Changed name of alden to common

1 files changed, 0 insertions, 533 deletions

diff --git a/src/alden/CollidableObject.java b/src/alden/CollidableObject.java
deleted file mode 100644
index 9745665..0000000
--- a/src/alden/CollidableObject.java
+++ /dev/null
@@ -1,533 +0,0 @@
-package alden;

-import java.io.IOException;

-import java.io.ObjectInputStream;

-import java.io.ObjectOutputStream;

-import java.io.Serializable;

-import java.util.*;

-

-import javax.media.j3d.*;

-import javax.vecmath.*;

-

-import com.sun.j3d.utils.geometry.GeometryInfo;

-import com.sun.j3d.utils.geometry.Primitive;

-

-@SuppressWarnings("restriction")

-public abstract class CollidableObject implements Serializable {

-	private static final long serialVersionUID = 3667108226485766929L;

-	protected float inverseMass;

-	// The center of mass in the local coordinate system

-	protected Vector3f centerOfMass;

-	protected Vector3f position, previousPosition;

-	protected Vector3f velocity, previousVelocity;

-	protected Vector3f forceAccumulator;

-	protected Quat4f orientation;

-	protected Vector3f angularVelocity;

-	protected Vector3f previousRotationalVelocity;

-	protected Vector3f torqueAccumulator;

-	protected Matrix3f inverseInertiaTensor;

-	protected float coefficientOfRestitution;

-	protected float penetrationCorrection;

-	protected float dynamicFriction;

-	protected float rotationalFriction;

-	transient protected BranchGroup BG;

-	transient protected TransformGroup TG;

-	transient protected Node node;

-	transient private ArrayList<Vector3f> vertexCache;

-	transient private ArrayList<CollisionDetector.Triangle> triangleCache;

-	transient private Bounds boundsCache;

-	// The inverse inertia tensor in world coordinates

-	transient private Matrix3f inverseInertiaTensorCache;

-	

-	public CollidableObject() {

-		this(1);

-	}

-

-	public CollidableObject(float mass) {

-		if (mass <= 0)

-			throw new IllegalArgumentException();

-		inverseMass = 1 / mass;

-		centerOfMass = new Vector3f();

-		position = new Vector3f();

-		previousPosition = new Vector3f();

-		velocity = new Vector3f();

-		previousVelocity = new Vector3f();

-		forceAccumulator = new Vector3f();

-		orientation = new Quat4f(0, 0, 0, 1);

-		angularVelocity = new Vector3f();

-		previousRotationalVelocity = new Vector3f();

-		torqueAccumulator = new Vector3f();

-		inverseInertiaTensor = new Matrix3f();

-		coefficientOfRestitution = 0.75f;

-		penetrationCorrection = 1.05f;

-		dynamicFriction = 0.02f;

-		rotationalFriction = 0.05f;

-		TG = new TransformGroup();

-		TG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);

-		BG = new BranchGroup();

-		BG.setCapability(BranchGroup.ALLOW_DETACH);

-		BG.addChild(TG);

-	}

-

-	protected void setShape(Node node) {

-		this.node = node;

-		TG.addChild(node);

-//		TG.addChild(CollisionDetector.createShape(CollisionDetector.triangularize(node)));

-	}

-

-	public Group getGroup() {

-		return BG;

-	}

-

-	public void detach() {

-		BG.detach();

-	}

-

-	public void updateState(float duration) {

-		previousPosition.set(position);

-		previousVelocity.set(velocity);

-		// The force vector now becomes the acceleration vector.

-		forceAccumulator.scale(inverseMass);

-		position.scaleAdd(duration, velocity, position);

-		position.scaleAdd(duration * duration / 2, forceAccumulator, position);

-		velocity.scaleAdd(duration, forceAccumulator, velocity);

-		// The force vector is cleared.

-		forceAccumulator.set(0, 0, 0);

-		

-		angularVelocity.scaleAdd(duration, torqueAccumulator, angularVelocity);

-		torqueAccumulator.set(0, 0, 0);

-		UnQuat4f tmp = new UnQuat4f(angularVelocity.x, angularVelocity.y, angularVelocity.z, 0);

-		tmp.scale(duration / 2);

-		tmp.mul(orientation);

-		orientation.add(tmp);

-		orientation.normalize();

-	}

-

-	protected void updateTransformGroup() {

-		Vector3f com = new Vector3f(-centerOfMass.x, -centerOfMass.y, -centerOfMass.z);

-		Transform3D tmp = new Transform3D();

-		tmp.setTranslation(com);

-		Transform3D tmp2 = new Transform3D();

-		tmp2.setRotation(orientation);

-		com.negate();

-		com.add(position);

-		tmp2.setTranslation(com);

-		tmp2.mul(tmp);

-		TG.setTransform(tmp2);

-		clearCaches();

-	}

-

-	public ArrayList<Vector3f> getVertices() {

-		if (vertexCache == null)

-			vertexCache = CollisionDetector.extractVertices(node);

-		return vertexCache;

-	}

-	

-	protected ArrayList<CollisionDetector.Triangle> getCollisionTriangles() {

-		if (triangleCache == null)

-			triangleCache = CollisionDetector.triangularize(node);

-		return triangleCache;

-	}

-

-	protected Bounds getBounds() {

-		if (boundsCache == null) {

-			boundsCache = node.getBounds();

-			Transform3D tmp = new Transform3D();

-			node.getLocalToVworld(tmp);

-			boundsCache.transform(tmp);

-		}

-		return boundsCache;

-	}

-

-	protected Matrix3f getInverseInertiaTensor() {

-		if (inverseInertiaTensorCache == null) {

-			inverseInertiaTensorCache = new Matrix3f();

-			inverseInertiaTensorCache.set(orientation);

-			Matrix3f tmp = new Matrix3f(inverseInertiaTensor);

-			Matrix3f tmp2 = new Matrix3f(inverseInertiaTensorCache);

-			tmp2.invert();

-			tmp.mul(tmp2);

-			inverseInertiaTensorCache.mul(tmp);

-		}

-		return inverseInertiaTensorCache;

-	}

-

-	protected void clearCaches() {

-		vertexCache = null;

-		triangleCache = null;

-		boundsCache = null;

-		inverseInertiaTensorCache = null;

-	}

-

-	public void resolveCollisions(CollidableObject other) {

-		ArrayList<CollisionInfo> collisions = CollisionDetector.calculateCollisions(this, other);

-		if (collisions.isEmpty())

-			return;

-

-		CollisionInfo finalCollision = null;

-		float max = Float.NEGATIVE_INFINITY;

-		int count = 0;

-		for (CollisionInfo collision : collisions) {

-			Vector3f thisRelativeContactPosition = new Vector3f();

-			thisRelativeContactPosition.scaleAdd(-1, position, collision.contactPoint);

-			thisRelativeContactPosition.scaleAdd(-1, centerOfMass, thisRelativeContactPosition);

-			Vector3f thisContactVelocity = new Vector3f();

-			thisContactVelocity.cross(angularVelocity, thisRelativeContactPosition);

-			thisContactVelocity.add(previousVelocity);

-			Vector3f otherRelativeContactPosition = new Vector3f();

-			otherRelativeContactPosition.scaleAdd(-1, other.position, collision.contactPoint);

-			otherRelativeContactPosition.scaleAdd(-1, other.centerOfMass, otherRelativeContactPosition);

-			Vector3f otherContactVelocity = new Vector3f();

-			otherContactVelocity.cross(other.angularVelocity, otherRelativeContactPosition);

-			otherContactVelocity.add(other.previousVelocity);

-			float speed = collision.contactNormal.dot(thisContactVelocity) - collision.contactNormal.dot(otherContactVelocity);

-			if (speed > 0)

-				if (speed > max + CollisionDetector.EPSILON) {

-					finalCollision = collision;

-					max = speed;

-					count = 1;

-				} else if (speed >= max - CollisionDetector.EPSILON) {

-					finalCollision.contactPoint.add(collision.contactPoint);

-					finalCollision.penetration += collision.penetration;

-					count++;

-				}

-		}

-		if (finalCollision != null) {

-			finalCollision.contactPoint.scale(1f / count);

-			finalCollision.penetration /= count;

-			resolveCollision(other, finalCollision);

-			updateTransformGroup();

-			other.updateTransformGroup();

-		}

-	}

-

-	public void resolveCollision(CollidableObject other, CollisionInfo ci) {

-		if (ci.penetration <= 0)

-			return;

-		

-		Vector3f thisRelativeContactPosition = new Vector3f();

-		thisRelativeContactPosition.scaleAdd(-1, position, ci.contactPoint);

-		thisRelativeContactPosition.scaleAdd(-1, centerOfMass, thisRelativeContactPosition);

-		

-		Vector3f otherRelativeContactPosition = new Vector3f();

-		otherRelativeContactPosition.scaleAdd(-1, other.position, ci.contactPoint);

-		otherRelativeContactPosition.scaleAdd(-1, other.centerOfMass, otherRelativeContactPosition);

-		

-		Vector3f thisContactVelocity = new Vector3f();

-		thisContactVelocity.cross(angularVelocity, thisRelativeContactPosition);

-		thisContactVelocity.add(previousVelocity);

-		

-		Vector3f otherContactVelocity = new Vector3f();

-		otherContactVelocity.cross(other.angularVelocity, otherRelativeContactPosition);

-		otherContactVelocity.add(other.previousVelocity);

-		

-		float initialClosingSpeed = ci.contactNormal.dot(thisContactVelocity) - ci.contactNormal.dot(otherContactVelocity);

-		float finalClosingSpeed = -initialClosingSpeed * coefficientOfRestitution;

-		float deltaClosingSpeed = finalClosingSpeed - initialClosingSpeed;

-		float totalInverseMass = inverseMass + other.inverseMass;

-		if (totalInverseMass == 0)

-			return;

-		

-		/* Dynamic Friction */

-		if (dynamicFriction > 0) {

-			Vector3f acceleration = new Vector3f();

-			Vector3f perpVelocity = new Vector3f();

-			float contactSpeed = ci.contactNormal.dot(velocity) - ci.contactNormal.dot(other.velocity);

-			

-			perpVelocity.scaleAdd(-contactSpeed, ci.contactNormal, previousVelocity);

-			if (perpVelocity.length() > 0) {

-				perpVelocity.normalize();

-				acceleration.scaleAdd(-1, previousVelocity, velocity);

-				velocity.scaleAdd(dynamicFriction * acceleration.dot(ci.contactNormal), perpVelocity, velocity);

-			}

-			

-			perpVelocity.scaleAdd(contactSpeed, ci.contactNormal, other.previousVelocity);

-			if (perpVelocity.length() > 0) {

-				perpVelocity.normalize();

-				acceleration.scaleAdd(-1, other.previousVelocity, other.velocity);

-				other.velocity.scaleAdd(dynamicFriction * acceleration.dot(ci.contactNormal), perpVelocity, other.velocity);

-			}

-		}

-		

-		Vector3f thisMovementUnit = new Vector3f();

-		thisMovementUnit.cross(thisRelativeContactPosition, ci.contactNormal);

-		getInverseInertiaTensor().transform(thisMovementUnit);

-		Vector3f thisAngularVelocityUnit = new Vector3f();

-		thisAngularVelocityUnit.cross(thisMovementUnit, thisRelativeContactPosition);

-		totalInverseMass += thisAngularVelocityUnit.dot(ci.contactNormal);

-		

-		Vector3f otherMovementUnit = new Vector3f();

-		otherMovementUnit.cross(otherRelativeContactPosition, ci.contactNormal);

-		other.getInverseInertiaTensor().transform(otherMovementUnit);

-		Vector3f otherAngularVelocityUnit = new Vector3f();

-		otherAngularVelocityUnit.cross(otherMovementUnit, otherRelativeContactPosition);

-		totalInverseMass += otherAngularVelocityUnit.dot(ci.contactNormal);

-

-		Vector3f impulse = new Vector3f(ci.contactNormal);

-		impulse.scale(deltaClosingSpeed / totalInverseMass);

-	

-		velocity.scaleAdd(inverseMass, impulse, velocity);

-		Vector3f tmp = new Vector3f();

-		tmp.cross(thisRelativeContactPosition, impulse);

-		getInverseInertiaTensor().transform(tmp);

-		angularVelocity.add(tmp);

-		position.scaleAdd(-ci.penetration * penetrationCorrection * inverseMass / totalInverseMass, ci.contactNormal, position);

-		thisMovementUnit.scale(-ci.penetration * penetrationCorrection / totalInverseMass);

-		UnQuat4f tmp2 = new UnQuat4f(thisMovementUnit.x, thisMovementUnit.y, thisMovementUnit.z, 0);

-		tmp2.scale(0.5f);

-		tmp2.mul(orientation);

-		orientation.add(tmp2);

-		orientation.normalize();

-		

-		impulse.negate();

-		other.velocity.scaleAdd(other.inverseMass, impulse, other.velocity);

-		tmp.cross(otherRelativeContactPosition, impulse);

-		other.getInverseInertiaTensor().transform(tmp);

-		other.angularVelocity.add(tmp);

-		other.position.scaleAdd(ci.penetration * penetrationCorrection * other.inverseMass / totalInverseMass, ci.contactNormal, other.position);

-		otherMovementUnit.scale(ci.penetration * penetrationCorrection / totalInverseMass);

-		tmp2.set(otherMovementUnit.x, otherMovementUnit.y, otherMovementUnit.z, 0);

-		tmp2.scale(0.5f);

-		tmp2.mul(other.orientation);

-		other.orientation.add(tmp2);

-		other.orientation.normalize();

-		

-		if (rotationalFriction > 0) {

-			/* Rotational Friction */

-			Vector3f w = new Vector3f();

-			

-			/*float radius = thisRelativeContactPosition.length();

-			w.cross(angularVelocity, ci.contactNormal);

-			velocity.scaleAdd(-1, previousRotationalVelocity, velocity);

-			previousRotationalVelocity.scale(radius, w);

-			velocity.scaleAdd(radius, w, velocity);

-			w.cross(previousRotationalVelocity, ci.contactNormal);

-			angularVelocity.scaleAdd(-0.5f * w.dot(angularVelocity), w, angularVelocity);

-			

-			radius = otherRelativeContactPosition.length();

-			w.cross(other.angularVelocity, ci.contactNormal);

-			other.velocity.scaleAdd(-1, other.previousRotationalVelocity, other.velocity);

-			other.previousRotationalVelocity.scale(radius, w);

-			other.velocity.scaleAdd(radius , w, other.velocity);

-			w.cross(other.previousRotationalVelocity, ci.contactNormal);

-			other.angularVelocity.scaleAdd(-0.5f * w.dot(other.angularVelocity), w, other.angularVelocity);

-			*/

-			

-			angularVelocity.scaleAdd(-rotationalFriction * ci.contactNormal.dot(angularVelocity), ci.contactNormal, angularVelocity);

-			other.angularVelocity.scaleAdd(-rotationalFriction * ci.contactNormal.dot(other.angularVelocity), ci.contactNormal, other.angularVelocity);

-			

-		}

-	}

-

-private static final int NODE_TYPE_BRANCH = 1;

-	private static final int NODE_TYPE_TRANSFORM = 2;

-	private static final int NODE_TYPE_PRIMITIVE = 3;

-	private static final int NODE_TYPE_SHAPE = 4;

-

-	private void writeObject(ObjectOutputStream out) throws IOException {

-		out.defaultWriteObject();

-		writeObject(out, node);

-	}

-

-	private static void writeObject(ObjectOutputStream out, Node node) throws IOException {

-		if (node instanceof BranchGroup) {

-			out.writeInt(NODE_TYPE_BRANCH);

-			out.writeInt(((BranchGroup) node).numChildren());

-			for (int i = 0; i < ((BranchGroup) node).numChildren(); i++) {

-				Node childNode = ((BranchGroup) node).getChild(i);

-				writeObject(out, childNode);

-			}

-		} else if (node instanceof TransformGroup) {

-			out.writeInt(NODE_TYPE_TRANSFORM);

-			Transform3D tgT = new Transform3D();

-			Matrix4f matrix = new Matrix4f();

-			((TransformGroup) node).getTransform(tgT);

-			tgT.get(matrix);

-			out.writeObject(matrix);

-			out.writeInt(((TransformGroup) node).numChildren());

-			for (int i = 0; i < ((TransformGroup) node).numChildren(); i++) {

-				Node childNode = ((TransformGroup) node).getChild(i);

-				writeObject(out, childNode);

-			}

-		} else if (node instanceof Primitive) {

-			out.writeInt(NODE_TYPE_PRIMITIVE);

-			Primitive prim = (Primitive)node;

-			int index = 0;

-			Shape3D shape;

-			out.writeInt(prim.numChildren());

-			while ((shape = prim.getShape(index++)) != null) {

-				Appearance appearance = shape.getAppearance();

-				if (appearance != null) {

-					out.writeBoolean(true);

-					writeObject(out, appearance);

-				} else

-					out.writeBoolean(false);

-				out.writeInt(shape.numGeometries());

-				for (int i = 0; i < shape.numGeometries(); i++)

-					writeObject(out, shape.getGeometry(i));

-			}

-			

-		} else if (node instanceof Shape3D) {

-			out.writeInt(NODE_TYPE_SHAPE);

-			Shape3D shape = (Shape3D) node;

-			Appearance appearance = shape.getAppearance();

-			if (appearance != null) {

-				out.writeBoolean(true);

-				writeObject(out, appearance);

-			} else

-				out.writeBoolean(false);

-			out.writeInt(shape.numGeometries());

-			for (int i = 0; i < shape.numGeometries(); i++)

-				writeObject(out, shape.getGeometry(i));

-			

-		} else 

-			throw new IllegalArgumentException("Illegal node type for serialization");

-	}

-

-	private static void writeObject(ObjectOutputStream out, Geometry geometry) throws IOException {

-		GeometryInfo gi = new GeometryInfo((GeometryArray)geometry);

-		gi.convertToIndexedTriangles();

-		geometry = gi.getIndexedGeometryArray();

-		IndexedTriangleArray trueGeometry = (IndexedTriangleArray)geometry;

-		

-		int format = trueGeometry.getVertexFormat() & (IndexedTriangleArray.COORDINATES | IndexedTriangleArray.NORMALS);

-		out.writeInt(format);

-		Point3f vertices[] = new Point3f[trueGeometry.getValidVertexCount()];

-		for (int i = 0; i < vertices.length; i++) {

-			vertices[i] = new Point3f();

-			trueGeometry.getCoordinate(i, vertices[i]);

-		}

-		out.writeObject(vertices);

-		int indices[] = new int[trueGeometry.getValidIndexCount()];

-		trueGeometry.getCoordinateIndices(0, indices);

-		out.writeObject(indices);

-		

-		if ((format & IndexedTriangleArray.NORMALS) != 0) {

-			Vector3f normals[] = new Vector3f[trueGeometry.getValidVertexCount()];

-			for (int i = 0; i < normals.length; i++) {

-				normals[i] = new Vector3f();

-				trueGeometry.getNormal(i, normals[i]);

-			}

-			out.writeObject(normals);

-			trueGeometry.getNormalIndices(0, indices);

-			out.writeObject(indices);

-		}

-	}

-

-	private static void writeObject(ObjectOutputStream out, Appearance appearance) throws IOException {

-		Material material = appearance.getMaterial();

-		if (material != null) {

-			out.writeBoolean(true);

-			Color3f color = new Color3f();

-			material.getAmbientColor(color);

-			out.writeObject(color);

-			color = new Color3f();

-			material.getDiffuseColor(color);

-			out.writeObject(color);

-			color = new Color3f();

-			material.getSpecularColor(color);

-			out.writeObject(color);

-			color = new Color3f();

-			material.getEmissiveColor(color);

-			out.writeObject(color);

-			out.writeFloat(material.getShininess());

-			out.writeInt(material.getColorTarget());

-		} else

-			out.writeBoolean(false);

-	}

-

-	private void readObject(ObjectInputStream in) throws IOException, ClassNotFoundException {

-		in.defaultReadObject();

-		TG = new TransformGroup();

-		TG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);

-		BG = new BranchGroup();

-		BG.setCapability(BranchGroup.ALLOW_DETACH);

-		BG.addChild(TG);

-		setShape(readNode(in));

-	}

-

-	private static Node readNode(ObjectInputStream in) throws IOException, ClassNotFoundException {

-		int type = in.readInt();

-		switch (type) {

-		case NODE_TYPE_BRANCH:

-			BranchGroup bgroup = new BranchGroup();

-			int numTGChildren = in.readInt();

-			for (int i = 0; i < numTGChildren; i++) {

-				bgroup.addChild(readNode(in));

-			}

-			return bgroup;

-		case NODE_TYPE_TRANSFORM:

-			TransformGroup tgroup = new TransformGroup();

-			Matrix4f matrix = (Matrix4f) in.readObject();

-			Transform3D tgT = new Transform3D(matrix);

-			tgroup.setTransform(tgT);

-			int numChildren = in.readInt();

-			for (int i = 0; i < numChildren; i++) {

-				tgroup.addChild(readNode(in));

-			}

-			return tgroup;

-		case NODE_TYPE_PRIMITIVE:

-			BranchGroup bg = new BranchGroup();

-			int shapes = in.readInt();

-			for (int i = 0; i < shapes; i++) {

-				Shape3D shape = new Shape3D();

-				shape.removeAllGeometries();

-				if (in.readBoolean())

-					shape.setAppearance(readAppearance(in));

-				int geometries = in.readInt();

-				for (int j = 0; j < geometries; j++)

-					shape.addGeometry(readGeometry(in));

-				bg.addChild(shape);			

-			}

-			return bg;

-		case NODE_TYPE_SHAPE:

-			BranchGroup shapeBG = new BranchGroup();

-			Shape3D shape = new Shape3D();

-			shape.removeAllGeometries();

-			boolean hasAppearance = in.readBoolean();

-			Appearance shapeApp = new Appearance(); 

-			if(hasAppearance) {

-				shapeApp = readAppearance(in);

-			}

-			int geometries = in.readInt();

-			for (int i = 0; i < geometries; i++)

-				shape.addGeometry(readGeometry(in));

-			shapeBG.addChild(shape);

-			return shapeBG;

-		default:

-			throw new IllegalArgumentException("Illegal node type for serialization");

-		}

-	}

-

-	private static GeometryArray readGeometry(ObjectInputStream in) throws IOException, ClassNotFoundException {

-		int format = in.readInt();

-		Point3f vertices[] = (Point3f[])in.readObject();

-		int indices[] = (int[])in.readObject();

-		IndexedTriangleArray geometry = new IndexedTriangleArray(vertices.length, format, indices.length);

-		geometry.setCoordinates(0, vertices);

-		geometry.setCoordinateIndices(0, indices);

-

-		if ((format & IndexedTriangleArray.NORMALS) != 0) {

-			Vector3f normals[] = (Vector3f[])in.readObject();

-			indices = (int[])in.readObject();

-			geometry.setNormals(0, normals);

-			geometry.setNormalIndices(0, indices);

-		}

-		

-		return geometry;

-	}

-

-	private static Appearance readAppearance(ObjectInputStream in) throws IOException, ClassNotFoundException {

-		Appearance appearance = new Appearance();

-		if (in.readBoolean()) {

-			Material material = new Material();

-			material.setAmbientColor((Color3f)in.readObject());

-			material.setDiffuseColor((Color3f)in.readObject());

-			material.setSpecularColor((Color3f)in.readObject());

-			material.setEmissiveColor((Color3f)in.readObject());

-			material.setShininess(in.readFloat());

-			material.setColorTarget(in.readInt());

-			appearance.setMaterial(material);

-		}

-		return appearance;

-	}

-}