--- /dev/null
+/*
+ * 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.IndexBuffer;
+import com.jme3.scene.Mesh;
+import com.jme3.scene.VertexBuffer.Type;
+import com.jme3.scene.mesh.WrappedIndexBuffer;
+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!!
+// }
+}
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