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package javax.microedition.m3g; class Constants { public static final float EPSILON = 0.0000001f; public static final float DEG2RAD = 0.017453292519943295769236907684886f; public static final float RAD2DEG = 57.295779513082320876798154814105f; } class Tools { public static boolean isPowerOfTwo(int x) { return (x & (x - 1)) == 0; } } class Vector3 { public float x; public float y; public float z; public Vector3() { x = y = z = 0; } public Vector3(float[] vec) { if (vec == null) throw new NullPointerException(); if (vec.length < 3) throw new IllegalArgumentException(); x = vec[0]; y = vec[1]; z = vec[2]; } public Vector3(float vx, float vy, float vz) { x = vx; y = vy; z = vz; } public Vector3(Vector3 vec) { x = vec.x; y = vec.y; z = vec.z; } public Vector3(QVec4 q) { x = q.x; y = q.y; z = q.z; } public void logQuat(QVec4 quat) { float sinTheta = (float) Math.sqrt(QVec4.norm3(quat)); if (sinTheta > Constants.EPSILON) { float s = (float) (Math.atan2(sinTheta, quat.w) / sinTheta); x = s * quat.x; y = s * quat.y; z = s * quat.z; } else x = y = z = 0.0f; } public void assign(Vector3 other) { x = other.x; y = other.y; z = other.z; } public void setVec3(float val) { x = val; y = val; z = val; } public void setVec3(float[] vec) { if (vec == null) throw new NullPointerException(); if (vec.length < 3) throw new IllegalArgumentException(); x = vec[0]; y = vec[1]; z = vec[2]; } public void setVec3(float vx, float vy, float vz) { x = vx; y = vy; z = vz; } public void logDiffQuat(QVec4 from, QVec4 to) { QVec4 temp = new QVec4(); temp.x = -from.x; temp.y = -from.y; temp.z = -from.z; temp.w = from.w; temp.mulQuat(to); this.logQuat(temp); } public void addVec3(Vector3 other) { x += other.x; y += other.y; z += other.z; } public void subVec3(Vector3 other) { x -= other.x; y -= other.y; z -= other.z; } public static void scale3(float[] v, float s) { v[0] *= s; v[1] *= s; v[2] *= s; } public void scaleVec3(float s) { x *= s; y *= s; z *= s; } public static void lerp(int size, float[] vec, float s, float[] start, float[] end) { float sCompl = 1.f - s; for (int i = 0; i < size; i++) vec[i] = (sCompl * start[i]) + (s * end[i]); } public float lengthVec3() { return (float) Math.sqrt(x * x + y * y + z * z); } public static float norm3(float[] v) { return (v[0] * v[0] + v[1] * v[1] + v[2] * v[2]); } public void normalizeVec3() { float norm = norm3(new float[]{x, y, z}); if (norm > Constants.EPSILON) { norm = (float) (1.0d / Math.sqrt(norm)); scaleVec3(norm); } else { x = y = z = 0; } } public void cross(Vector3 a, Vector3 b) { x = a.y * b.z - a.z * b.y; y = a.z * b.x - a.x * b.z; z = a.x * b.y - a.y * b.x; } public static float dot3(Vector3 a, Vector3 b) { return a.x * b.x + a.y * b.y + a.z * b.z; } public static boolean intersectTriangle(Vector3 orig, Vector3 dir, Vector3 vert0, Vector3 vert1, Vector3 vert2, Vector3 tuv, int cullMode) { Vector3 edge1 = new Vector3(); Vector3 edge2 = new Vector3(); Vector3 tvec = new Vector3(); Vector3 pvec = new Vector3(); Vector3 qvec = new Vector3(); edge1.assign(vert1); edge2.assign(vert2); edge1.subVec3(vert0); edge2.subVec3(vert0); pvec.cross(dir, edge2); float det = dot3(edge1, pvec); if (cullMode == 0 && det <= 0) return false; if (cullMode == 1 && det >= 0) return false; if (det > -Constants.EPSILON && det < Constants.EPSILON) return false; float inv_det = (float) (1.0d / det); tvec.assign(orig); tvec.subVec3(vert0); tuv.y = inv_det * dot3(tvec, pvec); if (tuv.y < 0.0f || tuv.y > 1.0f) return false; qvec.cross(tvec, edge1); tuv.z = inv_det * dot3(dir, qvec); if (tuv.z < 0.0f || (tuv.y + tuv.z) > 1.0f) return false; tuv.x = inv_det * dot3(edge2, qvec); return true; } } class QVec4 { public static final int[] Vec4_X_AXIS = new int[]{1, 0, 0, 0}; public static final int[] Vec4_Y_AXIS = new int[]{0, 1, 0, 0}; public static final int[] Vec4_Z_AXIS = new int[]{0, 0, 1, 0}; public static final int[] Vec4_ORIGIN = new int[]{0, 0, 0, 1}; public float x; public float y; public float z; public float w; public QVec4() { x = y = z = w = 0; } public QVec4(float[] q) { if (q == null) throw new NullPointerException(); if (q.length < 4) throw new IllegalArgumentException(); x = q[0]; y = q[1]; z = q[2]; w = q[3]; } public QVec4(QVec4 q) { x = q.x; y = q.y; z = q.z; w = q.w; } public QVec4(float qx, float qy, float qz, float qw) { x = qx; y = qy; z = qz; w = qw; } public void setQuat(float[] vec) { if (vec.length < 4) throw new IllegalArgumentException(); x = vec[0]; y = vec[1]; z = vec[2]; w = vec[3]; } public void setVec4(float x, float y, float z, float w) { this.x = x; this.y = y; this.z = z; this.w = w; } public void assign(QVec4 other) { x = other.x; y = other.y; z = other.z; w = other.w; } public void mulQuat(QVec4 other) { QVec4 q = new QVec4(); q.assign(other); w = q.w * other.w - q.x * other.x - q.y * other.y - q.z * other.z; x = q.w * other.x + q.x * other.w + q.y * other.z - q.z * other.y; y = q.w * other.y - q.x * other.z + q.y * other.w + q.z * other.x; z = q.w * other.z + q.x * other.y - q.y * other.x + q.z * other.w; } public static float norm3(QVec4 quat) { return (quat.x * quat.x + quat.y * quat.y + quat.z * quat.z); } public void expQuat(Vector3 qExp) { float theta = (float) (Math.sqrt(qExp.x * qExp.x + qExp.y * qExp.y + qExp.z * qExp.z)); if (theta > Constants.EPSILON) { float s = (float) (Math.sin(theta) * (1.0d / (double) theta)); x = qExp.x * s; y = qExp.y * s; z = qExp.z * s; w = (float) Math.cos(theta); } else { x = y = z = 0.0f; w = 1.0f; } } public static float dot4(QVec4 a, QVec4 b) { return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w; } public void slerpQuat(float s, QVec4 q0, QVec4 q1) { float s0, s1; float cosTheta = QVec4.dot4(q0, q1); float oneMinusS = 1.0f - s; if (cosTheta > (Constants.EPSILON - 1.0f)) { if (cosTheta < (1.0f - Constants.EPSILON)) { float theta = (float) Math.acos((double) cosTheta); float sinTheta = (float) Math.sin(theta); s0 = (float) (Math.sin(oneMinusS * theta) / sinTheta); s1 = (float) (Math.sin(s * theta) / sinTheta); } else { s0 = oneMinusS; s1 = s; } x = s0 * q0.x + s1 * q1.x; y = s0 * q0.y + s1 * q1.y; z = s0 * q0.z + s1 * q1.z; w = s0 * q0.w + s1 * q1.w; } else { x = -q0.y; y = q0.x; z = -q0.w; w = q0.z; s0 = (float) Math.sin(oneMinusS * (Math.PI / 2)); s1 = (float) Math.sin(s * (Math.PI / 2)); x = s0 * q0.x + s1 * x; y = s0 * q0.y + s1 * y; z = s0 * q0.z + s1 * z; } } public void scaleVec4(float s) { x *= s; y *= s; z *= s; w *= s; } public float norm4() { return (x * x + y * y + z * z + w * w); } public static float norm4(float[] v) { return v[0] * v[0] + v[1] * v[1] + v[2] * v[2] + v[3] * v[3]; } public void identityQuat() { x = y = z = 0.0f; w = 1.0f; } public void normalizeQuat() { float norm = (x * x + y * y + z * z + w * w); if (norm > Constants.EPSILON) { norm = (float) (1.0d / Math.sqrt(norm)); scaleVec4(norm); } else identityQuat(); } public void setAngleAxis(float angle, float ax, float ay, float az) { setAngleAxisRad(angle * Constants.DEG2RAD, ax, ay, az); } public void setAngleAxisRad(float angleRad, float ax, float