/*
* 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);
}
}