toxiclibs 0.2-java → 0.5.0-java

data/src/toxi/geom/nurbs/InterpolationException.java

@@ -0,0 +1,65 @@
+/*
+ * jgeom: Geometry Library fo Java
+ * 
+ * Copyright (C) 2005  Samuel Gerber
+ * 
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ */
+package toxi.geom.nurbs;
+
+/**
+ * An InterpolationException is thrown if Nurbs could not be interpolated from
+ * the given points.
+ * 
+ * @author sg
+ * @version 1.0
+ */
+public class InterpolationException extends Exception {
+
+    private static final long serialVersionUID = 1L;
+
+    /**
+     *
+     */
+    public InterpolationException() {
+        super();
+    }
+
+    /**
+     *
+     * @param arg0
+     */
+    public InterpolationException(String arg0) {
+        super(arg0);
+    }
+
+    /**
+     *
+     * @param arg0
+     * @param arg1
+     */
+    public InterpolationException(String arg0, Throwable arg1) {
+        super(arg0, arg1);
+    }
+
+    /**
+     *
+     * @param arg0
+     */
+    public InterpolationException(Throwable arg0) {
+        super(arg0);
+    }
+
+}

data/src/toxi/geom/nurbs/KnotVector.java

@@ -0,0 +1,333 @@
+/*
+ * jgeom: Geometry Library fo Java
+ * 
+ * Copyright (C) 2005  Samuel Gerber
+ * 
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ */
+package toxi.geom.nurbs;
+
+/**
+ * KnotVector, assembles the knots values of a NURBS and its degree.
+ * 
+ * @author sg
+ * @version 1.0
+ */
+public class KnotVector {
+
+    private boolean isOpen;
+    private final float knots[];
+    private final int degree;
+    private final int n;
+
+    /**
+     * Create a Knotvector from the given knot values of the desired degree.
+     * 
+     * @param knots
+     *            knot values
+     * @param degree
+     *            degree of Nurbs
+     */
+    public KnotVector(float knots[], int degree)
+            throws IllegalArgumentException {
+        this.knots = knots;
+        this.degree = degree;
+        n = knots.length - degree - 2;
+        for (int i = 1; i < knots.length; i++) {
+            if (knots[i - 1] > knots[i]) {
+                throw new IllegalArgumentException("Knots not valid knot["
+                        + (i - 1) + "] > knot[" + i + "]: knot[" + (i - 1)
+                        + "]=" + knots[i - 1] + " > knot[" + i + "]="
+                        + knots[i]);
+            }
+        }
+
+        int m = knots.length - 1;
+
+        // Check if it is an open knot vector
+        isOpen = true;
+        for (int k = 0; k < degree && isOpen; k++) {
+            if (knots[k] != knots[k + 1]) {
+                isOpen = false;
+            }
+        }
+        for (int k = m; k > m - degree && isOpen; k--) {
+            if (knots[k] != knots[k - 1]) {
+                isOpen = false;
+            }
+        }
+
+    }
+
+    /**
+     * Gets the basis function values for the given u value. This function
+     * calculates firstly the span which is needed in order to calculate the
+     * basis functions values.
+     * 
+     * @param u
+     *            Value to calculate basis functions for.
+     * @return basis function values
+     */
+    public double[] basisFunctions(float u) {
+        return basisFunctions(findSpan(u), u);
+    }
+
+    /**
+     * Calculates the basis function values for the given u value, when it's
+     * already known in which span u lies.
+     * 
+     * @param span
+     *            The span u lies in
+     * @param u
+     *            Value to calculate basis functions for.
+     * @return basis function values
+     */
+    public double[] basisFunctions(int span, float u) {
+        final int d1 = degree + 1;
+        double res[] = new double[d1];
+        double left[] = new double[d1];
+        double right[] = new double[d1];
+        res[0] = 1;
+        for (int j = 1; j < d1; j++) {
+            left[j] = u - knots[span + 1 - j];
+            right[j] = knots[span + j] - u;
+            double saved = 0;
+            for (int r = 0; r < j; r++) {
+                double tmp = res[r] / (right[r + 1] + left[j - r]);
+                res[r] = saved + right[r + 1] * tmp;
+                saved = left[j - r] * tmp;
+            }
+            res[j] = saved;
+        }
+        return res;
+    }
+
+    /**
+     * Calculates the basis functions and its derivatives up to the given grade.
+     * 
+     * @param u
+     *            Value to calculate basis functions and derivatives for.
+     * @param grade
+     *            grade to calculate derivations for.
+     * @return an array of basis function values or derivated basis functions
+     *         values. The first array is the degree of dderivation in the
+     *         second array rhe values are stored. <br>
+     *         Example: <br>
+     *         <code>
+     * float[]][] f=dersBasisFuns(0.1f, 3);
+     * float value=f[0][1]; //In value is know the second value of the basis function derived 0 times stored.
+     * </code>
+     * 
+     */
+    public float[][] derivBasisFunctions(float u, int grade) {
+        int span = findSpan(u);
+        return derivBasisFunctions(span, u, grade);
+    }
+
+    /**
+     * Calculates the basis functions and its derivatives up to the given grade.
+     * 
+     * @param span
+     *            Span the given value lies in.
+     * @param u
+     *            Value to calculate basis functions and derivatives for.
+     * @param grade
+     *            grade to calculate derivations for.
+     * @return an array of basis function values or derivated basis functions
+     *         values
+     * @see KnotVector#derivBasisFunctions(float, int)
+     */
+    public float[][] derivBasisFunctions(int span, float u, int grade) {
+        float[][] ders = new float[grade + 1][degree + 1];
+        float[][] ndu = new float[degree + 1][degree + 1];
+        ndu[0][0] = 1.0f;
+        float[] left = new float[degree + 1];
+        float[] right = new float[degree + 1];
+        int j1, j2;
+        for (int j = 1; j <= degree; j++) {
+            left[j] = u - knots[span + 1 - j];
+            right[j] = knots[span + j] - u;
+            float saved = 0.0f;
+            for (int r = 0; r < j; r++) {
+                ndu[j][r] = right[r + 1] + left[j - r];
+                float temp = ndu[r][j - 1] / ndu[j][r];
+                ndu[r][j] = saved + right[r + 1] * temp;
+                saved = left[j - r] * temp;
+            }
+            ndu[j][j] = saved;
+        }
+        for (int j = 0; j <= degree; j++) {
+            ders[0][j] = ndu[j][degree];
+        }
+        for (int r = 0; r <= degree; r++) {
+            int s1 = 0;
+            int s2 = 1;
+            float[][] a = new float[2][degree + 1];
+            a[0][0] = 1.0f;
+            for (int k = 1; k <= grade; k++) {
+                float d = 0.0f;
+                final int rk = r - k;
+                final int pk = degree - k;
+                final float[] as1 = a[s1];
+                final float[] as2 = a[s2];
+                if (r >= k) {
+                    as2[0] = d = as1[0] / ndu[pk + 1][rk];
+                    d *= ndu[rk][pk];
+                }
+                if (rk >= -1) {
+                    j1 = 1;
+                } else {
+                    j1 = -rk;
+                }
+                if (r - 1 <= pk) {
+                    j2 = k - 1;
+                } else {
+                    j2 = degree - r;
+                }
+                for (int j = j1; j <= j2; j++) {
+                    as2[j] = (as1[j] - as1[j - 1]) / ndu[pk + 1][rk + j];
+                    d += as2[j] * ndu[rk + j][pk];
+                }
+                if (r <= pk) {
+                    as2[k] = -as1[k - 1] / ndu[pk + 1][r];
+                    d += as2[k] * ndu[r][pk];
+                }
+                ders[k][r] = d;
+                int j = s1;
+                s1 = s2;
+                s2 = j;
+            }
+        }
+        int r = degree;
+        for (int k = 1; k <= grade; k++) {
+            for (int j = 0; j <= degree; j++) {
+                ders[k][j] *= r;
+            }
+            r *= (degree - k);
+        }
+        return ders;
+    }
+
+    /**
+     * Finds the span (Position of corresponding knot values in knot vector) a
+     * given value belongs to.
+     * 
+     * @param u
+     *            value to find span for
+     * @return Position of span.
+     */
+    public int findSpan(float u) {
+        if (u >= knots[n + 1]) {
+            return n;
+        }
+        int low = degree;
+        int high = n + 1;
+        int mid = (low + high) / 2;
+        while ((u < knots[mid] || u >= knots[mid + 1]) && low < high) {
+            if (u < knots[mid]) {
+                high = mid;
+            } else {
+                low = mid;
+            }
+            mid = (low + high) / 2;
+        }
+        return mid;
+    }
+
+    /**
+     * Get the knot value at a specific index.
+     * 
+     * @param i
+     *            Index to get knot value for
+     * @return the knot value
+     */
+    public float get(int i) {
+        return knots[i];
+    }
+
+    /**
+     * get the knot values as float array
+     * 
+     * @return the knot values
+     */
+    public float[] getArray() {
+        return knots;
+    }
+
+    /**
+     * Get the degree of the KnotVector
+     * 
+     * @return Degree of the Knotvector
+     */
+    public int getDegree() {
+        return degree;
+    }
+
+    /**
+     * Return the nu
+     * 
+     * @return Length of the KnotVector
+     */
+    public int getN() {
+        return n;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public int getNumberOfSegments() {
+        int seg = 0;
+        float u = knots[0];
+        for (int i = 1; i < knots.length; i++) {
+            if (u != knots[i]) {
+                seg++;
+                u = knots[i];
+            }
+        }
+        return seg;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public synchronized boolean isOpen() {
+        return isOpen;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public int length() {
+        return knots.length;
+    }
+
+    /**
+     * Set the knot value at a specific index. After this operation a call to
+     * isValid may be needed if one is not sure if the KnotVector with the
+     * changed value is valid for a Nurbs.
+     * 
+     * @param i
+     *            Index to set knot value
+     * @param val
+     *            value to set the knot too
+     */
+    public void set(int i, float val) {
+        knots[i] = val;
+    }
+
+}

data/src/toxi/geom/nurbs/NurbsCreator.java

@@ -0,0 +1,815 @@
+/*
+ * jgeom: Geometry Library fo Java
+ * 
+ * Copyright (C) 2005  Samuel Gerber
+ * 
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ */
+package toxi.geom.nurbs;
+
+import toxi.geom.Axis3D;
+import toxi.geom.GMatrix;
+import toxi.geom.GVector;
+import toxi.geom.Origin3D;
+import toxi.geom.ReadonlyVec3D;
+import toxi.geom.SingularMatrixException;
+import toxi.geom.Vec3D;
+import toxi.geom.Vec4D;
+import toxi.math.MathUtils;
+
+/**
+ * This class offers some static methods to create NurbsSurfaces and NurbsCurves
+ * from diffrent inputs.
+ * 
+ * @author sg
+ * @version 1.0
+ */
+public final class NurbsCreator {
+
+    private static KnotVector averaging(final float[] uk, final int p) {
+        int m = uk.length + p;
+        int n = uk.length - 1;
+        float ip = 1f / p;
+        float[] u = new float[m + 1];
+        for (int i = 0; i <= p; i++) {
+            u[m - i] = 1;
+        }
+        for (int j = 1; j <= n - p; j++) {
+            float sum = 0;
+            for (int i = j; i <= j + p - 1; i++) {
+                sum += uk[i];
+            }
+            u[j + p] = sum * ip;
+        }
+        return new KnotVector(u, p);
+    }
+
+    private static float[] centripetal(Vec3D[] points) {
+        int n = points.length - 1;
+        float d = 0;
+        float[] uk = new float[n + 1];
+        uk[n] = 1;
+        double[] tmp = new double[n];
+        for (int k = 1; k <= n; k++) {
+            tmp[k - 1] = Math.sqrt(points[k].distanceTo(points[k - 1]));
+            d += tmp[k - 1];
+        }
+        d = 1f / d;
+        for (int i = 1; i < n; i++) {
+            uk[i] = uk[i - 1] + (float) (tmp[i - 1] * d);
+        }
+        return uk;
+    }
+
+    /**
+     * Create an Arc.
+     * 
+     * @param o
+     *            Origin to creat arc around
+     * @param r
+     *            Radius of the arc.
+     * @param thetaStart
+     *            Start angle of the arc in radians
+     * @param thetaEnd
+     *            End angle of the arc in radians. If end angle is smaller than
+     *            start angle, the end angle is increased by 2*PI.
+     * @return A NurbsCurve for the Arc.
+     */
+    public static NurbsCurve createArc(Origin3D o, float r, float thetaStart,
+            float thetaEnd) {
+        Vec3D tmp = new Vec3D();
+
+        if (thetaEnd < thetaStart) {
+            thetaEnd += MathUtils.TWO_PI;
+        }
+        double theta = thetaEnd - thetaStart;
+
+        int narcs = 4;
+        if (theta <= MathUtils.HALF_PI) {
+            narcs = 1;
+        } else if (theta <= MathUtils.PI) {
+            narcs = 2;
+        } else if (theta <= MathUtils.THREE_HALVES_PI) {
+            narcs = 3;
+        }
+        double dtheta = theta / narcs;
+        int n = 2 * narcs;
+        double w1 = Math.cos(dtheta / 2);
+
+        final float sinStart = (float) Math.sin(thetaStart);
+        final float cosStart = (float) Math.cos(thetaStart);
+        tmp.set(o.xAxis).scaleSelf(r * cosStart);
+        Vec3D p0 = new Vec3D(o.origin).addSelf(tmp);
+        tmp.set(o.yAxis).scaleSelf(r * sinStart);
+        p0.addSelf(tmp);
+
+        tmp.set(o.yAxis).scaleSelf(cosStart);
+        Vec3D t0 = new Vec3D(o.xAxis).scaleSelf(-sinStart).addSelf(tmp);
+
+        Vec4D[] cps = new Vec4D[n + 1];
+        cps[0] = new Vec4D(p0, 1);
+        int index = 0;
+        double angle = thetaStart;
+
+        Vec3D p1 = new Vec3D();
+        Vec3D p2 = new Vec3D();
+        Vec3D t2 = new Vec3D();
+        for (int i = 1; i <= narcs; i++) {
+            angle += dtheta;
+            final double sin = Math.sin(angle);
+            final double cos = Math.cos(angle);
+
+            tmp.set(o.xAxis).scaleSelf((float) (r * cos));
+            p2.set(o.origin).addSelf(tmp);
+            tmp.set(o.yAxis).scaleSelf((float) (r * sin));
+            p2.addSelf(tmp);
+
+            cps[index + 2] = new Vec4D(p2, 1);
+
+            t2.set(o.xAxis).scaleSelf((float) -sin);
+            tmp.set(o.yAxis).scaleSelf((float) cos);
+            t2.addSelf(tmp);
+
+            lineIntersect3D(p0, t0, p2, t2, p1, p1);
+
+            cps[index + 1] = new Vec4D(p1, (float) w1);
+            index += 2;
+            if (i < narcs) {
+                p0.set(p2);
+                t0.set(t2);
+            }
+        }
+        int j = n + 1;
+        float[] uKnot = new float[j + 3];
+        for (int i = 0; i < 3; i++) {
+            uKnot[i + j] = 1;
+        }
+        switch (narcs) {
+            case 2:
+                uKnot[3] = 0.5f;
+                uKnot[4] = 0.5f;
+                break;
+            case 3:
+                uKnot[3] = uKnot[4] = MathUtils.THIRD;
+                uKnot[5] = uKnot[6] = 2 * MathUtils.THIRD;
+                break;
+            case 4:
+                uKnot[3] = 0.25f;
+                uKnot[4] = 0.25f;
+                uKnot[5] = 0.5f;
+                uKnot[6] = 0.5f;
+                uKnot[7] = 0.75f;
+                uKnot[8] = 0.75f;
+                break;
+        }
+
+        return new BasicNurbsCurve(cps, uKnot, 2);
+    }
+
+    /**
+     * Create a full-circle NurbsCurve around the given Origin with radius r.
+     * The NurbsCurve has controlpolygon which has 7 controlpoints and the shape
+     * of quadrat.
+     * 
+     * @param o
+     *            Origin to create the full-circle around
+     * @param r
+     *            Radius of the full-circle
+     * @return A NurbsCurve for a full-circle
+     */
+    public static NurbsCurve createFullCircleQuad7(Origin3D o, float r) {
+
+        Vec4D[] cp = new Vec4D[7];
+        cp[0] = new Vec4D(o.xAxis.scale(r), 1);
+        cp[3] = cp[0].getInvertedXYZ();
+        cp[6] = cp[0].copy();
+
+        cp[1] = new Vec4D(o.yAxis.add(o.xAxis).scaleSelf(r), 0.5f);
+        cp[4] = cp[1].getInvertedXYZ();
+
+        cp[2] = new Vec4D(o.xAxis.getInverted().addSelf(o.yAxis).scaleSelf(r),
+                0.5f);
+        cp[5] = cp[2].getInvertedXYZ();
+
+        for (int i = 0; i < 7; i++) {
+            cp[i].addXYZSelf(o.origin);
+        }
+        float[] u = {
+                0, 0, 0, 0.25f, 0.5f, 0.5f, 0.75f, 1, 1, 1
+        };
+        return new BasicNurbsCurve(cp, u, 2);
+    }
+
+    /**
+     * Create a full-circle NurbsCurve around the given Origin with radius r.
+     * The NurbsCurve has controlpolygon which has 9 controlpoints and the shape
+     * of quadrat.
+     * 
+     * @param o
+     *            Origin to create the full-circle around
+     * @param r
+     *            Radius of the full-circle
+     * @return A NurbsCurve for a full-circle
+     */
+    public static NurbsCurve createFullCircleQuad9(Origin3D o, float r) {
+        final float w = MathUtils.SQRT2 / 2;
+
+        Vec4D[] cp = new Vec4D[9];
+        cp[0] = new Vec4D(o.xAxis.scale(r), 1);
+        cp[4] = cp[0].getInvertedXYZ();
+        cp[8] = cp[0].copy();
+
+        cp[1] = new Vec4D(o.xAxis.add(o.yAxis).scaleSelf(r), w);
+        cp[5] = cp[1].getInvertedXYZ();
+
+        cp[2] = new Vec4D(o.yAxis.scale(r), 1);
+        cp[6] = cp[2].getInvertedXYZ();
+
+        cp[3] = new Vec4D(o.xAxis.getInverted().addSelf(o.yAxis).scaleSelf(r),
+                w);
+        cp[7] = cp[3].getInvertedXYZ();
+
+        for (int i = 0; i < 9; i++) {
+            cp[i].addXYZSelf(o.origin);
+        }
+        float[] u = {
+                0, 0, 0, 0.25f, 0.25f, 0.5f, 0.5f, 0.75f, 0.75f, 1, 1, 1
+        };
+        return new BasicNurbsCurve(cp, u, 2);
+    }
+
+    /**
+     * Create a revolved NurbsSurface from the given NurbsCurve around the given
+     * axis whith the angle theta.
+     * 
+     * @param a
+     *            Axis to revolve around.
+     * @param curve
+     *            NurbsCurve to revolve
+     * @param theta
+     *            Angle to revolve
+     * @return The revolved NurbsSurface
+     */
+    // TODO:call createRevolvedSurface(Axis3D a, NurbsCurve curve, double
+    // thetaStart, double thetaEnd) as as it is tested
+    public static NurbsSurface createRevolvedSurface(Axis3D a,
+            NurbsCurve curve, double theta) {
+        int narcs = 4;
+        if (theta <= MathUtils.HALF_PI) {
+            narcs = 1;
+        } else if (theta <= MathUtils.PI) {
+            narcs = 2;
+        } else if (theta <= MathUtils.THREE_HALVES_PI) {
+            narcs = 3;
+        }
+
+        int j = 3 + 2 * (narcs - 1);
+        final double dtheta = theta / narcs;
+        final float[] uKnot = new float[j + 3];
+        for (int i = 0; i < 3; i++) {
+            uKnot[j + i] = 1;
+        }
+        switch (narcs) {
+            case 2:
+                uKnot[3] = 0.5f;
+                uKnot[4] = 0.5f;
+                break;
+            case 3:
+                uKnot[3] = uKnot[4] = MathUtils.THIRD;
+                uKnot[5] = uKnot[6] = 2 * MathUtils.THIRD;
+                break;
+            case 4:
+                uKnot[3] = 0.25f;
+                uKnot[4] = 0.25f;
+                uKnot[5] = 0.5f;
+                uKnot[6] = 0.5f;
+                uKnot[7] = 0.75f;
+                uKnot[8] = 0.75f;
+                break;
+        }
+
+        double angle = 0;
+        final double[] cos = new double[narcs + 1];
+        final double[] sin = new double[narcs + 1];
+        for (int i = 0; i <= narcs; i++) {
+            cos[i] = Math.cos(angle);
+            sin[i] = Math.sin(angle);
+            angle += dtheta;
+        }
+
+        Vec4D[] pj = curve.getControlPoints();
+        Vec3D P0 = new Vec3D();
+        final Vec3D P2 = new Vec3D();
+        final Vec3D O = new Vec3D();
+        final Vec3D T2 = new Vec3D();
+        final Vec3D T0 = new Vec3D();
+        final Vec3D tmp = new Vec3D();
+        final Vec3D X = new Vec3D();
+        final Vec3D Y = new Vec3D();
+        final Vec4D[][] pij = new Vec4D[2 * narcs + 1][pj.length];
+        final double wm = Math.cos(dtheta / 2);
+        for (j = 0; j < pj.length; j++) {
+            pointToLine3D(a.origin, a.dir, pj[j].to3D(), O);
+            X.set(pj[j].to3D().subSelf(O));
+            final double r = X.magnitude();
+            if (r == 0) {
+                X.set(O);
+            }
+            X.normalize();
+            a.dir.crossInto(X, Y);
+            pij[0][j] = new Vec4D(pj[j]);
+            P0 = pj[j].to3D();
+            T0.set(Y);
+            int index = 0;
+            for (int i = 1; i <= narcs; i++) {
+                tmp.set(X).scaleSelf((float) (r * cos[i]));
+                P2.set(O).addSelf(tmp);
+                tmp.set(Y).scaleSelf((float) (r * sin[i]));
+                P2.addSelf(tmp);
+
+                pij[index + 2][j] = new Vec4D(P2, pj[j].w);
+
+                tmp.set(Y).scaleSelf((float) cos[i]);
+                T2.set(X).scaleSelf((float) -sin[i]).addSelf(tmp);
+
+                lineIntersect3D(P0, T0, P2, T2, tmp, tmp);
+                pij[index + 1][j] = new Vec4D(tmp, (float) (wm * pj[j].w));
+
+                index += 2;
+                if (i < narcs) {
+                    P0.set(P2);
+                    T0.set(T2);
+                }
+
+            }
+        }
+        ControlNet cnet = new ControlNet(pij);
+        return new BasicNurbsSurface(cnet, uKnot, curve.getKnots(), 2,
+                curve.getDegree());
+    }
+
+    /**
+     * Create a revolved NurbsSurface from the given NurbsCurve around the given
+     * axis whith the angle theta.
+     * 
+     * @param a
+     *            Axis to revolve around.
+     * @param curve
+     *            NurbsCurve to revolve
+     * @param thetaStart
+     *            Angle to start revolution
+     * @param thetaEnd
+     *            Angle to end revolution
+     * @return The revolved NurbsSurface
+     */
+    public static NurbsSurface createRevolvedSurface(Axis3D a,
+            NurbsCurve curve, double thetaStart, double thetaEnd) {
+        int narcs = 4;
+        if (thetaStart > thetaEnd) {
+            double tmp = thetaEnd;
+            thetaEnd = thetaStart;
+            thetaStart = tmp;
+        }
+        double theta = thetaEnd - thetaStart;
+        if (theta <= MathUtils.HALF_PI) {
+            narcs = 1;
+        } else if (theta <= MathUtils.PI) {
+            narcs = 2;
+        } else if (theta <= MathUtils.THREE_HALVES_PI) {
+            narcs = 3;
+        }
+
+        int j = 3 + 2 * (narcs - 1);
+        final double dtheta = theta / narcs;
+        final float[] uKnot = new float[j + 3];
+        for (int i = 0; i < 3; i++) {
+            uKnot[i] = 0;
+            uKnot[j + i] = 1;
+        }
+        switch (narcs) {
+            case 2:
+                uKnot[3] = 0.5f;
+                uKnot[4] = 0.5f;
+                break;
+            case 3:
+                uKnot[3] = uKnot[4] = MathUtils.THIRD;
+                uKnot[5] = uKnot[6] = 2 * MathUtils.THIRD;
+                break;
+            case 4:
+                uKnot[3] = 0.25f;
+                uKnot[4] = 0.25f;
+                uKnot[5] = 0.5f;
+                uKnot[6] = 0.5f;
+                uKnot[7] = 0.75f;
+                uKnot[8] = 0.75f;
+                break;
+        }
+
+        double angle = thetaStart;
+        final double[] cos = new double[narcs + 1];
+        final double[] sin = new double[narcs + 1];
+        for (int i = 0; i <= narcs; i++) {
+            cos[i] = Math.cos(angle);
+            sin[i] = Math.sin(angle);
+            angle += dtheta;
+        }
+
+        final Vec4D[] pj = curve.getControlPoints();
+        Vec3D P0 = new Vec3D();
+        final Vec3D O = new Vec3D();
+        final Vec3D P2 = new Vec3D();
+        final Vec3D T2 = new Vec3D();
+        final Vec3D T0 = new Vec3D();
+        final Vec3D tmp = new Vec3D();
+        final Vec3D X = new Vec3D();
+        final Vec3D Y = new Vec3D();
+        final Vec4D[][] pij = new Vec4D[2 * narcs + 1][pj.length];
+        final double wm = Math.cos(dtheta / 2);
+        for (j = 0; j < pj.length; j++) {
+            pointToLine3D(a.origin, a.dir, pj[j].to3D(), O);
+            X.set(pj[j].to3D().subSelf(O));
+            final double r = X.magnitude();
+            if (r == 0) {
+                X.set(O);
+            }
+            X.normalize();
+            a.dir.crossInto(X, Y);
+            pij[0][j] = new Vec4D(pj[j]);
+            P0 = pj[j].to3D();
+            T0.set(Y);
+            int index = 0;
+            for (int i = 1; i <= narcs; i++) {
+                tmp.set(X).scaleSelf((float) (r * cos[i]));
+                P2.set(O).addSelf(tmp);
+                tmp.set(Y).scaleSelf((float) (r * sin[i]));
+                P2.addSelf(tmp);
+
+                pij[index + 2][j] = new Vec4D(P2, pj[j].w);
+
+                tmp.set(Y).scaleSelf((float) cos[i]);
+                T2.set(X).scaleSelf((float) -sin[i]).addSelf(tmp);
+
+                lineIntersect3D(P0, T0, P2, T2, tmp, tmp);
+                pij[index + 1][j] = new Vec4D(tmp, (float) (wm * pj[j].w));
+
+                index += 2;
+                if (i < narcs) {
+                    P0.set(P2);
+                    T0.set(T2);
+                }
+            }
+        }
+        ControlNet cnet = new ControlNet(pij);
+        return new BasicNurbsSurface(cnet, uKnot, curve.getKnots(), 2,
+                curve.getDegree());
+    }
+
+    /**
+     * Create a semi-circle NurbsCurve around the given Origin with radius r.
+     * 
+     * @param o
+     *            Origin to create semi-circle around.
+     * @param r
+     *            Radius of the semi-circle
+     * @return A NurbsCurve for a semi-circle
+     */
+    public static NurbsCurve createSemiCircle(Origin3D o, float r) {
+        Vec4D[] cp = new Vec4D[4];
+        cp[0] = new Vec4D(o.xAxis.scale(r), 1);
+        cp[3] = cp[0].getInvertedXYZ();
+        cp[0].addXYZSelf(o.origin);
+        cp[3].addXYZSelf(o.origin);
+        cp[1] = new Vec4D(o.xAxis.add(o.yAxis).scaleSelf(r).addSelf(o.origin),
+                0.5f);
+        cp[2] = new Vec4D(o.xAxis.getInverted().addSelf(o.yAxis).scaleSelf(r)
+                .addSelf(o.origin), 0.5f);
+
+        float[] u = {
+                0, 0, 0, 0.5f, 1, 1, 1
+        };
+        return new BasicNurbsCurve(cp, u, 2);
+    }
+
+    /**
+     * Creates a {@link NurbsSurface} by swinging a profile {@link NurbsCurve}
+     * in the XZ plane around a trajectory curve in the XY plane. Both curves
+     * MUST be offset from the major axes (i.e. their control points should have
+     * non-zero coordinates for the Y coordinates of the profile curve and the Z
+     * coordinates of the trajectory).
+     * 
+     * @param proj
+     *            profile curve in XZ
+     * @param traj
+     *            trajectory curve in XY
+     * @param alpha
+     *            scale factor
+     * @return 3D NURBS surface
+     */
+    public static NurbsSurface createSwungSurface(NurbsCurve proj,
+            NurbsCurve traj, float alpha) {
+        Vec4D[] cpProj = proj.getControlPoints();
+        Vec4D[] cpTraj = traj.getControlPoints();
+
+        // The NURBS Book, Piegl, p.455,456
+        // http://books.google.co.uk/books?id=7dqY5dyAwWkC&pg=PA455&lpg=PA455
+        // fixed Z handling (was wrong in original jgeom version)
+        Vec4D[][] cps = new Vec4D[cpProj.length][cpTraj.length];
+        for (int i = 0; i < cpProj.length; i++) {
+            for (int j = 0; j < cpTraj.length; j++) {
+                Vec4D cp = new Vec4D();
+                cp.x = cpProj[i].x * cpTraj[j].x * alpha;
+                cp.y = cpProj[i].y * cpTraj[j].y * alpha;
+                cp.z = (cpProj[i].z + cpTraj[j].z) * alpha;
+                cp.w = cpProj[i].w * cpTraj[j].w;
+                cps[i][j] = cp;
+            }
+        }
+        return new BasicNurbsSurface(new ControlNet(cps), proj.getKnots(),
+                traj.getKnots(), proj.getDegree(), traj.getDegree());
+
+    }
+
+    /**
+     * Perform a linear extrusion of the given {@link NurbsCurve} along the
+     * supplied vector to produce a new {@link NurbsSurface}. The extrusion
+     * length is the length of the vector given.
+     * 
+     * @param curve
+     *            NURBS curve instance
+     * @param extrude
+     *            a extrusion vector
+     * @return a NurbsSurface.
+     */
+    public static NurbsSurface extrudeCurve(NurbsCurve curve, Vec3D extrude) {
+
+        // Curve and Surface Construction using Rational B-splines
+        // Piegl and Tiller CAD Vol 19 #9 November 1987 pp 485-498
+        KnotVector vKnot = new KnotVector(new float[] {
+                0f, 0f, 1f, 1f
+        }, 1);
+
+        Vec4D[][] cpoints = new Vec4D[curve.getControlPoints().length][2];
+        Vec4D[] curvePoints = curve.getControlPoints();
+        for (int i = 0; i < cpoints.length; i++) {
+            for (int j = 0; j < 2; j++) {
+                /*
+                 * Change added 11/02/90 Steve Larkin : Have multiplied the term
+                 * wcoord to the extrusion vector before adding to the curve
+                 * coordinates. Not really sure this is the correct fix, but it
+                 * works !
+                 */
+                Vec4D cp = new Vec4D();
+                cp.x = curvePoints[i].x + j * extrude.x;
+                cp.y = curvePoints[i].y + j * extrude.y;
+                cp.z = curvePoints[i].z + j * extrude.z;
+                cp.w = curvePoints[i].w;
+                cpoints[i][j] = cp;
+            }
+        }
+        ControlNet cnet = new ControlNet(cpoints);
+        return new BasicNurbsSurface(cnet, curve.getKnots(), vKnot.getArray(),
+                curve.getDegree(), vKnot.getDegree());
+    }
+
+    /**
+     * Interpolates a NurbCurve form the given Points using a global
+     * interpolation technique.
+     * 
+     * @param points
+     *            Points to interpolate
+     * @param degree
+     *            degree of the interpolated NurbsCurve
+     * @return A NurbsCurve interpolating the given Points
+     * @throws InterpolationException
+     *             thrown if interpolation failed or is not possible.
+     */
+    public static NurbsCurve globalCurveInterpolation(Vec3D[] points, int degree)
+            throws InterpolationException {
+        try {
+            final int n = points.length;
+            final double[] A = new double[n * n];
+
+            final float[] uk = centripetal(points);
+            KnotVector uKnots = averaging(uk, degree);
+            for (int i = 0; i < n; i++) {
+                int span = uKnots.findSpan(uk[i]);
+                double[] tmp = uKnots.basisFunctions(span, uk[i]);
+                System.arraycopy(tmp, 0, A, i * n + span - degree, tmp.length);
+            }
+            final GMatrix a = new GMatrix(n, n, A);
+            final GVector perm = new GVector(n);
+            final GMatrix lu = new GMatrix(n, n);
+            a.computeLUD(lu, perm);
+
+            final Vec4D[] cps = new Vec4D[n];
+            for (int i = 0; i < cps.length; i++) {
+                cps[i] = new Vec4D(0, 0, 0, 1);
+            }
+
+            // x-ccordinate
+            final GVector b = new GVector(n);
+            for (int j = 0; j < n; j++) {
+                b.setElement(j, points[j].x);
+            }
+            final GVector sol = new GVector(n);
+            sol.backSolveLUD(lu, b, perm);
+            for (int j = 0; j < n; j++) {
+                cps[j].x = (float) sol.get(j);
+            }
+
+            // y-ccordinate
+            for (int j = 0; j < n; j++) {
+                b.setElement(j, points[j].y);
+            }
+            sol.zero();
+            sol.backSolveLUD(lu, b, perm);
+            for (int j = 0; j < n; j++) {
+                cps[j].y = (float) sol.get(j);
+            }
+
+            // z-ccordinate
+            for (int j = 0; j < n; j++) {
+                b.setElement(j, points[j].z);
+            }
+            sol.zero();
+            sol.backSolveLUD(lu, b, perm);
+            for (int j = 0; j < n; j++) {
+                cps[j].z = (float) sol.get(j);
+            }
+            return new BasicNurbsCurve(cps, uKnots);
+        } catch (SingularMatrixException ex) {
+            throw new InterpolationException(ex);
+        }
+
+    }
+
+    /**
+     * Interpolates a NurbsSurface from the given points using a gloabl
+     * interpolation technique.
+     * 
+     * @param points
+     *            Points arranged in a net (matrix) to interpolate
+     * @param uDegrees
+     *            degree in u direction
+     * @param vDegrees
+     *            degree in v direction
+     * @return A NurbsSurface interpolating the given points.
+     * @throws InterpolationException
+     *             thrown if interpolation failed or is not possible.
+     */
+    public static NurbsSurface globalSurfaceInterpolation(Vec3D[][] points,
+            int uDegrees, int vDegrees) throws InterpolationException {
+        final int n = points.length;
+        final int m = points[0].length;
+        float[][] uv = surfaceMeshParameters(points, n - 1, m - 1);
+        KnotVector u = averaging(uv[0], uDegrees);
+        KnotVector v = averaging(uv[1], vDegrees);
+
+        Vec4D[][] r = new Vec4D[m][n];
+        Vec3D[] tmp = new Vec3D[n];
+        for (int l = 0; l < m; l++) {
+            for (int i = 0; i < n; i++) {
+                tmp[i] = points[i][l];
+            }
+            try {
+                NurbsCurve curve = globalCurveInterpolation(tmp, uDegrees);
+                r[l] = curve.getControlPoints();
+            } catch (InterpolationException ex) {
+                for (int i = 0; i < tmp.length; i++) {
+                    r[l][i] = new Vec4D(tmp[i], 1);
+                }
+            }
+
+        }
+
+        Vec4D[][] cp = new Vec4D[n][m];
+        tmp = new Vec3D[m];
+        for (int i = 0; i < n; i++) {
+            for (int j = 0; j < m; j++) {
+                tmp[j] = r[j][i].to3D();
+            }
+            try {
+                NurbsCurve curve = globalCurveInterpolation(tmp, vDegrees);
+                cp[i] = curve.getControlPoints();
+            } catch (InterpolationException ex) {
+                for (int j = 0; j < tmp.length; j++) {
+                    cp[i][j] = new Vec4D(tmp[j], 1);
+                }
+            }
+        }
+
+        return new BasicNurbsSurface(new ControlNet(cp), u, v);
+    }
+
+    private static void lineIntersect3D(Vec3D p0, Vec3D t0, Vec3D p2, Vec3D t2,
+            Vec3D out0, Vec3D out2) {
+        Vec3D v02 = p0.sub(p2);
+
+        double a = t0.dot(t0);
+        double b = t0.dot(t2);
+        double c = t2.dot(t2);
+        double d = t0.dot(v02);
+        double e = t2.dot(v02);
+        double denom = a * c - b * b;
+
+        double mu0, mu2;
+
+        if (denom < MathUtils.EPS) {
+            mu0 = 0;
+            mu2 = b > c ? d / b : e / c;
+        } else {
+            mu0 = (b * e - c * d) / denom;
+            mu2 = (a * e - b * d) / denom;
+        }
+
+        out0.set(t0.scale((float) mu0).addSelf(p0));
+        out2.set(t2.scale((float) mu2).addSelf(p2));
+    }
+
+    private static void pointToLine3D(ReadonlyVec3D p, ReadonlyVec3D t,
+            Vec3D top, Vec3D out) {
+        Vec3D dir = top.sub(p);
+        float hyp = dir.magnitude();
+        out.set(p.add(t.scale(t.dot(dir.normalize()) * hyp)));
+    }
+
+    private static float[][] surfaceMeshParameters(Vec3D points[][], int n,
+            int m) {
+        final float[][] res = new float[2][];
+        int num = m + 1;
+        final float[] cds = new float[(n + 1) * (m + 1)];
+        final float[] uk = new float[n + 1];
+        uk[n] = 1;
+        for (int l = 0; l <= m; l++) {
+            float total = 0;
+            for (int k = 1; k <= n; k++) {
+                cds[k] = points[k][l].distanceTo(points[k - 1][l]);
+                total += cds[k];
+            }
+            if (total == 0) {
+                num = num - 1;
+            } else {
+                float d = 0;
+                total = 1f / total;
+                for (int k = 1; k <= n; k++) {
+                    d += cds[k];
+                    uk[k] += d * total;
+                }
+            }
+        }
+        if (num == 0) {
+            return null;
+        }
+        float inum = 1f / num;
+        for (int k = 1; k < n; k++) {
+            uk[k] *= inum;
+        }
+
+        num = n + 1;
+        final float[] vk = new float[m + 1];
+        vk[m] = 1;
+        for (int l = 0; l <= n; l++) {
+            float total = 0;
+            Vec3D[] pl = points[l];
+            for (int k = 1; k <= m; k++) {
+                cds[k] = pl[k].distanceTo(pl[k - 1]);
+                total += cds[k];
+            }
+            if (total == 0) {
+                num = num - 1;
+            } else {
+                float d = 0;
+                total = 1f / total;
+                for (int k = 1; k <= m; k++) {
+                    d += cds[k];
+                    vk[k] += d * total;
+                }
+            }
+        }
+        if (num == 0) {
+            return null;
+        }
+        inum = 1f / num;
+        for (int k = 1; k < m; k++) {
+            vk[k] *= inum;
+        }
+        res[0] = uk;
+        res[1] = vk;
+        return res;
+    }
+
+    private NurbsCreator() {
+    }
+}