Examples with Matrix3f javax.vecmath.Matrix3f used on opensource projects

Example 16 with Matrix3f

use of javax.vecmath.Matrix3f in project bdx by GoranM.

the class Mesh method vertTransformUV.

public void vertTransformUV(int materialSlot, Matrix3f matrix) {
    Matrix3f m = matrix;
    float[] vals = { m.m00, m.m10, m.m20, m.m01, m.m11, m.m21, m.m02, m.m12, m.m22 };
    float[] verts = new float[getVertexCount() * Bdx.VERT_STRIDE];
    model.meshes.first().getVertices(verts);
    MeshPart mp = model.meshParts.get(materialSlot);
    com.badlogic.gdx.graphics.Mesh.transformUV(new Matrix3(vals), verts, Bdx.VERT_STRIDE, 6, mp.offset, mp.size);
    model.meshes.first().setVertices(verts);
}

Example 17 with Matrix3f

use of javax.vecmath.Matrix3f in project bdx by GoranM.

the class CapsuleShape method getAabb.

@Override
public void getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) {
    Stack stack = Stack.enter();
    Vector3f tmp = stack.allocVector3f();
    Vector3f halfExtents = stack.allocVector3f();
    halfExtents.set(getRadius(), getRadius(), getRadius());
    VectorUtil.setCoord(halfExtents, upAxis, getRadius() + getHalfHeight());
    halfExtents.x += getMargin();
    halfExtents.y += getMargin();
    halfExtents.z += getMargin();
    Matrix3f abs_b = stack.allocMatrix3f();
    abs_b.set(t.basis);
    MatrixUtil.absolute(abs_b);
    Vector3f center = t.origin;
    Vector3f extent = stack.allocVector3f();
    abs_b.getRow(0, tmp);
    extent.x = tmp.dot(halfExtents);
    abs_b.getRow(1, tmp);
    extent.y = tmp.dot(halfExtents);
    abs_b.getRow(2, tmp);
    extent.z = tmp.dot(halfExtents);
    aabbMin.sub(center, extent);
    aabbMax.add(center, extent);
    stack.leave();
}

Example 18 with Matrix3f

use of javax.vecmath.Matrix3f in project bdx by GoranM.

the class CompoundShape method calculatePrincipalAxisTransform.

/**
	 * Computes the exact moment of inertia and the transform from the coordinate
	 * system defined by the principal axes of the moment of inertia and the center
	 * of mass to the current coordinate system. "masses" points to an array
	 * of masses of the children. The resulting transform "principal" has to be
	 * applied inversely to all children transforms in order for the local coordinate
	 * system of the compound shape to be centered at the center of mass and to coincide
	 * with the principal axes. This also necessitates a correction of the world transform
	 * of the collision object by the principal transform.
	 */
public void calculatePrincipalAxisTransform(float[] masses, Transform principal, Vector3f inertia) {
    int n = children.size();
    Stack stack = Stack.enter();
    float totalMass = 0;
    Vector3f center = stack.allocVector3f();
    center.set(0, 0, 0);
    for (int k = 0; k < n; k++) {
        center.scaleAdd(masses[k], children.getQuick(k).transform.origin, center);
        totalMass += masses[k];
    }
    center.scale(1f / totalMass);
    principal.origin.set(center);
    Matrix3f tensor = stack.allocMatrix3f();
    tensor.setZero();
    for (int k = 0; k < n; k++) {
        Vector3f i = stack.allocVector3f();
        children.getQuick(k).childShape.calculateLocalInertia(masses[k], i);
        Transform t = children.getQuick(k).transform;
        Vector3f o = stack.allocVector3f();
        o.sub(t.origin, center);
        // compute inertia tensor in coordinate system of compound shape
        Matrix3f j = stack.allocMatrix3f();
        j.transpose(t.basis);
        j.m00 *= i.x;
        j.m01 *= i.x;
        j.m02 *= i.x;
        j.m10 *= i.y;
        j.m11 *= i.y;
        j.m12 *= i.y;
        j.m20 *= i.z;
        j.m21 *= i.z;
        j.m22 *= i.z;
        j.mul(t.basis, j);
        // add inertia tensor
        tensor.add(j);
        // compute inertia tensor of pointmass at o
        float o2 = o.lengthSquared();
        j.setRow(0, o2, 0, 0);
        j.setRow(1, 0, o2, 0);
        j.setRow(2, 0, 0, o2);
        j.m00 += o.x * -o.x;
        j.m01 += o.y * -o.x;
        j.m02 += o.z * -o.x;
        j.m10 += o.x * -o.y;
        j.m11 += o.y * -o.y;
        j.m12 += o.z * -o.y;
        j.m20 += o.x * -o.z;
        j.m21 += o.y * -o.z;
        j.m22 += o.z * -o.z;
        // add inertia tensor of pointmass
        tensor.m00 += masses[k] * j.m00;
        tensor.m01 += masses[k] * j.m01;
        tensor.m02 += masses[k] * j.m02;
        tensor.m10 += masses[k] * j.m10;
        tensor.m11 += masses[k] * j.m11;
        tensor.m12 += masses[k] * j.m12;
        tensor.m20 += masses[k] * j.m20;
        tensor.m21 += masses[k] * j.m21;
        tensor.m22 += masses[k] * j.m22;
    }
    MatrixUtil.diagonalize(tensor, principal.basis, 0.00001f, 20);
    inertia.set(tensor.m00, tensor.m11, tensor.m22);
    stack.leave();
}

Example 19 with Matrix3f

use of javax.vecmath.Matrix3f in project bdx by GoranM.

the class CompoundShape method getAabb.

/**
	 * getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version.
	 */
@Override
public void getAabb(Transform trans, Vector3f aabbMin, Vector3f aabbMax) {
    Stack stack = Stack.enter();
    Vector3f localHalfExtents = stack.allocVector3f();
    localHalfExtents.sub(localAabbMax, localAabbMin);
    localHalfExtents.scale(0.5f);
    localHalfExtents.x += getMargin();
    localHalfExtents.y += getMargin();
    localHalfExtents.z += getMargin();
    Vector3f localCenter = stack.allocVector3f();
    localCenter.add(localAabbMax, localAabbMin);
    localCenter.scale(0.5f);
    Matrix3f abs_b = stack.alloc(trans.basis);
    MatrixUtil.absolute(abs_b);
    Vector3f center = stack.alloc(localCenter);
    trans.transform(center);
    Vector3f tmp = stack.allocVector3f();
    Vector3f extent = stack.allocVector3f();
    abs_b.getRow(0, tmp);
    extent.x = tmp.dot(localHalfExtents);
    abs_b.getRow(1, tmp);
    extent.y = tmp.dot(localHalfExtents);
    abs_b.getRow(2, tmp);
    extent.z = tmp.dot(localHalfExtents);
    aabbMin.sub(center, extent);
    aabbMax.add(center, extent);
    stack.leave();
}

Example 20 with Matrix3f

use of javax.vecmath.Matrix3f in project bdx by GoranM.

the class ScaledBvhTriangleMeshShape method getAabb.

@Override
public void getAabb(Transform trans, Vector3f aabbMin, Vector3f aabbMax) {
    Stack stack = Stack.enter();
    Vector3f localAabbMin = bvhTriMeshShape.getLocalAabbMin(stack.allocVector3f());
    Vector3f localAabbMax = bvhTriMeshShape.getLocalAabbMax(stack.allocVector3f());
    Vector3f tmpLocalAabbMin = stack.allocVector3f();
    Vector3f tmpLocalAabbMax = stack.allocVector3f();
    VectorUtil.mul(tmpLocalAabbMin, localAabbMin, localScaling);
    VectorUtil.mul(tmpLocalAabbMax, localAabbMax, localScaling);
    localAabbMin.x = (localScaling.x >= 0f) ? tmpLocalAabbMin.x : tmpLocalAabbMax.x;
    localAabbMin.y = (localScaling.y >= 0f) ? tmpLocalAabbMin.y : tmpLocalAabbMax.y;
    localAabbMin.z = (localScaling.z >= 0f) ? tmpLocalAabbMin.z : tmpLocalAabbMax.z;
    localAabbMax.x = (localScaling.x <= 0f) ? tmpLocalAabbMin.x : tmpLocalAabbMax.x;
    localAabbMax.y = (localScaling.y <= 0f) ? tmpLocalAabbMin.y : tmpLocalAabbMax.y;
    localAabbMax.z = (localScaling.z <= 0f) ? tmpLocalAabbMin.z : tmpLocalAabbMax.z;
    Vector3f localHalfExtents = stack.allocVector3f();
    localHalfExtents.sub(localAabbMax, localAabbMin);
    localHalfExtents.scale(0.5f);
    float margin = bvhTriMeshShape.getMargin();
    localHalfExtents.x += margin;
    localHalfExtents.y += margin;
    localHalfExtents.z += margin;
    Vector3f localCenter = stack.allocVector3f();
    localCenter.add(localAabbMax, localAabbMin);
    localCenter.scale(0.5f);
    Matrix3f abs_b = stack.alloc(trans.basis);
    MatrixUtil.absolute(abs_b);
    Vector3f center = stack.alloc(localCenter);
    trans.transform(center);
    Vector3f extent = stack.allocVector3f();
    Vector3f tmp = stack.allocVector3f();
    abs_b.getRow(0, tmp);
    extent.x = tmp.dot(localHalfExtents);
    abs_b.getRow(1, tmp);
    extent.y = tmp.dot(localHalfExtents);
    abs_b.getRow(2, tmp);
    extent.z = tmp.dot(localHalfExtents);
    aabbMin.sub(center, extent);
    aabbMax.add(center, extent);
    stack.leave();
}