toxiclibs 0.4.0 → 0.8.0

data/src/toxi/geom/PolygonClipper2D.java

@@ -0,0 +1,45 @@
+/*
+ *   __               .__       .__  ._____.           
+ * _/  |_  _______  __|__| ____ |  | |__\_ |__   ______
+ * \   __\/  _ \  \/  /  |/ ___\|  | |  || __ \ /  ___/
+ *  |  | (  <_> >    <|  \  \___|  |_|  || \_\ \\___ \ 
+ *  |__|  \____/__/\_ \__|\___  >____/__||___  /____  >
+ *                   \/       \/             \/     \/ 
+ *
+ * Copyright (c) 2006-2011 Karsten Schmidt
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * 
+ * http://creativecommons.org/licenses/LGPL/2.1/
+ * 
+ * This library 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
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA
+ */
+
+package toxi.geom;
+
+/**
+ * Defines an interface for clipping 2D polygons. Currently the only
+ * implementation for this available is {@link SutherlandHodgemanClipper}.
+ */
+public interface PolygonClipper2D {
+
+    /**
+     * Creates a clipped version of the polygon to the boundary shape set.
+     * 
+     * @param poly
+     *            polygon to be clipped
+     * @return clipped poly
+     */
+    public Polygon2D clipPolygon(Polygon2D poly);
+
+}

data/src/toxi/geom/PolygonTesselator.java

@@ -0,0 +1,20 @@
+package toxi.geom;
+
+import java.util.List;
+
+/**
+ *
+ * @author tux
+ */
+public interface PolygonTesselator {
+
+    /**
+     * Tesselates the given polygon into a set of triangles.
+     * 
+     * @param poly
+     *            polygon
+     * @return list of triangles
+     */
+    public List<Triangle2D> tesselatePolygon(Polygon2D poly);
+
+}

data/src/toxi/geom/QuadtreeVisitor.java

@@ -0,0 +1,44 @@
+/*
+ *   __               .__       .__  ._____.           
+ * _/  |_  _______  __|__| ____ |  | |__\_ |__   ______
+ * \   __\/  _ \  \/  /  |/ ___\|  | |  || __ \ /  ___/
+ *  |  | (  <_> >    <|  \  \___|  |_|  || \_\ \\___ \ 
+ *  |__|  \____/__/\_ \__|\___  >____/__||___  /____  >
+ *                   \/       \/             \/     \/ 
+ *
+ * Copyright (c) 2006-2011 Karsten Schmidt
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * 
+ * http://creativecommons.org/licenses/LGPL/2.1/
+ * 
+ * This library 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
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA
+ */
+
+package toxi.geom;
+
+/**
+ * This interface is the core part of the visitor pattern application for
+ * {@link PointQuadtree}s. It can be used to apply a procedure to all tree nodes
+ * when passed to {@link PointQuadtree#applyVisitor(QuadtreeVisitor)}.
+ */
+public interface QuadtreeVisitor {
+
+    /**
+     * Applies the procedure defined by an implementation of this interface to
+     * the given tree node.
+     * 
+     * @param node
+     */
+    void visitNode(PointQuadtree node);
+}

data/src/toxi/geom/Quaternion.java

@@ -0,0 +1,641 @@
+/*
+ *   __               .__       .__  ._____.           
+ * _/  |_  _______  __|__| ____ |  | |__\_ |__   ______
+ * \   __\/  _ \  \/  /  |/ ___\|  | |  || __ \ /  ___/
+ *  |  | (  <_> >    <|  \  \___|  |_|  || \_\ \\___ \ 
+ *  |__|  \____/__/\_ \__|\___  >____/__||___  /____  >
+ *                   \/       \/             \/     \/ 
+ *
+ * Copyright (c) 2006-2011 Karsten Schmidt
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * 
+ * http://creativecommons.org/licenses/LGPL/2.1/
+ * 
+ * This library 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
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA
+ */
+
+package toxi.geom;
+
+import javax.xml.bind.annotation.XmlAccessType;
+import javax.xml.bind.annotation.XmlAccessorType;
+import javax.xml.bind.annotation.XmlAttribute;
+
+import toxi.math.InterpolateStrategy;
+import toxi.math.MathUtils;
+
+/**
+ * Quaternion implementation with SLERP based on http://is.gd/2n9s
+ */
+@XmlAccessorType(XmlAccessType.FIELD)
+public class Quaternion {
+
+    /**
+     *
+     */
+    public static final float DOT_THRESHOLD = 0.9995f;
+
+    /**
+     * Creates a Quaternion from a axis and a angle.
+     * 
+     * @param axis
+     *            axis vector (will be normalized)
+     * @param angle
+     *            angle in radians.
+     * 
+     * @return new quaternion
+     */
+    public static Quaternion createFromAxisAngle(ReadonlyVec3D axis, float angle) {
+        angle *= 0.5;
+        float sin = MathUtils.sin(angle);
+        float cos = MathUtils.cos(angle);
+        Quaternion q = new Quaternion(cos, axis.getNormalizedTo(sin));
+        return q;
+    }
+
+    /**
+     * Creates a Quaternion from Euler angles.
+     * 
+     * @param pitch
+     *            X-angle in radians.
+     * @param yaw
+     *            Y-angle in radians.
+     * @param roll
+     *            Z-angle in radians.
+     * 
+     * @return new quaternion
+     */
+    public static Quaternion createFromEuler(float pitch, float yaw, float roll) {
+        pitch *= 0.5;
+        yaw *= 0.5;
+        roll *= 0.5;
+        float sinPitch = MathUtils.sin(pitch);
+        float cosPitch = MathUtils.cos(pitch);
+        float sinYaw = MathUtils.sin(yaw);
+        float cosYaw = MathUtils.cos(yaw);
+        float sinRoll = MathUtils.sin(roll);
+        float cosRoll = MathUtils.cos(roll);
+        float cosPitchCosYaw = cosPitch * cosYaw;
+        float sinPitchSinYaw = sinPitch * sinYaw;
+
+        Quaternion q = new Quaternion();
+
+        q.x = sinRoll * cosPitchCosYaw - cosRoll * sinPitchSinYaw;
+        q.y = cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw;
+        q.z = cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw;
+        q.w = cosRoll * cosPitchCosYaw + sinRoll * sinPitchSinYaw;
+
+        // alternative solution from:
+        // http://is.gd/6HdEB
+        //
+        // double c1 = Math.cos(yaw/2);
+        // double s1 = Math.sin(yaw/2);
+        // double c2 = Math.cos(pitch/2);
+        // double s2 = Math.sin(pitch/2);
+        // double c3 = Math.cos(roll/2);
+        // double s3 = Math.sin(roll/2);
+        // double c1c2 = c1*c2;
+        // double s1s2 = s1*s2;
+        // w =c1c2*c3 - s1s2*s3;
+        // x =c1c2*s3 + s1s2*c3;
+        // y =s1*c2*c3 + c1*s2*s3;
+        // z =c1*s2*c3 - s1*c2*s3;
+
+        return q;
+    }
+
+    /**
+     * Creates a quaternion from a rotation matrix. The algorithm used is from
+     * Allan and Mark Watt's "Advanced Animation and Rendering Techniques" (ACM
+     * Press 1992).
+     * 
+     * @param m
+     *            rotation matrix
+     * @return quaternion
+     */
+    public static Quaternion createFromMatrix(Matrix4x4 m) {
+
+        double s = 0.0f;
+        double[] q = new double[4];
+        double trace = m.matrix[0][0] + m.matrix[1][1] + m.matrix[2][2];
+        if (trace > 0.0f) {
+            s = 0.5 / Math.sqrt(trace + 1.0);
+            q[0] = (m.matrix[2][1] - m.matrix[1][2]) * s;
+            q[1] = (m.matrix[0][2] - m.matrix[2][0]) * s;
+            q[2] = (m.matrix[1][0] - m.matrix[0][1]) * s;
+            q[3] = 0.25 / s;
+        } else {
+            int[] nxt = new int[] {
+                    1, 2, 0
+            };
+            int i = 0, j = 0, k = 0;
+
+            if (m.matrix[1][1] > m.matrix[0][0]) {
+                i = 1;
+            }
+
+            if (m.matrix[2][2] > m.matrix[i][i]) {
+                i = 2;
+            }
+
+            j = nxt[i];
+            k = nxt[j];
+            s = 2.0f * Math
+                    .sqrt((m.matrix[i][i] - m.matrix[j][j] - m.matrix[k][k]) + 1.0f);
+
+            double ss = 1.0 / s;
+            q[i] = s * 0.25f;
+            q[j] = (m.matrix[j][i] + m.matrix[i][j]) * ss;
+            q[k] = (m.matrix[k][i] + m.matrix[i][k]) * ss;
+            q[3] = (m.matrix[k][j] - m.matrix[j][k]) * ss;
+        }
+
+        return new Quaternion((float) q[3], (float) q[0], (float) q[1],
+                (float) q[2]);
+    }
+
+    /**
+     * Constructs a quaternion that rotates the vector given by the "forward"
+     * param into the direction given by the "dir" param.
+     * 
+     * @param dir
+     * @param forward
+     * @return quaternion
+     */
+    public static Quaternion getAlignmentQuat(ReadonlyVec3D dir,
+            ReadonlyVec3D forward) {
+        Vec3D target = dir.getNormalized();
+        ReadonlyVec3D axis = forward.cross(target);
+        float length = axis.magnitude() + 0.0001f;
+        float angle = (float) Math.atan2(length, forward.dot(target));
+        return createFromAxisAngle(axis, angle);
+    }
+
+    @XmlAttribute(required = true)
+    public float x,
+
+    /**
+     *
+     */
+
+    /**
+     *
+     */
+    y,
+
+    /**
+     *
+     */
+    z,
+
+    /**
+     *
+     */
+    w;
+
+    /**
+     *
+     */
+    public Quaternion() {
+        identity();
+    }
+
+    /**
+     *
+     * @param w
+     * @param x
+     * @param y
+     * @param z
+     */
+    public Quaternion(float w, float x, float y, float z) {
+        this.w = w;
+        this.x = x;
+        this.y = y;
+        this.z = z;
+    }
+
+    /**
+     *
+     * @param w
+     * @param v
+     */
+    public Quaternion(float w, ReadonlyVec3D v) {
+        this.x = v.x();
+        this.y = v.y();
+        this.z = v.z();
+        this.w = w;
+    }
+
+    /**
+     *
+     * @param q
+     */
+    public Quaternion(Quaternion q) {
+        this.w = q.w;
+        this.x = q.x;
+        this.y = q.y;
+        this.z = q.z;
+    }
+
+    /**
+     *
+     * @param q
+     * @return
+     */
+    public Quaternion add(Quaternion q) {
+        return new Quaternion(x + q.x, y + q.y, z + q.z, w + q.w);
+    }
+
+    /**
+     *
+     * @param q
+     * @return
+     */
+    public Quaternion addSelf(Quaternion q) {
+        x += q.x;
+        y += q.y;
+        z += q.z;
+        w += q.w;
+        return this;
+    }
+
+    /**
+     *
+     * @param v
+     * @return
+     */
+    public Vec3D applyTo(Vec3D v) {
+        float ix = w * v.x + y * v.z - z * v.y;
+        float iy = w * v.y + z * v.x - x * v.z;
+        float iz = w * v.z + x * v.y - y * v.x;
+        float iw = -x * v.x - y * v.y - z * v.z;
+        float xx = ix * w - iw * x - iy * z + iz * y;
+        float yy = iy * w - iw * y - iz * x + ix * z;
+        float zz = iz * w - iw * z - ix * y + iy * x;
+        v.set(xx, yy, zz);
+        return v;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Quaternion copy() {
+        return new Quaternion(w, x, y, z);
+    }
+
+    /**
+     * Computes the dot product with the given quaternion.
+     * 
+     * @param q
+     * @return dot product
+     */
+    public float dot(Quaternion q) {
+        return (x * q.x) + (y * q.y) + (z * q.z) + (w * q.w);
+    }
+
+    /**
+     * Computes this quaternion's conjugate, defined as the same w around the
+     * inverted axis.
+     * 
+     * @return new conjugate quaternion
+     */
+    public Quaternion getConjugate() {
+        Quaternion q = new Quaternion();
+        q.x = -x;
+        q.y = -y;
+        q.z = -z;
+        q.w = w;
+        return q;
+    }
+
+    /**
+     * @deprecated use {@link #toMatrix4x4()} instead
+     * @return result matrix
+     */
+    @Deprecated
+    public Matrix4x4 getMatrix() {
+        return toMatrix4x4();
+    }
+
+    /**
+     * Computes normalized version of this quaternion.
+     * 
+     * @return new normalized quaternion
+     */
+    public Quaternion getNormalized() {
+        return new Quaternion(this).normalize();
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Quaternion identity() {
+        w = 1.0f;
+        x = 0.0f;
+        y = 0.0f;
+        z = 0.0f;
+        return this;
+    }
+
+    /**
+     * Spherical interpolation to target quaternion (code ported from <a href=
+     * "http://www.gamasutra.com/view/feature/3278/rotating_objects_using_quaternions.php"
+     * >GamaSutra</a>)
+     * 
+     * @param target
+     *            quaternion
+     * @param t
+     *            interpolation factor (0..1)
+     * @return new interpolated quat
+     */
+    public Quaternion interpolateTo(Quaternion target, float t) {
+        return copy().interpolateToSelf(target, t);
+    }
+
+    /**
+     * @param target
+     * @param t
+     * @param is
+     * @return interpolated quaternion as new instance
+     */
+    public Quaternion interpolateTo(Quaternion target, float t,
+            InterpolateStrategy is) {
+        return copy().interpolateToSelf(target, is.interpolate(0, 1, t));
+    }
+
+    /**
+     * Spherical interpolation to target quaternion (code ported from <a href=
+     * "http://www.gamasutra.com/view/feature/3278/rotating_objects_using_quaternions.php"
+     * >GamaSutra</a>)
+     * 
+     * @param target
+     *            quaternion
+     * @param t
+     *            interpolation factor (0..1)
+     * @return new interpolated quat
+     */
+    public Quaternion interpolateToSelf(Quaternion target, double t) {
+        double scale;
+        double invscale;
+        float dot = dot(target);
+        double theta = Math.acos(dot);
+        double sintheta = Math.sin(theta);
+        if (sintheta > 0.001f) {
+            scale = Math.sin(theta * (1.0 - t)) / sintheta;
+            invscale = Math.sin(theta * t) / sintheta;
+        } else {
+            scale = 1 - t;
+            invscale = t;
+        }
+        if (dot < 0) {
+            w = (float) (scale * w - invscale * target.w);
+            x = (float) (scale * x - invscale * target.x);
+            y = (float) (scale * y - invscale * target.y);
+            z = (float) (scale * z - invscale * target.z);
+        } else {
+            w = (float) (scale * w + invscale * target.w);
+            x = (float) (scale * x + invscale * target.x);
+            y = (float) (scale * y + invscale * target.y);
+            z = (float) (scale * z + invscale * target.z);
+        }
+        return normalize();
+    }
+
+    /**
+     * Uses spherical interpolation to approach the target quaternion. The
+     * interpolation factor is manipulated by the chosen
+     * {@link InterpolateStrategy} first.
+     * 
+     * @param target
+     * @param t
+     * @param is
+     * @return itself
+     */
+    public Quaternion interpolateToSelf(Quaternion target, float t,
+            InterpolateStrategy is) {
+        return interpolateToSelf(target, is.interpolate(0, 1, t));
+    }
+
+    /**
+     *
+     * @return
+     */
+    public float magnitude() {
+        return (float) Math.sqrt(x * x + y * y + z * z + w * w);
+    }
+
+    /**
+     *
+     * @param q2
+     * @return
+     */
+    public Quaternion multiply(Quaternion q2) {
+        Quaternion res = new Quaternion();
+        res.w = w * q2.w - x * q2.x - y * q2.y - z * q2.z;
+        res.x = w * q2.x + x * q2.w + y * q2.z - z * q2.y;
+        res.y = w * q2.y + y * q2.w + z * q2.x - x * q2.z;
+        res.z = w * q2.z + z * q2.w + x * q2.y - y * q2.x;
+
+        return res;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Quaternion normalize() {
+        double mag = Math.sqrt(x * x + y * y + z * z + w * w);
+        if (mag > MathUtils.EPS) {
+            mag = 1.0 / mag;
+            x *= mag;
+            y *= mag;
+            z *= mag;
+            w *= mag;
+        }
+        return this;
+    }
+
+    /**
+     *
+     * @param t
+     * @return
+     */
+    public Quaternion scale(float t) {
+        return new Quaternion(x * t, y * t, z * t, w * t);
+    }
+
+    /**
+     *
+     * @param t
+     * @return
+     */
+    public Quaternion scaleSelf(float t) {
+        x *= t;
+        y *= t;
+        z *= t;
+        w *= t;
+        return this;
+    }
+
+    /**
+     *
+     * @param w
+     * @param x
+     * @param y
+     * @param z
+     * @return
+     */
+    public Quaternion set(float w, float x, float y, float z) {
+        this.w = w;
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        return this;
+    }
+
+    /**
+     *
+     * @param w
+     * @param v
+     * @return
+     */
+    public Quaternion set(float w, Vec3D v) {
+        this.w = w;
+        x = v.x;
+        y = v.y;
+        z = v.z;
+        return this;
+    }
+
+    /**
+     *
+     * @param q
+     * @return
+     */
+    public Quaternion set(Quaternion q) {
+        w = q.w;
+        x = q.x;
+        y = q.y;
+        z = q.z;
+        return this;
+    }
+
+    /**
+     *
+     * @param q
+     * @return
+     */
+    public Quaternion sub(Quaternion q) {
+        return new Quaternion(x - q.x, y - q.y, z - q.z, w - q.w);
+    }
+
+    /**
+     *
+     * @param q
+     * @return
+     */
+    public Quaternion subSelf(Quaternion q) {
+        x -= q.x;
+        y -= q.y;
+        z -= q.z;
+        w -= q.w;
+        return this;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public float[] toArray() {
+        return new float[] {
+                w, x, y, z
+        };
+    }
+
+    /**
+     * Converts the quaternion into a float array consisting of: rotation angle
+     * in radians, rotation axis x,y,z
+     * 
+     * @return 4-element float array
+     */
+    public float[] toAxisAngle() {
+        float[] res = new float[4];
+        float sa = (float) Math.sqrt(1.0f - w * w);
+        if (sa < MathUtils.EPS) {
+            sa = 1.0f;
+        } else {
+            sa = 1.0f / sa;
+        }
+        res[0] = (float) Math.acos(w) * 2.0f;
+        res[1] = x * sa;
+        res[2] = y * sa;
+        res[3] = z * sa;
+        return res;
+    }
+
+    /**
+     * Converts the quat to a 4x4 rotation matrix (in row-major format). Assumes
+     * the quat is currently normalized (if not, you'll need to call
+     * {@link #normalize()} first).
+     * 
+     * @return result matrix
+     */
+    public Matrix4x4 toMatrix4x4() {
+        return toMatrix4x4(new Matrix4x4());
+    }
+
+    /**
+     *
+     * @param result
+     * @return
+     */
+    public Matrix4x4 toMatrix4x4(Matrix4x4 result) {
+        // Converts this quaternion to a rotation matrix.
+        //
+        // | 1 - 2(y^2 + z^2) 2(xy + wz) 2(xz - wy) 0 |
+        // | 2(xy - wz) 1 - 2(x^2 + z^2) 2(yz + wx) 0 |
+        // | 2(xz + wy) 2(yz - wx) 1 - 2(x^2 + y^2) 0 |
+        // | 0 0 0 1 |
+
+        float x2 = x + x;
+        float y2 = y + y;
+        float z2 = z + z;
+        float xx = x * x2;
+        float xy = x * y2;
+        float xz = x * z2;
+        float yy = y * y2;
+        float yz = y * z2;
+        float zz = z * z2;
+        float wx = w * x2;
+        float wy = w * y2;
+        float wz = w * z2;
+
+        return result.set(1 - (yy + zz), xy - wz, xz + wy, 0, xy + wz,
+                1 - (xx + zz), yz - wx, 0, xz - wy, yz + wx, 1 - (xx + yy), 0,
+                0, 0, 0, 1);
+    }
+
+    /**
+     *
+     * @return
+     */
+    @Override
+    public String toString() {
+        StringBuilder sb = new StringBuilder(48);
+        sb.append("{axis: [").append(x).append(",").append(y).append(",")
+                .append(z).append("], w: ").append(w).append("}");
+        return sb.toString();
+    }
+}