Initial checkin of the Minimal Scene Graph (MSG) library, intentended

for experimentation with both 3D and 2D/3D interaction.


git-svn-id: file:///usr/local/projects/SUN/JOGL/git-svn/svn-server-sync/joglutils/trunk@44 83d24430-9974-4f80-8418-2cc3294053b9

1 files changed, 191 insertions, 0 deletions

diff --git a/src/net/java/joglutils/msg/math/Mat3f.java b/src/net/java/joglutils/msg/math/Mat3f.java
new file mode 100644
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--- /dev/null
+++ b/src/net/java/joglutils/msg/math/Mat3f.java
@@ -0,0 +1,191 @@
+/*
+ * Copyright (c) 2007 Sun Microsystems, Inc. All Rights Reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ * 
+ * - Redistribution of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ * 
+ * - Redistribution in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ * 
+ * Neither the name of Sun Microsystems, Inc. or the names of
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ * 
+ * This software is provided "AS IS," without a warranty of any kind. ALL
+ * EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND WARRANTIES,
+ * INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY, FITNESS FOR A
+ * PARTICULAR PURPOSE OR NON-INFRINGEMENT, ARE HEREBY EXCLUDED. SUN
+ * MICROSYSTEMS, INC. ("SUN") AND ITS LICENSORS SHALL NOT BE LIABLE FOR
+ * ANY DAMAGES SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING OR
+ * DISTRIBUTING THIS SOFTWARE OR ITS DERIVATIVES. IN NO EVENT WILL SUN OR
+ * ITS LICENSORS BE LIABLE FOR ANY LOST REVENUE, PROFIT OR DATA, OR FOR
+ * DIRECT, INDIRECT, SPECIAL, CONSEQUENTIAL, INCIDENTAL OR PUNITIVE
+ * DAMAGES, HOWEVER CAUSED AND REGARDLESS OF THE THEORY OF LIABILITY,
+ * ARISING OUT OF THE USE OF OR INABILITY TO USE THIS SOFTWARE, EVEN IF
+ * SUN HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
+ * 
+ * You acknowledge that this software is not designed or intended for use
+ * in the design, construction, operation or maintenance of any nuclear
+ * facility.
+ * 
+ */
+
+package net.java.joglutils.msg.math;
+
+/** 3x3 matrix class useful for simple linear algebra. Representation
+    is (as Mat4f) in row major order and assumes multiplication by
+    column vectors on the right. */
+
+public class Mat3f {
+  private float[] data;
+
+  /** Creates new matrix initialized to the zero matrix */
+  public Mat3f() {
+    data = new float[9];
+  }
+
+  /** Initialize to the identity matrix. */
+  public void makeIdent() {
+    for (int i = 0; i < 3; i++) {
+      for (int j = 0; j < 3; j++) {
+        if (i == j) {
+          set(i, j, 1.0f);
+        } else {
+          set(i, j, 0.0f);
+        }
+      }
+    }
+  }
+  
+  /** Gets the (i,j)th element of this matrix, where i is the row
+      index and j is the column index */
+  public float get(int i, int j) {
+    return data[3 * i + j];
+  }
+
+  /** Sets the (i,j)th element of this matrix, where i is the row
+      index and j is the column index */
+  public void set(int i, int j, float val) {
+    data[3 * i + j] = val;
+  }
+
+  /** Set column i (i=[0..2]) to vector v. */
+  public void setCol(int i, Vec3f v) {
+    set(0, i, v.x());
+    set(1, i, v.y());
+    set(2, i, v.z());
+  }
+
+  /** Set row i (i=[0..2]) to vector v. */
+  public void setRow(int i, Vec3f v) {
+    set(i, 0, v.x());
+    set(i, 1, v.y());
+    set(i, 2, v.z());
+  }
+
+  /** Transpose this matrix in place. */
+  public void transpose() {
+    float t;
+    t = get(0, 1);
+    set(0, 1, get(1, 0));
+    set(1, 0, t);
+
+    t = get(0, 2);
+    set(0, 2, get(2, 0));
+    set(2, 0, t);
+
+    t = get(1, 2);
+    set(1, 2, get(2, 1));
+    set(2, 1, t);
+  }
+
+  /** Return the determinant. Computed across the zeroth row. */
+  public float determinant() {
+    return (get(0, 0) * (get(1, 1) * get(2, 2) - get(2, 1) * get(1, 2)) +
+            get(0, 1) * (get(2, 0) * get(1, 2) - get(1, 0) * get(2, 2)) +
+            get(0, 2) * (get(1, 0) * get(2, 1) - get(2, 0) * get(1, 1)));
+  }
+
+  /** Full matrix inversion in place. If matrix is singular, throws
+      SingularMatrixException. If you know the matrix is orthonormal,
+      you can call transpose() instead. */
+  public void invert() throws SingularMatrixException {
+    float det = determinant();
+    if (det == 0.0f)
+      throw new SingularMatrixException();
+
+    // Form cofactor matrix
+    Mat3f cf = new Mat3f();
+    cf.set(0, 0, get(1, 1) * get(2, 2) - get(2, 1) * get(1, 2));
+    cf.set(0, 1, get(2, 0) * get(1, 2) - get(1, 0) * get(2, 2));
+    cf.set(0, 2, get(1, 0) * get(2, 1) - get(2, 0) * get(1, 1));
+    cf.set(1, 0, get(2, 1) * get(0, 2) - get(0, 1) * get(2, 2));
+    cf.set(1, 1, get(0, 0) * get(2, 2) - get(2, 0) * get(0, 2));
+    cf.set(1, 2, get(2, 0) * get(0, 1) - get(0, 0) * get(2, 1));
+    cf.set(2, 0, get(0, 1) * get(1, 2) - get(1, 1) * get(0, 2));
+    cf.set(2, 1, get(1, 0) * get(0, 2) - get(0, 0) * get(1, 2));
+    cf.set(2, 2, get(0, 0) * get(1, 1) - get(1, 0) * get(0, 1));
+
+    // Now copy back transposed
+    for (int i = 0; i < 3; i++)
+      for (int j = 0; j < 3; j++)
+        set(i, j, cf.get(j, i) / det);
+  }
+
+  /** Multiply a 3D vector by this matrix. NOTE: src and dest must be
+      different vectors. */
+  public void xformVec(Vec3f src, Vec3f dest) {
+    dest.set(get(0, 0) * src.x() +
+             get(0, 1) * src.y() +
+             get(0, 2) * src.z(),
+             
+             get(1, 0) * src.x() +
+             get(1, 1) * src.y() +
+             get(1, 2) * src.z(),
+
+             get(2, 0) * src.x() +
+             get(2, 1) * src.y() +
+             get(2, 2) * src.z());
+  }
+
+  /** Returns this * b; creates new matrix */
+  public Mat3f mul(Mat3f b) {
+    Mat3f tmp = new Mat3f();
+    tmp.mul(this, b);
+    return tmp;
+  }
+
+  /** this = a * b */
+  public void mul(Mat3f a, Mat3f b) {
+    for (int rc = 0; rc < 3; rc++)
+      for (int cc = 0; cc < 3; cc++) {
+        float tmp = 0.0f;
+        for (int i = 0; i < 3; i++)
+          tmp += a.get(rc, i) * b.get(i, cc);
+        set(rc, cc, tmp);
+      }
+  }
+
+  public Matf toMatf() {
+    Matf out = new Matf(3, 3);
+    for (int i = 0; i < 3; i++) {
+      for (int j = 0; j < 3; j++) {
+        out.set(i, j, get(i, j));
+      }
+    }
+    return out;
+  }
+
+  public String toString() {
+    String endl = System.getProperty("line.separator");
+    return "(" +
+      get(0, 0) + ", " + get(0, 1) + ", " + get(0, 2) + endl +
+      get(1, 0) + ", " + get(1, 1) + ", " + get(1, 2) + endl +
+      get(2, 0) + ", " + get(2, 1) + ", " + get(2, 2) + ")";
+  }
+}