/*
* Copyright (c) 2009-2012 jMonkeyEngine
* All rights reserved.
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*
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package com.jme3.bullet.util;
import com.bulletphysics.collision.shapes.IndexedMesh;
import com.bulletphysics.dom.HeightfieldTerrainShape;
import com.jme3.math.FastMath;
import com.jme3.scene.Mesh;
import com.jme3.scene.VertexBuffer.Type;
import com.jme3.scene.mesh.IndexBuffer;
import com.jme3.util.BufferUtils;
import java.nio.ByteBuffer;
import java.nio.FloatBuffer;
/**
* Nice convenience methods for conversion between javax.vecmath and com.jme3.math
* Objects, also some jme to jbullet mesh conversion.
* @author normenhansen
*/
public class Converter {
private Converter() {
}
public static com.jme3.math.Vector3f convert(javax.vecmath.Vector3f oldVec) {
com.jme3.math.Vector3f newVec = new com.jme3.math.Vector3f();
convert(oldVec, newVec);
return newVec;
}
public static com.jme3.math.Vector3f convert(javax.vecmath.Vector3f oldVec, com.jme3.math.Vector3f newVec) {
newVec.x = oldVec.x;
newVec.y = oldVec.y;
newVec.z = oldVec.z;
return newVec;
}
public static javax.vecmath.Vector3f convert(com.jme3.math.Vector3f oldVec) {
javax.vecmath.Vector3f newVec = new javax.vecmath.Vector3f();
convert(oldVec, newVec);
return newVec;
}
public static javax.vecmath.Vector3f convert(com.jme3.math.Vector3f oldVec, javax.vecmath.Vector3f newVec) {
newVec.x = oldVec.x;
newVec.y = oldVec.y;
newVec.z = oldVec.z;
return newVec;
}
public static javax.vecmath.Quat4f convert(com.jme3.math.Quaternion oldQuat, javax.vecmath.Quat4f newQuat) {
newQuat.w = oldQuat.getW();
newQuat.x = oldQuat.getX();
newQuat.y = oldQuat.getY();
newQuat.z = oldQuat.getZ();
return newQuat;
}
public static javax.vecmath.Quat4f convert(com.jme3.math.Quaternion oldQuat) {
javax.vecmath.Quat4f newQuat = new javax.vecmath.Quat4f();
convert(oldQuat, newQuat);
return newQuat;
}
public static com.jme3.math.Quaternion convert(javax.vecmath.Quat4f oldQuat, com.jme3.math.Quaternion newQuat) {
newQuat.set(oldQuat.x, oldQuat.y, oldQuat.z, oldQuat.w);
return newQuat;
}
public static com.jme3.math.Quaternion convert(javax.vecmath.Quat4f oldQuat) {
com.jme3.math.Quaternion newQuat = new com.jme3.math.Quaternion();
convert(oldQuat, newQuat);
return newQuat;
}
public static com.jme3.math.Quaternion convert(javax.vecmath.Matrix3f oldMatrix, com.jme3.math.Quaternion newQuaternion) {
// the trace is the sum of the diagonal elements; see
// http://mathworld.wolfram.com/MatrixTrace.html
float t = oldMatrix.m00 + oldMatrix.m11 + oldMatrix.m22;
float w, x, y, z;
// we protect the division by s by ensuring that s>=1
if (t >= 0) { // |w| >= .5
float s = FastMath.sqrt(t + 1); // |s|>=1 ...
w = 0.5f * s;
s = 0.5f / s; // so this division isn't bad
x = (oldMatrix.m21 - oldMatrix.m12) * s;
y = (oldMatrix.m02 - oldMatrix.m20) * s;
z = (oldMatrix.m10 - oldMatrix.m01) * s;
} else if ((oldMatrix.m00 > oldMatrix.m11) && (oldMatrix.m00 > oldMatrix.m22)) {
float s = FastMath.sqrt(1.0f + oldMatrix.m00 - oldMatrix.m11 - oldMatrix.m22); // |s|>=1
x = s * 0.5f; // |x| >= .5
s = 0.5f / s;
y = (oldMatrix.m10 + oldMatrix.m01) * s;
z = (oldMatrix.m02 + oldMatrix.m20) * s;
w = (oldMatrix.m21 - oldMatrix.m12) * s;
} else if (oldMatrix.m11 > oldMatrix.m22) {
float s = FastMath.sqrt(1.0f + oldMatrix.m11 - oldMatrix.m00 - oldMatrix.m22); // |s|>=1
y = s * 0.5f; // |y| >= .5
s = 0.5f / s;
x = (oldMatrix.m10 + oldMatrix.m01) * s;
z = (oldMatrix.m21 + oldMatrix.m12) * s;
w = (oldMatrix.m02 - oldMatrix.m20) * s;
} else {
float s = FastMath.sqrt(1.0f + oldMatrix.m22 - oldMatrix.m00 - oldMatrix.m11); // |s|>=1
z = s * 0.5f; // |z| >= .5
s = 0.5f / s;
x = (oldMatrix.m02 + oldMatrix.m20) * s;
y = (oldMatrix.m21 + oldMatrix.m12) * s;
w = (oldMatrix.m10 - oldMatrix.m01) * s;
}
return newQuaternion.set(x, y, z, w);
}
public static javax.vecmath.Matrix3f convert(com.jme3.math.Quaternion oldQuaternion, javax.vecmath.Matrix3f newMatrix) {
float norm = oldQuaternion.getW() * oldQuaternion.getW() + oldQuaternion.getX() * oldQuaternion.getX() + oldQuaternion.getY() * oldQuaternion.getY() + oldQuaternion.getZ() * oldQuaternion.getZ();
float s = (norm == 1f) ? 2f : (norm > 0f) ? 2f / norm : 0;
// compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs
// will be used 2-4 times each.
float xs = oldQuaternion.getX() * s;
float ys = oldQuaternion.getY() * s;
float zs = oldQuaternion.getZ() * s;
float xx = oldQuaternion.getX() * xs;
float xy = oldQuaternion.getX() * ys;
float xz = oldQuaternion.getX() * zs;
float xw = oldQuaternion.getW() * xs;
float yy = oldQuaternion.getY() * ys;
float yz = oldQuaternion.getY() * zs;
float yw = oldQuaternion.getW() * ys;
float zz = oldQuaternion.getZ() * zs;
float zw = oldQuaternion.getW() * zs;
// using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here
newMatrix.m00 = 1 - (yy + zz);
newMatrix.m01 = (xy - zw);
newMatrix.m02 = (xz + yw);
newMatrix.m10 = (xy + zw);
newMatrix.m11 = 1 - (xx + zz);
newMatrix.m12 = (yz - xw);
newMatrix.m20 = (xz - yw);
newMatrix.m21 = (yz + xw);
newMatrix.m22 = 1 - (xx + yy);
return newMatrix;
}
public static com.jme3.math.Matrix3f convert(javax.vecmath.Matrix3f oldMatrix) {
com.jme3.math.Matrix3f newMatrix = new com.jme3.math.Matrix3f();
convert(oldMatrix, newMatrix);
return newMatrix;
}
public static com.jme3.math.Matrix3f convert(javax.vecmath.Matrix3f oldMatrix, com.jme3.math.Matrix3f newMatrix) {
newMatrix.set(0, 0, oldMatrix.m00);
newMatrix.set(0, 1, oldMatrix.m01);
newMatrix.set(0, 2, oldMatrix.m02);
newMatrix.set(1, 0, oldMatrix.m10);
newMatrix.set(1, 1, oldMatrix.m11);
newMatrix.set(1, 2, oldMatrix.m12);
newMatrix.set(2, 0, oldMatrix.m20);
newMatrix.set(2, 1, oldMatrix.m21);
newMatrix.set(2, 2, oldMatrix.m22);
return newMatrix;
}
public static javax.vecmath.Matrix3f convert(com.jme3.math.Matrix3f oldMatrix) {
javax.vecmath.Matrix3f newMatrix = new javax.vecmath.Matrix3f();
convert(oldMatrix, newMatrix);
return newMatrix;
}
public static javax.vecmath.Matrix3f convert(com.jme3.math.Matrix3f oldMatrix, javax.vecmath.Matrix3f newMatrix) {
newMatrix.m00 = oldMatrix.get(0, 0);
newMatrix.m01 = oldMatrix.get(0, 1);
newMatrix.m02 = oldMatrix.get(0, 2);
newMatrix.m10 = oldMatrix.get(1, 0);
newMatrix.m11 = oldMatrix.get(1, 1);
newMatrix.m12 = oldMatrix.get(1, 2);
newMatrix.m20 = oldMatrix.get(2, 0);
newMatrix.m21 = oldMatrix.get(2, 1);
newMatrix.m22 = oldMatrix.get(2, 2);
return newMatrix;
}
public static com.bulletphysics.linearmath.Transform convert(com.jme3.math.Transform in, com.bulletphysics.linearmath.Transform out) {
convert(in.getTranslation(), out.origin);
convert(in.getRotation(), out.basis);
return out;
}
public static com.jme3.math.Transform convert(com.bulletphysics.linearmath.Transform in, com.jme3.math.Transform out) {
convert(in.origin, out.getTranslation());
convert(in.basis, out.getRotation());
return out;
}
public static synchronized IndexedMesh convert(Mesh mesh) {
IndexedMesh jBulletIndexedMesh = new IndexedMesh();
jBulletIndexedMesh.triangleIndexBase = ByteBuffer.allocate(mesh.getTriangleCount() * 3 * 4);
jBulletIndexedMesh.vertexBase = ByteBuffer.allocate(mesh.getVertexCount() * 3 * 4);
IndexBuffer indices = mesh.getIndicesAsList();
FloatBuffer vertices = mesh.getFloatBuffer(Type.Position);
vertices.rewind();
int verticesLength = mesh.getVertexCount() * 3;
jBulletIndexedMesh.numVertices = mesh.getVertexCount();
jBulletIndexedMesh.vertexStride = 12; //3 verts * 4 bytes per.
for (int i = 0; i < verticesLength; i++) {
float tempFloat = vertices.get();
jBulletIndexedMesh.vertexBase.putFloat(tempFloat);
}
int indicesLength = mesh.getTriangleCount() * 3;
jBulletIndexedMesh.numTriangles = mesh.getTriangleCount();
jBulletIndexedMesh.triangleIndexStride = 12; //3 index entries * 4 bytes each.
for (int i = 0; i < indicesLength; i++) {
jBulletIndexedMesh.triangleIndexBase.putInt(indices.get(i));
}
vertices.rewind();
vertices.clear();
return jBulletIndexedMesh;
}
public static Mesh convert(IndexedMesh mesh) {
Mesh jmeMesh = new Mesh();
jmeMesh.setBuffer(Type.Index, 3, BufferUtils.createShortBuffer(mesh.numTriangles * 3));
jmeMesh.setBuffer(Type.Position, 3, BufferUtils.createFloatBuffer(mesh.numVertices * 3));
IndexBuffer indicess = jmeMesh.getIndexBuffer();
FloatBuffer vertices = jmeMesh.getFloatBuffer(Type.Position);
for (int i = 0; i < mesh.numTriangles * 3; i++) {
indicess.put(i, mesh.triangleIndexBase.getInt(i * 4));
}
for (int i = 0; i < mesh.numVertices * 3; i++) {
vertices.put(i, mesh.vertexBase.getFloat(i * 4));
}
jmeMesh.updateCounts();
jmeMesh.updateBound();
jmeMesh.getFloatBuffer(Type.Position).clear();
return jmeMesh;
}
public static Mesh convert(HeightfieldTerrainShape heightfieldShape) {
return null; //TODO!!
}
}