pbox2d 0.6.0-java → 0.8.0-java

data/src/org/jbox2d/common/Mat33.java

@@ -0,0 +1,290 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * 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.
+ * 
+ * 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 HOLDER 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 org.jbox2d.common;
+
+import java.io.Serializable;
+
+/**
+ * A 3-by-3 matrix. Stored in column-major order.
+ * 
+ * @author Daniel Murphy
+ */
+public class Mat33 implements Serializable {
+  private static final long serialVersionUID = 2L;
+
+  public static final Mat33 IDENTITY = new Mat33(new Vec3(1, 0, 0), new Vec3(0, 1, 0), new Vec3(0,
+      0, 1));
+
+  public final Vec3 ex, ey, ez;
+
+  public Mat33() {
+    ex = new Vec3();
+    ey = new Vec3();
+    ez = new Vec3();
+  }
+
+  public Mat33(float exx, float exy, float exz, float eyx, float eyy, float eyz, float ezx,
+      float ezy, float ezz) {
+    ex = new Vec3(exx, exy, exz);
+    ey = new Vec3(eyx, eyy, eyz);
+    ez = new Vec3(ezx, ezy, ezz);
+  }
+
+  public Mat33(Vec3 argCol1, Vec3 argCol2, Vec3 argCol3) {
+    ex = argCol1.clone();
+    ey = argCol2.clone();
+    ez = argCol3.clone();
+  }
+
+  public void setZero() {
+    ex.setZero();
+    ey.setZero();
+    ez.setZero();
+  }
+
+  public void set(float exx, float exy, float exz, float eyx, float eyy, float eyz, float ezx,
+      float ezy, float ezz) {
+    ex.x = exx;
+    ex.y = exy;
+    ex.z = exz;
+    ey.x = eyx;
+    ey.y = eyy;
+    ey.z = eyz;
+    ez.x = eyx;
+    ez.y = eyy;
+    ez.z = eyz;
+  }
+
+  public void set(Mat33 mat) {
+    Vec3 vec = mat.ex;
+    ex.x = vec.x;
+    ex.y = vec.y;
+    ex.z = vec.z;
+    Vec3 vec1 = mat.ey;
+    ey.x = vec1.x;
+    ey.y = vec1.y;
+    ey.z = vec1.z;
+    Vec3 vec2 = mat.ez;
+    ez.x = vec2.x;
+    ez.y = vec2.y;
+    ez.z = vec2.z;
+  }
+
+  public void setIdentity() {
+    ex.x = (float) 1;
+    ex.y = (float) 0;
+    ex.z = (float) 0;
+    ey.x = (float) 0;
+    ey.y = (float) 1;
+    ey.z = (float) 0;
+    ez.x = (float) 0;
+    ez.y = (float) 0;
+    ez.z = (float) 1;
+  }
+
+  // / Multiply a matrix times a vector.
+  public static final Vec3 mul(Mat33 A, Vec3 v) {
+    return new Vec3(v.x * A.ex.x + v.y * A.ey.x + v.z + A.ez.x, v.x * A.ex.y + v.y * A.ey.y + v.z
+        * A.ez.y, v.x * A.ex.z + v.y * A.ey.z + v.z * A.ez.z);
+  }
+
+  public static final Vec2 mul22(Mat33 A, Vec2 v) {
+    return new Vec2(A.ex.x * v.x + A.ey.x * v.y, A.ex.y * v.x + A.ey.y * v.y);
+  }
+
+  public static final void mul22ToOut(Mat33 A, Vec2 v, Vec2 out) {
+    final float tempx = A.ex.x * v.x + A.ey.x * v.y;
+    out.y = A.ex.y * v.x + A.ey.y * v.y;
+    out.x = tempx;
+  }
+
+  public static final void mul22ToOutUnsafe(Mat33 A, Vec2 v, Vec2 out) {
+    assert (v != out);
+    out.y = A.ex.y * v.x + A.ey.y * v.y;
+    out.x = A.ex.x * v.x + A.ey.x * v.y;
+  }
+
+  public static final void mulToOut(Mat33 A, Vec3 v, Vec3 out) {
+    final float tempy = v.x * A.ex.y + v.y * A.ey.y + v.z * A.ez.y;
+    final float tempz = v.x * A.ex.z + v.y * A.ey.z + v.z * A.ez.z;
+    out.x = v.x * A.ex.x + v.y * A.ey.x + v.z * A.ez.x;
+    out.y = tempy;
+    out.z = tempz;
+  }
+
+  public static final void mulToOutUnsafe(Mat33 A, Vec3 v, Vec3 out) {
+    assert (out != v);
+    out.x = v.x * A.ex.x + v.y * A.ey.x + v.z * A.ez.x;
+    out.y = v.x * A.ex.y + v.y * A.ey.y + v.z * A.ez.y;
+    out.z = v.x * A.ex.z + v.y * A.ey.z + v.z * A.ez.z;
+  }
+
+  /**
+   * Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse
+   * in one-shot cases.
+   * 
+   * @param b
+   * @return
+   */
+  public final Vec2 solve22(Vec2 b) {
+    Vec2 x = new Vec2();
+    solve22ToOut(b, x);
+    return x;
+  }
+
+  /**
+   * Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse
+   * in one-shot cases.
+   * 
+   * @param b
+   * @return
+   */
+  public final void solve22ToOut(Vec2 b, Vec2 out) {
+    final float a11 = ex.x, a12 = ey.x, a21 = ex.y, a22 = ey.y;
+    float det = a11 * a22 - a12 * a21;
+    if (det != 0.0f) {
+      det = 1.0f / det;
+    }
+    out.x = det * (a22 * b.x - a12 * b.y);
+    out.y = det * (a11 * b.y - a21 * b.x);
+  }
+
+  // djm pooling from below
+  /**
+   * Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse
+   * in one-shot cases.
+   * 
+   * @param b
+   * @return
+   */
+  public final Vec3 solve33(Vec3 b) {
+    Vec3 x = new Vec3();
+    solve33ToOut(b, x);
+    return x;
+  }
+
+  /**
+   * Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse
+   * in one-shot cases.
+   * 
+   * @param b
+   * @param out the result
+   */
+  public final void solve33ToOut(Vec3 b, Vec3 out) {
+    assert (b != out);
+    Vec3.crossToOutUnsafe(ey, ez, out);
+    float det = Vec3.dot(ex, out);
+    if (det != 0.0f) {
+      det = 1.0f / det;
+    }
+    Vec3.crossToOutUnsafe(ey, ez, out);
+    final float x = det * Vec3.dot(b, out);
+    Vec3.crossToOutUnsafe(b, ez, out);
+    final float y = det * Vec3.dot(ex, out);
+    Vec3.crossToOutUnsafe(ey, b, out);
+    float z = det * Vec3.dot(ex, out);
+    out.x = x;
+    out.y = y;
+    out.z = z;
+  }
+
+  public void getInverse22(Mat33 M) {
+    float a = ex.x, b = ey.x, c = ex.y, d = ey.y;
+    float det = a * d - b * c;
+    if (det != 0.0f) {
+      det = 1.0f / det;
+    }
+
+    M.ex.x = det * d;
+    M.ey.x = -det * b;
+    M.ex.z = 0.0f;
+    M.ex.y = -det * c;
+    M.ey.y = det * a;
+    M.ey.z = 0.0f;
+    M.ez.x = 0.0f;
+    M.ez.y = 0.0f;
+    M.ez.z = 0.0f;
+  }
+
+  // / Returns the zero matrix if singular.
+  public void getSymInverse33(Mat33 M) {
+    float bx = ey.y * ez.z - ey.z * ez.y;
+    float by = ey.z * ez.x - ey.x * ez.z;
+    float bz = ey.x * ez.y - ey.y * ez.x;
+    float det = ex.x * bx + ex.y * by + ex.z * bz;
+    if (det != 0.0f) {
+      det = 1.0f / det;
+    }
+
+    float a11 = ex.x, a12 = ey.x, a13 = ez.x;
+    float a22 = ey.y, a23 = ez.y;
+    float a33 = ez.z;
+
+    M.ex.x = det * (a22 * a33 - a23 * a23);
+    M.ex.y = det * (a13 * a23 - a12 * a33);
+    M.ex.z = det * (a12 * a23 - a13 * a22);
+
+    M.ey.x = M.ex.y;
+    M.ey.y = det * (a11 * a33 - a13 * a13);
+    M.ey.z = det * (a13 * a12 - a11 * a23);
+
+    M.ez.x = M.ex.z;
+    M.ez.y = M.ey.z;
+    M.ez.z = det * (a11 * a22 - a12 * a12);
+  }
+
+
+  public final static void setScaleTransform(float scale, Mat33 out) {
+    out.ex.x = scale;
+    out.ey.y = scale;
+  }
+
+  @Override
+  public int hashCode() {
+    final int prime = 31;
+    int result = 1;
+    result = prime * result + ((ex == null) ? 0 : ex.hashCode());
+    result = prime * result + ((ey == null) ? 0 : ey.hashCode());
+    result = prime * result + ((ez == null) ? 0 : ez.hashCode());
+    return result;
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (this == obj) return true;
+    if (obj == null) return false;
+    if (getClass() != obj.getClass()) return false;
+    Mat33 other = (Mat33) obj;
+    if (ex == null) {
+      if (other.ex != null) return false;
+    } else if (!ex.equals(other.ex)) return false;
+    if (ey == null) {
+      if (other.ey != null) return false;
+    } else if (!ey.equals(other.ey)) return false;
+    if (ez == null) {
+      if (other.ez != null) return false;
+    } else if (!ez.equals(other.ez)) return false;
+    return true;
+  }
+}

data/src/org/jbox2d/common/MathUtils.java

@@ -0,0 +1,335 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * 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.
+ * 
+ * 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 HOLDER 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.
+ ******************************************************************************/
+/*
+ * JBox2D - A Java Port of Erin Catto's Box2D
+ * 
+ * JBox2D homepage: http://jbox2d.sourceforge.net/
+ * Box2D homepage: http://www.box2d.org
+ * 
+ * This software is provided 'as-is', without any express or implied
+ * warranty.  In no event will the authors be held liable for any damages
+ * arising from the use of this software.
+ * 
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ * 
+ * 1. The origin of this software must not be misrepresented; you must not
+ * claim that you wrote the original software. If you use this software
+ * in a product, an acknowledgment in the product documentation would be
+ * appreciated but is not required.
+ * 2. Altered source versions must be plainly marked as such, and must not be
+ * misrepresented as being the original software.
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
+
+package org.jbox2d.common;
+
+import java.util.Random;
+
+/**
+ * A few math methods that don't fit very well anywhere else.
+ */
+public class MathUtils extends PlatformMathUtils {
+  public static final float PI = (float) Math.PI;
+  public static final float TWOPI = (float) (Math.PI * 2);
+  public static final float INV_PI = 1f / PI;
+  public static final float HALF_PI = PI / 2;
+  public static final float QUARTER_PI = PI / 4;
+  public static final float THREE_HALVES_PI = TWOPI - HALF_PI;
+
+  /**
+   * Degrees to radians conversion factor
+   */
+  public static final float DEG2RAD = PI / 180;
+
+  /**
+   * Radians to degrees conversion factor
+   */
+  public static final float RAD2DEG = 180 / PI;
+
+  public static final float[] sinLUT = new float[Settings.SINCOS_LUT_LENGTH];
+
+  static {
+    for (int i = 0; i < Settings.SINCOS_LUT_LENGTH; i++) {
+      sinLUT[i] = (float) Math.sin(i * Settings.SINCOS_LUT_PRECISION);
+    }
+  }
+
+  public static final float sin(float x) {
+    if (Settings.SINCOS_LUT_ENABLED) {
+      return sinLUT(x);
+    } else {
+      return (float) StrictMath.sin(x);
+    }
+  }
+
+  public static final float sinLUT(float x) {
+    x %= TWOPI;
+
+    if (x < 0) {
+      x += TWOPI;
+    }
+
+    if (Settings.SINCOS_LUT_LERP) {
+
+      x /= Settings.SINCOS_LUT_PRECISION;
+
+      final int index = (int) x;
+
+      if (index != 0) {
+        x %= index;
+      }
+
+      // the next index is 0
+      if (index == Settings.SINCOS_LUT_LENGTH - 1) {
+        return ((1 - x) * sinLUT[index] + x * sinLUT[0]);
+      } else {
+        return ((1 - x) * sinLUT[index] + x * sinLUT[index + 1]);
+      }
+
+    } else {
+      return sinLUT[MathUtils.round(x / Settings.SINCOS_LUT_PRECISION) % Settings.SINCOS_LUT_LENGTH];
+    }
+  }
+
+  public static final float cos(float x) {
+    if (Settings.SINCOS_LUT_ENABLED) {
+      return sinLUT(HALF_PI - x);
+    } else {
+      return (float) StrictMath.cos(x);
+    }
+  }
+
+  public static final float abs(final float x) {
+    if (Settings.FAST_ABS) {
+      return x > 0 ? x : -x;
+    } else {
+      return Math.abs(x);
+    }
+  }
+
+  public static final float fastAbs(final float x) {
+    return x > 0 ? x : -x;
+  }
+
+  public static final int abs(int x) {
+    int y = x >> 31;
+    return (x ^ y) - y;
+  }
+
+  public static final int floor(final float x) {
+    if (Settings.FAST_FLOOR) {
+      return fastFloor(x);
+    } else {
+      return (int) Math.floor(x);
+    }
+  }
+
+  public static final int fastFloor(final float x) {
+    int y = (int) x;
+    if (x < y) {
+      return y - 1;
+    }
+    return y;
+  }
+
+  public static final int ceil(final float x) {
+    if (Settings.FAST_CEIL) {
+      return fastCeil(x);
+    } else {
+      return (int) Math.ceil(x);
+    }
+  }
+
+  public static final int fastCeil(final float x) {
+    int y = (int) x;
+    if (x > y) {
+      return y + 1;
+    }
+    return y;
+  }
+
+  public static final int round(final float x) {
+    if (Settings.FAST_ROUND) {
+      return floor(x + .5f);
+    } else {
+      return StrictMath.round(x);
+    }
+  }
+
+  /**
+   * Rounds up the value to the nearest higher power^2 value.
+   * 
+   * @param x
+   * @return power^2 value
+   */
+  public static final int ceilPowerOf2(int x) {
+    int pow2 = 1;
+    while (pow2 < x) {
+      pow2 <<= 1;
+    }
+    return pow2;
+  }
+
+  public final static float max(final float a, final float b) {
+    return a > b ? a : b;
+  }
+
+  public final static int max(final int a, final int b) {
+    return a > b ? a : b;
+  }
+
+  public final static float min(final float a, final float b) {
+    return a < b ? a : b;
+  }
+
+  public final static int min(final int a, final int b) {
+    return a < b ? a : b;
+  }
+
+  public final static float map(final float val, final float fromMin, final float fromMax,
+      final float toMin, final float toMax) {
+    final float mult = (val - fromMin) / (fromMax - fromMin);
+    final float res = toMin + mult * (toMax - toMin);
+    return res;
+  }
+
+  /** Returns the closest value to 'a' that is in between 'low' and 'high'
+     * @param a
+     * @param low
+     * @param high
+     * @return  
+     */
+  public final static float clamp(final float a, final float low, final float high) {
+    return max(low, min(a, high));
+  }
+
+  public final static Vec2 clamp(final Vec2 a, final Vec2 low, final Vec2 high) {
+    final Vec2 min = new Vec2();
+    min.x = a.x < high.x ? a.x : high.x;
+    min.y = a.y < high.y ? a.y : high.y;
+    min.x = low.x > min.x ? low.x : min.x;
+    min.y = low.y > min.y ? low.y : min.y;
+    return min;
+  }
+
+  public final static void clampToOut(final Vec2 a, final Vec2 low, final Vec2 high, final Vec2 dest) {
+    dest.x = a.x < high.x ? a.x : high.x;
+    dest.y = a.y < high.y ? a.y : high.y;
+    dest.x = low.x > dest.x ? low.x : dest.x;
+    dest.y = low.y > dest.y ? low.y : dest.y;
+  }
+
+  /**
+   * Next Largest Power of 2: Given a binary integer value x, the next largest power of 2 can be
+   * computed by a SWAR algorithm that recursively "folds" the upper bits into the lower bits. This
+   * process yields a bit vector with the same most significant 1 as x, but all 1's below it. Adding
+   * 1 to that value yields the next largest power of 2.
+     * @param x
+     * @return 
+   */
+  public final static int nextPowerOfTwo(int x) {
+    x |= x >> 1;
+    x |= x >> 2;
+    x |= x >> 4;
+    x |= x >> 8;
+    x |= x >> 16;
+    return x + 1;
+  }
+
+  public final static boolean isPowerOfTwo(final int x) {
+    return x > 0 && (x & x - 1) == 0;
+  }
+
+  public static final float pow(float a, float b) {
+    if (Settings.FAST_POW) {
+      return fastPow(a, b);
+    } else {
+      return (float)Math.pow(a, b);
+    }
+  }
+
+  public static final float atan2(final float y, final float x) {
+    if (Settings.FAST_ATAN2) {
+      return fastAtan2(y, x);
+    } else {
+      return (float) StrictMath.atan2(y, x);
+    }
+  }
+
+  public static final float fastAtan2(float y, float x) {
+    if (x == 0.0f) {
+      if (y > 0.0f) return HALF_PI;
+      if (y == 0.0f) return 0.0f;
+      return -HALF_PI;
+    }
+    float atan;
+    final float z = y / x;
+    if (abs(z) < 1.0f) {
+      atan = z / (1.0f + 0.28f * z * z);
+      if (x < 0.0f) {
+        if (y < 0.0f) return atan - PI;
+        return atan + PI;
+      }
+    } else {
+      atan = HALF_PI - z / (z * z + 0.28f);
+      if (y < 0.0f) return atan - PI;
+    }
+    return atan;
+  }
+
+  public static final float reduceAngle(float theta) {
+    theta %= TWOPI;
+    if (abs(theta) > PI) {
+      theta = theta - TWOPI;
+    }
+    if (abs(theta) > HALF_PI) {
+      theta = PI - theta;
+    }
+    return theta;
+  }
+
+  public static final float randomFloat(float argLow, float argHigh) {
+    return (float) Math.random() * (argHigh - argLow) + argLow;
+  }
+
+  public static final float randomFloat(Random r, float argLow, float argHigh) {
+    return r.nextFloat() * (argHigh - argLow) + argLow;
+  }
+
+  public static final float sqrt(float x) {
+    return (float) StrictMath.sqrt(x);
+  }
+
+  public final static float distanceSquared(Vec2 v1, Vec2 v2) {
+    float dx = (v1.x - v2.x);
+    float dy = (v1.y - v2.y);
+    return dx * dx + dy * dy;
+  }
+
+  public final static float distance(Vec2 v1, Vec2 v2) {
+    return sqrt(distanceSquared(v1, v2));
+  }
+}