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Bugfix: fixed a bug that caused ugly artifacts to appear sometimes while

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computing constraints. The fix also improved the constraints computation
speed at least several times :)
This commit is contained in:
jmekaelthas 2014-12-21 17:54:39 +01:00
parent 9eca2251a9
commit c9eadcc762
6 changed files with 1634 additions and 316 deletions
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27
jme3-blender/src/main/java/com/jme3/scene/plugins/blender/constraints/ConstraintHelper.java
View File

@ -2,8 +2,10 @@ package com.jme3.scene.plugins.blender.constraints;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.HashMap; import java.util.HashMap;
import java.util.HashSet;
import java.util.List; import java.util.List;
import java.util.Map; import java.util.Map;
import java.util.Set;
import java.util.logging.Logger; import java.util.logging.Logger;
import com.jme3.animation.Bone; import com.jme3.animation.Bone;
@ -170,30 +172,23 @@ public class ConstraintHelper extends AbstractBlenderHelper {
* the blender context * the blender context
*/ */
public void bakeConstraints(BlenderContext blenderContext) { public void bakeConstraints(BlenderContext blenderContext) {
List<SimulationNode> simulationRootNodes = new ArrayList<SimulationNode>(); Set<Long> owners = new HashSet<Long>();
for (Constraint constraint : blenderContext.getAllConstraints()) { for (Constraint constraint : blenderContext.getAllConstraints()) {
boolean constraintUsed = false; if(constraint instanceof BoneConstraint) {
for (SimulationNode node : simulationRootNodes) {
if (node.contains(constraint)) {
constraintUsed = true;
break;
}
}
if (!constraintUsed) {
if (constraint instanceof BoneConstraint) {
BoneContext boneContext = blenderContext.getBoneContext(constraint.ownerOMA); BoneContext boneContext = blenderContext.getBoneContext(constraint.ownerOMA);
simulationRootNodes.add(new SimulationNode(boneContext.getArmatureObjectOMA(), blenderContext)); owners.add(boneContext.getArmatureObjectOMA());
} else if (constraint instanceof SpatialConstraint) { } else {
Spatial spatial = (Spatial) blenderContext.getLoadedFeature(constraint.ownerOMA, LoadedDataType.FEATURE); Spatial spatial = (Spatial) blenderContext.getLoadedFeature(constraint.ownerOMA, LoadedDataType.FEATURE);
while (spatial.getParent() != null) { while (spatial.getParent() != null) {
spatial = spatial.getParent(); spatial = spatial.getParent();
} }
simulationRootNodes.add(new SimulationNode((Long) blenderContext.getMarkerValue(ObjectHelper.OMA_MARKER, spatial), blenderContext)); owners.add((Long)blenderContext.getMarkerValue(ObjectHelper.OMA_MARKER, spatial));
} else {
throw new IllegalStateException("Unsupported constraint type: " + constraint);
} }
} }
List<SimulationNode> simulationRootNodes = new ArrayList<SimulationNode>(owners.size());
for(Long ownerOMA : owners) {
simulationRootNodes.add(new SimulationNode(ownerOMA, blenderContext));
} }
for (SimulationNode node : simulationRootNodes) { for (SimulationNode node : simulationRootNodes) {

236
jme3-blender/src/main/java/com/jme3/scene/plugins/blender/constraints/SimulationNode.java
View File

@ -1,15 +1,12 @@
package com.jme3.scene.plugins.blender.constraints; package com.jme3.scene.plugins.blender.constraints;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.HashMap; import java.util.HashMap;
import java.util.HashSet; import java.util.HashSet;
import java.util.List; import java.util.List;
import java.util.Map; import java.util.Map;
import java.util.Map.Entry; import java.util.Map.Entry;
import java.util.Set; import java.util.Set;
import java.util.logging.Level;
import java.util.logging.Logger; import java.util.logging.Logger;
import com.jme3.animation.AnimChannel; import com.jme3.animation.AnimChannel;
@ -43,14 +40,13 @@ import com.jme3.util.TempVars;
public class SimulationNode { public class SimulationNode {
private static final Logger LOGGER = Logger.getLogger(SimulationNode.class.getName()); private static final Logger LOGGER = Logger.getLogger(SimulationNode.class.getName());
private Long featureOMA;
/** The blender context. */ /** The blender context. */
private BlenderContext blenderContext; private BlenderContext blenderContext;
/** The name of the node (for debugging purposes). */ /** The name of the node (for debugging purposes). */
private String name; private String name;
/** A list of children for the node (either bones or child spatials). */ /** A list of children for the node (either bones or child spatials). */
private List<SimulationNode> children = new ArrayList<SimulationNode>(); private List<SimulationNode> children = new ArrayList<SimulationNode>();
/** A list of constraints that the current node has. */
private List<Constraint> constraints;
/** A list of node's animations. */ /** A list of node's animations. */
private List<Animation> animations; private List<Animation> animations;
@ -94,6 +90,7 @@ public class SimulationNode {
* indicates if the feature is a root bone or root spatial or not * indicates if the feature is a root bone or root spatial or not
*/ */
private SimulationNode(Long featureOMA, BlenderContext blenderContext, boolean rootNode) { private SimulationNode(Long featureOMA, BlenderContext blenderContext, boolean rootNode) {
this.featureOMA = featureOMA;
this.blenderContext = blenderContext; this.blenderContext = blenderContext;
Node spatial = (Node) blenderContext.getLoadedFeature(featureOMA, LoadedDataType.FEATURE); Node spatial = (Node) blenderContext.getLoadedFeature(featureOMA, LoadedDataType.FEATURE);
if (blenderContext.getMarkerValue(ObjectHelper.ARMATURE_NODE_MARKER, spatial) != null) { if (blenderContext.getMarkerValue(ObjectHelper.ARMATURE_NODE_MARKER, spatial) != null) {
@ -117,22 +114,8 @@ public class SimulationNode {
name = '>' + spatial.getName() + '<'; name = '>' + spatial.getName() + '<';
constraints = this.findConstraints(featureOMA, blenderContext);
if (constraints == null) {
constraints = new ArrayList<Constraint>();
}
// add children nodes // add children nodes
if (skeleton != null) { if (skeleton != null) {
// bone with index 0 is a root bone and should not be considered
// here
for (int i = 1; i < skeleton.getBoneCount(); ++i) {
BoneContext boneContext = blenderContext.getBoneContext(skeleton.getBone(i));
List<Constraint> boneConstraints = this.findConstraints(boneContext.getBoneOma(), blenderContext);
if (boneConstraints != null) {
constraints.addAll(boneConstraints);
}
}
Node node = blenderContext.getControlledNode(skeleton); Node node = blenderContext.getControlledNode(skeleton);
Long animatedNodeOMA = ((Number) blenderContext.getMarkerValue(ObjectHelper.OMA_MARKER, node)).longValue(); Long animatedNodeOMA = ((Number) blenderContext.getMarkerValue(ObjectHelper.OMA_MARKER, node)).longValue();
animations = blenderContext.getAnimations(animatedNodeOMA); animations = blenderContext.getAnimations(animatedNodeOMA);
@ -144,38 +127,6 @@ public class SimulationNode {
} }
} }
} }
LOGGER.info("Removing invalid constraints.");
List<Constraint> validConstraints = new ArrayList<Constraint>(constraints.size());
for (Constraint constraint : constraints) {
if (constraint.validate()) {
validConstraints.add(constraint);
} else {
LOGGER.log(Level.WARNING, "Constraint {0} is invalid and will not be applied.", constraint.name);
}
}
constraints = validConstraints;
}
/**
* Tells if the node already contains the given constraint (so that it is
* not applied twice).
*
* @param constraint
* the constraint to be checked
* @return <b>true</b> if the constraint already is stored in the node and
* <b>false</b> otherwise
*/
public boolean contains(Constraint constraint) {
boolean result = false;
if (constraints != null && constraints.size() > 0) {
for (Constraint c : constraints) {
if (c.equals(constraint)) {
return true;
}
}
}
return result;
} }
/** /**
@ -191,6 +142,7 @@ public class SimulationNode {
for (Entry<Bone, Transform> entry : boneStartTransforms.entrySet()) { for (Entry<Bone, Transform> entry : boneStartTransforms.entrySet()) {
Transform t = entry.getValue(); Transform t = entry.getValue();
entry.getKey().setBindTransforms(t.getTranslation(), t.getRotation(), t.getScale()); entry.getKey().setBindTransforms(t.getTranslation(), t.getRotation(), t.getScale());
entry.getKey().updateModelTransforms();
} }
skeleton.reset(); skeleton.reset();
} }
@ -200,7 +152,9 @@ public class SimulationNode {
* Simulates the spatial node. * Simulates the spatial node.
*/ */
private void simulateSpatial() { private void simulateSpatial() {
List<Constraint> constraints = blenderContext.getConstraints(featureOMA);
if (constraints != null && constraints.size() > 0) { if (constraints != null && constraints.size() > 0) {
LOGGER.fine("Simulating spatial.");
boolean applyStaticConstraints = true; boolean applyStaticConstraints = true;
if (animations != null) { if (animations != null) {
for (Animation animation : animations) { for (Animation animation : animations) {
@ -248,14 +202,14 @@ public class SimulationNode {
* Simulates the bone node. * Simulates the bone node.
*/ */
private void simulateSkeleton() { private void simulateSkeleton() {
if (constraints != null && constraints.size() > 0) { LOGGER.fine("Simulating skeleton.");
Set<Long> alteredOmas = new HashSet<Long>(); Set<Long> alteredOmas = new HashSet<Long>();
if (animations != null) { if (animations != null) {
TempVars vars = TempVars.get(); TempVars vars = TempVars.get();
AnimChannel animChannel = animControl.createChannel(); AnimChannel animChannel = animControl.createChannel();
List<Bone> bonesWithConstraints = this.collectBonesWithConstraints(skeleton); // List<Bone> bonesWithConstraints = this.collectBonesWithConstraints(skeleton);
for (Animation animation : animations) { for (Animation animation : animations) {
float[] animationTimeBoundaries = this.computeAnimationTimeBoundaries(animation); float[] animationTimeBoundaries = this.computeAnimationTimeBoundaries(animation);
int maxFrame = (int) animationTimeBoundaries[0]; int maxFrame = (int) animationTimeBoundaries[0];
@ -275,8 +229,12 @@ public class SimulationNode {
} }
// ... and then apply constraints from the root bone to the last child ... // ... and then apply constraints from the root bone to the last child ...
for (Bone rootBone : bonesWithConstraints) { Set<Long> applied = new HashSet<Long>();
this.applyConstraints(rootBone, alteredOmas, frame); for (Bone rootBone : skeleton.getRoots()) {
// ignore the 0-indexed bone
if (skeleton.getBoneIndex(rootBone) > 0) {
this.applyConstraints(rootBone, alteredOmas, applied, frame);
}
} }
// ... add virtual tracks if neccessary, for bones that were altered but had no tracks before ... // ... add virtual tracks if neccessary, for bones that were altered but had no tracks before ...
@ -326,7 +284,6 @@ public class SimulationNode {
this.reset(); this.reset();
} }
} }
}
/** /**
* Applies constraints to the given bone and its children. * Applies constraints to the given bone and its children.
@ -338,11 +295,18 @@ public class SimulationNode {
* @param frame * @param frame
* the current frame of the animation * the current frame of the animation
*/ */
private void applyConstraints(Bone bone, Set<Long> alteredOmas, int frame) { private void applyConstraints(Bone bone, Set<Long> alteredOmas, Set<Long> applied, int frame) {
BoneContext boneContext = blenderContext.getBoneContext(bone); BoneContext boneContext = blenderContext.getBoneContext(bone);
if(!applied.contains(boneContext.getBoneOma())) {
List<Constraint> constraints = this.findConstraints(boneContext.getBoneOma(), blenderContext); List<Constraint> constraints = this.findConstraints(boneContext.getBoneOma(), blenderContext);
if (constraints != null && constraints.size() > 0) { if (constraints != null && constraints.size() > 0) {
// TODO: BEWARE OF INFINITE LOOPS !!!!!!!!!!!!!!!!!!!!!!!!!!
for (Constraint constraint : constraints) { for (Constraint constraint : constraints) {
if (constraint.getTargetOMA() != null && constraint.getTargetOMA() > 0L) {
// first apply constraints of the target bone
BoneContext targetBone = blenderContext.getBoneContext(constraint.getTargetOMA());
this.applyConstraints(targetBone.getBone(), alteredOmas, applied, frame);
}
constraint.apply(frame); constraint.apply(frame);
if (constraint.getAlteredOmas() != null) { if (constraint.getAlteredOmas() != null) {
alteredOmas.addAll(constraint.getAlteredOmas()); alteredOmas.addAll(constraint.getAlteredOmas());
@ -350,6 +314,15 @@ public class SimulationNode {
alteredOmas.add(boneContext.getBoneOma()); alteredOmas.add(boneContext.getBoneOma());
} }
} }
applied.add(boneContext.getBoneOma());
}
List<Bone> children = bone.getChildren();
if (children != null && children.size() > 0) {
for (Bone child : bone.getChildren()) {
this.applyConstraints(child, alteredOmas, applied, frame);
}
}
} }
/** /**
@ -364,150 +337,6 @@ public class SimulationNode {
} }
} }
/**
* Collects the bones that will take part in constraint computations.
* The result will not include bones whose constraints will not change them or are invalid.
* The bones are sorted so that the constraint applying is done in the proper order.
* @param skeleton
* the simulated skeleton
* @return a list of bones that will take part in constraints computations
*/
private List<Bone> collectBonesWithConstraints(Skeleton skeleton) {
Map<BoneContext, List<Constraint>> bonesWithConstraints = new HashMap<BoneContext, List<Constraint>>();
for (int i = 1; i < skeleton.getBoneCount(); ++i) {// ommit the 0 - indexed root bone as it is the bone added by importer
Bone bone = skeleton.getBone(i);
BoneContext boneContext = blenderContext.getBoneContext(bone);
List<Constraint> constraints = this.findConstraints(boneContext.getBoneOma(), blenderContext);
if (constraints != null && constraints.size() > 0) {
bonesWithConstraints.put(boneContext, constraints);
}
}
// first sort out constraints that are not implemented or invalid or will not affect the bone's tracks
List<BoneContext> bonesToRemove = new ArrayList<BoneContext>(bonesWithConstraints.size());
for (Entry<BoneContext, List<Constraint>> entry : bonesWithConstraints.entrySet()) {
List<Constraint> validConstraints = new ArrayList<Constraint>(entry.getValue().size());
for (Constraint constraint : entry.getValue()) {// TODO: sprawdziæ czy wprowadza jakiekolwiek zmiany
if (constraint.isImplemented() && constraint.validate() && constraint.isTrackToBeChanged()) {
validConstraints.add(constraint);
}
}
if (validConstraints.size() > 0) {
entry.setValue(validConstraints);
} else {
bonesToRemove.add(entry.getKey());
}
}
for (BoneContext boneContext : bonesToRemove) {
bonesWithConstraints.remove(boneContext);
}
List<BoneContext> bonesConstrainedWithoutTarget = new ArrayList<BoneContext>();
Set<Long> remainedOMAS = new HashSet<Long>();
// later move all bones with not dependant constraints to the front
bonesToRemove.clear();
for (Entry<BoneContext, List<Constraint>> entry : bonesWithConstraints.entrySet()) {
boolean hasDependantConstraints = false;
for (Constraint constraint : entry.getValue()) {
if (constraint.targetOMA != null) {
hasDependantConstraints = true;
break;
}
}
if (!hasDependantConstraints) {
bonesConstrainedWithoutTarget.add(entry.getKey());
bonesToRemove.add(entry.getKey());
} else {
remainedOMAS.add(entry.getKey().getBoneOma());
}
}
for (BoneContext boneContext : bonesToRemove) {
bonesWithConstraints.remove(boneContext);
}
this.sortBonesByChain(bonesConstrainedWithoutTarget);
// another step is to add those bones whose constraints depend only on bones already added to the result or to those
// that are not included neither in the result nor in the remaining map
// do this as long as bones are being moved to the result and the 'bonesWithConstraints' is not empty
List<BoneContext> bonesConstrainedWithTarget = new ArrayList<BoneContext>();
do {
bonesToRemove.clear();
for (Entry<BoneContext, List<Constraint>> entry : bonesWithConstraints.entrySet()) {
boolean unconstrainedBone = true;
for (Constraint constraint : entry.getValue()) {
if (remainedOMAS.contains(constraint.getTargetOMA())) {
unconstrainedBone = false;
break;
}
}
if (unconstrainedBone) {
bonesToRemove.add(entry.getKey());
bonesConstrainedWithTarget.add(entry.getKey());
}
}
for (BoneContext boneContext : bonesToRemove) {
bonesWithConstraints.remove(boneContext);
remainedOMAS.remove(boneContext.getBoneOma());
}
} while (bonesWithConstraints.size() > 0 && bonesToRemove.size() > 0);
this.sortBonesByChain(bonesConstrainedWithoutTarget);
// prepare the result
List<Bone> result = new ArrayList<Bone>();
for (BoneContext boneContext : bonesConstrainedWithoutTarget) {
result.add(boneContext.getBone());
}
for (BoneContext boneContext : bonesConstrainedWithTarget) {
result.add(boneContext.getBone());
}
// in the end prepare the mapping between bone OMA
if (bonesWithConstraints.size() > 0) {
LOGGER.warning("Some bones have loops in their constraints' definitions. The result might not be properly computed!");
for (BoneContext boneContext : bonesWithConstraints.keySet()) {
result.add(boneContext.getBone());
}
}
return result;
}
/**
* The method sorts the given bones from root to top.
* If the list contains bones from different branches then those branches will be listed
* one after another - which means that bones will be grouped by branches they belong to.
* @param bones
* a list of bones
*/
private void sortBonesByChain(List<BoneContext> bones) {
Map<BoneContext, List<BoneContext>> branches = new HashMap<BoneContext, List<BoneContext>>();
for (BoneContext bone : bones) {
BoneContext root = bone.getRoot();
List<BoneContext> list = branches.get(root);
if (list == null) {
list = new ArrayList<BoneContext>();
branches.put(root, list);
}
list.add(bone);
}
// sort the bones in each branch from root to leaf
bones.clear();
for (Entry<BoneContext, List<BoneContext>> entry : branches.entrySet()) {
Collections.sort(entry.getValue(), new Comparator<BoneContext>() {
@Override
public int compare(BoneContext o1, BoneContext o2) {
return o1.getDistanceFromRoot() - o2.getDistanceFromRoot();
}
});
bones.addAll(entry.getValue());
}
}
/** /**
* Computes the maximum frame and time for the animation. Different tracks * Computes the maximum frame and time for the animation. Different tracks
* can have different lengths so here the maximum one is being found. * can have different lengths so here the maximum one is being found.
@ -547,11 +376,10 @@ public class SimulationNode {
List<Constraint> constraints = blenderContext.getConstraints(ownerOMA); List<Constraint> constraints = blenderContext.getConstraints(ownerOMA);
if (constraints != null) { if (constraints != null) {
for (Constraint constraint : constraints) { for (Constraint constraint : constraints) {
if (constraint.isImplemented() && constraint.validate()) { if (constraint.isImplemented() && constraint.validate() && constraint.isTrackToBeChanged()) {
result.add(constraint); result.add(constraint);
} else {
LOGGER.log(Level.WARNING, "Constraint named: ''{0}'' of type ''{1}'' is not implemented and will NOT be applied!", new Object[] { constraint.name, constraint.getConstraintTypeName() });
} }
// TODO: add proper warnings to some map or set so that they are not logged on every frame
} }
} }
return result.size() > 0 ? result : null; return result.size() > 0 ? result : null;

55
jme3-blender/src/main/java/com/jme3/scene/plugins/blender/constraints/definitions/ConstraintDefinitionIK.java
View File

@ -6,13 +6,15 @@ import java.util.HashSet;
import java.util.List; import java.util.List;
import com.jme3.animation.Bone; import com.jme3.animation.Bone;
import com.jme3.math.Quaternion;
import com.jme3.math.Transform; import com.jme3.math.Transform;
import com.jme3.math.Vector3f; import com.jme3.math.Vector3f;
import com.jme3.scene.plugins.blender.BlenderContext; import com.jme3.scene.plugins.blender.BlenderContext;
import com.jme3.scene.plugins.blender.animations.BoneContext; import com.jme3.scene.plugins.blender.animations.BoneContext;
import com.jme3.scene.plugins.blender.constraints.ConstraintHelper.Space; import com.jme3.scene.plugins.blender.constraints.ConstraintHelper.Space;
import com.jme3.scene.plugins.blender.file.Structure; import com.jme3.scene.plugins.blender.file.Structure;
import com.jme3.scene.plugins.blender.math.DQuaternion;
import com.jme3.scene.plugins.blender.math.DTransform;
import com.jme3.scene.plugins.blender.math.Vector3d;
/** /**
* The Inverse Kinematics constraint. * The Inverse Kinematics constraint.
@ -28,7 +30,7 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
/** The number of affected bones. Zero means that all parent bones of the current bone should take part in baking. */ /** The number of affected bones. Zero means that all parent bones of the current bone should take part in baking. */
private int bonesAffected; private int bonesAffected;
/** The total length of the bone chain. Useful for optimisation of computations speed in some cases. */ /** The total length of the bone chain. Useful for optimisation of computations speed in some cases. */
private float chainLength; private double chainLength;
/** Indicates if the tail of the bone should be used or not. */ /** Indicates if the tail of the bone should be used or not. */
private boolean useTail; private boolean useTail;
/** The amount of iterations of the algorithm. */ /** The amount of iterations of the algorithm. */
@ -54,13 +56,13 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
if (influence == 0 || !trackToBeChanged || targetTransform == null) { if (influence == 0 || !trackToBeChanged || targetTransform == null) {
return;// no need to do anything return;// no need to do anything
} }
Quaternion q = new Quaternion(); DQuaternion q = new DQuaternion();
Vector3f t = targetTransform.getTranslation(); Vector3d t = new Vector3d(targetTransform.getTranslation());
List<BoneContext> bones = this.loadBones(); List<BoneContext> bones = this.loadBones();
if (bones.size() == 0) { if (bones.size() == 0) {
return;// no need to do anything return;// no need to do anything
} }
float distanceFromTarget = Float.MAX_VALUE; double distanceFromTarget = Double.MAX_VALUE;
int iterations = this.iterations; int iterations = this.iterations;
if (bones.size() == 1) { if (bones.size() == 1) {
@ -70,21 +72,21 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
// in this case only one iteration will be needed, computed from the root to top bone // in this case only one iteration will be needed, computed from the root to top bone
BoneContext rootBone = bones.get(bones.size() - 1); BoneContext rootBone = bones.get(bones.size() - 1);
Transform rootBoneTransform = constraintHelper.getTransform(rootBone.getArmatureObjectOMA(), rootBone.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD); Transform rootBoneTransform = constraintHelper.getTransform(rootBone.getArmatureObjectOMA(), rootBone.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD);
if (t.distance(rootBoneTransform.getTranslation()) >= chainLength) { if (t.distance(new Vector3d(rootBoneTransform.getTranslation())) >= chainLength) {
Collections.reverse(bones); Collections.reverse(bones);
for (BoneContext boneContext : bones) { for (BoneContext boneContext : bones) {
Bone bone = boneContext.getBone(); Bone bone = boneContext.getBone();
Transform boneTransform = constraintHelper.getTransform(boneContext.getArmatureObjectOMA(), bone.getName(), Space.CONSTRAINT_SPACE_WORLD); DTransform boneTransform = new DTransform(constraintHelper.getTransform(boneContext.getArmatureObjectOMA(), bone.getName(), Space.CONSTRAINT_SPACE_WORLD));
Vector3f e = boneTransform.getTranslation().add(boneTransform.getRotation().mult(Vector3f.UNIT_Y).multLocal(boneContext.getLength()));// effector Vector3d e = boneTransform.getTranslation().add(boneTransform.getRotation().mult(Vector3d.UNIT_Y).multLocal(boneContext.getLength()));// effector
Vector3f j = boneTransform.getTranslation(); // current join position Vector3d j = boneTransform.getTranslation(); // current join position
Vector3f currentDir = e.subtractLocal(j).normalizeLocal(); Vector3d currentDir = e.subtractLocal(j).normalizeLocal();
Vector3f target = t.subtract(j).normalizeLocal(); Vector3d target = t.subtract(j).normalizeLocal();
float angle = currentDir.angleBetween(target); double angle = currentDir.angleBetween(target);
if (angle != 0) { if (angle != 0) {
Vector3f cross = currentDir.crossLocal(target).normalizeLocal(); Vector3d cross = currentDir.crossLocal(target).normalizeLocal();
q.fromAngleAxis(angle, cross); q.fromAngleAxis(angle, cross);
if (boneContext.isLockX()) { if (boneContext.isLockX()) {
q.set(0, q.getY(), q.getZ(), q.getW()); q.set(0, q.getY(), q.getZ(), q.getW());
@ -97,7 +99,7 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
} }
boneTransform.getRotation().set(q.multLocal(boneTransform.getRotation())); boneTransform.getRotation().set(q.multLocal(boneTransform.getRotation()));
constraintHelper.applyTransform(boneContext.getArmatureObjectOMA(), bone.getName(), Space.CONSTRAINT_SPACE_WORLD, boneTransform); constraintHelper.applyTransform(boneContext.getArmatureObjectOMA(), bone.getName(), Space.CONSTRAINT_SPACE_WORLD, boneTransform.toTransform());
} }
} }
@ -109,17 +111,17 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
for (int i = 0; i < iterations && distanceFromTarget > MIN_DISTANCE; ++i) { for (int i = 0; i < iterations && distanceFromTarget > MIN_DISTANCE; ++i) {
for (BoneContext boneContext : bones) { for (BoneContext boneContext : bones) {
Bone bone = boneContext.getBone(); Bone bone = boneContext.getBone();
Transform topBoneTransform = constraintHelper.getTransform(topBone.getArmatureObjectOMA(), topBone.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD); DTransform topBoneTransform = new DTransform(constraintHelper.getTransform(topBone.getArmatureObjectOMA(), topBone.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD));
Transform boneWorldTransform = constraintHelper.getTransform(boneContext.getArmatureObjectOMA(), bone.getName(), Space.CONSTRAINT_SPACE_WORLD); DTransform boneWorldTransform = new DTransform(constraintHelper.getTransform(boneContext.getArmatureObjectOMA(), bone.getName(), Space.CONSTRAINT_SPACE_WORLD));
Vector3f e = topBoneTransform.getTranslation().addLocal(topBoneTransform.getRotation().mult(Vector3f.UNIT_Y).multLocal(topBone.getLength()));// effector Vector3d e = topBoneTransform.getTranslation().addLocal(topBoneTransform.getRotation().mult(Vector3d.UNIT_Y).multLocal(topBone.getLength()));// effector
Vector3f j = boneWorldTransform.getTranslation(); // current join position Vector3d j = boneWorldTransform.getTranslation(); // current join position
Vector3f currentDir = e.subtractLocal(j).normalizeLocal(); Vector3d currentDir = e.subtractLocal(j).normalizeLocal();
Vector3f target = t.subtract(j).normalizeLocal(); Vector3d target = t.subtract(j).normalizeLocal();
float angle = currentDir.angleBetween(target); double angle = currentDir.angleBetween(target);
if (angle != 0) { if (angle != 0) {
Vector3f cross = currentDir.crossLocal(target).normalizeLocal(); Vector3d cross = currentDir.crossLocal(target).normalizeLocal();
q.fromAngleAxis(angle, cross); q.fromAngleAxis(angle, cross);
if (boneContext.isLockX()) { if (boneContext.isLockX()) {
@ -133,12 +135,15 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
} }
boneWorldTransform.getRotation().set(q.multLocal(boneWorldTransform.getRotation())); boneWorldTransform.getRotation().set(q.multLocal(boneWorldTransform.getRotation()));
constraintHelper.applyTransform(boneContext.getArmatureObjectOMA(), bone.getName(), Space.CONSTRAINT_SPACE_WORLD, boneWorldTransform); constraintHelper.applyTransform(boneContext.getArmatureObjectOMA(), bone.getName(), Space.CONSTRAINT_SPACE_WORLD, boneWorldTransform.toTransform());
} else {
iterations = 0;
break;
} }
} }
Transform topBoneTransform = constraintHelper.getTransform(topBone.getArmatureObjectOMA(), topBone.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD); DTransform topBoneTransform = new DTransform(constraintHelper.getTransform(topBone.getArmatureObjectOMA(), topBone.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD));
Vector3f e = topBoneTransform.getTranslation().addLocal(topBoneTransform.getRotation().mult(Vector3f.UNIT_Y).multLocal(topBone.getLength()));// effector Vector3d e = topBoneTransform.getTranslation().addLocal(topBoneTransform.getRotation().mult(Vector3d.UNIT_Y).multLocal(topBone.getLength()));// effector
distanceFromTarget = e.distance(t); distanceFromTarget = e.distance(t);
} }
} }

453
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@ -0,0 +1,453 @@
/*
* Copyright (c) 2009-2012 jMonkeyEngine
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions 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 'jMonkeyEngine' nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package com.jme3.scene.plugins.blender.math;
import java.io.IOException;
import com.jme3.export.InputCapsule;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.export.Savable;
import com.jme3.math.Quaternion;
/**
* <code>DQuaternion</code> defines a single example of a more general class of
* hypercomplex numbers. DQuaternions extends a rotation in three dimensions to a
* rotation in four dimensions. This avoids "gimbal lock" and allows for smooth
* continuous rotation.
*
* <code>DQuaternion</code> is defined by four double point numbers: {x y z w}.
*
* This class's only purpose is to give better accuracy in floating point operations during computations.
* This is made by copying the original Quaternion class from jme3 core and leaving only required methods and basic computation methods, so that
* the class is smaller and easier to maintain.
* Should any other methods be needed, they will be added.
*
* @author Mark Powell
* @author Joshua Slack
* @author Marcin Roguski (Kaelthas)
*/
public final class DQuaternion implements Savable, Cloneable, java.io.Serializable {
private static final long serialVersionUID = 5009180713885017539L;
/**
* Represents the identity quaternion rotation (0, 0, 0, 1).
*/
public static final DQuaternion IDENTITY = new DQuaternion();
public static final DQuaternion DIRECTION_Z = new DQuaternion();
public static final DQuaternion ZERO = new DQuaternion(0, 0, 0, 0);
protected double x, y, z, w = 1;
/**
* Constructor instantiates a new <code>DQuaternion</code> object
* initializing all values to zero, except w which is initialized to 1.
*
*/
public DQuaternion() {
}
/**
* Constructor instantiates a new <code>DQuaternion</code> object from the
* given list of parameters.
*
* @param x
* the x value of the quaternion.
* @param y
* the y value of the quaternion.
* @param z
* the z value of the quaternion.
* @param w
* the w value of the quaternion.
*/
public DQuaternion(double x, double y, double z, double w) {
this.set(x, y, z, w);
}
public DQuaternion(Quaternion q) {
this(q.getX(), q.getY(), q.getZ(), q.getW());
}
public Quaternion toQuaternion() {
return new Quaternion((float) x, (float) y, (float) z, (float) w);
}
public double getX() {
return x;
}
public double getY() {
return y;
}
public double getZ() {
return z;
}
public double getW() {
return w;
}
/**
* sets the data in a <code>DQuaternion</code> object from the given list
* of parameters.
*
* @param x
* the x value of the quaternion.
* @param y
* the y value of the quaternion.
* @param z
* the z value of the quaternion.
* @param w
* the w value of the quaternion.
* @return this
*/
public DQuaternion set(double x, double y, double z, double w) {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
return this;
}
/**
* Sets the data in this <code>DQuaternion</code> object to be equal to the
* passed <code>DQuaternion</code> object. The values are copied producing
* a new object.
*
* @param q
* The DQuaternion to copy values from.
* @return this
*/
public DQuaternion set(DQuaternion q) {
x = q.x;
y = q.y;
z = q.z;
w = q.w;
return this;
}
/**
* Sets this DQuaternion to {0, 0, 0, 1}. Same as calling set(0,0,0,1).
*/
public void loadIdentity() {
x = y = z = 0;
w = 1;
}
/**
* <code>fromAngleAxis</code> sets this quaternion to the values specified
* by an angle and an axis of rotation. This method creates an object, so
* use fromAngleNormalAxis if your axis is already normalized.
*
* @param angle
* the angle to rotate (in radians).
* @param axis
* the axis of rotation.
* @return this quaternion
*/
public DQuaternion fromAngleAxis(double angle, Vector3d axis) {
Vector3d normAxis = axis.normalize();
this.fromAngleNormalAxis(angle, normAxis);
return this;
}
/**
* <code>fromAngleNormalAxis</code> sets this quaternion to the values
* specified by an angle and a normalized axis of rotation.
*
* @param angle
* the angle to rotate (in radians).
* @param axis
* the axis of rotation (already normalized).
*/
public DQuaternion fromAngleNormalAxis(double angle, Vector3d axis) {
if (axis.x == 0 && axis.y == 0 && axis.z == 0) {
this.loadIdentity();
} else {
double halfAngle = 0.5f * angle;
double sin = Math.sin(halfAngle);
w = Math.cos(halfAngle);
x = sin * axis.x;
y = sin * axis.y;
z = sin * axis.z;
}
return this;
}
/**
* <code>add</code> adds the values of this quaternion to those of the
* parameter quaternion. The result is returned as a new quaternion.
*
* @param q
* the quaternion to add to this.
* @return the new quaternion.
*/
public DQuaternion add(DQuaternion q) {
return new DQuaternion(x + q.x, y + q.y, z + q.z, w + q.w);
}
/**
* <code>add</code> adds the values of this quaternion to those of the
* parameter quaternion. The result is stored in this DQuaternion.
*
* @param q
* the quaternion to add to this.
* @return This DQuaternion after addition.
*/
public DQuaternion addLocal(DQuaternion q) {
x += q.x;
y += q.y;
z += q.z;
w += q.w;
return this;
}
/**
* <code>subtract</code> subtracts the values of the parameter quaternion
* from those of this quaternion. The result is returned as a new
* quaternion.
*
* @param q
* the quaternion to subtract from this.
* @return the new quaternion.
*/
public DQuaternion subtract(DQuaternion q) {
return new DQuaternion(x - q.x, y - q.y, z - q.z, w - q.w);
}
/**
* <code>subtract</code> subtracts the values of the parameter quaternion
* from those of this quaternion. The result is stored in this DQuaternion.
*
* @param q
* the quaternion to subtract from this.
* @return This DQuaternion after subtraction.
*/
public DQuaternion subtractLocal(DQuaternion q) {
x -= q.x;
y -= q.y;
z -= q.z;
w -= q.w;
return this;
}
/**
* <code>mult</code> multiplies this quaternion by a parameter quaternion.
* The result is returned as a new quaternion. It should be noted that
* quaternion multiplication is not commutative so q * p != p * q.
*
* @param q
* the quaternion to multiply this quaternion by.
* @return the new quaternion.
*/
public DQuaternion mult(DQuaternion q) {
return this.mult(q, null);
}
/**
* <code>mult</code> multiplies this quaternion by a parameter quaternion.
* The result is returned as a new quaternion. It should be noted that
* quaternion multiplication is not commutative so q * p != p * q.
*
* It IS safe for q and res to be the same object.
* It IS NOT safe for this and res to be the same object.
*
* @param q
* the quaternion to multiply this quaternion by.
* @param res
* the quaternion to store the result in.
* @return the new quaternion.
*/
public DQuaternion mult(DQuaternion q, DQuaternion res) {
if (res == null) {
res = new DQuaternion();
}
double qw = q.w, qx = q.x, qy = q.y, qz = q.z;
res.x = x * qw + y * qz - z * qy + w * qx;
res.y = -x * qz + y * qw + z * qx + w * qy;
res.z = x * qy - y * qx + z * qw + w * qz;
res.w = -x * qx - y * qy - z * qz + w * qw;
return res;
}
/**
* <code>mult</code> multiplies this quaternion by a parameter vector. The
* result is returned as a new vector.
*
* @param v
* the vector to multiply this quaternion by.
* @return the new vector.
*/
public Vector3d mult(Vector3d v) {
return this.mult(v, null);
}
/**
* Multiplies this DQuaternion by the supplied quaternion. The result is
* stored in this DQuaternion, which is also returned for chaining. Similar
* to this *= q.
*
* @param q
* The DQuaternion to multiply this one by.
* @return This DQuaternion, after multiplication.
*/
public DQuaternion multLocal(DQuaternion q) {
double x1 = x * q.w + y * q.z - z * q.y + w * q.x;
double y1 = -x * q.z + y * q.w + z * q.x + w * q.y;
double z1 = x * q.y - y * q.x + z * q.w + w * q.z;
w = -x * q.x - y * q.y - z * q.z + w * q.w;
x = x1;
y = y1;
z = z1;
return this;
}
/**
* <code>mult</code> multiplies this quaternion by a parameter vector. The
* result is returned as a new vector.
*
* @param v
* the vector to multiply this quaternion by.
* @param store
* the vector to store the result in. It IS safe for v and store
* to be the same object.
* @return the result vector.
*/
public Vector3d mult(Vector3d v, Vector3d store) {
if (store == null) {
store = new Vector3d();
}
if (v.x == 0 && v.y == 0 && v.z == 0) {
store.set(0, 0, 0);
} else {
double vx = v.x, vy = v.y, vz = v.z;
store.x = w * w * vx + 2 * y * w * vz - 2 * z * w * vy + x * x * vx + 2 * y * x * vy + 2 * z * x * vz - z * z * vx - y * y * vx;
store.y = 2 * x * y * vx + y * y * vy + 2 * z * y * vz + 2 * w * z * vx - z * z * vy + w * w * vy - 2 * x * w * vz - x * x * vy;
store.z = 2 * x * z * vx + 2 * y * z * vy + z * z * vz - 2 * w * y * vx - y * y * vz + 2 * w * x * vy - x * x * vz + w * w * vz;
}
return store;
}
/**
*
* <code>toString</code> creates the string representation of this <code>DQuaternion</code>. The values of the quaternion are displaced (x,
* y, z, w), in the following manner: <br>
* (x, y, z, w)
*
* @return the string representation of this object.
* @see java.lang.Object#toString()
*/
@Override
public String toString() {
return "(" + x + ", " + y + ", " + z + ", " + w + ")";
}
/**
* <code>equals</code> determines if two quaternions are logically equal,
* that is, if the values of (x, y, z, w) are the same for both quaternions.
*
* @param o
* the object to compare for equality
* @return true if they are equal, false otherwise.
*/
@Override
public boolean equals(Object o) {
if (!(o instanceof DQuaternion)) {
return false;
}
if (this == o) {
return true;
}
DQuaternion comp = (DQuaternion) o;
if (Double.compare(x, comp.x) != 0) {
return false;
}
if (Double.compare(y, comp.y) != 0) {
return false;
}
if (Double.compare(z, comp.z) != 0) {
return false;
}
if (Double.compare(w, comp.w) != 0) {
return false;
}
return true;
}
/**
*
* <code>hashCode</code> returns the hash code value as an integer and is
* supported for the benefit of hashing based collection classes such as
* Hashtable, HashMap, HashSet etc.
*
* @return the hashcode for this instance of DQuaternion.
* @see java.lang.Object#hashCode()
*/
@Override
public int hashCode() {
long hash = 37;
hash = 37 * hash + Double.doubleToLongBits(x);
hash = 37 * hash + Double.doubleToLongBits(y);
hash = 37 * hash + Double.doubleToLongBits(z);
hash = 37 * hash + Double.doubleToLongBits(w);
return (int) hash;
}
public void write(JmeExporter e) throws IOException {
OutputCapsule cap = e.getCapsule(this);
cap.write(x, "x", 0);
cap.write(y, "y", 0);
cap.write(z, "z", 0);
cap.write(w, "w", 1);
}
public void read(JmeImporter e) throws IOException {
InputCapsule cap = e.getCapsule(this);
x = cap.readFloat("x", 0);
y = cap.readFloat("y", 0);
z = cap.readFloat("z", 0);
w = cap.readFloat("w", 1);
}
@Override
public DQuaternion clone() {
try {
return (DQuaternion) super.clone();
} catch (CloneNotSupportedException e) {
throw new AssertionError(); // can not happen
}
}
}

170
jme3-blender/src/main/java/com/jme3/scene/plugins/blender/math/DTransform.java Normal file
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@ -0,0 +1,170 @@
/*
* Copyright (c) 2009-2012 jMonkeyEngine
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions 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 'jMonkeyEngine' nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package com.jme3.scene.plugins.blender.math;
import com.jme3.export.*;
import com.jme3.math.Transform;
import java.io.IOException;
/**
* Started Date: Jul 16, 2004<br>
* <br>
* Represents a translation, rotation and scale in one object.
*
* This class's only purpose is to give better accuracy in floating point operations during computations.
* This is made by copying the original Transfrom class from jme3 core and removing unnecessary methods so that
* the class is smaller and easier to maintain.
* Should any other methods be needed, they will be added.
*
* @author Jack Lindamood
* @author Joshua Slack
* @author Marcin Roguski (Kaelthas)
*/
public final class DTransform implements Savable, Cloneable, java.io.Serializable {
private static final long serialVersionUID = 7812915425940606722L;
private DQuaternion rotation;
private Vector3d translation;
private Vector3d scale;
public DTransform(Transform transform) {
translation = new Vector3d(transform.getTranslation());
rotation = new DQuaternion(transform.getRotation());
scale = new Vector3d(transform.getScale());
}
public Transform toTransform() {
return new Transform(translation.toVector3f(), rotation.toQuaternion(), scale.toVector3f());
}
/**
* Sets this translation to the given value.
* @param trans
* The new translation for this matrix.
* @return this
*/
public DTransform setTranslation(Vector3d trans) {
translation.set(trans);
return this;
}
/**
* Sets this rotation to the given DQuaternion value.
* @param rot
* The new rotation for this matrix.
* @return this
*/
public DTransform setRotation(DQuaternion rot) {
rotation.set(rot);
return this;
}
/**
* Sets this scale to the given value.
* @param scale
* The new scale for this matrix.
* @return this
*/
public DTransform setScale(Vector3d scale) {
this.scale.set(scale);
return this;
}
/**
* Sets this scale to the given value.
* @param scale
* The new scale for this matrix.
* @return this
*/
public DTransform setScale(float scale) {
this.scale.set(scale, scale, scale);
return this;
}
/**
* Return the translation vector in this matrix.
* @return translation vector.
*/
public Vector3d getTranslation() {
return translation;
}
/**
* Return the rotation quaternion in this matrix.
* @return rotation quaternion.
*/
public DQuaternion getRotation() {
return rotation;
}
/**
* Return the scale vector in this matrix.
* @return scale vector.
*/
public Vector3d getScale() {
return scale;
}
@Override
public String toString() {
return this.getClass().getSimpleName() + "[ " + translation.x + ", " + translation.y + ", " + translation.z + "]\n" + "[ " + rotation.x + ", " + rotation.y + ", " + rotation.z + ", " + rotation.w + "]\n" + "[ " + scale.x + " , " + scale.y + ", " + scale.z + "]";
}
public void write(JmeExporter e) throws IOException {
OutputCapsule capsule = e.getCapsule(this);
capsule.write(rotation, "rot", new DQuaternion());
capsule.write(translation, "translation", Vector3d.ZERO);
capsule.write(scale, "scale", Vector3d.UNIT_XYZ);
}
public void read(JmeImporter e) throws IOException {
InputCapsule capsule = e.getCapsule(this);
rotation = (DQuaternion) capsule.readSavable("rot", new DQuaternion());
translation = (Vector3d) capsule.readSavable("translation", Vector3d.ZERO);
scale = (Vector3d) capsule.readSavable("scale", Vector3d.UNIT_XYZ);
}
@Override
public DTransform clone() {
try {
DTransform tq = (DTransform) super.clone();
tq.rotation = rotation.clone();
tq.scale = scale.clone();
tq.translation = translation.clone();
return tq;
} catch (CloneNotSupportedException e) {
throw new AssertionError();
}
}
}

867
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@ -0,0 +1,867 @@
/*
* Copyright (c) 2009-2012 jMonkeyEngine
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions 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 'jMonkeyEngine' nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package com.jme3.scene.plugins.blender.math;
import java.io.IOException;
import java.io.Serializable;
import java.util.logging.Logger;
import com.jme3.export.InputCapsule;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.export.Savable;
import com.jme3.math.FastMath;
import com.jme3.math.Vector3f;
/*
* -- Added *Local methods to cut down on object creation - JS
*/
/**
* <code>Vector3d</code> defines a Vector for a three float value tuple. <code>Vector3d</code> can represent any three dimensional value, such as a
* vertex, a normal, etc. Utility methods are also included to aid in
* mathematical calculations.
*
* This class's only purpose is to give better accuracy in floating point operations during computations.
* This is made by copying the original Vector3f class from jme3 core and leaving only required methods and basic computation methods, so that
* the class is smaller and easier to maintain.
* Should any other methods be needed, they will be added.
*
* @author Mark Powell
* @author Joshua Slack
* @author Marcin Roguski (Kaelthas)
*/
public final class Vector3d implements Savable, Cloneable, Serializable {
private static final long serialVersionUID = 3090477054277293078L;
private static final Logger LOGGER = Logger.getLogger(Vector3d.class.getName());
public final static Vector3d ZERO = new Vector3d();
public final static Vector3d UNIT_XYZ = new Vector3d(1, 1, 1);
public final static Vector3d UNIT_X = new Vector3d(1, 0, 0);
public final static Vector3d UNIT_Y = new Vector3d(0, 1, 0);
public final static Vector3d UNIT_Z = new Vector3d(0, 0, 1);
/**
* the x value of the vector.
*/
public double x;
/**
* the y value of the vector.
*/
public double y;
/**
* the z value of the vector.
*/
public double z;
/**
* Constructor instantiates a new <code>Vector3d</code> with default
* values of (0,0,0).
*
*/
public Vector3d() {
}
/**
* Constructor instantiates a new <code>Vector3d</code> with provides
* values.
*
* @param x
* the x value of the vector.
* @param y
* the y value of the vector.
* @param z
* the z value of the vector.
*/
public Vector3d(double x, double y, double z) {
this.x = x;
this.y = y;
this.z = z;
}
/**
* Constructor instantiates a new <code>Vector3d</code> that is a copy
* of the provided vector
* @param copy
* The Vector3d to copy
*/
public Vector3d(Vector3f vector3f) {
this(vector3f.x, vector3f.y, vector3f.z);
}
public Vector3f toVector3f() {
return new Vector3f((float) x, (float) y, (float) z);
}
/**
* <code>set</code> sets the x,y,z values of the vector based on passed
* parameters.
*
* @param x
* the x value of the vector.
* @param y
* the y value of the vector.
* @param z
* the z value of the vector.
* @return this vector
*/
public Vector3d set(double x, double y, double z) {
this.x = x;
this.y = y;
this.z = z;
return this;
}
/**
* <code>set</code> sets the x,y,z values of the vector by copying the
* supplied vector.
*
* @param vect
* the vector to copy.
* @return this vector
*/
public Vector3d set(Vector3d vect) {
return this.set(vect.x, vect.y, vect.z);
}
/**
*
* <code>add</code> adds a provided vector to this vector creating a
* resultant vector which is returned. If the provided vector is null, null
* is returned.
*
* @param vec
* the vector to add to this.
* @return the resultant vector.
*/
public Vector3d add(Vector3d vec) {
if (null == vec) {
LOGGER.warning("Provided vector is null, null returned.");
return null;
}
return new Vector3d(x + vec.x, y + vec.y, z + vec.z);
}
/**
*
* <code>add</code> adds the values of a provided vector storing the
* values in the supplied vector.
*
* @param vec
* the vector to add to this
* @param result
* the vector to store the result in
* @return result returns the supplied result vector.
*/
public Vector3d add(Vector3d vec, Vector3d result) {
result.x = x + vec.x;
result.y = y + vec.y;
result.z = z + vec.z;
return result;
}
/**
* <code>addLocal</code> adds a provided vector to this vector internally,
* and returns a handle to this vector for easy chaining of calls. If the
* provided vector is null, null is returned.
*
* @param vec
* the vector to add to this vector.
* @return this
*/
public Vector3d addLocal(Vector3d vec) {
if (null == vec) {
LOGGER.warning("Provided vector is null, null returned.");
return null;
}
x += vec.x;
y += vec.y;
z += vec.z;
return this;
}
/**
*
* <code>add</code> adds the provided values to this vector, creating a
* new vector that is then returned.
*
* @param addX
* the x value to add.
* @param addY
* the y value to add.
* @param addZ
* the z value to add.
* @return the result vector.
*/
public Vector3d add(double addX, double addY, double addZ) {
return new Vector3d(x + addX, y + addY, z + addZ);
}
/**
* <code>addLocal</code> adds the provided values to this vector
* internally, and returns a handle to this vector for easy chaining of
* calls.
*
* @param addX
* value to add to x
* @param addY
* value to add to y
* @param addZ
* value to add to z
* @return this
*/
public Vector3d addLocal(double addX, double addY, double addZ) {
x += addX;
y += addY;
z += addZ;
return this;
}
/**
*
* <code>scaleAdd</code> multiplies this vector by a scalar then adds the
* given Vector3d.
*
* @param scalar
* the value to multiply this vector by.
* @param add
* the value to add
*/
public Vector3d scaleAdd(double scalar, Vector3d add) {
x = x * scalar + add.x;
y = y * scalar + add.y;
z = z * scalar + add.z;
return this;
}
/**
*
* <code>scaleAdd</code> multiplies the given vector by a scalar then adds
* the given vector.
*
* @param scalar
* the value to multiply this vector by.
* @param mult
* the value to multiply the scalar by
* @param add
* the value to add
*/
public Vector3d scaleAdd(double scalar, Vector3d mult, Vector3d add) {
x = mult.x * scalar + add.x;
y = mult.y * scalar + add.y;
z = mult.z * scalar + add.z;
return this;
}
/**
*
* <code>dot</code> calculates the dot product of this vector with a
* provided vector. If the provided vector is null, 0 is returned.
*
* @param vec
* the vector to dot with this vector.
* @return the resultant dot product of this vector and a given vector.
*/
public double dot(Vector3d vec) {
if (null == vec) {
LOGGER.warning("Provided vector is null, 0 returned.");
return 0;
}
return x * vec.x + y * vec.y + z * vec.z;
}
/**
* <code>cross</code> calculates the cross product of this vector with a
* parameter vector v.
*
* @param v
* the vector to take the cross product of with this.
* @return the cross product vector.
*/
public Vector3d cross(Vector3d v) {
return this.cross(v, null);
}
/**
* <code>cross</code> calculates the cross product of this vector with a
* parameter vector v. The result is stored in <code>result</code>
*
* @param v
* the vector to take the cross product of with this.
* @param result
* the vector to store the cross product result.
* @return result, after recieving the cross product vector.
*/
public Vector3d cross(Vector3d v, Vector3d result) {
return this.cross(v.x, v.y, v.z, result);
}
/**
* <code>cross</code> calculates the cross product of this vector with a
* parameter vector v. The result is stored in <code>result</code>
*
* @param otherX
* x component of the vector to take the cross product of with this.
* @param otherY
* y component of the vector to take the cross product of with this.
* @param otherZ
* z component of the vector to take the cross product of with this.
* @param result
* the vector to store the cross product result.
* @return result, after recieving the cross product vector.
*/
public Vector3d cross(double otherX, double otherY, double otherZ, Vector3d result) {
if (result == null) {
result = new Vector3d();
}
double resX = y * otherZ - z * otherY;
double resY = z * otherX - x * otherZ;
double resZ = x * otherY - y * otherX;
result.set(resX, resY, resZ);
return result;
}
/**
* <code>crossLocal</code> calculates the cross product of this vector
* with a parameter vector v.
*
* @param v
* the vector to take the cross product of with this.
* @return this.
*/
public Vector3d crossLocal(Vector3d v) {
return this.crossLocal(v.x, v.y, v.z);
}
/**
* <code>crossLocal</code> calculates the cross product of this vector
* with a parameter vector v.
*
* @param otherX
* x component of the vector to take the cross product of with this.
* @param otherY
* y component of the vector to take the cross product of with this.
* @param otherZ
* z component of the vector to take the cross product of with this.
* @return this.
*/
public Vector3d crossLocal(double otherX, double otherY, double otherZ) {
double tempx = y * otherZ - z * otherY;
double tempy = z * otherX - x * otherZ;
z = x * otherY - y * otherX;
x = tempx;
y = tempy;
return this;
}
/**
* <code>length</code> calculates the magnitude of this vector.
*
* @return the length or magnitude of the vector.
*/
public double length() {
return Math.sqrt(this.lengthSquared());
}
/**
* <code>lengthSquared</code> calculates the squared value of the
* magnitude of the vector.
*
* @return the magnitude squared of the vector.
*/
public double lengthSquared() {
return x * x + y * y + z * z;
}
/**
* <code>distanceSquared</code> calculates the distance squared between
* this vector and vector v.
*
* @param v
* the second vector to determine the distance squared.
* @return the distance squared between the two vectors.
*/
public double distanceSquared(Vector3d v) {
double dx = x - v.x;
double dy = y - v.y;
double dz = z - v.z;
return dx * dx + dy * dy + dz * dz;
}
/**
* <code>distance</code> calculates the distance between this vector and
* vector v.
*
* @param v
* the second vector to determine the distance.
* @return the distance between the two vectors.
*/
public double distance(Vector3d v) {
return Math.sqrt(this.distanceSquared(v));
}
/**
*
* <code>mult</code> multiplies this vector by a scalar. The resultant
* vector is returned.
*
* @param scalar
* the value to multiply this vector by.
* @return the new vector.
*/
public Vector3d mult(double scalar) {
return new Vector3d(x * scalar, y * scalar, z * scalar);
}
/**
*
* <code>mult</code> multiplies this vector by a scalar. The resultant
* vector is supplied as the second parameter and returned.
*
* @param scalar
* the scalar to multiply this vector by.
* @param product
* the product to store the result in.
* @return product
*/
public Vector3d mult(double scalar, Vector3d product) {
if (null == product) {
product = new Vector3d();
}
product.x = x * scalar;
product.y = y * scalar;
product.z = z * scalar;
return product;
}
/**
* <code>multLocal</code> multiplies this vector by a scalar internally,
* and returns a handle to this vector for easy chaining of calls.
*
* @param scalar
* the value to multiply this vector by.
* @return this
*/
public Vector3d multLocal(double scalar) {
x *= scalar;
y *= scalar;
z *= scalar;
return this;
}
/**
* <code>multLocal</code> multiplies a provided vector to this vector
* internally, and returns a handle to this vector for easy chaining of
* calls. If the provided vector is null, null is returned.
*
* @param vec
* the vector to mult to this vector.
* @return this
*/
public Vector3d multLocal(Vector3d vec) {
if (null == vec) {
LOGGER.warning("Provided vector is null, null returned.");
return null;
}
x *= vec.x;
y *= vec.y;
z *= vec.z;
return this;
}
/**
* <code>multLocal</code> multiplies this vector by 3 scalars
* internally, and returns a handle to this vector for easy chaining of
* calls.
*
* @param x
* @param y
* @param z
* @return this
*/
public Vector3d multLocal(double x, double y, double z) {
this.x *= x;
this.y *= y;
this.z *= z;
return this;
}
/**
* <code>multLocal</code> multiplies a provided vector to this vector
* internally, and returns a handle to this vector for easy chaining of
* calls. If the provided vector is null, null is returned.
*
* @param vec
* the vector to mult to this vector.
* @return this
*/
public Vector3d mult(Vector3d vec) {
if (null == vec) {
LOGGER.warning("Provided vector is null, null returned.");
return null;
}
return this.mult(vec, null);
}
/**
* <code>multLocal</code> multiplies a provided vector to this vector
* internally, and returns a handle to this vector for easy chaining of
* calls. If the provided vector is null, null is returned.
*
* @param vec
* the vector to mult to this vector.
* @param store
* result vector (null to create a new vector)
* @return this
*/
public Vector3d mult(Vector3d vec, Vector3d store) {
if (null == vec) {
LOGGER.warning("Provided vector is null, null returned.");
return null;
}
if (store == null) {
store = new Vector3d();
}
return store.set(x * vec.x, y * vec.y, z * vec.z);
}
/**
* <code>divide</code> divides the values of this vector by a scalar and
* returns the result. The values of this vector remain untouched.
*
* @param scalar
* the value to divide this vectors attributes by.
* @return the result <code>Vector</code>.
*/
public Vector3d divide(double scalar) {
scalar = 1f / scalar;
return new Vector3d(x * scalar, y * scalar, z * scalar);
}
/**
* <code>divideLocal</code> divides this vector by a scalar internally,
* and returns a handle to this vector for easy chaining of calls. Dividing
* by zero will result in an exception.
*
* @param scalar
* the value to divides this vector by.
* @return this
*/
public Vector3d divideLocal(double scalar) {
scalar = 1f / scalar;
x *= scalar;
y *= scalar;
z *= scalar;
return this;
}
/**
* <code>divide</code> divides the values of this vector by a scalar and
* returns the result. The values of this vector remain untouched.
*
* @param scalar
* the value to divide this vectors attributes by.
* @return the result <code>Vector</code>.
*/
public Vector3d divide(Vector3d scalar) {
return new Vector3d(x / scalar.x, y / scalar.y, z / scalar.z);
}
/**
* <code>divideLocal</code> divides this vector by a scalar internally,
* and returns a handle to this vector for easy chaining of calls. Dividing
* by zero will result in an exception.
*
* @param scalar
* the value to divides this vector by.
* @return this
*/
public Vector3d divideLocal(Vector3d scalar) {
x /= scalar.x;
y /= scalar.y;
z /= scalar.z;
return this;
}
/**
*
* <code>negate</code> returns the negative of this vector. All values are
* negated and set to a new vector.
*
* @return the negated vector.
*/
public Vector3d negate() {
return new Vector3d(-x, -y, -z);
}
/**
*
* <code>negateLocal</code> negates the internal values of this vector.
*
* @return this.
*/
public Vector3d negateLocal() {
x = -x;
y = -y;
z = -z;
return this;
}
/**
*
* <code>subtract</code> subtracts the values of a given vector from those
* of this vector creating a new vector object. If the provided vector is
* null, null is returned.
*
* @param vec
* the vector to subtract from this vector.
* @return the result vector.
*/
public Vector3d subtract(Vector3d vec) {
return new Vector3d(x - vec.x, y - vec.y, z - vec.z);
}
/**
* <code>subtractLocal</code> subtracts a provided vector to this vector
* internally, and returns a handle to this vector for easy chaining of
* calls. If the provided vector is null, null is returned.
*
* @param vec
* the vector to subtract
* @return this
*/
public Vector3d subtractLocal(Vector3d vec) {
if (null == vec) {
LOGGER.warning("Provided vector is null, null returned.");
return null;
}
x -= vec.x;
y -= vec.y;
z -= vec.z;
return this;
}
/**
*
* <code>subtract</code>
*
* @param vec
* the vector to subtract from this
* @param result
* the vector to store the result in
* @return result
*/
public Vector3d subtract(Vector3d vec, Vector3d result) {
if (result == null) {
result = new Vector3d();
}
result.x = x - vec.x;
result.y = y - vec.y;
result.z = z - vec.z;
return result;
}
/**
*
* <code>subtract</code> subtracts the provided values from this vector,
* creating a new vector that is then returned.
*
* @param subtractX
* the x value to subtract.
* @param subtractY
* the y value to subtract.
* @param subtractZ
* the z value to subtract.
* @return the result vector.
*/
public Vector3d subtract(double subtractX, double subtractY, double subtractZ) {
return new Vector3d(x - subtractX, y - subtractY, z - subtractZ);
}
/**
* <code>subtractLocal</code> subtracts the provided values from this vector
* internally, and returns a handle to this vector for easy chaining of
* calls.
*
* @param subtractX
* the x value to subtract.
* @param subtractY
* the y value to subtract.
* @param subtractZ
* the z value to subtract.
* @return this
*/
public Vector3d subtractLocal(double subtractX, double subtractY, double subtractZ) {
x -= subtractX;
y -= subtractY;
z -= subtractZ;
return this;
}
/**
* <code>normalize</code> returns the unit vector of this vector.
*
* @return unit vector of this vector.
*/
public Vector3d normalize() {
double length = x * x + y * y + z * z;
if (length != 1f && length != 0f) {
length = 1.0f / Math.sqrt(length);
return new Vector3d(x * length, y * length, z * length);
}
return this.clone();
}
/**
* <code>normalizeLocal</code> makes this vector into a unit vector of
* itself.
*
* @return this.
*/
public Vector3d normalizeLocal() {
// NOTE: this implementation is more optimized
// than the old jme normalize as this method
// is commonly used.
double length = x * x + y * y + z * z;
if (length != 1f && length != 0f) {
length = 1.0f / Math.sqrt(length);
x *= length;
y *= length;
z *= length;
}
return this;
}
/**
* <code>angleBetween</code> returns (in radians) the angle between two vectors.
* It is assumed that both this vector and the given vector are unit vectors (iow, normalized).
*
* @param otherVector
* a unit vector to find the angle against
* @return the angle in radians.
*/
public double angleBetween(Vector3d otherVector) {
double dot = this.dot(otherVector);
// the vectors are normalized, but if they are parallel then the dot product migh get a value like: 1.000000000000000002
// which is caused by floating point operations; in such case, the acos function will return NaN so we need to clamp this value
dot = FastMath.clamp((float) dot, -1, 1);
return Math.acos(dot);
}
@Override
public Vector3d clone() {
try {
return (Vector3d) super.clone();
} catch (CloneNotSupportedException e) {
throw new AssertionError(); // can not happen
}
}
/**
* are these two vectors the same? they are is they both have the same x,y,
* and z values.
*
* @param o
* the object to compare for equality
* @return true if they are equal
*/
@Override
public boolean equals(Object o) {
if (!(o instanceof Vector3d)) {
return false;
}
if (this == o) {
return true;
}
Vector3d comp = (Vector3d) o;
if (Double.compare(x, comp.x) != 0) {
return false;
}
if (Double.compare(y, comp.y) != 0) {
return false;
}
if (Double.compare(z, comp.z) != 0) {
return false;
}
return true;
}
/**
* <code>hashCode</code> returns a unique code for this vector object based
* on it's values. If two vectors are logically equivalent, they will return
* the same hash code value.
* @return the hash code value of this vector.
*/
@Override
public int hashCode() {
long hash = 37;
hash += 37 * hash + Double.doubleToLongBits(x);
hash += 37 * hash + Double.doubleToLongBits(y);
hash += 37 * hash + Double.doubleToLongBits(z);
return (int) hash;
}
/**
* <code>toString</code> returns the string representation of this vector.
* The format is:
*
* org.jme.math.Vector3d [X=XX.XXXX, Y=YY.YYYY, Z=ZZ.ZZZZ]
*
* @return the string representation of this vector.
*/
@Override
public String toString() {
return "(" + x + ", " + y + ", " + z + ")";
}
public void write(JmeExporter e) throws IOException {
OutputCapsule capsule = e.getCapsule(this);
capsule.write(x, "x", 0);
capsule.write(y, "y", 0);
capsule.write(z, "z", 0);
}
public void read(JmeImporter e) throws IOException {
InputCapsule capsule = e.getCapsule(this);
x = capsule.readDouble("x", 0);
y = capsule.readDouble("y", 0);
z = capsule.readDouble("z", 0);
}
}