Examples of jinngine.math.Vector3

jinngine.math.Vector3
Vector3d defines a Vector for a three double value tuple. Vector3d can represent any three dimensional value, such as a vertex or normal. The functional methods like add, sub, multiply that returns new instances, and left this unchanged. Static methods store the resulting vector on a existing reference, which avoid allowcation an can improove performances around 20% (profiling performend on vector addition). Deprecated methods will be removed on October 2010 @author Morten Silcowitz @author Pierre Labatut

        new Matrix3().getColumnVectors(null, new Vector3(), new Vector3());
    }


    @Test(expected = NullPointerException.class)
    public void testColumnVectors03() {
        new Matrix3().getColumnVectors(new Vector3(), null, new Vector3());
    }

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        new Matrix3().getColumnVectors(new Vector3(), null, new Vector3());
    }


    @Test(expected = NullPointerException.class)
    public void testColumnVectors04() {
        new Matrix3().getColumnVectors(new Vector3(), new Vector3(), null);
    }

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        new Matrix3().getColumnVectors(new Vector3(), new Vector3(), null);
    }


    @Test
    public void testRowVectors() {
        final Vector3 r1 = new Vector3();
        final Vector3 r2 = new Vector3();
        final Vector3 r3 = new Vector3();
        new Matrix3(
                1., 2., 3.,
                4., 5., 6.,
                7., 8., 9.).getRowVectors(r1, r2, r3);
        assertEquals(1., r1.x);

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        assertEquals(9., r3.z);
    }


    @Test(expected = NullPointerException.class)
    public void testRowVectors02() {
        new Matrix3().getRowVectors(null, new Vector3(), new Vector3());
    }

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        new Matrix3().getRowVectors(null, new Vector3(), new Vector3());
    }


    @Test(expected = NullPointerException.class)
    public void testRowVectors03() {
        new Matrix3().getRowVectors(new Vector3(), null, new Vector3());
    }

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        new Matrix3().getRowVectors(new Vector3(), null, new Vector3());
    }


    @Test(expected = NullPointerException.class)
    public void testRowVectors04() {
        new Matrix3().getRowVectors(new Vector3(), new Vector3(), null);
    }

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    public void testScaleVector() {
        final Matrix3 m = new Matrix3(
                1., 2., 3.,
                4., 5., 6.,
                7., 8., 9.);
        final Vector3 s = new Vector3(2., 3., 4.);
        final Matrix3 r = m.scale(s);
        assertNotSame(r, m);
        //Vector unmodified
        assertEquals(2., s.x);
        assertEquals(3., s.y);

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    @Test
    public void testMultiplyVector01() {
        final Matrix3 m = new Matrix3(1., 2., 3.,
                4., 5., 6.,
                7., 8., 9.);
        final Vector3 v = new Vector3(10., 100., 1000.);
        final Vector3 r = m.multiply(v);
        assertNotSame(r, v);//new Vector3 is returned
        //Input is not changed
        assertMatrixEquals(new double[]{
                    1., 2., 3.,
                    4., 5., 6.,

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      gb.getLocalTranslation(gbdisp);
      
      // apply body rotation to local displacements (centre of mass of objects)
      Matrix3.multiply(ga.getBody().state.rotation, gadisp, gadisp);
      Matrix3.multiply(gb.getBody().state.rotation, gbdisp, gbdisp);
      Vector3 direction = ga.getBody().getPosition().add(gadisp).sub(gb.getBody().getPosition().add(gbdisp));
      
      // if direction is too small select a default one
      if (direction.norm() < epsilon)
        direction.assign(0,1,0);


      // compute the largest possible starting lambda, based on 
      // the support of A-B along the ray direction
      Vector3 sp = Sa.supportPoint(direction.negate()).sub(Sb.supportPoint(direction));
      double lambda = direction.dot(sp)/direction.dot(direction)-envelope/direction.norm();
      raycast.run(Sa, Sb, new Vector3(), direction, pa, pb, lambda, envelope, epsilon, false);
      
      // generate contact points
      generate(pa, pb, pa.sub(pb).normalize() );
      
      if (pa.isNaN() || pb.isNaN() ) {

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    // reverse the points in face A, so they will be in counter-clock-wise order
    // when relating to the normal direction
    Collections.reverse(faceA);
    
    final Vector3 direction = v.normalize();
//    final Vector3 midpoint = a.add(b).multiply(0.5);
    final Vector3 midpoint = a.add(b).add(v.multiply(spb-spa)).multiply(0.5); // account for sphere sweeping
    
    // contact space basis 
    final Matrix3 M = GramSchmidt.run(direction);


    // make sure the normal direction is in the z-component
    final Matrix3 B = new Matrix3(M.column(1),M.column(2),M.column(0));


    // since B is orthogonal its inverse equals its transpose
    final Matrix3 Binv = B.transpose();
    
    // create a result handler for the intersection algorithm
    final ORourke.ResultHandler handler = new ORourke.ResultHandler() {
      public final void intersection(final Vector3 p, final Vector3 q) {        
        final ContactPoint cp = new ContactPoint();


        cp.b1 = ga.getBody();
        cp.b2 = gb.getBody();
        
        cp.normal.assign(direction);
        cp.point.assign( B.multiply(new Vector3(p.x,p.y,0)).add(midpoint) );
        
        // distance along the z axis in contact space
        cp.distance = (p.z-q.z)-spb-spa;  // take into account sphere sweeping


        // if contact is within the envelope size

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jinngine.collision.GJK

jinngine.collision.GJK$State

jinngine.collision.RayCast

jinngine.collision.SweepAndPrune$SweepPoint

jinngine.examples.BasicExample

jinngine.examples.CapsuleExample

jinngine.examples.RagdollExample

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