commit 1dec66e01ced9715c90295817e83dd3262617c4a Author: Leszek Koltunski Date: Thu May 11 14:55:04 2023 +0200 Implement the android.opengl.Matrix functions ourselves. diff --git a/src/main/java/org/distorted/library/effect/MatrixEffectMove.java b/src/main/java/org/distorted/library/effect/MatrixEffectMove.java index 485c40a..a0092ac 100644 --- a/src/main/java/org/distorted/library/effect/MatrixEffectMove.java +++ b/src/main/java/org/distorted/library/effect/MatrixEffectMove.java @@ -20,8 +20,7 @@ package org.distorted.library.effect; -import android.opengl.Matrix; - +import org.distorted.library.helpers.MatrixHelper; import org.distorted.library.type.Data3D; /////////////////////////////////////////////////////////////////////////////////////////////////// @@ -55,8 +54,8 @@ public class MatrixEffectMove extends MatrixEffect float sy = uniforms[NUM_FLOAT_UNIFORMS*index+1]; float sz = uniforms[NUM_FLOAT_UNIFORMS*index+2]; - Matrix.translateM(matrixP, 0, sx, sy, sz); - Matrix.translateM(matrixV, 0, sx, sy, sz); + MatrixHelper.translate(matrixP, sx, sy, sz); + MatrixHelper.translate(matrixV, sx, sy, sz); } /////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/src/main/java/org/distorted/library/effect/MatrixEffectQuaternion.java b/src/main/java/org/distorted/library/effect/MatrixEffectQuaternion.java index a8a7a04..60bfdc5 100644 --- a/src/main/java/org/distorted/library/effect/MatrixEffectQuaternion.java +++ b/src/main/java/org/distorted/library/effect/MatrixEffectQuaternion.java @@ -20,8 +20,7 @@ package org.distorted.library.effect; -import android.opengl.Matrix; - +import org.distorted.library.helpers.MatrixHelper; import org.distorted.library.type.Data3D; import org.distorted.library.type.Data4D; @@ -66,13 +65,13 @@ public class MatrixEffectQuaternion extends MatrixEffect float y = uniforms[NUM_FLOAT_UNIFORMS*index+CENTER_OFFSET+1]; float z = uniforms[NUM_FLOAT_UNIFORMS*index+CENTER_OFFSET+2]; - Matrix.translateM(matrixP, 0, x, y, z); - multiplyByQuat (matrixP, qX, qY, qZ, qW); - Matrix.translateM(matrixP, 0,-x,-y,-z); + MatrixHelper.translate(matrixP, x, y, z); + multiplyByQuat(matrixP, qX, qY, qZ, qW); + MatrixHelper.translate(matrixP,-x,-y,-z); - Matrix.translateM(matrixV, 0, x, y, z); - multiplyByQuat (matrixV, qX, qY, qZ, qW); - Matrix.translateM(matrixV, 0,-x,-y,-z); + MatrixHelper.translate(matrixV, x, y, z); + multiplyByQuat(matrixV, qX, qY, qZ, qW); + MatrixHelper.translate(matrixV,-x,-y,-z); } /////////////////////////////////////////////////////////////////////////////////////////////////// @@ -101,7 +100,7 @@ public class MatrixEffectQuaternion extends MatrixEffect mTmpMatrix1[3] = mTmpMatrix1[7] = mTmpMatrix1[11] = mTmpMatrix1[12] = mTmpMatrix1[13] = mTmpMatrix1[14] = 0; mTmpMatrix1[15] = 1; - Matrix.multiplyMM(mTmpMatrix2, 0, matrix, 0, mTmpMatrix1, 0); + MatrixHelper.multiply(mTmpMatrix2, matrix, mTmpMatrix1); matrix[ 0] = mTmpMatrix2[ 0]; matrix[ 1] = mTmpMatrix2[ 1]; diff --git a/src/main/java/org/distorted/library/effect/MatrixEffectRotate.java b/src/main/java/org/distorted/library/effect/MatrixEffectRotate.java index c998b79..53b0d87 100644 --- a/src/main/java/org/distorted/library/effect/MatrixEffectRotate.java +++ b/src/main/java/org/distorted/library/effect/MatrixEffectRotate.java @@ -20,8 +20,7 @@ package org.distorted.library.effect; -import android.opengl.Matrix; - +import org.distorted.library.helpers.MatrixHelper; import org.distorted.library.type.Data1D; import org.distorted.library.type.Data3D; @@ -64,13 +63,13 @@ public class MatrixEffectRotate extends MatrixEffect float y = uniforms[NUM_FLOAT_UNIFORMS*index+CENTER_OFFSET+1]; float z = uniforms[NUM_FLOAT_UNIFORMS*index+CENTER_OFFSET+2]; - Matrix.translateM(matrixP, 0, x, y, z); - Matrix.rotateM (matrixP, 0, angle, axisX, axisY, axisZ); - Matrix.translateM(matrixP, 0,-x,-y,-z); + MatrixHelper.translate(matrixP, x, y, z); + MatrixHelper.rotate(matrixP, angle, axisX, axisY, axisZ); + MatrixHelper.translate(matrixP,-x,-y,-z); - Matrix.translateM(matrixV, 0, x, y, z); - Matrix.rotateM (matrixV, 0, angle, axisX, axisY, axisZ); - Matrix.translateM(matrixV, 0,-x,-y,-z); + MatrixHelper.translate(matrixV, x, y, z); + MatrixHelper.rotate(matrixV, angle, axisX, axisY, axisZ); + MatrixHelper.translate(matrixV,-x,-y,-z); } /////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/src/main/java/org/distorted/library/effect/MatrixEffectScale.java b/src/main/java/org/distorted/library/effect/MatrixEffectScale.java index 9103af6..08e5e65 100644 --- a/src/main/java/org/distorted/library/effect/MatrixEffectScale.java +++ b/src/main/java/org/distorted/library/effect/MatrixEffectScale.java @@ -20,8 +20,7 @@ package org.distorted.library.effect; -import android.opengl.Matrix; - +import org.distorted.library.helpers.MatrixHelper; import org.distorted.library.type.Data3D; import org.distorted.library.type.Static3D; @@ -62,8 +61,8 @@ public class MatrixEffectScale extends MatrixEffect float sy = uniforms[NUM_FLOAT_UNIFORMS*index+1]; float sz = uniforms[NUM_FLOAT_UNIFORMS*index+2]; - Matrix.scaleM(matrixP, 0, sx, sy, sz); - Matrix.scaleM(matrixV, 0, sy*sz, sx*sz, sx*sy); + MatrixHelper.scale(matrixP, sx, sy, sz); + MatrixHelper.scale(matrixV, sy*sz, sx*sz, sx*sy); } /////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/src/main/java/org/distorted/library/effect/MatrixEffectShear.java b/src/main/java/org/distorted/library/effect/MatrixEffectShear.java index f5e479c..3a91f87 100644 --- a/src/main/java/org/distorted/library/effect/MatrixEffectShear.java +++ b/src/main/java/org/distorted/library/effect/MatrixEffectShear.java @@ -20,8 +20,7 @@ package org.distorted.library.effect; -import android.opengl.Matrix; - +import org.distorted.library.helpers.MatrixHelper; import org.distorted.library.type.Data3D; /////////////////////////////////////////////////////////////////////////////////////////////////// @@ -63,7 +62,7 @@ public class MatrixEffectShear extends MatrixEffect float y = uniforms[NUM_FLOAT_UNIFORMS*index+CENTER_OFFSET+1]; float z = uniforms[NUM_FLOAT_UNIFORMS*index+CENTER_OFFSET+2]; - Matrix.translateM(matrixP, 0, x, y, z); + MatrixHelper.translate(matrixP, x, y, z); matrixP[4] += sx*matrixP[0]; // Multiply viewMatrix by 1 x 0 0 , i.e. X-shear. matrixP[5] += sx*matrixP[1]; // 0 1 0 0 @@ -80,9 +79,8 @@ public class MatrixEffectShear extends MatrixEffect matrixP[6] += sz*matrixP[10];// 0 z 1 0 matrixP[7] += sz*matrixP[11];// 0 0 0 1 - Matrix.translateM(matrixP, 0,-x,-y,-z); - - Matrix.translateM(matrixV, 0, x, y, z); + MatrixHelper.translate(matrixP,-x,-y,-z); + MatrixHelper.translate(matrixV, x, y, z); matrixV[0] -= sx*matrixV[4]; // Multiply viewMatrix by 1 0 0 0 , i.e. vector X-shear. matrixV[1] -= sx*matrixV[5]; // -x 1 0 0 @@ -99,7 +97,7 @@ public class MatrixEffectShear extends MatrixEffect matrixV[10]-= sz*matrixV[6]; // 0 0 1 0 matrixV[11]-= sz*matrixV[7]; // 0 0 0 1 - Matrix.translateM(matrixV, 0,-x,-y,-z); + MatrixHelper.translate(matrixV,-x,-y,-z); } /////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/src/main/java/org/distorted/library/effectqueue/EffectQueueMatrix.java b/src/main/java/org/distorted/library/effectqueue/EffectQueueMatrix.java index db15a68..014516b 100644 --- a/src/main/java/org/distorted/library/effectqueue/EffectQueueMatrix.java +++ b/src/main/java/org/distorted/library/effectqueue/EffectQueueMatrix.java @@ -21,8 +21,8 @@ package org.distorted.library.effectqueue; import android.opengl.GLES30; -import android.opengl.Matrix; +import org.distorted.library.helpers.MatrixHelper; import org.distorted.library.effect.EffectType; import org.distorted.library.effect.MatrixEffect; import org.distorted.library.message.EffectMessageSender; @@ -89,30 +89,23 @@ class EffectQueueMatrix extends EffectQueue void send(float distance, float mipmap, float[] projection, int variant) { - Matrix.setIdentityM(mModelViewMatrixP, 0); - Matrix.translateM(mModelViewMatrixP, 0, 0,0, -distance); - - if( mipmap!=1 ) - { - Matrix.scaleM(mModelViewMatrixP, 0, mipmap, mipmap, mipmap); - } - - mModelViewMatrixV[ 0] = mModelViewMatrixP[ 0]; - mModelViewMatrixV[ 1] = mModelViewMatrixP[ 1]; - mModelViewMatrixV[ 2] = mModelViewMatrixP[ 2]; - mModelViewMatrixV[ 3] = mModelViewMatrixP[ 3]; - mModelViewMatrixV[ 4] = mModelViewMatrixP[ 4]; - mModelViewMatrixV[ 5] = mModelViewMatrixP[ 5]; - mModelViewMatrixV[ 6] = mModelViewMatrixP[ 6]; - mModelViewMatrixV[ 7] = mModelViewMatrixP[ 7]; - mModelViewMatrixV[ 8] = mModelViewMatrixP[ 8]; - mModelViewMatrixV[ 9] = mModelViewMatrixP[ 9]; - mModelViewMatrixV[10] = mModelViewMatrixP[10]; - mModelViewMatrixV[11] = mModelViewMatrixP[11]; - mModelViewMatrixV[12] = mModelViewMatrixP[12]; - mModelViewMatrixV[13] = mModelViewMatrixP[13]; - mModelViewMatrixV[14] = mModelViewMatrixP[14]; - mModelViewMatrixV[15] = mModelViewMatrixP[15]; + // i.e. setIdentity(); translate(0,0,-distance); scale(mipmap,mipmap,mipmap) + mModelViewMatrixV[ 0] = mModelViewMatrixP[ 0] = mipmap; + mModelViewMatrixV[ 1] = mModelViewMatrixP[ 1] = 0; + mModelViewMatrixV[ 2] = mModelViewMatrixP[ 2] = 0; + mModelViewMatrixV[ 3] = mModelViewMatrixP[ 3] = 0; + mModelViewMatrixV[ 4] = mModelViewMatrixP[ 4] = 0; + mModelViewMatrixV[ 5] = mModelViewMatrixP[ 5] = mipmap; + mModelViewMatrixV[ 6] = mModelViewMatrixP[ 6] = 0; + mModelViewMatrixV[ 7] = mModelViewMatrixP[ 7] = 0; + mModelViewMatrixV[ 8] = mModelViewMatrixP[ 8] = 0; + mModelViewMatrixV[ 9] = mModelViewMatrixP[ 9] = 0; + mModelViewMatrixV[10] = mModelViewMatrixP[10] = mipmap; + mModelViewMatrixV[11] = mModelViewMatrixP[11] = 0; + mModelViewMatrixV[12] = mModelViewMatrixP[12] = 0; + mModelViewMatrixV[13] = mModelViewMatrixP[13] = 0; + mModelViewMatrixV[14] = mModelViewMatrixP[14] = -distance; + mModelViewMatrixV[15] = mModelViewMatrixP[15] = 1; float[] array = mUBF.getBackingArray(); @@ -123,7 +116,7 @@ class EffectQueueMatrix extends EffectQueue } // combined Model-View-Projection matrix - Matrix.multiplyMM(mMVPMatrix, 0, projection, 0, mModelViewMatrixP, 0); + MatrixHelper.multiply(mMVPMatrix, projection, mModelViewMatrixP); GLES30.glUniformMatrix4fv(mMVMatrixVH[variant], 1, false, mModelViewMatrixV, 0); GLES30.glUniformMatrix4fv(mMVMatrixPH[variant], 1, false, mModelViewMatrixP, 0); diff --git a/src/main/java/org/distorted/library/helpers/MatrixHelper.java b/src/main/java/org/distorted/library/helpers/MatrixHelper.java new file mode 100644 index 0000000..723dec5 --- /dev/null +++ b/src/main/java/org/distorted/library/helpers/MatrixHelper.java @@ -0,0 +1,161 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Copyright 2023 Leszek Koltunski leszek@koltunski.pl // +// // +// This file is part of Distorted. // +// // +// 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. // +// // +// 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 Street, Fifth Floor, Boston, MA 02110-1301 USA // +/////////////////////////////////////////////////////////////////////////////////////////////////// + +package org.distorted.library.helpers; + +/////////////////////////////////////////////////////////////////////////////////////////////////// + +public class MatrixHelper + { + public static void setIdentity(float[] output) + { + output[ 0] = 1; + output[ 1] = 0; + output[ 2] = 0; + output[ 3] = 0; + output[ 4] = 0; + output[ 5] = 1; + output[ 6] = 0; + output[ 7] = 0; + output[ 8] = 0; + output[ 9] = 0; + output[10] = 1; + output[11] = 0; + output[12] = 0; + output[13] = 0; + output[14] = 0; + output[15] = 1; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void multiply(float[] output, float[] m1, float[] m2) + { + output[ 0] = m1[ 0]*m2[ 0] + m1[ 4]*m2[ 1] + m1[ 8]*m2[ 2] + m1[12]*m2[ 3]; + output[ 1] = m1[ 1]*m2[ 0] + m1[ 5]*m2[ 1] + m1[ 9]*m2[ 2] + m1[13]*m2[ 3]; + output[ 2] = m1[ 2]*m2[ 0] + m1[ 6]*m2[ 1] + m1[10]*m2[ 2] + m1[14]*m2[ 3]; + output[ 3] = m1[ 3]*m2[ 0] + m1[ 7]*m2[ 1] + m1[11]*m2[ 2] + m1[15]*m2[ 3]; + + output[ 4] = m1[ 0]*m2[ 4] + m1[ 4]*m2[ 5] + m1[ 8]*m2[ 6] + m1[12]*m2[ 7]; + output[ 5] = m1[ 1]*m2[ 4] + m1[ 5]*m2[ 5] + m1[ 9]*m2[ 6] + m1[13]*m2[ 7]; + output[ 6] = m1[ 2]*m2[ 4] + m1[ 6]*m2[ 5] + m1[10]*m2[ 6] + m1[14]*m2[ 7]; + output[ 7] = m1[ 3]*m2[ 4] + m1[ 7]*m2[ 5] + m1[11]*m2[ 6] + m1[15]*m2[ 7]; + + output[ 8] = m1[ 0]*m2[ 8] + m1[ 4]*m2[ 9] + m1[ 8]*m2[10] + m1[12]*m2[11]; + output[ 9] = m1[ 1]*m2[ 8] + m1[ 5]*m2[ 9] + m1[ 9]*m2[10] + m1[13]*m2[11]; + output[10] = m1[ 2]*m2[ 8] + m1[ 6]*m2[ 9] + m1[10]*m2[10] + m1[14]*m2[11]; + output[11] = m1[ 3]*m2[ 8] + m1[ 7]*m2[ 9] + m1[11]*m2[10] + m1[15]*m2[11]; + + output[12] = m1[ 0]*m2[12] + m1[ 4]*m2[13] + m1[ 8]*m2[14] + m1[12]*m2[15]; + output[13] = m1[ 1]*m2[12] + m1[ 5]*m2[13] + m1[ 9]*m2[14] + m1[13]*m2[15]; + output[14] = m1[ 2]*m2[12] + m1[ 6]*m2[13] + m1[10]*m2[14] + m1[14]*m2[15]; + output[15] = m1[ 3]*m2[12] + m1[ 7]*m2[13] + m1[11]*m2[14] + m1[15]*m2[15]; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void frustum(float[] output, float l, float r, float b, float t, float n, float f) + { + output[0] = 2 * n / (r - l); + output[1] = 0; + output[2] = 0; + output[3] = 0; + output[4] = 0; + output[5] = 2 * n / (t - b); + output[6] = 0; + output[7] = 0; + output[8] = (r + l) / (r - l); + output[9] = (t + b) / (t - b); + output[10] = -(f + n) / (f - n); + output[11] = -1; + output[12] = 0; + output[13] = 0; + output[14] = -(2 * f * n) / (f - n); + output[15] = 0; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void ortho(float[] output, float l, float r, float b, float t, float n, float f) + { + output[0] = 2 / (r - l); + output[1] = 0; + output[2] = 0; + output[3] = 0; + output[4] = 0; + output[5] = 2 / (t - b); + output[6] = 0; + output[7] = 0; + output[8] = 0; + output[9] = 0; + output[10] = -2 / (f - n); + output[11] = 0; + output[12] = -(r + l) / (r - l); + output[13] = -(t + b) / (t - b); + output[14] = -(f + n) / (f - n); + output[15] = 1; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void setLookAt(float[] output, float eyeX , float eyeY , float eyeZ , + float lookX, float lookY, float lookZ, + float upX , float upY , float upZ ) + { + // TODO + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void rotate(float[] output, float angle, float axisX, float axisY, float axisZ) + { + android.opengl.Matrix.rotateM(output,0,angle,axisX,axisY,axisZ); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void translate(float[] output, float dx, float dy, float dz) + { + output[12] += ( output[ 0]*dx + output[ 4]*dy + output[ 8]*dz); + output[13] += ( output[ 1]*dx + output[ 5]*dy + output[ 9]*dz); + output[14] += ( output[ 2]*dx + output[ 6]*dy + output[10]*dz); + output[15] += ( output[ 3]*dx + output[ 7]*dy + output[11]*dz); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static void scale(float[] output, float sx, float sy, float sz) + { + output[ 0] *= sx; + output[ 1] *= sx; + output[ 2] *= sx; + output[ 3] *= sx; + + output[ 4] *= sy; + output[ 5] *= sy; + output[ 6] *= sy; + output[ 7] *= sy; + + output[ 8] *= sz; + output[ 9] *= sz; + output[10] *= sz; + output[11] *= sz; + } + } diff --git a/src/main/java/org/distorted/library/helpers/QuatHelper.java b/src/main/java/org/distorted/library/helpers/QuatHelper.java new file mode 100644 index 0000000..8631e96 --- /dev/null +++ b/src/main/java/org/distorted/library/helpers/QuatHelper.java @@ -0,0 +1,284 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Copyright 2021 Leszek Koltunski leszek@koltunski.pl // +// // +// This file is part of Distorted. // +// // +// 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. // +// // +// 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 Street, Fifth Floor, Boston, MA 02110-1301 USA // +/////////////////////////////////////////////////////////////////////////////////////////////////// + +package org.distorted.library.helpers; + +import org.distorted.library.type.Static4D; + +/////////////////////////////////////////////////////////////////////////////////////////////////// + +public class QuatHelper + { +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return quat1*quat2 + + public static Static4D quatMultiply( Static4D quat1, Static4D quat2 ) + { + float qx = quat1.get0(); + float qy = quat1.get1(); + float qz = quat1.get2(); + float qw = quat1.get3(); + + float rx = quat2.get0(); + float ry = quat2.get1(); + float rz = quat2.get2(); + float rw = quat2.get3(); + + float tx = rw*qx - rz*qy + ry*qz + rx*qw; + float ty = rw*qy + rz*qx + ry*qw - rx*qz; + float tz = rw*qz + rz*qw - ry*qx + rx*qy; + float tw = rw*qw - rz*qz - ry*qy - rx*qx; + + return new Static4D(tx,ty,tz,tw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return quat1*(rx,ry,rz,rw) + + public static Static4D quatMultiply( Static4D quat1, float rx, float ry, float rz, float rw ) + { + float qx = quat1.get0(); + float qy = quat1.get1(); + float qz = quat1.get2(); + float qw = quat1.get3(); + + float tx = rw*qx - rz*qy + ry*qz + rx*qw; + float ty = rw*qy + rz*qx + ry*qw - rx*qz; + float tz = rw*qz + rz*qw - ry*qx + rx*qy; + float tw = rw*qw - rz*qz - ry*qy - rx*qx; + + return new Static4D(tx,ty,tz,tw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return (qx,qy,qz,qw)*quat2 + + public static Static4D quatMultiply( float qx, float qy, float qz, float qw, Static4D quat2 ) + { + float rx = quat2.get0(); + float ry = quat2.get1(); + float rz = quat2.get2(); + float rw = quat2.get3(); + + float tx = rw*qx - rz*qy + ry*qz + rx*qw; + float ty = rw*qy + rz*qx + ry*qw - rx*qz; + float tz = rw*qz + rz*qw - ry*qx + rx*qy; + float tw = rw*qw - rz*qz - ry*qy - rx*qx; + + return new Static4D(tx,ty,tz,tw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return (qx,qy,qz,qw)*(rx,ry,rz,rw) + + public static Static4D quatMultiply( float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) + { + float tx = rw*qx - rz*qy + ry*qz + rx*qw; + float ty = rw*qy + rz*qx + ry*qw - rx*qz; + float tz = rw*qz + rz*qw - ry*qx + rx*qy; + float tw = rw*qw - rz*qz - ry*qy - rx*qx; + + return new Static4D(tx,ty,tz,tw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + + public static void quatMultiply( float[] ret, float[] q, float[] r ) + { + ret[0] = r[3]*q[0] - r[2]*q[1] + r[1]*q[2] + r[0]*q[3]; + ret[1] = r[3]*q[1] + r[2]*q[0] + r[1]*q[3] - r[0]*q[2]; + ret[2] = r[3]*q[2] + r[2]*q[3] - r[1]*q[0] + r[0]*q[1]; + ret[3] = r[3]*q[3] - r[2]*q[2] - r[1]*q[1] - r[0]*q[0]; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) + + public static void quatMultiply( float[] ret, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) + { + ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; + ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; + ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; + ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate 'vector' by quat ( i.e. return quat*vector*(quat^-1) ) + + public static Static4D rotateVectorByQuat(Static4D vector, Static4D quat) + { + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + Static4D tmp = quatMultiply(qx,qy,qz,qw,vector); + + return quatMultiply(tmp,-qx,-qy,-qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + + public static Static4D rotateVectorByQuat(float x, float y, float z, float w, Static4D quat) + { + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + Static4D tmp = quatMultiply(qx,qy,qz,qw,x,y,z,w); + + return quatMultiply(tmp,-qx,-qy,-qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) + + public static void rotateVectorByQuat(float[] output, float x, float y, float z, float w, Static4D quat) + { + float[] tmp = new float[4]; + + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); + quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate vec by quat ( i.e. return quat*vector*(quat^-1) ) + + public static void rotateVectorByQuat(float[] output, float[] vec, float[] quat) + { + float[] tmp = new float[4]; + + quatMultiply(tmp,quat,vec); + + quat[0] = -quat[0]; + quat[1] = -quat[1]; + quat[2] = -quat[2]; + + quatMultiply(output,tmp,quat); + + quat[0] = -quat[0]; + quat[1] = -quat[1]; + quat[2] = -quat[2]; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) + + public static Static4D rotateVectorByInvertedQuat(Static4D vector, Static4D quat) + { + float qx = quat.get0(); + float qy = quat.get1(); + float qz = quat.get2(); + float qw = quat.get3(); + + Static4D tmp = quatMultiply(-qx,-qy,-qz,qw,vector); + + return quatMultiply(tmp,quat); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static Static4D quatFromDrag(float dragX, float dragY) + { + float axisX = dragY; // inverted X and Y - rotation axis is perpendicular to (dragX,dragY) + float axisY = dragX; // Why not (-dragY, dragX) ? because Y axis is also inverted! + float axisZ = 0; + float axisL = (float)Math.sqrt(axisX*axisX + axisY*axisY + axisZ*axisZ); + + if( axisL>0 ) + { + axisX /= axisL; + axisY /= axisL; + axisZ /= axisL; + + float ratio = axisL; + ratio = ratio - (int)ratio; // the cos() is only valid in (0,Pi) + + float cosA = (float)Math.cos(Math.PI*ratio); + float sinA = (float)Math.sqrt(1-cosA*cosA); + + return new Static4D(axisX*sinA, axisY*sinA, axisZ*sinA, cosA); + } + + return new Static4D(0f, 0f, 0f, 1f); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// + + public static double computeCos(double oldX, double oldY, double newX, double newY, double len1, double len2) + { + double ret= (oldX*newX+oldY*newY) / (len1*len2); + if( ret<-1.0 ) return -1.0; + if( ret> 1.0 ) return 1.0; + + return ret; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// sin of (signed!) angle between vectors 'old' and 'new', counterclockwise! + + public static double computeSin(double oldX, double oldY, double newX, double newY, double len1, double len2) + { + double ret= (newX*oldY-oldX*newY) / (len1*len2); + if( ret<-1.0 ) return -1.0; + if( ret> 1.0 ) return 1.0; + + return ret; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// return quat Q that turns 3D vector A=(ax,ay,az) to another 3D vector B=(bx,by,bz) +// take care of double-cover by ensuring that always Q.get3() >=0 + + public static Static4D retRotationQuat(float ax, float ay, float az, float bx, float by, float bz) + { + float nx = ay*bz - az*by; + float ny = az*bx - ax*bz; + float nz = ax*by - ay*bx; + + float sin = (float)Math.sqrt(nx*nx + ny*ny + nz*nz); + float cos = ax*bx + ay*by + az*bz; + + if( sin!=0 ) + { + nx /= sin; + ny /= sin; + nz /= sin; + } + + // Why sin<=0 and cos>=0 ? + // 0 0 both sin and cos are positive. + // But1: quats work counterclockwise -> negate cos. + // But2: double-cover, we prefer to have the cos positive (so that unit=(0,0,0,1)) + // so negate again both cos and sin. + float sinHalf =-(float)Math.sqrt((1-cos)/2); + float cosHalf = (float)Math.sqrt((1+cos)/2); + + return new Static4D(nx*sinHalf,ny*sinHalf,nz*sinHalf,cosHalf); + } + } diff --git a/src/main/java/org/distorted/library/main/InternalOutputSurface.java b/src/main/java/org/distorted/library/main/InternalOutputSurface.java index 40daf04..05b9ae4 100644 --- a/src/main/java/org/distorted/library/main/InternalOutputSurface.java +++ b/src/main/java/org/distorted/library/main/InternalOutputSurface.java @@ -22,10 +22,10 @@ package org.distorted.library.main; import android.opengl.GLES30; import android.opengl.GLES31; -import android.opengl.Matrix; import org.distorted.library.effect.EffectQuality; import org.distorted.library.effectqueue.EffectQueuePostprocess; +import org.distorted.library.helpers.MatrixHelper; import org.distorted.library.mesh.MeshBase; /////////////////////////////////////////////////////////////////////////////////////////////////// @@ -65,6 +65,8 @@ public abstract class InternalOutputSurface extends InternalSurface implements I int mCurrFBO; // internal current FBO (see DistortedLibrary.FBO_QUEUE_SIZE) int mWidth, mHeight; +static final float[] tmpM = new float[16]; + /////////////////////////////////////////////////////////////////////////////////////////////////// InternalOutputSurface(int width, int height, int createColor, int numfbos, int numcolors, int depthStencil, int fbo, int type, int storage) @@ -150,7 +152,7 @@ public abstract class InternalOutputSurface extends InternalSurface implements I mDistance = mHeight/a; float far = 2*mDistance-near; - Matrix.frustumM(mProjectionMatrix, 0, left, right, bottom, top, near, far); + MatrixHelper.frustum(mProjectionMatrix, left, right, bottom, top, near, far); } else // parallel projection { @@ -162,7 +164,7 @@ public abstract class InternalOutputSurface extends InternalSurface implements I mDistance = mWidth+mHeight; float far = mWidth+mHeight+mHeight*(1.0f-mNear); - Matrix.orthoM(mProjectionMatrix, 0, left, right, bottom, top, near, far); + MatrixHelper.ortho(mProjectionMatrix, left, right, bottom, top, near, far); } } } diff --git a/src/main/java/org/distorted/library/main/QuatHelper.java b/src/main/java/org/distorted/library/main/QuatHelper.java deleted file mode 100644 index a974060..0000000 --- a/src/main/java/org/distorted/library/main/QuatHelper.java +++ /dev/null @@ -1,284 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////// -// Copyright 2021 Leszek Koltunski leszek@koltunski.pl // -// // -// This file is part of Distorted. // -// // -// 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. // -// // -// 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 Street, Fifth Floor, Boston, MA 02110-1301 USA // -/////////////////////////////////////////////////////////////////////////////////////////////////// - -package org.distorted.library.main; - -import org.distorted.library.type.Static4D; - -/////////////////////////////////////////////////////////////////////////////////////////////////// - -public class QuatHelper - { -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*quat2 - - public static Static4D quatMultiply( Static4D quat1, Static4D quat2 ) - { - float qx = quat1.get0(); - float qy = quat1.get1(); - float qz = quat1.get2(); - float qw = quat1.get3(); - - float rx = quat2.get0(); - float ry = quat2.get1(); - float rz = quat2.get2(); - float rw = quat2.get3(); - - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new Static4D(tx,ty,tz,tw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat1*(rx,ry,rz,rw) - - public static Static4D quatMultiply( Static4D quat1, float rx, float ry, float rz, float rw ) - { - float qx = quat1.get0(); - float qy = quat1.get1(); - float qz = quat1.get2(); - float qw = quat1.get3(); - - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new Static4D(tx,ty,tz,tw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return (qx,qy,qz,qw)*quat2 - - public static Static4D quatMultiply( float qx, float qy, float qz, float qw, Static4D quat2 ) - { - float rx = quat2.get0(); - float ry = quat2.get1(); - float rz = quat2.get2(); - float rw = quat2.get3(); - - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new Static4D(tx,ty,tz,tw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static Static4D quatMultiply( float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) - { - float tx = rw*qx - rz*qy + ry*qz + rx*qw; - float ty = rw*qy + rz*qx + ry*qw - rx*qz; - float tz = rw*qz + rz*qw - ry*qx + rx*qy; - float tw = rw*qw - rz*qz - ry*qy - rx*qx; - - return new Static4D(tx,ty,tz,tw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, float[] q, float[] r ) - { - ret[0] = r[3]*q[0] - r[2]*q[1] + r[1]*q[2] + r[0]*q[3]; - ret[1] = r[3]*q[1] + r[2]*q[0] + r[1]*q[3] - r[0]*q[2]; - ret[2] = r[3]*q[2] + r[2]*q[3] - r[1]*q[0] + r[0]*q[1]; - ret[3] = r[3]*q[3] - r[2]*q[2] - r[1]*q[1] - r[0]*q[0]; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw) - - public static void quatMultiply( float[] ret, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw ) - { - ret[0] = rw*qx - rz*qy + ry*qz + rx*qw; - ret[1] = rw*qy + rz*qx + ry*qw - rx*qz; - ret[2] = rw*qz + rz*qw - ry*qx + rx*qy; - ret[3] = rw*qw - rz*qz - ry*qy - rx*qx; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quat ( i.e. return quat*vector*(quat^-1) ) - - public static Static4D rotateVectorByQuat(Static4D vector, Static4D quat) - { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - Static4D tmp = quatMultiply(qx,qy,qz,qw,vector); - - return quatMultiply(tmp,-qx,-qy,-qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static Static4D rotateVectorByQuat(float x, float y, float z, float w, Static4D quat) - { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - Static4D tmp = quatMultiply(qx,qy,qz,qw,x,y,z,w); - - return quatMultiply(tmp,-qx,-qy,-qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate (x1,x2,x3,x4) by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, float x, float y, float z, float w, Static4D quat) - { - float[] tmp = new float[4]; - - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w); - quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate vec by quat ( i.e. return quat*vector*(quat^-1) ) - - public static void rotateVectorByQuat(float[] output, float[] vec, float[] quat) - { - float[] tmp = new float[4]; - - quatMultiply(tmp,quat,vec); - - quat[0] = -quat[0]; - quat[1] = -quat[1]; - quat[2] = -quat[2]; - - quatMultiply(output,tmp,quat); - - quat[0] = -quat[0]; - quat[1] = -quat[1]; - quat[2] = -quat[2]; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) - - public static Static4D rotateVectorByInvertedQuat(Static4D vector, Static4D quat) - { - float qx = quat.get0(); - float qy = quat.get1(); - float qz = quat.get2(); - float qw = quat.get3(); - - Static4D tmp = quatMultiply(-qx,-qy,-qz,qw,vector); - - return quatMultiply(tmp,quat); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static Static4D quatFromDrag(float dragX, float dragY) - { - float axisX = dragY; // inverted X and Y - rotation axis is perpendicular to (dragX,dragY) - float axisY = dragX; // Why not (-dragY, dragX) ? because Y axis is also inverted! - float axisZ = 0; - float axisL = (float)Math.sqrt(axisX*axisX + axisY*axisY + axisZ*axisZ); - - if( axisL>0 ) - { - axisX /= axisL; - axisY /= axisL; - axisZ /= axisL; - - float ratio = axisL; - ratio = ratio - (int)ratio; // the cos() is only valid in (0,Pi) - - float cosA = (float)Math.cos(Math.PI*ratio); - float sinA = (float)Math.sqrt(1-cosA*cosA); - - return new Static4D(axisX*sinA, axisY*sinA, axisZ*sinA, cosA); - } - - return new Static4D(0f, 0f, 0f, 1f); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// - - public static double computeCos(double oldX, double oldY, double newX, double newY, double len1, double len2) - { - double ret= (oldX*newX+oldY*newY) / (len1*len2); - if( ret<-1.0 ) return -1.0; - if( ret> 1.0 ) return 1.0; - - return ret; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// sin of (signed!) angle between vectors 'old' and 'new', counterclockwise! - - public static double computeSin(double oldX, double oldY, double newX, double newY, double len1, double len2) - { - double ret= (newX*oldY-oldX*newY) / (len1*len2); - if( ret<-1.0 ) return -1.0; - if( ret> 1.0 ) return 1.0; - - return ret; - } - -/////////////////////////////////////////////////////////////////////////////////////////////////// -// return quat Q that turns 3D vector A=(ax,ay,az) to another 3D vector B=(bx,by,bz) -// take care of double-cover by ensuring that always Q.get3() >=0 - - public static Static4D retRotationQuat(float ax, float ay, float az, float bx, float by, float bz) - { - float nx = ay*bz - az*by; - float ny = az*bx - ax*bz; - float nz = ax*by - ay*bx; - - float sin = (float)Math.sqrt(nx*nx + ny*ny + nz*nz); - float cos = ax*bx + ay*by + az*bz; - - if( sin!=0 ) - { - nx /= sin; - ny /= sin; - nz /= sin; - } - - // Why sin<=0 and cos>=0 ? - // 0 0 both sin and cos are positive. - // But1: quats work counterclockwise -> negate cos. - // But2: double-cover, we prefer to have the cos positive (so that unit=(0,0,0,1)) - // so negate again both cos and sin. - float sinHalf =-(float)Math.sqrt((1-cos)/2); - float cosHalf = (float)Math.sqrt((1+cos)/2); - - return new Static4D(nx*sinHalf,ny*sinHalf,nz*sinHalf,cosHalf); - } - }