Examples with Matrix3f com.jme3.math.Matrix3f used on opensource projects

Example 21 with Matrix3f

use of com.jme3.math.Matrix3f in project jmonkeyengine by jMonkeyEngine.

the class Kernel method setArg.

public void setArg(int index, Matrix3f mat) {
    TempVars vars = TempVars.get();
    try {
        Matrix4f m = vars.tempMat4;
        m.zero();
        for (int i = 0; i < 3; ++i) {
            for (int j = 0; j < 3; ++j) {
                m.set(i, j, mat.get(i, j));
            }
        }
        setArg(index, m);
    } finally {
        vars.release();
    }
}

Example 22 with Matrix3f

use of com.jme3.math.Matrix3f in project jmonkeyengine by jMonkeyEngine.

the class Line method orthogonalLineFit.

public void orthogonalLineFit(FloatBuffer points) {
    if (points == null) {
        return;
    }
    TempVars vars = TempVars.get();
    Vector3f compVec1 = vars.vect1;
    Vector3f compVec2 = vars.vect2;
    Matrix3f compMat1 = vars.tempMat3;
    Eigen3f compEigen1 = vars.eigen;
    points.rewind();
    // compute average of points
    int length = points.remaining() / 3;
    BufferUtils.populateFromBuffer(origin, points, 0);
    for (int i = 1; i < length; i++) {
        BufferUtils.populateFromBuffer(compVec1, points, i);
        origin.addLocal(compVec1);
    }
    origin.multLocal(1f / (float) length);
    // compute sums of products
    float sumXX = 0.0f, sumXY = 0.0f, sumXZ = 0.0f;
    float sumYY = 0.0f, sumYZ = 0.0f, sumZZ = 0.0f;
    points.rewind();
    for (int i = 0; i < length; i++) {
        BufferUtils.populateFromBuffer(compVec1, points, i);
        compVec1.subtract(origin, compVec2);
        sumXX += compVec2.x * compVec2.x;
        sumXY += compVec2.x * compVec2.y;
        sumXZ += compVec2.x * compVec2.z;
        sumYY += compVec2.y * compVec2.y;
        sumYZ += compVec2.y * compVec2.z;
        sumZZ += compVec2.z * compVec2.z;
    }
    //find the smallest eigen vector for the direction vector
    compMat1.m00 = sumYY + sumZZ;
    compMat1.m01 = -sumXY;
    compMat1.m02 = -sumXZ;
    compMat1.m10 = -sumXY;
    compMat1.m11 = sumXX + sumZZ;
    compMat1.m12 = -sumYZ;
    compMat1.m20 = -sumXZ;
    compMat1.m21 = -sumYZ;
    compMat1.m22 = sumXX + sumYY;
    compEigen1.calculateEigen(compMat1);
    direction = compEigen1.getEigenVector(0);
    vars.release();
}

Example 23 with Matrix3f

use of com.jme3.math.Matrix3f in project jmonkeyengine by jMonkeyEngine.

the class TestOpenCLLibraries method testMatrix3f.

private boolean testMatrix3f(Context clContext, CommandQueue clQueue) {
    try {
        String code = "" + "#import \"Common/OpenCL/Matrix3f.clh\"\n" + "\n" + "__kernel void TestMatrix3f_1(__global char* result)\n" + "{\n" + "  mat3 id = mat3Identity();\n" + "  mat3 m1 = mat3FromRows( (float3)(23,-3,10.4f), (float3)(5,-8,2.22f), (float3)(-1,0,34) );\n" + "  mat3 m1Inv = mat3Invert(m1);\n" + "  mat3 m1Res = mat3Mult(m1, m1Inv);\n" + "  result[0] = mat3Equals(id, m1Res, 0.0001f) ? 1 : 0;\n" + "}\n" + "\n" + "__kernel void TestMatrix3f_2(mat3 m1, float a, mat3 m2, mat3 mRes, __global char* result)\n" + "{\n" + "  mat3 m = mat3Transpose(m1);\n" + "  m = mat3Add(mat3Scale(m, a), m2);\n" + "  result[0] = mat3Equals(mRes, m, 0.01f) ? 1 : 0;\n" + "}\n";
        Program program = clContext.createProgramFromSourceCodeWithDependencies(code, assetManager);
        program.build();
        com.jme3.opencl.Buffer buffer = clContext.createBuffer(1);
        Kernel testMatrix3fKernel1 = program.createKernel("TestMatrix3f_1");
        testMatrix3fKernel1.Run1NoEvent(clQueue, new Kernel.WorkSize(1), buffer);
        ByteBuffer bb = buffer.map(clQueue, MappingAccess.MAP_READ_ONLY);
        if (bb.get() == 0) {
            LOG.severe("Matrix inversion failed");
            return false;
        }
        buffer.unmap(clQueue, bb);
        testMatrix3fKernel1.release();
        Kernel testMatrix3fKernel2 = program.createKernel("TestMatrix3f_2");
        Matrix3f m1 = new Matrix3f(13.24f, -0.234f, 42, 83.23f, -34.2f, 3.2f, 0.25f, -42, 7.64f);
        Matrix3f m2 = new Matrix3f(-5.2f, 0.757f, 2.01f, 12.0f, -6, 2, 0.01f, 9, 2.255f);
        Matrix3f mRes = new Matrix3f(-31.68f, -165.703f, 1.51f, 12.468f, 62.4f, 86, -83.99f, 2.6f, -13.025f);
        testMatrix3fKernel2.Run1NoEvent(clQueue, new Kernel.WorkSize(1), m1, -2.0f, m2, mRes, buffer);
        bb = buffer.map(clQueue, MappingAccess.MAP_READ_ONLY);
        if (bb.get() == 0) {
            LOG.severe("Matrix add, multiply, transpose failed");
            return false;
        }
        buffer.unmap(clQueue, bb);
        testMatrix3fKernel2.release();
        buffer.release();
    } catch (AssertionError ex) {
        LOG.log(Level.SEVERE, "matrix3f test failed with an assertion error");
        return false;
    } catch (Exception ex) {
        LOG.log(Level.SEVERE, "matrix3f test failed with:", ex);
        return false;
    }
    return true;
}

Example 24 with Matrix3f

use of com.jme3.math.Matrix3f in project jmonkeyengine by jMonkeyEngine.

the class TestOpenCLLibraries method simpleInitApp.

@Override
public void simpleInitApp() {
    BitmapFont fnt = assetManager.loadFont("Interface/Fonts/Default.fnt");
    Context clContext = context.getOpenCLContext();
    if (clContext == null) {
        BitmapText txt = new BitmapText(fnt);
        txt.setText("No OpenCL Context created!\nSee output log for details.");
        txt.setLocalTranslation(5, settings.getHeight() - 5, 0);
        guiNode.attachChild(txt);
        return;
    }
    CommandQueue clQueue = clContext.createQueue(clContext.getDevices().get(0));
    StringBuilder str = new StringBuilder();
    str.append("OpenCL Context created:\n  Platform: ").append(clContext.getDevices().get(0).getPlatform().getName()).append("\n  Devices: ").append(clContext.getDevices());
    str.append("\nTests:");
    str.append("\n  Random numbers: ").append(testRandom(clContext, clQueue));
    str.append("\n  Matrix3f: ").append(testMatrix3f(clContext, clQueue));
    str.append("\n  Matrix4f: ").append(testMatrix4f(clContext, clQueue));
    clQueue.release();
    BitmapText txt1 = new BitmapText(fnt);
    txt1.setText(str.toString());
    txt1.setLocalTranslation(5, settings.getHeight() - 5, 0);
    guiNode.attachChild(txt1);
    flyCam.setEnabled(false);
    inputManager.setCursorVisible(true);
}

Example 25 with Matrix3f

use of com.jme3.math.Matrix3f in project jmonkeyengine by jMonkeyEngine.

the class SixDofJoint method read.

@Override
public void read(JmeImporter im) throws IOException {
    super.read(im);
    InputCapsule capsule = im.getCapsule(this);
    Transform transA = new Transform(Converter.convert(new Matrix3f()));
    Converter.convert(pivotA, transA.origin);
    Transform transB = new Transform(Converter.convert(new Matrix3f()));
    Converter.convert(pivotB, transB.origin);
    constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
    gatherMotors();
    setAngularUpperLimit((Vector3f) capsule.readSavable("angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
    setAngularLowerLimit((Vector3f) capsule.readSavable("angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
    setLinearUpperLimit((Vector3f) capsule.readSavable("linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
    setLinearLowerLimit((Vector3f) capsule.readSavable("linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
    for (int i = 0; i < 3; i++) {
        RotationalLimitMotor rotationalLimitMotor = getRotationalLimitMotor(i);
        rotationalLimitMotor.setBounce(capsule.readFloat("rotMotor" + i + "_Bounce", 0.0f));
        rotationalLimitMotor.setDamping(capsule.readFloat("rotMotor" + i + "_Damping", 1.0f));
        rotationalLimitMotor.setERP(capsule.readFloat("rotMotor" + i + "_ERP", 0.5f));
        rotationalLimitMotor.setHiLimit(capsule.readFloat("rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY));
        rotationalLimitMotor.setLimitSoftness(capsule.readFloat("rotMotor" + i + "_LimitSoftness", 0.5f));
        rotationalLimitMotor.setLoLimit(capsule.readFloat("rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY));
        rotationalLimitMotor.setMaxLimitForce(capsule.readFloat("rotMotor" + i + "_MaxLimitForce", 300.0f));
        rotationalLimitMotor.setMaxMotorForce(capsule.readFloat("rotMotor" + i + "_MaxMotorForce", 0.1f));
        rotationalLimitMotor.setTargetVelocity(capsule.readFloat("rotMotor" + i + "_TargetVelocity", 0));
        rotationalLimitMotor.setEnableMotor(capsule.readBoolean("rotMotor" + i + "_EnableMotor", false));
    }
    getTranslationalLimitMotor().setAccumulatedImpulse((Vector3f) capsule.readSavable("transMotor_AccumulatedImpulse", Vector3f.ZERO));
    getTranslationalLimitMotor().setDamping(capsule.readFloat("transMotor_Damping", 1.0f));
    getTranslationalLimitMotor().setLimitSoftness(capsule.readFloat("transMotor_LimitSoftness", 0.7f));
    getTranslationalLimitMotor().setLowerLimit((Vector3f) capsule.readSavable("transMotor_LowerLimit", Vector3f.ZERO));
    getTranslationalLimitMotor().setRestitution(capsule.readFloat("transMotor_Restitution", 0.5f));
    getTranslationalLimitMotor().setUpperLimit((Vector3f) capsule.readSavable("transMotor_UpperLimit", Vector3f.ZERO));
}