>angradXYZ</code> array is laid out in natural order:
+ * <ul>
+ * <li>x - bank</li>
+ * <li>y - heading</li>
+ * <li>z - attitude</li>
+ * </ul>
+ * </p>
+ * For details see {@link #rotateByEuler(float, float, float)}.
+ * @param angradXYZ euler angel array in radians
+ * @return this quaternion for chaining.
+ * @see #rotateByEuler(float, float, float)
+ */
+ public final Quaternion rotateByEuler(final float[] angradXYZ) {
+ return rotateByEuler(angradXYZ[0], angradXYZ[1], angradXYZ[2]);
+ }
+
+ /**
+ * Rotates this quaternion from the given Euler rotation angles in radians.
+ * <p>
+ * The rotations are applied in the given order and using chained rotation per axis:
+ * <ul>
+ * <li>y - heading - {@link #rotateByAngleY(float)}</li>
+ * <li>z - attitude - {@link #rotateByAngleZ(float)}</li>
+ * <li>x - bank - {@link #rotateByAngleX(float)}</li>
+ * </ul>
+ * </p>
+ * <p>
+ * Implementation Details:
+ * <ul>
+ * <li> {@link #setIdentity()} if all angles are {@link FloatUtil#isZero(float, float) is zero} using {@link FloatUtil#EPSILON epsilon}</li>
+ * <li> result is {@link #normalize()}ed</li>
+ * </ul>
+ * </p>
+ * @param bankX the Euler pitch angle in radians. (rotation about the X axis)
+ * @param headingY the Euler yaw angle in radians. (rotation about the Y axis)
+ * @param attitudeZ the Euler roll angle in radians. (rotation about the Z axis)
+ * @return this quaternion for chaining.
+ * @see #rotateByAngleY(float)
+ * @see #rotateByAngleZ(float)
+ * @see #rotateByAngleX(float)
+ * @see #setFromEuler(float, float, float)
+ */
+ public final Quaternion rotateByEuler(final float bankX, final float headingY, float attitudeZ) {
+ if ( VectorUtil.isZero(bankX, headingY, attitudeZ, FloatUtil.EPSILON) ) {
+ return setIdentity();
+ } else {
+ // setFromEuler muls: ( 8 + 4 ) , + quat muls 24 = 36
+ // this: 8 + 8 + 8 + 4 = 28 muls
+ return rotateByAngleY(headingY).rotateByAngleZ(attitudeZ).rotateByAngleX(bankX).normalize();
+ }
+ }
+
/***
* Rotate the given vector by this quaternion
*
@@ -525,7 +582,11 @@ public class Quaternion {
* Implementation generates a 3x3 matrix
* and is equal with ProjectFloat's lookAt(..).<br/>
* </p>
- *
+ * Implementation Details:
+ * <ul>
+ * <li> result is {@link #normalize()}ed</li>
+ * </ul>
+ * </p>
* @param directionIn where to <i>look</i> at
* @param upIn a vector indicating the local <i>up</i> direction.
* @param xAxisOut vector storing the <i>orthogonal</i> x-axis of the coordinate system.
@@ -764,27 +825,10 @@ public class Quaternion {
* <li>z - attitude</li>
* </ul>
* </p>
- * <p>
- * The rotations are applied in the given order:
- * <ul>
- * <li>y - heading</li>
- * <li>z - attitude</li>
- * <li>x - bank</li>
- * </ul>
- * </p>
- * <p>
- * Implementation Details:
- * <ul>
- * <li> {@link #setIdentity()} if all angles are {@link FloatUtil#isZero(float, float) is zero} using {@link FloatUtil#EPSILON epsilon}</li>
- * </ul>
- * </p>
+ * For details see {@link #setFromEuler(float, float, float)}.
* @param angradXYZ euler angel array in radians
* @return this quaternion for chaining.
- * @see <a href="http://web.archive.org/web/20041029003853/http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q60">Matrix-FAQ Q60</a>
- * @see <a href="http://vered.rose.utoronto.ca/people/david_dir/GEMS/GEMS.html">Gems</a>
- * @see <a href="http://www.euclideanspace.com/maths/geometry/rotations/conversions/eulerToQuaternion/index.htm">euclideanspace.com-eulerToQuaternion</a>
* @see #setFromEuler(float, float, float)
- * @see #toEuler(float[])
*/
public final Quaternion setFromEuler(final float[] angradXYZ) {
return setFromEuler(angradXYZ[0], angradXYZ[1], angradXYZ[2]);
@@ -804,6 +848,7 @@ public class Quaternion {
* Implementation Details:
* <ul>
* <li> {@link #setIdentity()} if all angles are {@link FloatUtil#isZero(float, float) is zero} using {@link FloatUtil#EPSILON epsilon}</li>
+ * <li> result is {@link #normalize()}ed</li>
* </ul>
* </p>
* @param bankX the Euler pitch angle in radians. (rotation about the X axis)
@@ -1113,14 +1158,22 @@ public class Quaternion {
* @return the result column-vector for chaining.
*/
public float[] copyMatrixColumn(final int index, final float[] result, final int resultOffset) {
+ // pre-multipliy scaled-reciprocal-magnitude to reduce multiplications
final float norm = magnitudeSquared();
- final float s = norm == 1.0f ? 2.0f : norm > 0.0f ? 2.0f / norm : 0f;
+ final float srecip;
+ if ( FloatUtil.isZero(norm, FloatUtil.EPSILON) ) {
+ srecip= 0f;
+ } else if ( FloatUtil.isEqual(1f, norm, FloatUtil.EPSILON) ) {
+ srecip= 2f;
+ } else {
+ srecip= 2.0f / norm;
+ }
// compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs
// will be used 2-4 times each.
- final float xs = x * s;
- final float ys = y * s;
- final float zs = z * s;
+ final float xs = x * srecip;
+ final float ys = y * srecip;
+ final float zs = z * srecip;
final float xx = x * xs;
final float xy = x * ys;
final float xz = x * zs;
@@ -1207,10 +1260,10 @@ public class Quaternion {
return false;
if (FloatUtil.abs(m[2] * m[2] + m[5] * m[5] + m[8] * m[8] - 1) > epsilon)
return false;
- return (FloatUtil.abs(determinant4f(m) - 1) < epsilon);
+ return (FloatUtil.abs(determinant3f(m) - 1) < epsilon);
}
- private final float determinant4f(float[] m) {
+ private final float determinant3f(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
index 3aaed2032..9c6da7e24 100644
--- a/src/jogl/classes/com/jogamp/opengl/math/VectorUtil.java
+++ b/src/jogl/classes/com/jogamp/opengl/math/VectorUtil.java
@@ -31,6 +31,9 @@ import java.util.ArrayList;
public class VectorUtil {
+ public static final float[] VEC3_ONE = { 1f, 1f, 1f };
+ public static final float[] VEC3_ZERO = { 0f, 0f, 0f };
+
public enum Winding {
CW(-1), CCW(1);
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 8a18ea4c4..7ab02ba64 100644
--- a/src/jogl/classes/com/jogamp/opengl/math/geom/AABBox.java
+++ b/src/jogl/classes/com/jogamp/opengl/math/geom/AABBox.java
@@ -121,9 +121,9 @@ public class AABBox implements Cloneable {
}
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;
+ center[0] = (high[0] + low[0])/2f;
+ center[1] = (high[1] + low[1])/2f;
+ center[2] = (high[2] + low[2])/2f;
}
/**
@@ -410,6 +410,16 @@ public class AABBox implements Cloneable {
VectorUtil.addVec3(low, center, tmpV3);
}
+ /**
+ * Translate the AABBox by a float[3] vector
+ * @param t the float[3] translation vector
+ */
+ public final void translate(final float[] t) {
+ VectorUtil.addVec3(low, low, t); // in-place translate
+ VectorUtil.addVec3(high, high, t); // in-place translate
+ computeCenter();
+ }
+
public final float getMinX() {
return low[0];
}
diff --git a/src/jogl/classes/javax/media/opengl/fixedfunc/GLMatrixFunc.java b/src/jogl/classes/javax/media/opengl/fixedfunc/GLMatrixFunc.java
index b4d788329..87a23d12a 100644
--- a/src/jogl/classes/javax/media/opengl/fixedfunc/GLMatrixFunc.java
+++ b/src/jogl/classes/javax/media/opengl/fixedfunc/GLMatrixFunc.java
@@ -113,13 +113,13 @@ public interface GLMatrixFunc {
public void glLoadMatrixf(float[] m, int m_offset);
/**
- * Multiply the current matrix
+ * Multiply the current matrix: [c] = [c] x [m]
* @param m the FloatBuffer's position remains unchanged,
* which is the same behavior than the native JOGL GL impl
*/
public void glMultMatrixf(java.nio.FloatBuffer m) ;
/**
- * Multiply the current matrix
+ * Multiply the current matrix: [c] = [c] x [m]
*/
public void glMultMatrixf(float[] m, int m_offset);
--
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