Java Code Examples for org.apache.commons.math3.geometry.euclidean.threed.Vector3D#ZERO

@Test
@Override
public void testNonInvertible() throws Exception {
    /*  SVD can compute a solution to singular problems.
     *  In this case the target vector, b, is not in the
     *  span of the jacobian matrix, A. The closes point
     *  to b on the plane spanned by A is computed.
     */
    LinearProblem problem = new LinearProblem(new double[][]{
            {1, 2, -3},
            {2, 1, 3},
            {-3, 0, -9}
    }, new double[]{1, 1, 1});

    Optimum optimum = optimizer.optimize(problem.getBuilder().build());

    Plane span = new Plane(Vector3D.ZERO, new Vector3D(1, 2, -3), new Vector3D(2, 1, 0), TOl);
    double expected = FastMath.abs(span.getOffset(new Vector3D(1, 1, 1)));
    double actual = optimum.getResiduals().getNorm();

    //verify
    Assert.assertEquals(expected, actual, TOl);
}
 

@Test
@Override
public void testNonInvertible() throws Exception {
    /*  SVD can compute a solution to singular problems.
     *  In this case the target vector, b, is not in the
     *  span of the jacobian matrix, A. The closes point
     *  to b on the plane spanned by A is computed.
     */
    LinearProblem problem = new LinearProblem(new double[][]{
            {1, 2, -3},
            {2, 1, 3},
            {-3, 0, -9}
    }, new double[]{1, 1, 1});

    Optimum optimum = optimizer.optimize(problem.getBuilder().build());

    Plane span = new Plane(Vector3D.ZERO, new Vector3D(1, 2, -3), new Vector3D(2, 1, 0), TOl);
    double expected = FastMath.abs(span.getOffset(new Vector3D(1, 1, 1)));
    double actual = optimum.getResiduals().getNorm();

    //verify
    Assert.assertEquals(expected, actual, TOl);
}
 

void updateTranslation(double deltaTime) {
	//Integrate velocity to displacement
	Vector3D displacement = velocity().scalarMultiply(deltaTime);
	mcEntity().move(MoverType.SELF, displacement.getX(), displacement.getY(), displacement.getZ());

	//Integrate netForce to velocity
	setVelocity(velocity().add(netForce.scalarMultiply(1 / mass()).scalarMultiply(deltaTime)));

	//Clear net force
	netForce = Vector3D.ZERO;

	//Apply drag
	addForce(velocity().negate().scalarMultiply(drag()));
	if (!mcEntity().onGround) {
		//Apply gravity
		addForce(gravity().scalarMultiply(mass()));
	}
}
 

void updateRotation(double deltaTime) {

		//Integrate angular velocity to angular displacement
		Rotation angularVel = angularVelocity();
		Rotation deltaRotation = RotationUtil.slerp(Rotation.IDENTITY, angularVel, deltaTime);
		entity().transform().setRotation(entity().rotation().applyTo(deltaRotation));

		//Integrate torque to angular velocity
		Vector3D torque = netTorque.scalarMultiply(deltaTime);
		if (!Vector3D.ZERO.equals(torque)) {
			setAngularVelocity(angularVelocity().applyTo(new Rotation(Vector3DUtil.FORWARD, torque)));
		}

		//Clear net torque
		netTorque = Vector3D.ZERO;

		//Apply drag
		Vector3D eulerAngularVel = angularVelocity().applyInverseTo(Vector3DUtil.FORWARD);
		addTorque(eulerAngularVel.negate().scalarMultiply(angularDrag()));
	}
 

void updateTranslation(double deltaTime) {
	//Integrate velocity to displacement
	Vector3D displacement = velocity().scalarMultiply(deltaTime);
	mcEntity().moveEntity(displacement.getX(), displacement.getY(), displacement.getZ());

	//Integrate netForce to velocity
	setVelocity(velocity().add(netForce.scalarMultiply(1 / mass()).scalarMultiply(deltaTime)));

	//Clear net force
	netForce = Vector3D.ZERO;

	//Apply drag
	addForce(velocity().negate().scalarMultiply(drag()));
	if (!mcEntity().onGround) {
		//Apply gravity
		addForce(gravity().scalarMultiply(mass()));
	}
}
 

void updateRotation(double deltaTime) {

		//Integrate angular velocity to angular displacement
		Rotation angularVel = angularVelocity();
		Rotation deltaRotation = RotationUtil.slerp(Rotation.IDENTITY, angularVel, deltaTime);
		entity().transform().setRotation(entity().rotation().applyTo(deltaRotation));

		//Integrate torque to angular velocity
		Vector3D torque = netTorque.scalarMultiply(deltaTime);
		if (!Vector3D.ZERO.equals(torque)) {
			setAngularVelocity(angularVelocity().applyTo(new Rotation(Vector3DUtil.FORWARD, torque)));
		}

		//Clear net torque
		netTorque = Vector3D.ZERO;

		//Apply drag
		Vector3D eulerAngularVel = angularVelocity().applyInverseTo(Vector3DUtil.FORWARD);
		addTorque(eulerAngularVel.negate().scalarMultiply(angularDrag()));
	}
 

void updateRotation(double deltaTime) {

		//Integrate angular velocity to angular displacement
		Rotation angularVel = angularVelocity();
		Rotation deltaRotation = RotationUtil.slerp(Rotation.IDENTITY, angularVel, deltaTime);
		entity().transform().setRotation(entity().rotation().applyTo(deltaRotation));

		//Integrate torque to angular velocity
		Vector3D torque = netTorque.scalarMultiply(deltaTime);
		if (!Vector3D.ZERO.equals(torque)) {
			setAngularVelocity(angularVelocity().applyTo(new Rotation(Vector3DUtil.FORWARD, torque)));
		}

		//Clear net torque
		netTorque = Vector3D.ZERO;

		//Apply drag
		Vector3D eulerAngularVel = angularVelocity().applyInverseTo(Vector3DUtil.FORWARD);
		addTorque(eulerAngularVel.negate().scalarMultiply(angularDrag()));
	}
 

void updateTranslation(double deltaTime) {
	//Integrate velocity to displacement
	Vector3D displacement = velocity().scalarMultiply(deltaTime);
	mcEntity().moveEntity(displacement.getX(), displacement.getY(), displacement.getZ());

	//Integrate netForce to velocity
	setVelocity(velocity().add(netForce.scalarMultiply(1 / mass()).scalarMultiply(deltaTime)));

	//Clear net force
	netForce = Vector3D.ZERO;

	//Apply drag
	addForce(velocity().negate().scalarMultiply(drag()));
	if (!mcEntity().onGround) {
		//Apply gravity
		addForce(gravity().scalarMultiply(mass()));
	}
}
 

/**
 * Compute the centroid of this facet.
 */
private void computeCentroid() {
	centroid = Vector3D.ZERO;
	Iterator<Vertex> it = vertices.iterator();

	while (it.hasNext()) {
		centroid = centroid.add(it.next());
	}
	centroid = centroid.scalarMultiply(1 / (double) vertices.size());
}
 

/**
 * Gets the center of this face.
 *
 * @return Center
 */
public Vector3D getCenter() {
	if (vertices.size() >= 3) {
		return vertices
			.stream()
			.map(v -> v.vec)
			.reduce(Vector3D.ZERO, Vector3D::add)
			.scalarMultiply(1f / vertices.size());
	}

	return Vector3D.ZERO;
}
 

/** Simple constructor.
* @param tolerance below which points are consider to be identical
    */
   public PropertiesComputer(final double tolerance) {
       this.tolerance              = tolerance;
       this.summedArea             = 0;
       this.summedBarycenter       = Vector3D.ZERO;
       this.convexCellsInsidePoints = new ArrayList<Vector3D>();
   }
 

/** Simple constructor.
* @param tolerance below which points are consider to be identical
    */
   public PropertiesComputer(final double tolerance) {
       this.tolerance              = tolerance;
       this.summedArea             = 0;
       this.summedBarycenter       = Vector3D.ZERO;
       this.convexCellsInsidePoints = new ArrayList<Vector3D>();
   }
 

@Test
public void testTranslation() {
	Vector3D start = Vector3D.ZERO;
	assertThat(TransformUtil.transform(start, TransformUtil.translationMatrix(0, 0, 0))).isEqualTo(start);
	Vector3D by = new Vector3D(3, 0, -6);
	assertThat(TransformUtil.transform(start, TransformUtil.translationMatrix(by))).isEqualTo(by);
	start = Vector3DUtil.ONE;
	assertThat(TransformUtil.transform(start, TransformUtil.translationMatrix(by))).isEqualTo(start.add(by));
}
 

private Vector3D getNormal(int index) {
	try {
		return vertexNormals.get(index < 0 ? index + textureCoordinates.size() : index - 1);
	} catch (IndexOutOfBoundsException e) {
		System.err.println("[OBJ]: Can't get vertexNormal " + index + "! Is this model corrupted?");
		return Vector3D.ZERO;
	}
}
 

private Vector3D getVertex(int index) {
	try {
		return vertices.get(index < 0 ? index + textureCoordinates.size() : index - 1);
	} catch (IndexOutOfBoundsException e) {
		System.err.println("[OBJ]: Can't get vertex " + index + "! Is this model corrupted?");
		return Vector3D.ZERO;
	}
}
 

@SuppressWarnings("unchecked")
public Face quadToFace(BakedQuad quad) {
	Face face = new Face();
	final VertexFormat format = this.format; // 1.11.2 stores VertexFormat on a per-quad basis.

	int[] data = quad.getVertexData();
	Optional<TextureAtlasSprite> texture = Optional.ofNullable(wrapped.getTexture());

	final Optional<VertexFormatElement> posElement = ((Collection<VertexFormatElement>)format.getElements()).stream()
		.filter(VertexFormatElement::isPositionElement)
		.findFirst();

	final Optional<VertexFormatElement> uvElement = ((Collection<VertexFormatElement>)format.getElements()).stream()
		.filter(vfe -> vfe.getUsage() == VertexFormatElement.EnumUsage.UV)
		.findFirst();

	face.texture = texture
		.filter(t -> uvElement.isPresent())
		.map(TextureAtlasSprite::getIconName)
		.map(ResourceLocation::new)
		.map(AssetConverter.instance()::toNovaTexture);

	// `VertexFormat` offsets are for a `ByteBuffer`
	// `data` is an int array, so we convert the offsets

	// TODO: support offsets which are not divisible by four
	final int posOffset = posElement.map(VertexFormatElement::getOffset).map(i -> i / 4).orElse(-1);
	final int uvOffset = uvElement.map(VertexFormatElement::getOffset).map(i -> i / 4).orElse(-1);
	final int colorOffset = format.hasColor() ? (format.getColorOffset() / 4) : -1;
	final int normalOffset = format.hasNormal() ? (format.getNormalOffset() / 4) : -1;

	for (int i = 0; i < data.length; i += 7) {
		Vector3D pos = posElement.isPresent() ? new Vector3D(
			Float.intBitsToFloat(data[i + posOffset]),
			Float.intBitsToFloat(data[i + posOffset + 1]),
			Float.intBitsToFloat(data[i + posOffset + 2])) : Vector3D.ZERO;

		Vector2D uv = uvElement.isPresent() ? new Vector2D(
			deinterpolateU(Float.intBitsToFloat(data[i + uvOffset]), texture),
			deinterpolateV(Float.intBitsToFloat(data[i + uvOffset + 1]), texture)) : Vector2D.ZERO;

		Vertex vertex = new Vertex(pos, uv);
		if (format.hasColor()) {
			if (DefaultVertexFormats.BLOCK.equals(format))
				vertex.color = Color.argb(data[i + colorOffset]);
			else
				vertex.color = Color.rgba(data[i + colorOffset]);
		}

		Optional<Vector3D> normal = Optional.empty();
		if (format.hasNormal()) {
			int mergedNormal = data[i + normalOffset];
			if (mergedNormal != 0)
				normal = Optional.of(new Vector3D(((byte)(mergedNormal & 0xFF)) / 127D,
					((byte)((mergedNormal >> 8) & 0xFF)) / 127D,
					((byte)((mergedNormal >> 16) & 0xFF)) / 127D));
		}

		if (format.hasNormal())
			vertex.normal = normal;
		face.drawVertex(vertex);
	}
	face.normal = Vector3DUtil.calculateNormal(face);
	return face;
}
 

public Face quadToFace(BakedQuad quad) {
	Face face = new Face();
	final VertexFormat format = quad.getFormat();

	int[] data = quad.getVertexData();
	Optional<TextureAtlasSprite> texture = Optional.ofNullable(quad.getSprite() == null ? wrapped.getParticleTexture() : quad.getSprite());

	final Optional<VertexFormatElement> posElement = ((Collection<VertexFormatElement>)format.getElements()).stream()
		.filter(VertexFormatElement::isPositionElement)
		.findFirst();

	final Optional<VertexFormatElement> uvElement = ((Collection<VertexFormatElement>)format.getElements()).stream()
		.filter(vfe -> vfe.getUsage() == VertexFormatElement.EnumUsage.UV)
		.findFirst();

	face.texture = texture
		.filter(t -> uvElement.isPresent())
		.map(TextureAtlasSprite::getIconName)
		.map(ResourceLocation::new)
		.map(AssetConverter.instance()::toNovaTexture);

	// `VertexFormat` offsets are for a `ByteBuffer`
	// `data` is an int array, so we convert it

	// TODO: support offsets which are not divisible by four
	final int posOffset = posElement.map(VertexFormatElement::getIndex).map(i -> i / 4).orElse(-1);
	final int uvOffset = uvElement.map(VertexFormatElement::getIndex).map(i -> i / 4).orElse(-1);
	final int colorOffset = format.hasColor() ? (format.getColorOffset() / 4) : -1;
	final int normalOffset = format.hasNormal() ? (format.getNormalOffset() / 4) : -1;

	for (int i = 0; i < data.length; i += 7) {
		Vector3D pos = posElement.isPresent() ? new Vector3D(
			Float.intBitsToFloat(data[i + posOffset]),
			Float.intBitsToFloat(data[i + posOffset + 1]),
			Float.intBitsToFloat(data[i + posOffset + 2])) : Vector3D.ZERO;

		Vector2D uv = uvElement.isPresent() ? new Vector2D(
			deinterpolateU(Float.intBitsToFloat(data[i + uvOffset]), texture),
			deinterpolateV(Float.intBitsToFloat(data[i + uvOffset + 1]), texture)) : Vector2D.ZERO;

		Vertex vertex = new Vertex(pos, uv);
		if (format.hasColor()) {
			vertex.color = Color.argb(data[i + colorOffset]);
		}

		Optional<Vector3D> normal = Optional.empty();
		if (format.hasNormal()) {
			int mergedNormal = data[i + normalOffset];
			if (mergedNormal != 0)
				normal = Optional.of(new Vector3D(((byte)(mergedNormal & 0xFF)) / 127D,
					((byte)((mergedNormal >> 8) & 0xFF)) / 127D,
					((byte)((mergedNormal >> 16) & 0xFF)) / 127D));
		}

		if (format.hasNormal())
			vertex.normal = normal;
		face.drawVertex(vertex);
	}
	face.normal = Vector3DUtil.calculateNormal(face);
	return face;
}
 

private AlmostEqualAssertionVector3D(Vector3D actual) {
    super(actual, AlmostEqualAssertionVector3D.class, Vector3D.ZERO);
}