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

Example 31 with Matrix3f

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

the class GameObject method alignAxisToVec.

public void alignAxisToVec(String axisName, Vector3f vec) {
    Vector3f alignAxis = axis(axisName);
    Vector3f rotAxis = new Vector3f();
    rotAxis.cross(alignAxis, vec);
    if (rotAxis.length() == 0)
        rotAxis = axis(("XYZ".indexOf(axisName) + 1) % 3);
    Matrix3f rotMatrix = Matrix3f.rotation(rotAxis, alignAxis.angle(vec));
    Matrix3f ori = orientation();
    rotMatrix.mul(ori);
    orientation(rotMatrix);
}

Example 32 with Matrix3f

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

the class GameObject method velocityLocal.

public Vector3f velocityLocal() {
    Vector3f v = new Vector3f();
    body.getLinearVelocity(v);
    Matrix3f invOri = orientation();
    invOri.invert();
    return invOri.mult(v);
}

Example 33 with Matrix3f

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

the class GameObject method join.

public void join(HashMap<Mesh, ArrayList<Matrix4f>> map) {
    // Collect transformed vertex arrays for each material & calculate number of indices
    int VERT_STRIDE = Bdx.VERT_STRIDE;
    HashMap<Material, ArrayList<float[]>> tvaMap = new HashMap<Material, ArrayList<float[]>>();
    HashMap<Material, Integer> lenMap = new HashMap<Material, Integer>();
    Mesh m;
    Node node;
    Material mat;
    MeshPart meshPart;
    float[] va, tva;
    int numIndices, numVertices, offset, j, len;
    Vector3f p = new Vector3f();
    Vector3f s = new Vector3f();
    Matrix3f o = new Matrix3f();
    Vector3f vP = new Vector3f();
    Vector3f nP = new Vector3f();
    Vector3f vPT = new Vector3f();
    Vector3f nPT = new Vector3f();
    Vector3f pos = position();
    Vector3f sca = scale();
    Matrix3f oriInv = orientation().inverted();
    for (Map.Entry<Mesh, ArrayList<Matrix4f>> e : map.entrySet()) {
        m = e.getKey();
        node = m.model.nodes.get(0);
        for (Matrix4f t : e.getValue()) {
            t.get(p);
            p.sub(pos);
            p = oriInv.mult(p.div(sca));
            t.getRotationScale(o);
            o = oriInv.mult(o);
            s.set(t.m30, t.m31, t.m32);
            if (s.length() == 0) {
                s.set(1, 1, 1);
            }
            s = s.div(sca);
            for (NodePart nodePart : node.parts) {
                meshPart = nodePart.meshPart;
                numIndices = meshPart.size;
                numVertices = numIndices * VERT_STRIDE;
                offset = meshPart.offset * VERT_STRIDE;
                va = meshPart.mesh.getVertices(offset, numVertices, new float[numVertices]);
                tva = new float[numVertices];
                j = 0;
                for (int i = 0; i < numIndices; i++) {
                    vP.set(va[j], va[j + 1], va[j + 2]);
                    nP.set(va[j + 3], va[j + 4], va[j + 5]);
                    vPT.set(o.mult(vP.mul(s)));
                    vPT.add(p);
                    nPT.set(o.mult(vP.plus(nP)));
                    nPT.sub(o.mult(vP));
                    tva[j] = vPT.x;
                    tva[j + 1] = vPT.y;
                    tva[j + 2] = vPT.z;
                    tva[j + 3] = nPT.x;
                    tva[j + 4] = nPT.y;
                    tva[j + 5] = nPT.z;
                    tva[j + 6] = va[j + 6];
                    tva[j + 7] = va[j + 7];
                    j += VERT_STRIDE;
                }
                mat = m.materials.get(nodePart.material.id);
                ArrayList<float[]> l;
                if (tvaMap.containsKey(mat)) {
                    l = tvaMap.get(mat);
                    len = lenMap.get(mat);
                } else {
                    l = new ArrayList<float[]>();
                    tvaMap.put(mat, l);
                    len = 0;
                }
                l.add(tva);
                lenMap.put(mat, len + tva.length);
            }
        }
    }
    // Build a unique model out of meshparts for each material
    ModelBuilder builder = new ModelBuilder();
    builder.begin();
    short idx = 0;
    MeshPartBuilder mpb;
    for (Map.Entry<Material, ArrayList<float[]>> e : tvaMap.entrySet()) {
        mat = e.getKey();
        len = lenMap.get(mat);
        tva = new float[len];
        j = 0;
        for (float[] verts : e.getValue()) {
            numVertices = verts.length;
            for (int i = 0; i < numVertices; i++) {
                tva[i + j] = verts[i];
            }
            j += numVertices;
        }
        mpb = builder.part(mat.name(), GL20.GL_TRIANGLES, Usage.Position | Usage.Normal | Usage.TextureCoordinates, mat);
        mpb.vertex(tva);
        try {
            for (short i = 0; i < len / VERT_STRIDE; i++) {
                mpb.index(idx);
                idx += 1;
            }
        } catch (Error error) {
            throw new RuntimeException("MODEL ERROR: Models with more than 32767 vertices are not supported. Decrease the number of objects to join.");
        }
    }
    Model finishedModel = builder.end();
    // Update mesh
    mesh(new Mesh(finishedModel, scene));
    // Update dimensionsNoScale and origin
    com.badlogic.gdx.graphics.Mesh mesh = finishedModel.meshes.first();
    BoundingBox bbox = mesh.calculateBoundingBox();
    Vector3 dimensions = bbox.getDimensions(new Vector3());
    Vector3 center = bbox.getCenter(new Vector3());
    dimensionsNoScale = new Vector3f(dimensions.x, dimensions.y, dimensions.z);
    origin = new Vector3f(center.x, center.y, center.z);
    // Update body
    updateBody();
    if (json.get("mesh_name").asString() == null) {
        visible = json.get("visible").asBoolean();
    }
}

Example 34 with Matrix3f

use of javax.vecmath.Matrix3f in project MinecraftForge by MinecraftForge.

the class TRSRTransformation method stepJacobi.

private static Quat4f stepJacobi(Matrix3f m) {
    Matrix3f t = new Matrix3f();
    Quat4f qt = new Quat4f(), ret = new Quat4f(0, 0, 0, 1);
    Pair<Float, Float> p;
    // 01
    if (m.m01 * m.m01 + m.m10 * m.m10 > eps) {
        p = approxGivensQuat(m.m00, .5f * (m.m01 + m.m10), m.m11);
        qt.set(0, 0, p.getLeft(), p.getRight());
        //qt.normalize();
        ret.mul(qt);
        //t.set(qt);
        t.setIdentity();
        t.m00 = qt.w * qt.w - qt.z * qt.z;
        t.m11 = t.m00;
        t.m10 = 2 * qt.z * qt.w;
        t.m01 = -t.m10;
        t.m22 = qt.w * qt.w + qt.z * qt.z;
        m.mul(m, t);
        t.transpose();
        m.mul(t, m);
    }
    // 02
    if (m.m02 * m.m02 + m.m20 * m.m20 > eps) {
        p = approxGivensQuat(m.m00, .5f * (m.m02 + m.m20), m.m22);
        qt.set(0, -p.getLeft(), 0, p.getRight());
        //qt.normalize();
        ret.mul(qt);
        //t.set(qt);
        t.setIdentity();
        t.m00 = qt.w * qt.w - qt.y * qt.y;
        t.m22 = t.m00;
        t.m20 = -2 * qt.y * qt.w;
        t.m02 = -t.m20;
        t.m11 = qt.w * qt.w + qt.y * qt.y;
        m.mul(m, t);
        t.transpose();
        m.mul(t, m);
    }
    // 12
    if (m.m12 * m.m12 + m.m21 * m.m21 > eps) {
        p = approxGivensQuat(m.m11, .5f * (m.m12 + m.m21), m.m22);
        qt.set(p.getLeft(), 0, 0, p.getRight());
        //qt.normalize();
        ret.mul(qt);
        //t.set(qt);
        t.setIdentity();
        t.m11 = qt.w * qt.w - qt.x * qt.x;
        t.m22 = t.m11;
        t.m21 = 2 * qt.x * qt.w;
        t.m12 = -t.m21;
        t.m00 = qt.w * qt.w + qt.x * qt.x;
        m.mul(m, t);
        t.transpose();
        m.mul(t, m);
    }
    return ret;
}

Example 35 with Matrix3f

use of javax.vecmath.Matrix3f in project MinecraftForge by MinecraftForge.

the class TRSRTransformation method svdDecompose.

/*
     * Performs SVD decomposition of m, accumulating reflection in the scale (U and V are pure rotations).
     */
public static Triple<Quat4f, Vector3f, Quat4f> svdDecompose(Matrix3f m) {
    // determine V by doing 5 steps of Jacobi iteration on MT * M
    Quat4f u = new Quat4f(0, 0, 0, 1), v = new Quat4f(0, 0, 0, 1), qt = new Quat4f();
    Matrix3f b = new Matrix3f(m), t = new Matrix3f();
    t.transpose(m);
    b.mul(t, b);
    for (int i = 0; i < 5; i++) v.mul(stepJacobi(b));
    v.normalize();
    t.set(v);
    b.set(m);
    b.mul(t);
    // FIXME: this doesn't work correctly for some reason; not crucial, so disabling for now; investigate in the future.
    //sortSingularValues(b, v);
    Pair<Float, Float> p;
    float ul = 1f;
    p = qrGivensQuat(b.m00, b.m10);
    qt.set(0, 0, p.getLeft(), p.getRight());
    u.mul(qt);
    t.setIdentity();
    t.m00 = qt.w * qt.w - qt.z * qt.z;
    t.m11 = t.m00;
    t.m10 = -2 * qt.z * qt.w;
    t.m01 = -t.m10;
    t.m22 = qt.w * qt.w + qt.z * qt.z;
    ul *= t.m22;
    b.mul(t, b);
    p = qrGivensQuat(b.m00, b.m20);
    qt.set(0, -p.getLeft(), 0, p.getRight());
    u.mul(qt);
    t.setIdentity();
    t.m00 = qt.w * qt.w - qt.y * qt.y;
    t.m22 = t.m00;
    t.m20 = 2 * qt.y * qt.w;
    t.m02 = -t.m20;
    t.m11 = qt.w * qt.w + qt.y * qt.y;
    ul *= t.m11;
    b.mul(t, b);
    p = qrGivensQuat(b.m11, b.m21);
    qt.set(p.getLeft(), 0, 0, p.getRight());
    u.mul(qt);
    t.setIdentity();
    t.m11 = qt.w * qt.w - qt.x * qt.x;
    t.m22 = t.m11;
    t.m21 = -2 * qt.x * qt.w;
    t.m12 = -t.m21;
    t.m00 = qt.w * qt.w + qt.x * qt.x;
    ul *= t.m00;
    b.mul(t, b);
    ul = 1f / ul;
    u.scale((float) Math.sqrt(ul));
    Vector3f s = new Vector3f(b.m00 * ul, b.m11 * ul, b.m22 * ul);
    return Triple.of(u, s, v);
}