Cleaned up DVector3 etc (#108)

CHANGELOG.txt

@@ -18,18 +18,18 @@ TODO for 0.5.0
 Check:
 - Demo -> Test?  E.g. DemoI? DemoSpace(-Stress)? DemoStep? ....
 
-DxHeightfield.tempPlaneBuffer should probably just be a simple array. ALso check tempHeightBuffer.
-   DxTrimeshHeightfield.tempHeightBuffer??
-   DxGimpactData.check().edges
-
 Bug: Dropping first box on Heightfield is wrong.
   -> Cylinder is also often iffy, but that is the same in C++  -> e.g. 7. cylinder (java) or 11th (c++)!
 
-Fix ENABLE_CONTACT_SORTING / Issue #22
+0.6.0
+=====
+- TODO remove deprecations for 0.6.0
 
 0.5.0 (unreleased)
 =====
-- DVector3/DQuaternion/...: Better support for call chaining. [#108](https://github.com/tzaeschke/ode4j/pull/108)
+- DVector3/DQuaternion/...: Better support for call chaining, added isEq(x, y, z, eps) and deprecated clone() and
+  DQuaternion.*Euler*().
+  [#108](https://github.com/tzaeschke/ode4j/pull/108)
 - DVector3/DQuaternion/...: Deprecated hashCode(). [#107](https://github.com/tzaeschke/ode4j/pull/107)
 - Removed unnecessary ObjArray from heightfield. [#106](https://github.com/tzaeschke/ode4j/pull/106)
 - Added linter and fixed some lint. [#105](https://github.com/tzaeschke/ode4j/pull/105)

core/src/main/java/org/ode4j/math/DMatrix3.java

@@ -125,16 +125,25 @@ public DMatrix3 set(DMatrix3C m) {
 		set20( m.get20() ); set21( m.get21() ); set22( m.get22() );
 		return this;
 	}
-	
-	
+
+
 	/**
 	 * Returns a clone of this Matrix.
 	 */
 	@Override
+	@Deprecated
 	public DMatrix3 clone() {
 		return new DMatrix3(this);
 	}
-
+
+	/**
+	 * Returns a copy of this Matrix.
+	 */
+	@Override
+	public DMatrix3 copy() {
+		return new DMatrix3(this);
+	}
+
 
 	@Override
 	public String toString() {
@@ -158,30 +167,38 @@ public String toString() {
 		b.append(get22()).append("]]");
 		return b.toString();
 	}
-	public void setOfs(int ofs, DVector3 v3) {
+
+	public DMatrix3 setOfs(int ofs, DVector3 v3) {
 		v[ofs] = v3.get0(); v[ofs+1] = v3.get1(); v[ofs+2] = v3.get2(); //v[ofs+3] = 0;//v3.v[3];
+		return this;
 	}
-	public void setCol(int i, DVector3 v3) {
+
+	public DMatrix3 setCol(int i, DVector3 v3) {
 		int ofs = i*4;
 		v[ofs] = v3.get0(); v[ofs+1] = v3.get1(); v[ofs+2] = v3.get2(); //v[ofs+3] = 0;//v3.v[3];
+		return this;
 	}
-	public void set(double i, double j, double k, double l, double m,
+
+	public DMatrix3 set(double i, double j, double k, double l, double m,
 			double n, double o, double p, double q) {
 //		v[0] = i; v[1] = j; v[2] = k;
 //		v[4] = l; v[5] = m; v[6] = n;
 //		v[8] = o; v[9] = p; v[10] = q;
 		set00( i ); set01( j ); set02( k );
 		set10( l ); set11( m ); set12( n );
 		set20( o ); set21( p ); set22( q );
+		return this;
 	}
-	/** 
+
+	/**
 	 * Initialises this matrix from a 3*4 double [] with 12 fields, ignoring 
 	 * the 4th, 8th and 12th field. This is useful when using padded arrays.
 	 * @param da Initialisztion matrix
 	 * @param da_ofs Reading offset
 	 */
-	public void set12(double[] da, int da_ofs) {
+	public DMatrix3 set12(double[] da, int da_ofs) {
 		System.arraycopy(da, da_ofs, v, 0, da.length);
+		return this;
 	}
 
 	public double get(int i) {
@@ -213,10 +230,11 @@ public DMatrix3 add(DMatrix3C m) {
 	}
 
 
-	public void scale(double scale) {
+	public DMatrix3 scale(double scale) {
 		for (int i = 0; i < v.length; i++) {
 			v[i] *= scale;
 		}
+		return this;
 	}
 
 	/** 
@@ -230,11 +248,13 @@ public void scale(double scale) {
 	 * @param B source B
 	 * @param C source C
 	 */
-	public void dMultiply0 (final DMatrix3C B, 
+	public DMatrix3 dMultiply0 (final DMatrix3C B,
 			final DMatrix3C C) {
 		eqMul(B, C);
-	}	
-	public void eqMul (final DMatrix3C B, 
+		return this;
+	}
+
+	public DMatrix3 eqMul (final DMatrix3C B,
 			final DMatrix3C C)
 	{
 //		dMatrix3 B2 = (dMatrix3) B;
@@ -271,6 +291,7 @@ public void eqMul (final DMatrix3C B,
 		set20( B.get20()*C.get00() + B.get21()*C.get10() + B.get22()*C.get20() );
 		set21( B.get20()*C.get01() + B.get21()*C.get11() + B.get22()*C.get21() );
 		set22( B.get20()*C.get02() + B.get21()*C.get12() + B.get22()*C.get22() );
+		return this;
 	}
 
 
@@ -431,12 +452,12 @@ public double get2() {
 		public void set0(double d) {
 			v[_column] = d;
 		}
-		
+
 		@Override
 		public void set1(double d) {
 			v[1 * MAX_J + _column] = d;
 		}
-		
+
 		@Override
 		public void set2(double d) {
 			v[2 * MAX_J + _column] = d;
@@ -577,57 +598,66 @@ public final double get22() {
 	}
 
 
-	public final void set00(double d) {
+	public DMatrix3 set00(double d) {
 		v[0] = d;
+		return this;
 	}
 
 
-	public final void set01(double d) {
+	public DMatrix3 set01(double d) {
 		v[1] = d;
+		return this;
 	}
 
 
-	public final void set02(double d) {
+	public DMatrix3 set02(double d) {
 		v[2] = d;
+		return this;
 	}
 
 
-	public final void set10(double d) {
+	public DMatrix3 set10(double d) {
 		v[1*MAX_J + 0] = d;
+		return this;
 	}
 
 
-	public final void set11(double d) {
+	public DMatrix3 set11(double d) {
 		v[1*MAX_J + 1] = d;
+		return this;
 	}
 
 
-	public final void set12(double d) {
+	public DMatrix3 set12(double d) {
 		v[1*MAX_J + 2] = d;
+		return this;
 	}
 
 
-	public final void set20(double d) {
+	public DMatrix3 set20(double d) {
 		v[2*MAX_J + 0] = d;
+		return this;
 	}
 
 
-	public final void set21(double d) {
+	public DMatrix3 set21(double d) {
 		v[2*MAX_J + 1] = d;
+		return this;
 	}
 
 
-	public final void set22(double d) {
+	public DMatrix3 set22(double d) {
 		v[2*MAX_J + 2] = d;
+		return this;
 	}
 
 
-	public final int dimI() {
+	public int dimI() {
 		return MAX_I;
 	}
 
 
-	public final int dimJ() {
+	public int dimJ() {
 		//TODO MAX_J, once MAX_J==3
 		return 3;
 	}
@@ -637,7 +667,7 @@ public final int dimJ() {
 	 * This is marginally faster than <tt>equals(Object o)</tt>.
 	 */
 	@Override
-	public final boolean isEq(DMatrix3C m, double epsilon) {
+	public boolean isEq(DMatrix3C m, double epsilon) {
 		for (int i = 0; i < 3; i++) {
 			for (int j = 0; j < 3; j++) {
 				if (Math.abs(get(i, j) - m.get(i, j)) > epsilon) return false;
@@ -703,11 +733,12 @@ public int hashCode() {
 	 * Make the matrix an identity matrix.
 	 * Same as setIdenity().
 	 */
-	public final void eqIdentity() {
+	public DMatrix3 eqIdentity() {
 		eqZero();
 		set00(1);
 		set11(1);
 		set22(1);
+		return this;
 	}
 
 
@@ -716,7 +747,7 @@ public final void eqIdentity() {
 	 * Same as eqIdenity().
 	 * @return This matrix.
 	 */
-	public final DMatrix3 setIdentity() {
+	public DMatrix3 setIdentity() {
 		eqIdentity();
 		return this;
 	}
@@ -726,19 +757,21 @@ public final DMatrix3 setIdentity() {
 	 * Set the matrix to zero.
 	 * Same as setZero().
 	 */
-	public final void eqZero() {
+	public DMatrix3 eqZero() {
 		for (int i = 0; i < v.length; i++) {
 			v[i] = 0;
 		}
+		return this;
 	}
 
 
 	/**
 	 * Set the matrix to zero.
 	 * Same as eqZero().
 	 */
-	public final void setZero() {
+	public DMatrix3 setZero() {
 		eqZero();
+		return this;
 	}
 
 
@@ -977,18 +1010,21 @@ public double get(int i, int j) {
 	 * @param j column
 	 * @param a value at (i,j)
 	 */
-	public void set(int i, int j, double a) {
+	public DMatrix3 set(int i, int j, double a) {
 		v[i*MAX_J + j] = a;
+		return this;
 	}
 
 
-	public void add(int i, int j, double d) {
+	public DMatrix3 add(int i, int j, double d) {
 		v[i*MAX_J + j] += d;
+		return this;
 	}
 
 
-	public void sub(int i, int j, double d) {
+	public DMatrix3 sub(int i, int j, double d) {
 		v[i*MAX_J + j] -= d;
+		return this;
 	}
 
 

core/src/main/java/org/ode4j/math/DMatrix3C.java

@@ -64,7 +64,16 @@ public interface DMatrix3C {
 	public double get22();
 	public float[] toFloatArray();
 	public float[] toFloatArray12();
-	public DMatrix3 clone();
+	/**
+	 * Please use @see #copy() instead. This is deprecated because we don't implement Cloneable.
+	 * @return A clone() of this object.
+	 */
+	@Deprecated // TODO deprecated. Should be removed. Plese use copy() instead. To be removed in 0.6.0.
+	DMatrix3 clone();
+	/**
+	 * @return A mutable copy of this object.
+	 */
+	DMatrix3 copy();
 	public DVector3ColView viewCol(int _col);
 	public double dotCol(int col, DVector3C b);
 	public double dotRow(int row, DVector3C b);