1 package edu.berkeley.qfat.geom;
2 import javax.media.opengl.*;
4 import edu.berkeley.qfat.Mesh;
6 public abstract class HasBindingGroup {
8 public BindingGroup bindingGroup;
10 // know: self = bindingGroup[self] * master
11 // know: other = other.bindingGroup[other] * other.bindingGroup.master
12 // want: self = bindingMatrix * other
13 // therefore: master = bindingGroup[self]^-1 * bindingMatrix * other
14 // therefore: = bindingGroup[self]^-1 * bindingMatrix * other.bindingGroup[other] * other.bindingGroup.master
15 public void bindTo(Matrix bindingMatrix, HasBindingGroup other) {
16 if (bindingGroup == null) bindingGroup = new BindingGroup(this);
17 if (other.bindingGroup == null) other.bindingGroup = new BindingGroup(other);
19 if (other.bindingGroup == this.bindingGroup) {
20 if (getBindingMatrix(other).equals(bindingMatrix))
23 if (this instanceof Mesh.E)
24 throw new Error("rebind attempt: "+this+" and "+other+" with "
27 + getBindingMatrix(other));
29 Matrix vom = other.getBindingMatrix(bindingGroup.getMaster());
30 Matrix v2 = bindingMatrix;
31 Matrix v3 = getBindingMatrix(other);
32 Matrix m = vom.inverse().times(v2.inverse()).times(v3).times(vom);
33 bindingGroup.krank = bindingGroup.krank.times(m);
35 System.err.println("WARNING: discarding rebind attempt: "+this+" and "+other+m);
40 //+ getBindingMatrix(other));
46 getBindingMatrix().inverse()
48 .times(other.getBindingMatrix());
49 other.bindingGroup.merge(bindingGroup, bindingMatrix);
52 public int bindingGroupSize() {
53 if (bindingGroup == null) return 1;
54 return bindingGroup.size();
58 public Matrix getBindingMatrix() {
59 if (bindingGroup==null) return Matrix.ONE;
60 return bindingGroup.getMatrix(this);
63 public Matrix getBindingMatrix(HasBindingGroup other) {
64 if (other==this) return Matrix.ONE;
65 return bindingGroup.getMatrix(this, other);
68 public HasBindingGroup getMaster() {
69 if (bindingGroup==null) return this;
70 return bindingGroup.getMaster();
73 public Matrix getConstraint() {
74 if (bindingGroup==null) return Matrix.ONE;
75 Matrix v = getBindingMatrix(getMaster());
76 return v.inverse().times(bindingGroup.krank).times(v);
78 public void setConstraint(Matrix m) {
80 if (bindingGroup==null) bindingGroup = new BindingGroup(this);
81 Matrix v = getBindingMatrix(getMaster());
82 bindingGroup.krank = bindingGroup.krank.times(v.inverse().times(m).times(v));
86 public void unbind() {
87 if (bindingGroup==null) return;
88 bindingGroup.unbind(this);
90 bindingGroupChanged(bindingGroup);
93 public boolean isBoundTo(HasBindingGroup t) {
94 return t==this || (bindingGroup!=null && bindingGroup.contains(t));
97 public Iterable getBoundPeers() {
98 if (bindingGroup==null) bindingGroup = new BindingGroup(this);
101 public void bindingGroupChanged(BindingGroup newBindingGroup) { }