X-Git-Url: https://gerrit.simantics.org/r/gitweb?a=blobdiff_plain;f=org.simantics.g3d%2Fsrc%2Forg%2Fsimantics%2Fproconf%2Fg3d%2Fbase%2FMathTools.java;fp=org.simantics.g3d%2Fsrc%2Forg%2Fsimantics%2Fproconf%2Fg3d%2Fbase%2FMathTools.java;h=5a287b55fa56bfb0076a72002a71918931f2caad;hb=10f144a2bb2d7bec98b812b83acecb333fd098ea;hp=0000000000000000000000000000000000000000;hpb=3055b543aa5afc0cca4bb3b341704e7c5103fa6a;p=simantics%2F3d.git

diff --git a/org.simantics.g3d/src/org/simantics/proconf/g3d/base/MathTools.java b/org.simantics.g3d/src/org/simantics/proconf/g3d/base/MathTools.java
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+/*******************************************************************************
+ * Copyright (c) 2007- VTT Technical Research Centre of Finland.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *     VTT Technical Research Centre of Finland - initial API and implementation
+ *******************************************************************************/
+package org.simantics.proconf.g3d.base;
+
+import javax.vecmath.AxisAngle4d;
+import javax.vecmath.Matrix3d;
+import javax.vecmath.Point3d;
+import javax.vecmath.Quat4d;
+import javax.vecmath.Tuple3d;
+import javax.vecmath.Vector3d;
+
+import com.jme.math.Vector2f;
+
+/**
+ * Some useful geometry related math functions. Beware, methods may modify their input parameters!
+ * 
+ * @author Marko Luukkainen
+ *
+ */
+public class MathTools {
+    
+    static double EPS = 0.001;
+    
+    public static Vector3d closestPointOnEdge(Vector3d point, Vector3d edgePoint1, Vector3d edgePoint2) {
+        point.sub(edgePoint1);
+        Vector3d v = new Vector3d(edgePoint2);
+        v.sub(edgePoint1);
+        double t = v.dot(point);
+        t /= v.lengthSquared();
+        if (t <= 0.0f)
+          return edgePoint1;
+        if (t >= 1.0f)
+          return edgePoint2;
+        v.scale(t);
+        v.add(edgePoint1);
+        return v;   
+    }
+    
+    public static Vector3d closestPointOnStraight(Point3d point, Point3d straightPoint, Vector3d straightDir) {
+        Vector3d v = new Vector3d(point);
+        v.sub(straightPoint);
+        double t = straightDir.dot(v);
+        t /= straightDir.lengthSquared();
+        v.set(straightDir);
+        v.scale(t);
+        v.add(straightPoint);
+        return v;   
+    }
+    
+    public static Vector3d closestPointOnStraight(Point3d point, Point3d straightPoint, Vector3d straightDir, double u[]) {
+        Vector3d v = new Vector3d(point);
+        v.sub(straightPoint);
+        u[0] = straightDir.dot(v);
+        u[0] /= straightDir.lengthSquared();
+        v.set(straightDir);
+        v.scale(u[0]);
+        v.add(straightPoint);
+        return v;   
+    }
+    
+    public static double distanceFromPlane(Vector3d point, Vector3d planeNormal, Tuple3d planePoint) {
+        point.sub(planePoint);
+        
+        return planeNormal.dot(point);
+    }
+      
+    public static double distanceFromPlane(Vector3d point, Vector3d planeNormal, float d) {
+        return (planeNormal.dot(point) + d);
+    }
+    
+    public static boolean intersectStraightPlane(Tuple3d linePoint, Vector3d lineDir, Tuple3d planePoint, Vector3d planeNormal, Tuple3d intersectPoint) {
+        intersectPoint.set(planePoint);
+        intersectPoint.sub(linePoint);
+        double u = planeNormal.dot(new Vector3d(intersectPoint));
+        double v = planeNormal.dot(lineDir);
+        if (Math.abs(v) < EPS)
+            return false;
+        u /= v;
+        intersectPoint.set(lineDir);
+        intersectPoint.scale(u);
+        intersectPoint.add(linePoint);
+        return true;
+    }
+    
+    public static boolean intersectStraightPlane(Tuple3d linePoint, Vector3d lineDir, Tuple3d planePoint, Vector3d planeNormal, Vector3d intersectPoint, double[] u) {
+        intersectPoint.set(planePoint);
+        intersectPoint.sub(linePoint);
+        u[0] = planeNormal.dot(intersectPoint);
+        double v = planeNormal.dot(lineDir);
+        if (Math.abs(v) < EPS)
+            return false;
+        u[0] /= v;
+        intersectPoint.set(lineDir);
+        intersectPoint.scale(u[0]);
+        intersectPoint.add(linePoint);
+        return true;
+    }
+    
+    public static boolean intersectLineLine(Vector3d p1,Vector3d p2,Vector3d p3,Vector3d p4,Vector3d pa,Vector3d pb) {
+            Vector3d p13 = new Vector3d();
+            Vector3d p43 = new Vector3d();
+            Vector3d p21 = new Vector3d();
+            double d1343,d4321,d1321,d4343,d2121;
+            double numer,denom;
+            p13.sub(p1, p3);
+            p43.sub(p4,p3);
+            if (Math.abs(p43.x)  < EPS && Math.abs(p43.y)  < EPS && Math.abs(p43.z)  < EPS)
+               return false;
+            p21.sub(p2,p1);
+            if (Math.abs(p21.x)  < EPS && Math.abs(p21.y)  < EPS && Math.abs(p21.z)  < EPS)
+               return false;
+
+            d1343 = p13.dot(p43);
+            d4321 = p43.dot(p21);
+            d1321 = p13.dot(p21);
+            d4343 = p43.lengthSquared();
+            d2121 = p21.lengthSquared();
+
+            denom = d2121 * d4343 - d4321 * d4321;
+            if (Math.abs(denom) < EPS)
+               return false;
+            numer = d1343 * d4321 - d1321 * d4343;
+
+            double mua = numer / denom;
+            double mub = (d1343 + d4321 * mua) / d4343;
+ 
+            pa.x = p1.x + mua * p21.x;
+            pa.y = p1.y + mua * p21.y;
+            pa.z = p1.z + mua * p21.z;
+            pb.x = p3.x + mub * p43.x;
+            pb.y = p3.y + mub * p43.y;
+            pb.z = p3.z + mub * p43.z;
+
+            return true;
+    }
+    
+    public static boolean intersectStraightStraight(Vector3d p1,Vector3d p21,Vector3d p3,Vector3d p43,Tuple3d pa,Tuple3d pb) {
+        Vector3d p13 = new Vector3d();
+
+        double d1343,d4321,d1321,d4343,d2121;
+        double numer,denom;
+        
+        p13.sub(p1, p3);
+        if (Math.abs(p43.x)  < EPS && Math.abs(p43.y)  < EPS && Math.abs(p43.z)  < EPS)
+           return false;
+        if (Math.abs(p21.x)  < EPS && Math.abs(p21.y)  < EPS && Math.abs(p21.z)  < EPS)
+           return false;
+
+        d1343 = p13.dot(p43);
+        d4321 = p43.dot(p21);
+        d1321 = p13.dot(p21);
+        d4343 = p43.lengthSquared();
+        d2121 = p21.lengthSquared();
+
+        denom = d2121 * d4343 - d4321 * d4321;
+        if (Math.abs(denom) < EPS)
+           return false;
+        numer = d1343 * d4321 - d1321 * d4343;
+
+        double mua = numer / denom;
+        double mub = (d1343 + d4321 * mua) / d4343;
+
+        pa.x = p1.x + mua * p21.x;
+        pa.y = p1.y + mua * p21.y;
+        pa.z = p1.z + mua * p21.z;
+        pb.x = p3.x + mub * p43.x;
+        pb.y = p3.y + mub * p43.y;
+        pb.z = p3.z + mub * p43.z;
+
+        return true;
+   }
+    
+    /**
+     * Calculate the line segment PaPb that is the shortest route between
+     *  two lines P1P2 and P3P4. Calculate also the values of mua and mub where
+     *  Pa = P1 + mua (P2 - P1)
+     *  Pb = P3 + mub (P4 - P3)
+     * @param p1
+     * @param p21
+     * @param p3
+     * @param p43
+     * @param pa
+     * @param pb
+     * @param mu
+     * @return
+     */
+    public static boolean intersectStraightStraight(Tuple3d p1,Vector3d p21,Tuple3d p3,Vector3d p43,Tuple3d pa,Tuple3d pb, double mu[]) {
+        Vector3d p13 = new Vector3d();
+
+        double d1343,d4321,d1321,d4343,d2121;
+        double numer,denom;
+        double EPS = 0.001;
+        p13.sub(p1, p3);
+        if (Math.abs(p43.x)  < EPS && Math.abs(p43.y)  < EPS && Math.abs(p43.z)  < EPS)
+           return false;
+        if (Math.abs(p21.x)  < EPS && Math.abs(p21.y)  < EPS && Math.abs(p21.z)  < EPS)
+           return false;
+
+        d1343 = p13.dot(p43);
+        d4321 = p43.dot(p21);
+        d1321 = p13.dot(p21);
+        d4343 = p43.lengthSquared();
+        d2121 = p21.lengthSquared();
+
+        denom = d2121 * d4343 - d4321 * d4321;
+        if (Math.abs(denom) < EPS)
+           return false;
+        numer = d1343 * d4321 - d1321 * d4343;
+
+        mu[0] = numer / denom;
+        mu[1] = (d1343 + d4321 * mu[0]) / d4343;
+
+        pa.x = p1.x + mu[0] * p21.x;
+        pa.y = p1.y + mu[0] * p21.y;
+        pa.z = p1.z + mu[0] * p21.z;
+        pb.x = p3.x + mu[1] * p43.x;
+        pb.y = p3.y + mu[1] * p43.y;
+        pb.z = p3.z + mu[1] * p43.z;
+
+        return true;
+   }
+   
+   public static AxisAngle4d getFromEuler2(Vector3d euler) {
+       AxisAngle4d aa = new AxisAngle4d();
+       aa.angle = euler.length();
+       Vector3d normal = new Vector3d(euler);
+       if (aa.angle > EPS) {
+           normal.normalize();
+           aa.x = normal.x;
+           aa.y = normal.y;
+           aa.z = normal.z;
+       } else {
+           aa.x = 1.0;
+           aa.y = 0.0;
+           aa.z = 0.0;
+       }
+       
+       return aa;
+   }
+   
+   public static Vector3d getEuler(AxisAngle4d aa) {
+       Vector3d euler = new Vector3d(aa.x,aa.y,aa.z);
+       euler.scale(aa.angle);
+       return euler;
+   }
+   
+   public static void rotate(Quat4d q, Tuple3d in, Tuple3d out) {
+       // p' = q * p * q'
+       double tw =           - q.x*in.x - q.y*in.y - q.z*in.z;
+       double tx =  q.w*in.x            + q.y*in.z - q.z*in.y;
+       double ty =  q.w*in.y - q.x*in.z            + q.z*in.x;
+       double tz =  q.w*in.z + q.x*in.y - q.y*in.x           ;
+       
+       //temp * q' -> x = -x, y = -y z = -z
+       //out.w = tw*q.w + tx*q.x + ty*q.y + tz*q.z;
+       out.x =  -tw*q.x + tx*q.w - ty*q.z + tz*q.y;
+       out.y =  -tw*q.y + tx*q.z + ty*q.w - tz*q.x;
+       out.z =  -tw*q.z - tx*q.y + ty*q.x + tz*q.w;  
+   }
+   
+   public static void getMatrix(Quat4d quat, Matrix3d m) {
+		   m.m00 = 1.0f - 2.0 * (quat.y * quat.y + quat.z * quat.z);
+		   m.m01 = 2.0 * (quat.x * quat.y + quat.w * quat.z);
+		   m.m02 = 2.0 * (quat.x * quat.z - quat.w * quat.y);
+		   m.m10 = 2.0 * (quat.x * quat.y - quat.w * quat.z);
+		   m.m11 = 1.0 - 2.0f * (quat.x * quat.x + quat.z * quat.z);
+		   m.m12 = 2.0 * (quat.y * quat.z + quat.w * quat.x);
+		   m.m20 = 2.0 * (quat.x * quat.z + quat.w * quat.y);
+		   m.m21 = 2.0 * (quat.y * quat.z - quat.w * quat.x);
+		   m.m22 = 1.0 - 2.0f * (quat.x * quat.x + quat.y * quat.y);
+
+   }
+   
+   public static void getQuat(Matrix3d mat, Quat4d quat) {
+	   double tr = mat.m00 + mat.m11 + mat.m22;
+		if (tr > 0.0) {
+			double s = Math.sqrt(tr + 1.0);
+			quat.w = 0.5 * s;
+			s = 0.5 / s;
+			quat.x = (mat.m21 - mat.m12) * s;
+			quat.y = (mat.m02 - mat.m20) * s;
+			quat.z = (mat.m10 - mat.m01) * s;
+		} else {
+			int i = 0, j, k;
+			if (mat.m11 > mat.m00)
+				i = 1;
+			if (mat.m22 > mat.getElement(i, i))
+				i = 2;
+			int nxt[] = { 1, 2, 0 };
+
+			j = nxt[i];
+			k = nxt[j];
+
+			double s = Math
+					.sqrt((mat.getElement(i, i) - (mat.getElement(j, j) + mat
+							.getElement(k, k))) + 1.0);
+
+			double q[] = new double[3];
+			q[i] = s * 0.5;
+
+			if (Math.abs(s) > 0.001)
+				s = 0.5 / s;
+
+			quat.w = (mat.getElement(k, j) - mat.getElement(j, k)) * s;
+			q[j] = (mat.getElement(j, i) + mat.getElement(i, j)) * s;
+			q[k] = (mat.getElement(k, i) + mat.getElement(i, k)) * s;
+
+			quat.x = q[0];
+			quat.y = q[1];
+			quat.z = q[2];
+		}
+	}
+   
+   
+	/*
+	 * Cohen-Sutherland
+	 */
+	
+	private static final int IN = 0;
+	private static final int LEFT = 1;
+	private static final int RIGHT = 2;
+	private static final int BOTTOM = 4;
+	private static final int TOP = 8;
+	
+	
+	private static int bitcode(Vector2f p1, Vector2f min, Vector2f max) {
+		int code = IN;
+		if (p1.x < min.x)
+			code |= LEFT;
+		else if (p1.x > max.x)
+			code |= RIGHT;
+		if (p1.y < min.y)
+			code |= BOTTOM;
+		else if (p1.y > max.y)
+			code |= TOP;
+		return code;
+	}
+	
+	public static boolean clipLineRectangle(Vector2f p1,Vector2f p2, Vector2f min, Vector2f max, Vector2f r1, Vector2f r2) {
+		while (true) {
+			int o1 = bitcode(p1, min, max);
+			int o2 = bitcode(p2, min, max);
+			int and = o1 & o2;
+			int or = o1 | o2;
+			if (and != IN) {
+				return false;
+			}
+			if (or == IN) {
+				r1.set(p1);
+				r2.set(p2);
+				return true;
+			}
+			if (o1 == IN) {
+				Vector2f t = p1;
+				p1 = p2;
+				p2 = t;
+				int t2 = o1;
+				o1 = o2;
+				o2 = t2;
+			}
+			if ((o1 & TOP) != IN) {
+				float t = (max.y - p1.y) / (p2.y - p1.y);
+				p1.x += t * (p2.x - p1.x);
+				p1.y = max.y;
+			} else if ((o1 & BOTTOM) != IN) {
+				float t = (min.y - p1.y) / (p2.y - p1.y);
+				p1.x += t * (p2.x - p1.x);
+				p1.y = min.y;
+			} else if ((o1 & LEFT) != IN) {
+				float t = (min.x - p1.x) / (p2.x - p1.x);
+				p1.y += t * (p2.y - p1.y);
+				p1.x = min.x;
+			} else if ((o1 & RIGHT) != IN) {
+				float t = (max.x - p1.x) / (p2.x - p1.x);
+				p1.y += t * (p2.y - p1.y);
+				p1.x = max.x;
+			} else {
+				throw new RuntimeException("Error in clipping code");
+			}
+		}
+		
+	}
+	
+	public static double square(double d) {
+		return d * d;
+	}
+}