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/**
* Copyright 2010 JogAmp Community. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification, are
* permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this list of
* conditions and the following disclaimer.
*
* 2. 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.
*
* THIS SOFTWARE IS PROVIDED BY JogAmp Community ``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 JogAmp Community 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.
*
* The views and conclusions contained in the software and documentation are those of the
* authors and should not be interpreted as representing official policies, either expressed
* or implied, of JogAmp Community.
*/
package com.jogamp.opengl.math;
import java.util.ArrayList;
public final class VectorUtil {
public static final float[] VEC3_ONE = { 1f, 1f, 1f };
public static final float[] VEC3_ZERO = { 0f, 0f, 0f };
public static final float[] VEC3_UNIT_Y = { 0f, 1f, 0f };
public static final float[] VEC3_UNIT_Y_NEG = { 0f, -1f, 0f };
public static final float[] VEC3_UNIT_Z = { 0f, 0f, 1f };
public static final float[] VEC3_UNIT_Z_NEG = { 0f, 0f, -1f };
public enum Winding {
CW(-1), CCW(1);
public final int dir;
Winding(final int dir) {
this.dir = dir;
}
}
/**
* Copies a vector of length 2
* @param dst output vector
* @param dstOffset offset of dst in array
* @param src input vector
* @param srcOffset offset of src in array
* @return copied output vector for chaining
*/
public static float[] copyVec2(final float[] dst, final int dstOffset, final float[] src, final int srcOffset)
{
System.arraycopy(src, srcOffset, dst, dstOffset, 2);
return dst;
}
/**
* Copies a vector of length 3
* @param dst output vector
* @param dstOffset offset of dst in array
* @param src input vector
* @param srcOffset offset of src in array
* @return copied output vector for chaining
*/
public static float[] copyVec3(final float[] dst, final int dstOffset, final float[] src, final int srcOffset)
{
System.arraycopy(src, srcOffset, dst, dstOffset, 3);
return dst;
}
/**
* Copies a vector of length 4
* @param dst output vector
* @param dstOffset offset of dst in array
* @param src input vector
* @param srcOffset offset of src in array
* @return copied output vector for chaining
*/
public static float[] copyVec4(final float[] dst, final int dstOffset, final float[] src, final int srcOffset)
{
System.arraycopy(src, srcOffset, dst, dstOffset, 4);
return dst;
}
/**
* Return true if both vectors are equal w/o regarding an epsilon.
*
* Implementation uses {@link FloatUtil#isEqual(float, float)}, see API doc for details.
*
*/
public static boolean isVec2Equal(final float[] vec1, final int vec1Offset, final float[] vec2, final int vec2Offset) {
return FloatUtil.isEqual(vec1[0+vec1Offset], vec2[0+vec2Offset]) &&
FloatUtil.isEqual(vec1[1+vec1Offset], vec2[1+vec2Offset]) ;
}
/**
* Return true if both vectors are equal w/o regarding an epsilon.
*
* Implementation uses {@link FloatUtil#isEqual(float, float)}, see API doc for details.
*
*/
public static boolean isVec3Equal(final float[] vec1, final int vec1Offset, final float[] vec2, final int vec2Offset) {
return FloatUtil.isEqual(vec1[0+vec1Offset], vec2[0+vec2Offset]) &&
FloatUtil.isEqual(vec1[1+vec1Offset], vec2[1+vec2Offset]) &&
FloatUtil.isEqual(vec1[2+vec1Offset], vec2[2+vec2Offset]) ;
}
/**
* Return true if both vectors are equal, i.e. their absolute delta < epsilon.
*
* Implementation uses {@link FloatUtil#isEqual(float, float, float)}, see API doc for details.
*
*/
public static boolean isVec2Equal(final float[] vec1, final int vec1Offset, final float[] vec2, final int vec2Offset, final float epsilon) {
return FloatUtil.isEqual(vec1[0+vec1Offset], vec2[0+vec2Offset], epsilon) &&
FloatUtil.isEqual(vec1[1+vec1Offset], vec2[1+vec2Offset], epsilon) ;
}
/**
* Return true if both vectors are equal, i.e. their absolute delta < epsilon.
*
* Implementation uses {@link FloatUtil#isEqual(float, float, float)}, see API doc for details.
*
*/
public static boolean isVec3Equal(final float[] vec1, final int vec1Offset, final float[] vec2, final int vec2Offset, final float epsilon) {
return FloatUtil.isEqual(vec1[0+vec1Offset], vec2[0+vec2Offset], epsilon) &&
FloatUtil.isEqual(vec1[1+vec1Offset], vec2[1+vec2Offset], epsilon) &&
FloatUtil.isEqual(vec1[2+vec1Offset], vec2[2+vec2Offset], epsilon) ;
}
/**
* Return true if vector is zero, no {@link FloatUtil#EPSILON} is taken into consideration.
*/
public static boolean isVec2Zero(final float[] vec, final int vecOffset) {
return 0f == vec[0+vecOffset] && 0f == vec[1+vecOffset];
}
/**
* Return true if vector is zero, no {@link FloatUtil#EPSILON} is taken into consideration.
*/
public static boolean isVec3Zero(final float[] vec, final int vecOffset) {
return 0f == vec[0+vecOffset] && 0f == vec[1+vecOffset] && 0f == vec[2+vecOffset];
}
/**
* Return true if vector is zero, i.e. it's absolute components < epsilon.
*
* Implementation uses {@link FloatUtil#isZero(float, float)}, see API doc for details.
*
*/
public static boolean isVec2Zero(final float[] vec, final int vecOffset, final float epsilon) {
return isZero(vec[0+vecOffset], vec[1+vecOffset], epsilon);
}
/**
* Return true if vector is zero, i.e. it's absolute components < epsilon.
*
* Implementation uses {@link FloatUtil#isZero(float, float)}, see API doc for details.
*
*/
public static boolean isVec3Zero(final float[] vec, final int vecOffset, final float epsilon) {
return isZero(vec[0+vecOffset], vec[1+vecOffset], vec[2+vecOffset], epsilon);
}
/**
* Return true if all two vector components are zero, i.e. it's their absolute value < epsilon.
*
* Implementation uses {@link FloatUtil#isZero(float, float)}, see API doc for details.
*
*/
public static boolean isZero(final float x, final float y, final float epsilon) {
return FloatUtil.isZero(x, epsilon) &&
FloatUtil.isZero(y, epsilon) ;
}
/**
* Return true if all three vector components are zero, i.e. it's their absolute value < epsilon.
*
* Implementation uses {@link FloatUtil#isZero(float, float)}, see API doc for details.
*
*/
public static boolean isZero(final float x, final float y, final float z, final float epsilon) {
return FloatUtil.isZero(x, epsilon) &&
FloatUtil.isZero(y, epsilon) &&
FloatUtil.isZero(z, epsilon) ;
}
/**
* Return the squared distance between the given two points described vector v1 and v2.
*
* When comparing the relative distance between two points it is usually sufficient to compare the squared
* distances, thus avoiding an expensive square root operation.
*
*/
public static float distSquareVec3(final float[] v1, final float[] v2) {
final float dx = v1[0] - v2[0];
final float dy = v1[1] - v2[1];
final float dz = v1[2] - v2[2];
return dx * dx + dy * dy + dz * dz;
}
/**
* Return the distance between the given two points described vector v1 and v2.
*/
public static float distVec3(final float[] v1, final float[] v2) {
return FloatUtil.sqrt(distSquareVec3(v1, v2));
}
/**
* Return the dot product of two points
* @param vec1 vector 1
* @param vec2 vector 2
* @return the dot product as float
*/
public static float dotVec3(final float[] vec1, final float[] vec2) {
return vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2];
}
/**
* Return the cosines of the angle between to vectors
* @param vec1 vector 1
* @param vec2 vector 2
*/
public static float cosAngleVec3(final float[] vec1, final float[] vec2) {
return dotVec3(vec1, vec2) / ( normVec3(vec1) * normVec3(vec2) ) ;
}
/**
* Return the angle between to vectors in radians
* @param vec1 vector 1
* @param vec2 vector 2
*/
public static float angleVec3(final float[] vec1, final float[] vec2) {
return FloatUtil.acos(cosAngleVec3(vec1, vec2));
}
/**
* Return the squared length of a vector, a.k.a the squared norm or squared magnitude
*/
public static float normSquareVec2(final float[] vec) {
return vec[0]*vec[0] + vec[1]*vec[1];
}
/**
* Return the squared length of a vector, a.k.a the squared norm or squared magnitude
*/
public static float normSquareVec2(final float[] vec, final int offset) {
float v = vec[0+offset];
final float r = v*v;
v = vec[1+offset];
return r + v*v;
}
/**
* Return the squared length of a vector, a.k.a the squared norm or squared magnitude
*/
public static float normSquareVec3(final float[] vec) {
return vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2];
}
/**
* Return the squared length of a vector, a.k.a the squared norm or squared magnitude
*/
public static float normSquareVec3(final float[] vec, final int offset) {
float v = vec[0+offset];
float r = v*v;
v = vec[1+offset];
r += v*v;
v = vec[2+offset];
return r + v*v;
}
/**
* Return the length of a vector, a.k.a the norm or magnitude
*/
public static float normVec2(final float[] vec) {
return FloatUtil.sqrt(normSquareVec2(vec));
}
/**
* Return the length of a vector, a.k.a the norm or magnitude
*/
public static float normVec3(final float[] vec) {
return FloatUtil.sqrt(normSquareVec3(vec));
}
/**
* Normalize a vector
* @param result output vector, may be vector (in-place)
* @param vector input vector
* @return normalized output vector
* @return result vector for chaining
*/
public static float[] normalizeVec2(final float[] result, final float[] vector) {
final float lengthSq = normSquareVec2(vector);
if ( FloatUtil.isZero(lengthSq, FloatUtil.EPSILON) ) {
result[0] = 0f;
result[1] = 0f;
} else {
final float invSqr = 1f / FloatUtil.sqrt(lengthSq);
result[0] = vector[0] * invSqr;
result[1] = vector[1] * invSqr;
}
return result;
}
/**
* Normalize a vector in place
* @param vector input vector
* @return normalized output vector
*/
public static float[] normalizeVec2(final float[] vector) {
final float lengthSq = normSquareVec2(vector);
if ( FloatUtil.isZero(lengthSq, FloatUtil.EPSILON) ) {
vector[0] = 0f;
vector[1] = 0f;
} else {
final float invSqr = 1f / FloatUtil.sqrt(lengthSq);
vector[0] *= invSqr;
vector[1] *= invSqr;
}
return vector;
}
/**
* Normalize a vector
* @param result output vector, may be vector (in-place)
* @param vector input vector
* @return normalized output vector
* @return result vector for chaining
*/
public static float[] normalizeVec3(final float[] result, final float[] vector) {
final float lengthSq = normSquareVec3(vector);
if ( FloatUtil.isZero(lengthSq, FloatUtil.EPSILON) ) {
result[0] = 0f;
result[1] = 0f;
result[2] = 0f;
} else {
final float invSqr = 1f / FloatUtil.sqrt(lengthSq);
result[0] = vector[0] * invSqr;
result[1] = vector[1] * invSqr;
result[2] = vector[2] * invSqr;
}
return result;
}
/**
* Normalize a vector in place
* @param vector input vector
* @return normalized output vector
*/
public static float[] normalizeVec3(final float[] vector) {
final float lengthSq = normSquareVec3(vector);
if ( FloatUtil.isZero(lengthSq, FloatUtil.EPSILON) ) {
vector[0] = 0f;
vector[1] = 0f;
vector[2] = 0f;
} else {
final float invSqr = 1f / FloatUtil.sqrt(lengthSq);
vector[0] *= invSqr;
vector[1] *= invSqr;
vector[2] *= invSqr;
}
return vector;
}
/**
* Normalize a vector in place
* @param vector input vector
* @return normalized output vector
*/
public static float[] normalizeVec3(final float[] vector, final int offset) {
final float lengthSq = normSquareVec3(vector, offset);
if ( FloatUtil.isZero(lengthSq, FloatUtil.EPSILON) ) {
vector[0+offset] = 0f;
vector[1+offset] = 0f;
vector[2+offset] = 0f;
} else {
final float invSqr = 1f / FloatUtil.sqrt(lengthSq);
vector[0+offset] *= invSqr;
vector[1+offset] *= invSqr;
vector[2+offset] *= invSqr;
}
return vector;
}
/**
* Scales a vector by param using given result float[], result = vector * scale
* @param result vector for the result, may be vector (in-place)
* @param vector input vector
* @param scale single scale constant for all vector components
* @return result vector for chaining
*/
public static float[] scaleVec2(final float[] result, final float[] vector, final float scale) {
result[0] = vector[0] * scale;
result[1] = vector[1] * scale;
return result;
}
/**
* Scales a vector by param using given result float[], result = vector * scale
* @param result vector for the result, may be vector (in-place)
* @param vector input vector
* @param scale single scale constant for all vector components
* @return result vector for chaining
*/
public static float[] scaleVec3(final float[] result, final float[] vector, final float scale) {
result[0] = vector[0] * scale;
result[1] = vector[1] * scale;
result[2] = vector[2] * scale;
return result;
}
/**
* Scales a vector by param using given result float[], result = vector * scale
* @param result vector for the result, may be vector (in-place)
* @param vector input vector
* @param scale 3 component scale constant for each vector component
* @return result vector for chaining
*/
public static float[] scaleVec3(final float[] result, final float[] vector, final float[] scale)
{
result[0] = vector[0] * scale[0];
result[1] = vector[1] * scale[1];
result[2] = vector[2] * scale[2];
return result;
}
/**
* Scales a vector by param using given result float[], result = vector * scale
* @param result vector for the result, may be vector (in-place)
* @param vector input vector
* @param scale 2 component scale constant for each vector component
* @return result vector for chaining
*/
public static float[] scaleVec2(final float[] result, final float[] vector, final float[] scale)
{
result[0] = vector[0] * scale[0];
result[1] = vector[1] * scale[1];
return result;
}
/**
* Divides a vector by param using given result float[], result = vector / scale
* @param result vector for the result, may be vector (in-place)
* @param vector input vector
* @param scale single scale constant for all vector components
* @return result vector for chaining
*/
public static float[] divVec2(final float[] result, final float[] vector, final float scale) {
result[0] = vector[0] / scale;
result[1] = vector[1] / scale;
return result;
}
/**
* Divides a vector by param using given result float[], result = vector / scale
* @param result vector for the result, may be vector (in-place)
* @param vector input vector
* @param scale single scale constant for all vector components
* @return result vector for chaining
*/
public static float[] divVec3(final float[] result, final float[] vector, final float scale) {
result[0] = vector[0] / scale;
result[1] = vector[1] / scale;
result[2] = vector[2] / scale;
return result;
}
/**
* Divides a vector by param using given result float[], result = vector / scale
* @param result vector for the result, may be vector (in-place)
* @param vector input vector
* @param scale 3 component scale constant for each vector component
* @return result vector for chaining
*/
public static float[] divVec3(final float[] result, final float[] vector, final float[] scale)
{
result[0] = vector[0] / scale[0];
result[1] = vector[1] / scale[1];
result[2] = vector[2] / scale[2];
return result;
}
/**
* Divides a vector by param using given result float[], result = vector / scale
* @param result vector for the result, may be vector (in-place)
* @param vector input vector
* @param scale 2 component scale constant for each vector component
* @return result vector for chaining
*/
public static float[] divVec2(final float[] result, final float[] vector, final float[] scale)
{
result[0] = vector[0] / scale[0];
result[1] = vector[1] / scale[1];
return result;
}
/**
* Adds two vectors, result = v1 + v2
* @param result float[2] result vector, may be either v1 or v2 (in-place)
* @param v1 vector 1
* @param v2 vector 2
* @return result vector for chaining
*/
public static float[] addVec2(final float[] result, final float[] v1, final float[] v2) {
result[0] = v1[0] + v2[0];
result[1] = v1[1] + v2[1];
return result;
}
/**
* Adds two vectors, result = v1 + v2
* @param result float[3] result vector, may be either v1 or v2 (in-place)
* @param v1 vector 1
* @param v2 vector 2
* @return result vector for chaining
*/
public static float[] addVec3(final float[] result, final float[] v1, final float[] v2) {
result[0] = v1[0] + v2[0];
result[1] = v1[1] + v2[1];
result[2] = v1[2] + v2[2];
return result;
}
/**
* Subtracts two vectors, result = v1 - v2
* @param result float[2] result vector, may be either v1 or v2 (in-place)
* @param v1 vector 1
* @param v2 vector 2
* @return result vector for chaining
*/
public static float[] subVec2(final float[] result, final float[] v1, final float[] v2) {
result[0] = v1[0] - v2[0];
result[1] = v1[1] - v2[1];
return result;
}
/**
* Subtracts two vectors, result = v1 - v2
* @param result float[3] result vector, may be either v1 or v2 (in-place)
* @param v1 vector 1
* @param v2 vector 2
* @return result vector for chaining
*/
public static float[] subVec3(final float[] result, final float[] v1, final float[] v2) {
result[0] = v1[0] - v2[0];
result[1] = v1[1] - v2[1];
result[2] = v1[2] - v2[2];
return result;
}
/**
* cross product vec1 x vec2
* @param v1 vector 1
* @param v2 vector 2
* @return the resulting vector
*/
public static float[] crossVec3(final float[] result, final float[] v1, final float[] v2)
{
result[0] = v1[1] * v2[2] - v1[2] * v2[1];
result[1] = v1[2] * v2[0] - v1[0] * v2[2];
result[2] = v1[0] * v2[1] - v1[1] * v2[0];
return result;
}
/**
* cross product vec1 x vec2
* @param v1 vector 1
* @param v2 vector 2
* @return the resulting vector
*/
public static float[] crossVec3(final float[] r, final int r_offset, final float[] v1, final int v1_offset, final float[] v2, final int v2_offset)
{
r[0+r_offset] = v1[1+v1_offset] * v2[2+v2_offset] - v1[2+v1_offset] * v2[1+v2_offset];
r[1+r_offset] = v1[2+v1_offset] * v2[0+v2_offset] - v1[0+v1_offset] * v2[2+v2_offset];
r[2+r_offset] = v1[0+v1_offset] * v2[1+v2_offset] - v1[1+v1_offset] * v2[0+v2_offset];
return r;
}
/**
* Multiplication of column-major 4x4 matrix with vector
* @param colMatrix column matrix (4x4)
* @param vec vector(x,y,z)
* @return result
*/
public static float[] mulColMat4Vec3(final float[] result, final float[] colMatrix, final float[] vec)
{
result[0] = vec[0]*colMatrix[0] + vec[1]*colMatrix[4] + vec[2]*colMatrix[8] + colMatrix[12];
result[1] = vec[0]*colMatrix[1] + vec[1]*colMatrix[5] + vec[2]*colMatrix[9] + colMatrix[13];
result[2] = vec[0]*colMatrix[2] + vec[1]*colMatrix[6] + vec[2]*colMatrix[10] + colMatrix[14];
return result;
}
/**
* Matrix Vector multiplication
* @param rawMatrix column matrix (4x4)
* @param vec vector(x,y,z)
* @return result
*/
public static float[] mulRowMat4Vec3(final float[] result, final float[] rawMatrix, final float[] vec)
{
result[0] = vec[0]*rawMatrix[0] + vec[1]*rawMatrix[1] + vec[2]*rawMatrix[2] + rawMatrix[3];
result[1] = vec[0]*rawMatrix[4] + vec[1]*rawMatrix[5] + vec[2]*rawMatrix[6] + rawMatrix[7];
result[2] = vec[0]*rawMatrix[8] + vec[1]*rawMatrix[9] + vec[2]*rawMatrix[10] + rawMatrix[11];
return result;
}
/**
* Calculate the midpoint of two values
* @param p1 first value
* @param p2 second vale
* @return midpoint
*/
public static float mid(final float p1, final float p2) {
return (p1+p2)*0.5f;
}
/**
* Calculate the midpoint of two points
* @param p1 first point vector
* @param p2 second point vector
* @return midpoint
*/
public static float[] midVec3(final float[] result, final float[] p1, final float[] p2) {
result[0] = (p1[0] + p2[0])*0.5f;
result[1] = (p1[1] + p2[1])*0.5f;
result[2] = (p1[2] + p2[2])*0.5f;
return result;
}
/**
* Return the determinant of 3 vectors
* @param a vector 1
* @param b vector 2
* @param c vector 3
* @return the determinant value
*/
public static float determinantVec3(final float[] a, final float[] b, final float[] c) {
return a[0]*b[1]*c[2] + a[1]*b[2]*c[0] + a[2]*b[0]*c[1] - a[0]*b[2]*c[1] - a[1]*b[0]*c[2] - a[2]*b[1]*c[0];
}
/**
* Check if three vertices are colliniear
* @param v1 vertex 1
* @param v2 vertex 2
* @param v3 vertex 3
* @return true if collinear, false otherwise
*/
public static boolean isCollinearVec3(final float[] v1, final float[] v2, final float[] v3) {
return FloatUtil.isZero( determinantVec3(v1, v2, v3), FloatUtil.EPSILON );
}
/**
* Check if vertices in triangle circumcircle
* @param a triangle vertex 1
* @param b triangle vertex 2
* @param c triangle vertex 3
* @param d vertex in question
* @return true if the vertex d is inside the circle defined by the
* vertices a, b, c. from paper by Guibas and Stolfi (1985).
*/
public static boolean isInCircleVec2(final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c, final Vert2fImmutable d) {
final float[] A = a.getCoord();
final float[] B = b.getCoord();
final float[] C = c.getCoord();
final float[] D = d.getCoord();
return (A[0] * A[0] + A[1] * A[1]) * triAreaVec2(B, C, D) -
(B[0] * B[0] + B[1] * B[1]) * triAreaVec2(A, C, D) +
(C[0] * C[0] + C[1] * C[1]) * triAreaVec2(A, B, D) -
(D[0] * D[0] + D[1] * D[1]) * triAreaVec2(A, B, C) > 0;
}
/**
* Computes oriented area of a triangle
* @param a first vertex
* @param b second vertex
* @param c third vertex
* @return compute twice the area of the oriented triangle (a,b,c), the area
* is positive if the triangle is oriented counterclockwise.
*/
public static float triAreaVec2(final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c){
final float[] A = a.getCoord();
final float[] B = b.getCoord();
final float[] C = c.getCoord();
return (B[0] - A[0]) * (C[1] - A[1]) - (B[1] - A[1]) * (C[0] - A[0]);
}
/**
* Computes oriented area of a triangle
* @param A first vertex
* @param B second vertex
* @param C third vertex
* @return compute twice the area of the oriented triangle (a,b,c), the area
* is positive if the triangle is oriented counterclockwise.
*/
public static float triAreaVec2(final float[] A, final float[] B, final float[] C){
return (B[0] - A[0]) * (C[1] - A[1]) - (B[1] - A[1])*(C[0] - A[0]);
}
/**
* Check if a vertex is in triangle using
* barycentric coordinates computation.
* @param a first triangle vertex
* @param b second triangle vertex
* @param c third triangle vertex
* @param p the vertex in question
* @return true if p is in triangle (a, b, c), false otherwise.
*/
public static boolean isInTriangleVec3(final float[] a, final float[] b, final float[] c,
final float[] p,
final float[] ac, final float[] ab, final float[] ap){
// Compute vectors
subVec3(ac, c, a); //v0
subVec3(ab, b, a); //v1
subVec3(ap, p, a); //v2
// Compute dot products
final float dotAC_AC = dotVec3(ac, ac);
final float dotAC_AB = dotVec3(ac, ab);
final float dotAB_AB = dotVec3(ab, ab);
final float dotAC_AP = dotVec3(ac, ap);
final float dotAB_AP = dotVec3(ab, ap);
// Compute barycentric coordinates
final float invDenom = 1 / (dotAC_AC * dotAB_AB - dotAC_AB * dotAC_AB);
final float u = (dotAB_AB * dotAC_AP - dotAC_AB * dotAB_AP) * invDenom;
final float v = (dotAC_AC * dotAB_AP - dotAC_AB * dotAC_AP) * invDenom;
// Check if point is in triangle
return (u >= 0) && (v >= 0) && (u + v < 1);
}
/**
* Check if one of three vertices are in triangle using
* barycentric coordinates computation.
* @param a first triangle vertex
* @param b second triangle vertex
* @param c third triangle vertex
* @param p1 the vertex in question
* @param p2 the vertex in question
* @param p3 the vertex in question
* @param tmpAC
* @param tmpAB
* @param tmpAP
* @return true if p1 or p2 or p3 is in triangle (a, b, c), false otherwise.
*/
public static boolean isVec3InTriangle3(final float[] a, final float[] b, final float[] c,
final float[] p1, final float[] p2, final float[] p3,
final float[] tmpAC, final float[] tmpAB, final float[] tmpAP){
// Compute vectors
subVec3(tmpAC, c, a); //v0
subVec3(tmpAB, b, a); //v1
// Compute dot products
final float dotAC_AC = dotVec3(tmpAC, tmpAC);
final float dotAC_AB = dotVec3(tmpAC, tmpAB);
final float dotAB_AB = dotVec3(tmpAB, tmpAB);
// Compute barycentric coordinates
final float invDenom = 1 / (dotAC_AC * dotAB_AB - dotAC_AB * dotAC_AB);
{
subVec3(tmpAP, p1, a); //v2
final float dotAC_AP1 = dotVec3(tmpAC, tmpAP);
final float dotAB_AP1 = dotVec3(tmpAB, tmpAP);
final float u = (dotAB_AB * dotAC_AP1 - dotAC_AB * dotAB_AP1) * invDenom;
final float v = (dotAC_AC * dotAB_AP1 - dotAC_AB * dotAC_AP1) * invDenom;
// Check if point is in triangle
if ( (u >= 0) && (v >= 0) && (u + v < 1) ) {
return true;
}
}
{
subVec3(tmpAP, p1, a); //v2
final float dotAC_AP2 = dotVec3(tmpAC, tmpAP);
final float dotAB_AP2 = dotVec3(tmpAB, tmpAP);
final float u = (dotAB_AB * dotAC_AP2 - dotAC_AB * dotAB_AP2) * invDenom;
final float v = (dotAC_AC * dotAB_AP2 - dotAC_AB * dotAC_AP2) * invDenom;
// Check if point is in triangle
if ( (u >= 0) && (v >= 0) && (u + v < 1) ) {
return true;
}
}
{
subVec3(tmpAP, p2, a); //v2
final float dotAC_AP3 = dotVec3(tmpAC, tmpAP);
final float dotAB_AP3 = dotVec3(tmpAB, tmpAP);
final float u = (dotAB_AB * dotAC_AP3 - dotAC_AB * dotAB_AP3) * invDenom;
final float v = (dotAC_AC * dotAB_AP3 - dotAC_AB * dotAC_AP3) * invDenom;
// Check if point is in triangle
if ( (u >= 0) && (v >= 0) && (u + v < 1) ) {
return true;
}
}
return false;
}
/**
* Check if one of three vertices are in triangle using
* barycentric coordinates computation, using given epsilon for comparison.
* @param a first triangle vertex
* @param b second triangle vertex
* @param c third triangle vertex
* @param p1 the vertex in question
* @param p2 the vertex in question
* @param p3 the vertex in question
* @param tmpAC
* @param tmpAB
* @param tmpAP
* @return true if p1 or p2 or p3 is in triangle (a, b, c), false otherwise.
*/
public static boolean isVec3InTriangle3(final float[] a, final float[] b, final float[] c,
final float[] p1, final float[] p2, final float[] p3,
final float[] tmpAC, final float[] tmpAB, final float[] tmpAP,
final float epsilon){
// Compute vectors
subVec3(tmpAC, c, a); //v0
subVec3(tmpAB, b, a); //v1
// Compute dot products
final float dotAC_AC = dotVec3(tmpAC, tmpAC);
final float dotAC_AB = dotVec3(tmpAC, tmpAB);
final float dotAB_AB = dotVec3(tmpAB, tmpAB);
// Compute barycentric coordinates
final float invDenom = 1 / (dotAC_AC * dotAB_AB - dotAC_AB * dotAC_AB);
{
subVec3(tmpAP, p1, a); //v2
final float dotAC_AP1 = dotVec3(tmpAC, tmpAP);
final float dotAB_AP1 = dotVec3(tmpAB, tmpAP);
final float u = (dotAB_AB * dotAC_AP1 - dotAC_AB * dotAB_AP1) * invDenom;
final float v = (dotAC_AC * dotAB_AP1 - dotAC_AB * dotAC_AP1) * invDenom;
// Check if point is in triangle
if( FloatUtil.compare(u, 0.0f, epsilon) >= 0 &&
FloatUtil.compare(v, 0.0f, epsilon) >= 0 &&
FloatUtil.compare(u+v, 1.0f, epsilon) < 0 ) {
return true;
}
}
{
subVec3(tmpAP, p1, a); //v2
final float dotAC_AP2 = dotVec3(tmpAC, tmpAP);
final float dotAB_AP2 = dotVec3(tmpAB, tmpAP);
final float u = (dotAB_AB * dotAC_AP2 - dotAC_AB * dotAB_AP2) * invDenom;
final float v = (dotAC_AC * dotAB_AP2 - dotAC_AB * dotAC_AP2) * invDenom;
// Check if point is in triangle
if( FloatUtil.compare(u, 0.0f, epsilon) >= 0 &&
FloatUtil.compare(v, 0.0f, epsilon) >= 0 &&
FloatUtil.compare(u+v, 1.0f, epsilon) < 0 ) {
return true;
}
}
{
subVec3(tmpAP, p2, a); //v2
final float dotAC_AP3 = dotVec3(tmpAC, tmpAP);
final float dotAB_AP3 = dotVec3(tmpAB, tmpAP);
final float u = (dotAB_AB * dotAC_AP3 - dotAC_AB * dotAB_AP3) * invDenom;
final float v = (dotAC_AC * dotAB_AP3 - dotAC_AB * dotAC_AP3) * invDenom;
// Check if point is in triangle
if( FloatUtil.compare(u, 0.0f, epsilon) >= 0 &&
FloatUtil.compare(v, 0.0f, epsilon) >= 0 &&
FloatUtil.compare(u+v, 1.0f, epsilon) < 0 ) {
return true;
}
}
return false;
}
/** Check if points are in ccw order
* @param a first vertex
* @param b second vertex
* @param c third vertex
* @return true if the points a,b,c are in a ccw order
*/
public static boolean ccw(final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c){
return triAreaVec2(a,b,c) > 0;
}
/** Compute the winding of given points
* @param a first vertex
* @param b second vertex
* @param c third vertex
* @return Winding
*/
public static Winding getWinding(final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c) {
return triAreaVec2(a,b,c) > 0 ? Winding.CCW : Winding.CW ;
}
/** Computes the area of a list of vertices to check if ccw
* @param vertices
* @return positive area if ccw else negative area value
*/
public static float area(final ArrayList vertices) {
final int n = vertices.size();
float area = 0.0f;
for (int p = n - 1, q = 0; q < n; p = q++)
{
final float[] pCoord = vertices.get(p).getCoord();
final float[] qCoord = vertices.get(q).getCoord();
area += pCoord[0] * qCoord[1] - qCoord[0] * pCoord[1];
}
return area;
}
/** Compute the general winding of the vertices
* @param vertices array of Vertices
* @return CCW or CW {@link Winding}
*/
public static Winding getWinding(final ArrayList vertices) {
return area(vertices) >= 0 ? Winding.CCW : Winding.CW ;
}
/**
* @param result vec2 result for normal
* @param v1 vec2
* @param v2 vec2
* @return result for chaining
*/
public static float[] getNormalVec2(final float[] result, final float[] v1, final float[] v2 ) {
subVec2(result, v2, v1);
final float tmp = result [ 0 ] ; result [ 0 ] = -result [ 1 ] ; result [ 1 ] = tmp ;
return normalizeVec2 ( result ) ;
}
/**
* Returns the 3d surface normal of a triangle given three vertices.
*
* @param result vec3 result for normal
* @param v1 vec3
* @param v2 vec3
* @param v3 vec3
* @param tmp1Vec3 temp vec3
* @param tmp2Vec3 temp vec3
* @return result for chaining
*/
public static float[] getNormalVec3(final float[] result, final float[] v1, final float[] v2, final float[] v3,
final float[] tmp1Vec3, final float[] tmp2Vec3) {
subVec3 ( tmp1Vec3, v2, v1 );
subVec3 ( tmp2Vec3, v3, v1 ) ;
return normalizeVec3 ( crossVec3(result, tmp1Vec3, tmp2Vec3) ) ;
}
/**
* Finds the plane equation of a plane given its normal and a point on the plane.
*
* @param resultV4 vec4 plane equation
* @param normalVec3
* @param pVec3
* @return result for chaining
*/
public static float[] getPlaneVec3(final float[/*4*/] resultV4, final float[] normalVec3, final float[] pVec3) {
/**
Ax + By + Cz + D == 0 ;
D = - ( Ax + By + Cz )
= - ( A*a[0] + B*a[1] + C*a[2] )
= - vec3Dot ( normal, a ) ;
*/
System.arraycopy(normalVec3, 0, resultV4, 0, 3);
resultV4 [ 3 ] = -dotVec3(normalVec3, pVec3) ;
return resultV4;
}
/**
* This finds the plane equation of a triangle given three vertices.
*
* @param resultVec4 vec4 plane equation
* @param v1 vec3
* @param v2 vec3
* @param v3 vec3
* @param temp1V3
* @param temp2V3
* @return result for chaining
*/
public static float[] getPlaneVec3(final float[/*4*/] resultVec4, final float[] v1, final float[] v2, final float[] v3,
final float[] temp1V3, final float[] temp2V3) {
/**
Ax + By + Cz + D == 0 ;
D = - ( Ax + By + Cz )
= - ( A*a[0] + B*a[1] + C*a[2] )
= - vec3Dot ( normal, a ) ;
*/
getNormalVec3( resultVec4, v1, v2, v3, temp1V3, temp2V3 ) ;
resultVec4 [ 3 ] = -dotVec3 (resultVec4, v1) ;
return resultVec4;
}
/**
* Return intersection of an infinite line with a plane if exists, otherwise null.
*
* Thanks to Norman Vine -- [email protected] (with hacks by Steve)
*
*
* @param result vec3 result buffer for intersecting coords
* @param ray here representing an infinite line, origin and direction.
* @param plane vec4 plane equation
* @param epsilon
* @return resulting intersecting if exists, otherwise null
*/
public static float[] line2PlaneIntersection(final float[] result, final Ray ray, final float[/*4*/] plane, final float epsilon) {
final float tmp = dotVec3(ray.dir, plane) ;
if ( Math.abs(tmp) < epsilon ) {
return null; // ray is parallel to plane
}
scaleVec3 ( result, ray.dir, -( dotVec3(ray.orig, plane) + plane[3] ) / tmp ) ;
return addVec3(result, result, ray.orig);
}
/** Compute intersection between two segments
* @param a vertex 1 of first segment
* @param b vertex 2 of first segment
* @param c vertex 1 of second segment
* @param d vertex 2 of second segment
* @return the intersection coordinates if the segments intersect, otherwise returns null
*/
public static float[] seg2SegIntersection(final float[] result, final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c, final Vert2fImmutable d) {
final float determinant = (a.getX()-b.getX())*(c.getY()-d.getY()) - (a.getY()-b.getY())*(c.getX()-d.getX());
if (determinant == 0)
return null;
final float alpha = (a.getX()*b.getY()-a.getY()*b.getX());
final float beta = (c.getX()*d.getY()-c.getY()*d.getY());
final float xi = ((c.getX()-d.getX())*alpha-(a.getX()-b.getX())*beta)/determinant;
final float yi = ((c.getY()-d.getY())*alpha-(a.getY()-b.getY())*beta)/determinant;
final float gamma = (xi - a.getX())/(b.getX() - a.getX());
final float gamma1 = (xi - c.getX())/(d.getX() - c.getX());
if(gamma <= 0 || gamma >= 1) return null;
if(gamma1 <= 0 || gamma1 >= 1) return null;
result[0] = xi;
result[1] = yi;
result[2] = 0;
return result;
}
/**
* Compute intersection between two segments
* @param a vertex 1 of first segment
* @param b vertex 2 of first segment
* @param c vertex 1 of second segment
* @param d vertex 2 of second segment
* @return true if the segments intersect, otherwise returns false
*/
public static boolean testSeg2SegIntersection(final Vert2fImmutable a, final Vert2fImmutable b,
final Vert2fImmutable c, final Vert2fImmutable d) {
final float[] A = a.getCoord();
final float[] B = b.getCoord();
final float[] C = c.getCoord();
final float[] D = d.getCoord();
final float determinant = (A[0]-B[0])*(C[1]-D[1]) - (A[1]-B[1])*(C[0]-D[0]);
if (determinant == 0) {
return false;
}
final float alpha = (A[0]*B[1]-A[1]*B[0]);
final float beta = (C[0]*D[1]-C[1]*D[1]);
final float xi = ((C[0]-D[0])*alpha-(A[0]-B[0])*beta)/determinant;
final float gamma0 = (xi - A[0])/(B[0] - A[0]);
final float gamma1 = (xi - C[0])/(D[0] - C[0]);
if(gamma0 <= 0 || gamma0 >= 1 || gamma1 <= 0 || gamma1 >= 1) {
return false;
}
return true;
}
/**
* Compute intersection between two segments, using given epsilon for comparison.
* @param a vertex 1 of first segment
* @param b vertex 2 of first segment
* @param c vertex 1 of second segment
* @param d vertex 2 of second segment
* @return true if the segments intersect, otherwise returns false
*/
public static boolean testSeg2SegIntersection(final Vert2fImmutable a, final Vert2fImmutable b,
final Vert2fImmutable c, final Vert2fImmutable d,
final float epsilon) {
final float[] A = a.getCoord();
final float[] B = b.getCoord();
final float[] C = c.getCoord();
final float[] D = d.getCoord();
final float determinant = (A[0]-B[0])*(C[1]-D[1]) - (A[1]-B[1])*(C[0]-D[0]);
if ( FloatUtil.isZero(determinant, epsilon) ) {
return false;
}
final float alpha = (A[0]*B[1]-A[1]*B[0]);
final float beta = (C[0]*D[1]-C[1]*D[1]);
final float xi = ((C[0]-D[0])*alpha-(A[0]-B[0])*beta)/determinant;
final float gamma0 = (xi - A[0])/(B[0] - A[0]);
final float gamma1 = (xi - C[0])/(D[0] - C[0]);
if( FloatUtil.compare(gamma0, 0.0f, epsilon) <= 0 ||
FloatUtil.compare(gamma0, 1.0f, epsilon) >= 0 ||
FloatUtil.compare(gamma1, 0.0f, epsilon) <= 0 ||
FloatUtil.compare(gamma1, 1.0f, epsilon) >= 0 ) {
return false;
}
if(gamma0 <= 0 || gamma0 >= 1 || gamma1 <= 0 || gamma1 >= 1) {
return false;
}
return true;
}
/**
* Compute intersection between two lines
* @param a vertex 1 of first line
* @param b vertex 2 of first line
* @param c vertex 1 of second line
* @param d vertex 2 of second line
* @return the intersection coordinates if the lines intersect, otherwise
* returns null
*/
public static float[] line2lineIntersection(final float[] result,
final Vert2fImmutable a, final Vert2fImmutable b,
final Vert2fImmutable c, final Vert2fImmutable d) {
final float determinant = (a.getX()-b.getX())*(c.getY()-d.getY()) - (a.getY()-b.getY())*(c.getX()-d.getX());
if (determinant == 0)
return null;
final float alpha = (a.getX()*b.getY()-a.getY()*b.getX());
final float beta = (c.getX()*d.getY()-c.getY()*d.getY());
final float xi = ((c.getX()-d.getX())*alpha-(a.getX()-b.getX())*beta)/determinant;
final float yi = ((c.getY()-d.getY())*alpha-(a.getY()-b.getY())*beta)/determinant;
result[0] = xi;
result[1] = yi;
result[2] = 0;
return result;
}
/**
* Check if a segment intersects with a triangle
* @param a vertex 1 of the triangle
* @param b vertex 2 of the triangle
* @param c vertex 3 of the triangle
* @param d vertex 1 of first segment
* @param e vertex 2 of first segment
* @return true if the segment intersects at least one segment of the triangle, false otherwise
*/
public static boolean testTri2SegIntersection(final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c,
final Vert2fImmutable d, final Vert2fImmutable e){
return testSeg2SegIntersection(a, b, d, e) ||
testSeg2SegIntersection(b, c, d, e) ||
testSeg2SegIntersection(a, c, d, e) ;
}
/**
* Check if a segment intersects with a triangle, using given epsilon for comparison.
* @param a vertex 1 of the triangle
* @param b vertex 2 of the triangle
* @param c vertex 3 of the triangle
* @param d vertex 1 of first segment
* @param e vertex 2 of first segment
* @return true if the segment intersects at least one segment of the triangle, false otherwise
*/
public static boolean testTri2SegIntersection(final Vert2fImmutable a, final Vert2fImmutable b, final Vert2fImmutable c,
final Vert2fImmutable d, final Vert2fImmutable e,
final float epsilon){
return testSeg2SegIntersection(a, b, d, e, epsilon) ||
testSeg2SegIntersection(b, c, d, e, epsilon) ||
testSeg2SegIntersection(a, c, d, e, epsilon) ;
}
}
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