| /* |
| * Copyright (c) 2009-2010 jMonkeyEngine |
| * 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. |
| * |
| * * Neither the name of 'jMonkeyEngine' nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * 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 OWNER 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 com.jme3.bullet.util; |
| |
| import com.bulletphysics.collision.shapes.IndexedMesh; |
| import com.bulletphysics.dom.HeightfieldTerrainShape; |
| import com.jme3.math.FastMath; |
| import com.jme3.scene.Mesh; |
| import com.jme3.scene.VertexBuffer.Type; |
| import com.jme3.scene.mesh.IndexBuffer; |
| import com.jme3.util.BufferUtils; |
| import java.nio.ByteBuffer; |
| import java.nio.FloatBuffer; |
| |
| /** |
| * Nice convenience methods for conversion between javax.vecmath and com.jme3.math |
| * Objects, also some jme to jbullet mesh conversion. |
| * @author normenhansen |
| */ |
| public class Converter { |
| |
| private Converter() { |
| } |
| |
| public static com.jme3.math.Vector3f convert(javax.vecmath.Vector3f oldVec) { |
| com.jme3.math.Vector3f newVec = new com.jme3.math.Vector3f(); |
| convert(oldVec, newVec); |
| return newVec; |
| } |
| |
| public static com.jme3.math.Vector3f convert(javax.vecmath.Vector3f oldVec, com.jme3.math.Vector3f newVec) { |
| newVec.x = oldVec.x; |
| newVec.y = oldVec.y; |
| newVec.z = oldVec.z; |
| return newVec; |
| } |
| |
| public static javax.vecmath.Vector3f convert(com.jme3.math.Vector3f oldVec) { |
| javax.vecmath.Vector3f newVec = new javax.vecmath.Vector3f(); |
| convert(oldVec, newVec); |
| return newVec; |
| } |
| |
| public static javax.vecmath.Vector3f convert(com.jme3.math.Vector3f oldVec, javax.vecmath.Vector3f newVec) { |
| newVec.x = oldVec.x; |
| newVec.y = oldVec.y; |
| newVec.z = oldVec.z; |
| return newVec; |
| } |
| |
| public static javax.vecmath.Quat4f convert(com.jme3.math.Quaternion oldQuat, javax.vecmath.Quat4f newQuat) { |
| newQuat.w = oldQuat.getW(); |
| newQuat.x = oldQuat.getX(); |
| newQuat.y = oldQuat.getY(); |
| newQuat.z = oldQuat.getZ(); |
| return newQuat; |
| } |
| |
| public static javax.vecmath.Quat4f convert(com.jme3.math.Quaternion oldQuat) { |
| javax.vecmath.Quat4f newQuat = new javax.vecmath.Quat4f(); |
| convert(oldQuat, newQuat); |
| return newQuat; |
| } |
| |
| public static com.jme3.math.Quaternion convert(javax.vecmath.Quat4f oldQuat, com.jme3.math.Quaternion newQuat) { |
| newQuat.set(oldQuat.x, oldQuat.y, oldQuat.z, oldQuat.w); |
| return newQuat; |
| } |
| |
| public static com.jme3.math.Quaternion convert(javax.vecmath.Quat4f oldQuat) { |
| com.jme3.math.Quaternion newQuat = new com.jme3.math.Quaternion(); |
| convert(oldQuat, newQuat); |
| return newQuat; |
| } |
| |
| public static com.jme3.math.Quaternion convert(javax.vecmath.Matrix3f oldMatrix, com.jme3.math.Quaternion newQuaternion) { |
| // the trace is the sum of the diagonal elements; see |
| // http://mathworld.wolfram.com/MatrixTrace.html |
| float t = oldMatrix.m00 + oldMatrix.m11 + oldMatrix.m22; |
| float w, x, y, z; |
| // we protect the division by s by ensuring that s>=1 |
| if (t >= 0) { // |w| >= .5 |
| float s = FastMath.sqrt(t + 1); // |s|>=1 ... |
| w = 0.5f * s; |
| s = 0.5f / s; // so this division isn't bad |
| x = (oldMatrix.m21 - oldMatrix.m12) * s; |
| y = (oldMatrix.m02 - oldMatrix.m20) * s; |
| z = (oldMatrix.m10 - oldMatrix.m01) * s; |
| } else if ((oldMatrix.m00 > oldMatrix.m11) && (oldMatrix.m00 > oldMatrix.m22)) { |
| float s = FastMath.sqrt(1.0f + oldMatrix.m00 - oldMatrix.m11 - oldMatrix.m22); // |s|>=1 |
| x = s * 0.5f; // |x| >= .5 |
| s = 0.5f / s; |
| y = (oldMatrix.m10 + oldMatrix.m01) * s; |
| z = (oldMatrix.m02 + oldMatrix.m20) * s; |
| w = (oldMatrix.m21 - oldMatrix.m12) * s; |
| } else if (oldMatrix.m11 > oldMatrix.m22) { |
| float s = FastMath.sqrt(1.0f + oldMatrix.m11 - oldMatrix.m00 - oldMatrix.m22); // |s|>=1 |
| y = s * 0.5f; // |y| >= .5 |
| s = 0.5f / s; |
| x = (oldMatrix.m10 + oldMatrix.m01) * s; |
| z = (oldMatrix.m21 + oldMatrix.m12) * s; |
| w = (oldMatrix.m02 - oldMatrix.m20) * s; |
| } else { |
| float s = FastMath.sqrt(1.0f + oldMatrix.m22 - oldMatrix.m00 - oldMatrix.m11); // |s|>=1 |
| z = s * 0.5f; // |z| >= .5 |
| s = 0.5f / s; |
| x = (oldMatrix.m02 + oldMatrix.m20) * s; |
| y = (oldMatrix.m21 + oldMatrix.m12) * s; |
| w = (oldMatrix.m10 - oldMatrix.m01) * s; |
| } |
| return newQuaternion.set(x, y, z, w); |
| } |
| |
| public static javax.vecmath.Matrix3f convert(com.jme3.math.Quaternion oldQuaternion, javax.vecmath.Matrix3f newMatrix) { |
| float norm = oldQuaternion.getW() * oldQuaternion.getW() + oldQuaternion.getX() * oldQuaternion.getX() + oldQuaternion.getY() * oldQuaternion.getY() + oldQuaternion.getZ() * oldQuaternion.getZ(); |
| float s = (norm == 1f) ? 2f : (norm > 0f) ? 2f / norm : 0; |
| |
| // compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs |
| // will be used 2-4 times each. |
| float xs = oldQuaternion.getX() * s; |
| float ys = oldQuaternion.getY() * s; |
| float zs = oldQuaternion.getZ() * s; |
| float xx = oldQuaternion.getX() * xs; |
| float xy = oldQuaternion.getX() * ys; |
| float xz = oldQuaternion.getX() * zs; |
| float xw = oldQuaternion.getW() * xs; |
| float yy = oldQuaternion.getY() * ys; |
| float yz = oldQuaternion.getY() * zs; |
| float yw = oldQuaternion.getW() * ys; |
| float zz = oldQuaternion.getZ() * zs; |
| float zw = oldQuaternion.getW() * zs; |
| |
| // using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here |
| newMatrix.m00 = 1 - (yy + zz); |
| newMatrix.m01 = (xy - zw); |
| newMatrix.m02 = (xz + yw); |
| newMatrix.m10 = (xy + zw); |
| newMatrix.m11 = 1 - (xx + zz); |
| newMatrix.m12 = (yz - xw); |
| newMatrix.m20 = (xz - yw); |
| newMatrix.m21 = (yz + xw); |
| newMatrix.m22 = 1 - (xx + yy); |
| |
| return newMatrix; |
| } |
| |
| public static com.jme3.math.Matrix3f convert(javax.vecmath.Matrix3f oldMatrix) { |
| com.jme3.math.Matrix3f newMatrix = new com.jme3.math.Matrix3f(); |
| convert(oldMatrix, newMatrix); |
| return newMatrix; |
| } |
| |
| public static com.jme3.math.Matrix3f convert(javax.vecmath.Matrix3f oldMatrix, com.jme3.math.Matrix3f newMatrix) { |
| newMatrix.set(0, 0, oldMatrix.m00); |
| newMatrix.set(0, 1, oldMatrix.m01); |
| newMatrix.set(0, 2, oldMatrix.m02); |
| newMatrix.set(1, 0, oldMatrix.m10); |
| newMatrix.set(1, 1, oldMatrix.m11); |
| newMatrix.set(1, 2, oldMatrix.m12); |
| newMatrix.set(2, 0, oldMatrix.m20); |
| newMatrix.set(2, 1, oldMatrix.m21); |
| newMatrix.set(2, 2, oldMatrix.m22); |
| return newMatrix; |
| } |
| |
| public static javax.vecmath.Matrix3f convert(com.jme3.math.Matrix3f oldMatrix) { |
| javax.vecmath.Matrix3f newMatrix = new javax.vecmath.Matrix3f(); |
| convert(oldMatrix, newMatrix); |
| return newMatrix; |
| } |
| |
| public static javax.vecmath.Matrix3f convert(com.jme3.math.Matrix3f oldMatrix, javax.vecmath.Matrix3f newMatrix) { |
| newMatrix.m00 = oldMatrix.get(0, 0); |
| newMatrix.m01 = oldMatrix.get(0, 1); |
| newMatrix.m02 = oldMatrix.get(0, 2); |
| newMatrix.m10 = oldMatrix.get(1, 0); |
| newMatrix.m11 = oldMatrix.get(1, 1); |
| newMatrix.m12 = oldMatrix.get(1, 2); |
| newMatrix.m20 = oldMatrix.get(2, 0); |
| newMatrix.m21 = oldMatrix.get(2, 1); |
| newMatrix.m22 = oldMatrix.get(2, 2); |
| return newMatrix; |
| } |
| |
| public static com.bulletphysics.linearmath.Transform convert(com.jme3.math.Transform in, com.bulletphysics.linearmath.Transform out) { |
| convert(in.getTranslation(), out.origin); |
| convert(in.getRotation(), out.basis); |
| return out; |
| } |
| |
| public static com.jme3.math.Transform convert(com.bulletphysics.linearmath.Transform in, com.jme3.math.Transform out) { |
| convert(in.origin, out.getTranslation()); |
| convert(in.basis, out.getRotation()); |
| return out; |
| } |
| |
| public static IndexedMesh convert(Mesh mesh) { |
| IndexedMesh jBulletIndexedMesh = new IndexedMesh(); |
| jBulletIndexedMesh.triangleIndexBase = ByteBuffer.allocate(mesh.getTriangleCount() * 3 * 4); |
| jBulletIndexedMesh.vertexBase = ByteBuffer.allocate(mesh.getVertexCount() * 3 * 4); |
| |
| IndexBuffer indices = mesh.getIndicesAsList(); |
| |
| FloatBuffer vertices = mesh.getFloatBuffer(Type.Position); |
| vertices.rewind(); |
| |
| int verticesLength = mesh.getVertexCount() * 3; |
| jBulletIndexedMesh.numVertices = mesh.getVertexCount(); |
| jBulletIndexedMesh.vertexStride = 12; //3 verts * 4 bytes per. |
| for (int i = 0; i < verticesLength; i++) { |
| float tempFloat = vertices.get(); |
| jBulletIndexedMesh.vertexBase.putFloat(tempFloat); |
| } |
| |
| int indicesLength = mesh.getTriangleCount() * 3; |
| jBulletIndexedMesh.numTriangles = mesh.getTriangleCount(); |
| jBulletIndexedMesh.triangleIndexStride = 12; //3 index entries * 4 bytes each. |
| for (int i = 0; i < indicesLength; i++) { |
| jBulletIndexedMesh.triangleIndexBase.putInt(indices.get(i)); |
| } |
| vertices.rewind(); |
| vertices.clear(); |
| |
| return jBulletIndexedMesh; |
| } |
| |
| public static Mesh convert(IndexedMesh mesh) { |
| Mesh jmeMesh = new Mesh(); |
| |
| jmeMesh.setBuffer(Type.Index, 3, BufferUtils.createShortBuffer(mesh.numTriangles * 3)); |
| jmeMesh.setBuffer(Type.Position, 3, BufferUtils.createFloatBuffer(mesh.numVertices * 3)); |
| |
| IndexBuffer indicess = jmeMesh.getIndexBuffer(); |
| FloatBuffer vertices = jmeMesh.getFloatBuffer(Type.Position); |
| |
| for (int i = 0; i < mesh.numTriangles * 3; i++) { |
| indicess.put(i, mesh.triangleIndexBase.getInt(i * 4)); |
| } |
| |
| for (int i = 0; i < mesh.numVertices * 3; i++) { |
| vertices.put(i, mesh.vertexBase.getFloat(i * 4)); |
| } |
| jmeMesh.updateCounts(); |
| jmeMesh.updateBound(); |
| jmeMesh.getFloatBuffer(Type.Position).clear(); |
| |
| return jmeMesh; |
| } |
| |
| public static Mesh convert(HeightfieldTerrainShape heightfieldShape) { |
| return null; //TODO!! |
| } |
| } |
