/ *   
 
   *   P R O J E C T :   N y A R T o o l k i t C S 
 
   *   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
   *   T h i s   w o r k   i s   b a s e d   o n   t h e   o r i g i n a l   A R T o o l K i t   d e v e l o p e d   b y 
 
   *       H i r o k a z u   K a t o 
 
   *       M a r k   B i l l i n g h u r s t 
 
   *       H I T L a b ,   U n i v e r s i t y   o f   W a s h i n g t o n ,   S e a t t l e 
 
   *   h t t p : / / w w w . h i t l . w a s h i n g t o n . e d u / a r t o o l k i t / 
 
   * 
 
   *   T h e   N y A R T o o l k i t C S   i s   J a v a   e d i t i o n   A R T o o l K i t   c l a s s   l i b r a r y . 
 
   *   C o p y r i g h t   ( C ) 2 0 0 8 - 2 0 0 9   R y o   I i z u k a 
 
   * 
 
   *   T h i s   p r o g r a m   i s   f r e e   s o f t w a r e :   y o u   c a n   r e d i s t r i b u t e   i t   a n d / o r   m o d i f y 
 
   *   i t   u n d e r   t h e   t e r m s   o f   t h e   G N U   G e n e r a l   P u b l i c   L i c e n s e   a s   p u b l i s h e d   b y 
 
   *   t h e   F r e e   S o f t w a r e   F o u n d a t i o n ,   e i t h e r   v e r s i o n   3   o f   t h e   L i c e n s e ,   o r 
 
   *   ( a t   y o u r   o p t i o n )   a n y   l a t e r   v e r s i o n . 
 
   *   
 
   *   T h i s   p r o g r a m   i s   d i s t r i b u t e d   i n   t h e   h o p e   t h a t   i t   w i l l   b e   u s e f u l , 
 
   *   b u t   W I T H O U T   A N Y   W A R R A N T Y ;   w i t h o u t   e v e n   t h e   i m p l i e d   w a r r a n t y   o f 
 
   *   M E R C H A N T A B I L I T Y   o r   F I T N E S S   F O R   A   P A R T I C U L A R   P U R P O S E .     S e e   t h e 
 
   *   G N U   G e n e r a l   P u b l i c   L i c e n s e   f o r   m o r e   d e t a i l s . 
 
   * 
 
   *   Y o u   s h o u l d   h a v e   r e c e i v e d   a   c o p y   o f   t h e   G N U   G e n e r a l   P u b l i c   L i c e n s e 
 
   *   a l o n g   w i t h   t h i s   p r o g r a m .     I f   n o t ,   s e e   < h t t p : / / w w w . g n u . o r g / l i c e n s e s / > . 
 
   *   
 
   *   F o r   f u r t h e r   i n f o r m a t i o n   p l e a s e   c o n t a c t . 
 
   * 	 h t t p : / / n y a t l a . j p / n y a t o o l k i t / 
 
   * 	 < a i r m a i l ( a t ) e b o n y . p l a l a . o r . j p >   o r   < n y a t l a ( a t ) n y a t l a . j p > 
 
   *   
 
   * / 
 
 u s i n g   S y s t e m ; 
 
 n a m e s p a c e   j p . n y a t l a . n y a r t o o l k i t . c s . c o r e 
 
 { 
 
 
 
         / * * 
 
           *   S0n0000o00VLR0{Y00LR000g0Y00
 
           *   8^o00000L0O(uY00S0h0o0B00~0[000
 
           * / 
 
         p u b l i c   c l a s s   N y A R R o t M a t r i x   :   N y A R D o u b l e M a t r i x 3 3 
 
         { 
 
                 / * * 
 
                   *   0000000g0Y00
 
                   *   SgqY00\q_	Yc0000000c[W0f000000000ubW0~0Y00
 
                   *   @ p a r a m   i _ m a t r i x 
 
                   *   SgqY00\q_	Yc000000
 
                   *   @ 
 
                   * / 
 
                 p u b l i c   N y A R R o t M a t r i x ( N y A R P e r s p e c t i v e P r o j e c t i o n M a t r i x   i _ m a t r i x ) 
 
                 { 
 
                         t h i s . _ _ i n i t R o t _ v e c 1   =   n e w   N y A R R o t V e c t o r V 2 ( i _ m a t r i x ) ; 
 
                         t h i s . _ _ i n i t R o t _ v e c 2   =   n e w   N y A R R o t V e c t o r V 2 ( i _ m a t r i x ) ; 
 
                         r e t u r n ; 
 
                 } 
 
                 p r i v a t e   N y A R R o t V e c t o r V 2   _ _ i n i t R o t _ v e c 1 ; 
 
                 p r i v a t e   N y A R R o t V e c t o r V 2   _ _ i n i t R o t _ v e c 2 ; 
 
                 / * * 
 
                   *   S0n0peo00{ @ l i n k   N y A R T r a n s M a t R e s u l t } n0Q[00VLRk0000W0~0Y00
 
                   *   @ p a r a m   i _ p r e v _ r e s u l t 
 
                   *   000Y00YR	YcLR0
 
                   * / 
 
                 p u b l i c   v i r t u a l   v o i d   i n i t R o t B y P r e v R e s u l t ( N y A R D o u b l e M a t r i x 4 4   i _ p r e v _ r e s u l t ) 
 
                 { 
 
 
 
                         t h i s . m 0 0   =   i _ p r e v _ r e s u l t . m 0 0 ; 
 
                         t h i s . m 0 1   =   i _ p r e v _ r e s u l t . m 0 1 ; 
 
                         t h i s . m 0 2   =   i _ p r e v _ r e s u l t . m 0 2 ; 
 
 
 
                         t h i s . m 1 0   =   i _ p r e v _ r e s u l t . m 1 0 ; 
 
                         t h i s . m 1 1   =   i _ p r e v _ r e s u l t . m 1 1 ; 
 
                         t h i s . m 1 2   =   i _ p r e v _ r e s u l t . m 1 2 ; 
 
 
 
                         t h i s . m 2 0   =   i _ p r e v _ r e s u l t . m 2 0 ; 
 
                         t h i s . m 2 1   =   i _ p r e v _ r e s u l t . m 2 1 ; 
 
                         t h i s . m 2 2   =   i _ p r e v _ r e s u l t . m 2 2 ; 
 
                         r e t u r n ; 
 
                 } 
 
                 / * * 
 
                   *   S0n0peo00!kCQ^j|n0wb_0hY0v}_h00!kCQ^j|n0wb_n000000^j$PK000VLR0{W0~0Y00
 
                   *   < p > 00  -   
 
                   *   C g0[ňY00h0M0o00MRn00000Hrpeh02 ͑SY00S0h0
 
                   *   < / p > 
 
                   *   @ p a r a m   i _ l i n e a r 
 
                   *   v}_04  }g0B00_L0B00~0Y00
 
                   *   @ p a r a m   i _ s q v e r t e x 
 
                   *   wb_n0!kCQ00000^j04  }g0B00_L0B00~0Y00
 
                   *   @ 
 
                   * / 
 
                 p u b l i c   v i r t u a l   b o o l   i n i t R o t B y S q u a r e ( N y A R L i n e a r [ ]   i _ l i n e a r ,   N y A R D o u b l e P o i n t 2 d [ ]   i _ s q v e r t e x ) 
 
                 { 
 
                         N y A R R o t V e c t o r V 2   v e c 1   =   t h i s . _ _ i n i t R o t _ v e c 1 ; 
 
                         N y A R R o t V e c t o r V 2   v e c 2   =   t h i s . _ _ i n i t R o t _ v e c 2 ; 
 
 
 
                         / / TK0D0Tc0_0K000,gn000000{
 
 
 
                         / / 
 
                         v e c 1 . e x t e r i o r P r o d u c t F r o m L i n e a r ( i _ l i n e a r [ 0 ] ,   i _ l i n e a r [ 2 ] ) ; 
 
                         i f   ( ! v e c 1 . c h e c k V e c t o r B y V e r t e x ( i _ s q v e r t e x [ 0 ] ,   i _ s q v e r t e x [ 1 ] ) ) 
 
                         { 
 
                                 r e t u r n   f a l s e ; 
 
                         } 
 
 
 
                         / / 
 
                         v e c 2 . e x t e r i o r P r o d u c t F r o m L i n e a r ( i _ l i n e a r [ 1 ] ,   i _ l i n e a r [ 3 ] ) ; 
 
                         i f   ( ! v e c 2 . c h e c k V e c t o r B y V e r t e x ( i _ s q v e r t e x [ 3 ] ,   i _ s q v e r t e x [ 0 ] ) ) 
 
                         { 
 
                                 r e t u r n   f a l s e ; 
 
                         } 
 
 
 
                         / / Vn0 giS
 
                         i f   ( ! N y A R R o t V e c t o r V 2 . c h e c k R o t a t i o n ( v e c 1 ,   v e c 2 ) ) 
 
                         { 
 
                                 r e t u r n   f a l s e ; 
 
                         } 
 
 
 
                         t h i s . m 0 0   =   v e c 1 . v 1 ; 
 
                         t h i s . m 1 0   =   v e c 1 . v 2 ; 
 
                         t h i s . m 2 0   =   v e c 1 . v 3 ; 
 
                         t h i s . m 0 1   =   v e c 2 . v 1 ; 
 
                         t h i s . m 1 1   =   v e c 2 . v 2 ; 
 
                         t h i s . m 2 1   =   v e c 2 . v 3 ; 
 
 
 
                         / /  g_n00{
 
                         d o u b l e   w 0 2   =   v e c 1 . v 2   *   v e c 2 . v 3   -   v e c 1 . v 3   *   v e c 2 . v 2 ; 
 
                         d o u b l e   w 1 2   =   v e c 1 . v 3   *   v e c 2 . v 1   -   v e c 1 . v 1   *   v e c 2 . v 3 ; 
 
                         d o u b l e   w 2 2   =   v e c 1 . v 1   *   v e c 2 . v 2   -   v e c 1 . v 2   *   v e c 2 . v 1 ; 
 
                         d o u b l e   w   =   M a t h . S q r t ( w 0 2   *   w 0 2   +   w 1 2   *   w 1 2   +   w 2 2   *   w 2 2 ) ; 
 
                         t h i s . m 0 2   =   w 0 2   /   w ; 
 
                         t h i s . m 1 2   =   w 1 2   /   w ; 
 
                         t h i s . m 2 2   =   w 2 2   /   w ; 
 
                         r e t u r n   t r u e ; 
 
                 } 
 
                 / * * 
 
                   *   S0n0peo00Z X Y |n0҉^$P00VLRk0000W0~0Y00
 
                   *   @ p a r a m   i _ a n g l e 
 
                   *   Z X Y |n00000$P
 
                   * / 
 
                 p u b l i c   v o i d   i n i t R o t B y A n g l e ( N y A R D o u b l e P o i n t 3 d   i _ a n g l e ) 
 
                 { 
 
                         t h i s . s e t Z X Y A n g l e ( i _ a n g l e ) ; 
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                   *   S0n0peo00eQRW0_0!kCQp0VW0f0ԏW0~0Y00
 
                   *   @ p a r a m   i _ i n _ p o i n t 
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                   *   VY00	N!kCQ^j
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                   *   @ p a r a m   i _ o u t _ p o i n t 
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                   *   VW0_0	N!kCQ^j
 
                   * / 
 
                 p u b l i c   v o i d   g e t P o i n t 3 d ( N y A R D o u b l e P o i n t 3 d   i _ i n _ p o i n t ,   N y A R D o u b l e P o i n t 3 d   i _ o u t _ p o i n t ) 
 
                 { 
 
                         d o u b l e   x   =   i _ i n _ p o i n t . x ; 
 
                         d o u b l e   y   =   i _ i n _ p o i n t . y ; 
 
                         d o u b l e   z   =   i _ i n _ p o i n t . z ; 
 
                         i _ o u t _ p o i n t . x   =   t h i s . m 0 0   *   x   +   t h i s . m 0 1   *   y   +   t h i s . m 0 2   *   z ; 
 
                         i _ o u t _ p o i n t . y   =   t h i s . m 1 0   *   x   +   t h i s . m 1 1   *   y   +   t h i s . m 1 2   *   z ; 
 
                         i _ o u t _ p o i n t . z   =   t h i s . m 2 0   *   x   +   t h i s . m 2 1   *   y   +   t h i s . m 2 2   *   z ; 
 
                         r e t u r n ; 
 
                 } 
 
                 / * * 
 
                   *   S0n0peo00eQRW0_0pen0!kCQp0VW0f0ԏW0~0Y00
 
                   *   @ p a r a m   i _ i n _ p o i n t 
 
                   *   VY00	N!kCQ^jn0MR
 
                   *   @ p a r a m   i _ o u t _ p o i n t 
 
                   *   VW0_0	N!kCQ^jn0MR
 
                   *   @ p a r a m   i _ n u m b e r _ o f _ v e r t e x 
 
                   *   VY00^jn0Ppe
 
                   * / 
 
                 p u b l i c   v o i d   g e t P o i n t 3 d B a t c h ( N y A R D o u b l e P o i n t 3 d [ ]   i _ i n _ p o i n t ,   N y A R D o u b l e P o i n t 3 d [ ]   i _ o u t _ p o i n t ,   i n t   i _ n u m b e r _ o f _ v e r t e x ) 
 
                 { 
 
                         f o r   ( i n t   i   =   i _ n u m b e r _ o f _ v e r t e x   -   1 ;   i   > =   0 ;   i - - ) 
 
                         { 
 
                                 N y A R D o u b l e P o i n t 3 d   o u t _ p t r   =   i _ o u t _ p o i n t [ i ] ; 
 
                                 N y A R D o u b l e P o i n t 3 d   i n _ p t r   =   i _ i n _ p o i n t [ i ] ; 
 
                                 d o u b l e   x   =   i n _ p t r . x ; 
 
                                 d o u b l e   y   =   i n _ p t r . y ; 
 
                                 d o u b l e   z   =   i n _ p t r . z ; 
 
                                 o u t _ p t r . x   =   t h i s . m 0 0   *   x   +   t h i s . m 0 1   *   y   +   t h i s . m 0 2   *   z ; 
 
                                 o u t _ p t r . y   =   t h i s . m 1 0   *   x   +   t h i s . m 1 1   *   y   +   t h i s . m 1 2   *   z ; 
 
                                 o u t _ p t r . z   =   t h i s . m 2 0   *   x   +   t h i s . m 2 1   *   y   +   t h i s . m 2 2   *   z ; 
 
                         } 
 
                         r e t u r n ; 
 
                 } 
 
         } 
 
 } 
 
 