Java Code Examples for processing.core.PMatrix3D#get()

/**
 * Return the x,y positions of a 3D location projected onto a given
 * reference. The Z axis is the angle (in radians) given by the rotation of
 * the positionToFind.
 *
 * @param positionToFind
 * @param reference
 * @return
 */
public PVector projectPositionTo(PMatrix3D positionToFind,
        PaperScreen reference) {
    PMatrix3D referenceInv = reference.getLocation().get();
    referenceInv.invert();
    PMatrix3D relative = positionToFind.get();
    relative.preApply(referenceInv);

    PMatrix3D positionToFind2 = positionToFind.get();
    positionToFind2.translate(100, 0, 0);
    PMatrix3D relative2 = positionToFind2.get();
    relative2.preApply(referenceInv);

    PVector out = new PVector();
    float x = relative.m03 - relative2.m03;
    float y = relative.m13 - relative2.m13;
    out.z = PApplet.atan2(x, y);

    out.x = relative.m03;
    out.y = reference.drawingSize.y - relative.m13;

    return out;
}
 

/**
 * Return the x,y positions of a 3D location projected onto a given
 * reference. The Z axis is the angle (in radians) given by the rotation of
 * the positionToFind.
 *
 * @param positionToFind
 * @param reference
 * @return
 */
public PVector projectPositionTo2D(PMatrix3D positionToFind,
        PMatrix3D reference,
        float referenceHeight) {
    PMatrix3D referenceInv = reference.get();
    referenceInv.invert();
    PMatrix3D relative = positionToFind.get();
    relative.preApply(referenceInv);

    PMatrix3D positionToFind2 = positionToFind.get();
    positionToFind2.translate(100, 0, 0);
    PMatrix3D relative2 = positionToFind2.get();
    relative2.preApply(referenceInv);

    PVector out = new PVector();
    float x = relative.m03 - relative2.m03;
    float y = relative.m13 - relative2.m13;
    out.z = PApplet.atan2(x, y);

    out.x = relative.m03;
    out.y = referenceHeight - relative.m13;

    return out;
}
 

/**
     * Activate/Desactivate the tracking. This is called when loadLocationFrom()
     * is called.
     *
     * @param manual true to activate, false to revert to tracking
     * @param loc forced location, or null to use the tracked location
     */
    public void useManualLocation(boolean manual, PMatrix3D loc) {
        if (manual) {
            if (loc == null) {
//                System.err.println("Cannot set a null location.");
                loc = this.getLocation(cameraTracking);
            }
            this.useManualLocation(loc);
            this.manualLocation = loc.get();
        }
        if (!manual) {
            this.useTracking();
            this.manualLocation = new PMatrix3D();
        }
        // TEST instead of blocking the update, just skip the use of the tracking.
//        if (this.useManualLocation) {
//            markerBoard.blockUpdate(cameraTracking, 10 * 60 * 60 * 1000); // ms
//        } else {
//            markerBoard.blockUpdate(cameraTracking, 0); // ms
//        }
    }
 

/**
     * Get a plane from a 3D matrix. Here the size is not that important, might
     * be removed.
     *
     * @param mat
     * @param size
     * @return
     */
    public static PlaneCalibration CreatePlaneCalibrationFrom(PMatrix3D mat, PVector size) {
        PMatrix3D matrix = mat.get();
        PlaneCreator planeCreator = new PlaneCreator();

        planeCreator.addPoint(new Vec3D(matrix.m03, matrix.m13, matrix.m23));
        matrix.translate(size.x, 0, 0);
        planeCreator.addPoint(new Vec3D(matrix.m03, matrix.m13, matrix.m23));
        matrix.translate(0, size.y, 0);
        planeCreator.addPoint(new Vec3D(matrix.m03, matrix.m13, matrix.m23));

        planeCreator.setHeight(DEFAULT_PLANE_HEIGHT);
        assert (planeCreator.isComputed());
        PlaneCalibration planeCalibration = planeCreator.getPlaneCalibration();

        planeCalibration.flipNormal();
//        planeCalibration.moveAlongNormal(DEFAULT_PLANE_SHIFT);
        assert (planeCalibration.isValid());
        return planeCalibration;
    }
 

public ExtrinsicSnapshot(PMatrix3D cameraPaperCalibration,
        PMatrix3D projectorPaperCalibration,
        PMatrix3D kinectPaperCalibration) {

    if (cameraPaperCalibration != null) {
        mainCameraPaper = cameraPaperCalibration.get();
    }
    if (projectorPaperCalibration != null) {
        projectorPaper = projectorPaperCalibration.get();
    }
    if (kinectPaperCalibration != null) {
        kinectPaper = kinectPaperCalibration.get();
    }
}
 

/**
 * Set the extrinsics of the display. They are relative to the main camera.
 *
 * @param extr
 */
public void setExtrinsics(PMatrix3D extr) {
    extrinsics = extr.get();
    extrinsicsInv = extr.get();
    extrinsicsInv.invert();
    this.hasExtrinsics = true;
}
 

private void checkAndCreateMatrix(PMatrix3D inputMatrix) {
    if (this.pmatrix == null) {
        this.pmatrix = inputMatrix.get();
    } else {
        this.pmatrix.set(inputMatrix);
    }
}
 

public boolean isIdentity(PMatrix3D mat) {
    PMatrix3D identity = new PMatrix3D();
    identity.reset();
    float[] identityArray = new float[16];
    float[] matArray = new float[16];
    identity.get(identityArray);
    mat.get(matArray);

    return Arrays.equals(identityArray, matArray);
}
 

public static PMatrix3D computeExtrinsics(PMatrix3D camPaper, PMatrix3D projPaper) {
    PMatrix3D extr = projPaper.get();
    extr.invert();
    extr.preApply(camPaper);
    extr.invert();
    return extr;
}
 

public void setup() {
  
  surface.setLocation(viewport_x, viewport_y);
  
  float SCENE_SCALE = 1000;
  
  // for screenshot
  capture = new DwFrameCapture(this, "examples/");
  
  font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);

  cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
  perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

  group_bulletbodies = createShape(GROUP);
  
  physics = new BPhysics(); // no bounding box
  physics.world.setGravity(new Vector3f(0, 0, -50));
 
  pg_render = (PGraphics3D) createGraphics(width, height, P3D);
  pg_render.smooth(0);
  pg_render.beginDraw();
  pg_render.endDraw();
  
  
  // compute scene bounding-sphere
  DwBoundingSphere scene_bs = new DwBoundingSphere();
  scene_bs.set(0, 0, 200, 450);
  PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

  // matrix, to place (centering, scaling) the scene in the viewport
  mat_scene_view = new PMatrix3D();
  mat_scene_view.scale(SCENE_SCALE);
  mat_scene_view.apply(mat_bs);

  // matrix, to place the scene in the skylight renderer
  mat_scene_bounds = mat_scene_view.get();
  mat_scene_bounds.invert();
  mat_scene_bounds.preApply(mat_bs);

  // callback for rendering the scene
  DwSceneDisplay scene_display = new DwSceneDisplay(){
    @Override
    public void display(PGraphics3D canvas) {
      displayScene(canvas);  
    }
  };
  
  // library context
  context = new DwPixelFlow(this);
  context.print();
  context.printGL();
  
  // postprocessing filters
  filter = DwFilter.get(context);
  
  // init skylight renderer
  skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
  
  // parameters for sky-light
  skylight.sky.param.iterations     = 50;
  skylight.sky.param.solar_azimuth  = 0;
  skylight.sky.param.solar_zenith   = 0;
  skylight.sky.param.sample_focus   = 1; // full sphere sampling
  skylight.sky.param.intensity      = 1.0f;
  skylight.sky.param.rgb            = new float[]{1,1,1};
  skylight.sky.param.shadowmap_size = 512; // quality vs. performance
  
  // parameters for sun-light
  skylight.sun.param.iterations     = 50;
  skylight.sun.param.solar_azimuth  = 35;
  skylight.sun.param.solar_zenith   = 70;
  skylight.sun.param.sample_focus   = 0.1f;
  skylight.sun.param.intensity      = 1.0f;
  skylight.sun.param.rgb            = new float[]{1,1,1};
  skylight.sun.param.shadowmap_size = 512;
  
  // postprocessing AA
  smaa = new SMAA(context);
  pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
  pg_aa.smooth(0);
  pg_aa.textureSampling(5);
  
  
  dof = new DepthOfField(context);
  geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
  
  pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
  pg_tmp.smooth(0);
  DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);

  // fresh start
  reset();
  
  createFractureShape();
  
  frameRate(60);
}
 

void setUniforms() {

    // 1) modelview (camera) -> model (world)
    PMatrix3D mat_modelviewInv = geombuffer.pg_geom.modelviewInv.get();

    // camera -> world -> shadowmap
    PMatrix3D mat_shadow = shadowmap.getShadowmapMatrix();
    mat_shadow.apply(mat_modelviewInv);
    mat_shadow.transpose(); // processing
    
    PMatrix3D mat_shadow_normal = mat_shadow.get();
    mat_shadow_normal.invert();
    mat_shadow_normal.transpose(); // processing
    
    PMatrix3D mat_shadow_normal_modelview = shadowmap.getModelView().get();
    mat_shadow_normal_modelview.apply(mat_modelviewInv);
    mat_shadow_normal_modelview.transpose(); // processing
    mat_shadow_normal_modelview.invert();
    mat_shadow_normal_modelview.transpose(); // processing
    
    PMatrix3D mat_shadow_normal_projection = shadowmap.getProjection().get();
    mat_shadow_normal_projection.invert();
    mat_shadow_normal_projection.transpose(); // processing
    
//    PMatrix3D mat_shadow_modelview = new PMatrix3D(shadowmap.pg_shadowmap.modelview);
//    mat_shadow_modelview.apply(mat_modelviewInv);
//    mat_shadow_modelview.transpose();

    // 2) transform light direction into camera space = inverse-transpose-modelView * direction
    mat_modelviewInv.transpose();
    PVector light_dir_cameraspace = mat_modelviewInv.mult(shadowmap.lightdir, null);
    light_dir_cameraspace.normalize();
    
    // projection matrix of the geometry buffer
    PMatrix3D mat_projection = geombuffer.pg_geom.projection.get();
    mat_projection.transpose(); // processing
    
    // temporal averaging
    float pass_mix = RENDER_PASS/(RENDER_PASS+1.0f);
    
    float w_shadow = shadowmap.pg_shadowmap.width;
    float h_shadow = shadowmap.pg_shadowmap.height;
    
    // shadow offset
    float shadow_map_size = Math.min(w_shadow, h_shadow);
    float shadow_bias_mag = 0.33f/shadow_map_size;
    
//    shadow_bias_mag = scene_scale/ shadow_map_size;

    
//    PMatrix3D mat_screen_to_eye = new PMatrix3D();
//    mat_screen_to_eye.scale(w, h, 1);
//    mat_screen_to_eye.scale(0.5f);
//    mat_screen_to_eye.translate(1,1,1);
//    mat_screen_to_eye.apply(pg.projection);
//    mat_screen_to_eye.invert();
//    mat_screen_to_eye.transpose(); // processing, row-col switch
    

    
    // 3) update shader uniforms
    shader.set("mat_projection"              , mat_projection                    );
    shader.set("mat_shadow"                  , mat_shadow                        );
    shader.set("mat_shadow_normal_modelview" , mat_shadow_normal_modelview , true);
    shader.set("mat_shadow_normal_projection", mat_shadow_normal_projection, true);
//    shader.set("mat_shadow_normal", mat_shadow_normal);
//    shader.set("mat_screen_to_eye", mat_screen_to_eye);
//    shader.set("mat_shadow_modelview", mat_shadow_modelview);
    shader.set("dir_light", light_dir_cameraspace);
    shader.set("pass_mix", pass_mix);
    shader.set("wh_shadow", w_shadow, h_shadow); // should match the dimensions of the shading buffers
    shader.set("shadow_bias_mag", shadow_bias_mag);

    
//    getBuffer(buf_mat_projection              , mat_projection                    );
//    getBuffer(buf_mat_shadow                  , mat_shadow                        );
//    getBuffer(buf_mat_shadow_normal_modelview , mat_shadow_normal_modelview , true);
//    getBuffer(buf_mat_shadow_normal_projection, mat_shadow_normal_projection, true);
//
//    boolean transpose = !false;
//    shader_.uniformMatrix4fv("mat_projection"              , 1, transpose, buf_mat_projection              , 0);
//    shader_.uniformMatrix4fv("mat_shadow"                  , 1, transpose, buf_mat_shadow                  , 0);
//    shader_.uniformMatrix3fv("mat_shadow_normal_modelview" , 1, transpose, buf_mat_shadow_normal_modelview , 0);
//    shader_.uniformMatrix3fv("mat_shadow_normal_projection", 1, transpose, buf_mat_shadow_normal_projection, 0);
//    shader_.uniform3f       ("dir_light", light_dir_cameraspace.x, light_dir_cameraspace.y, light_dir_cameraspace.z);
//    shader_.uniform1f       ("pass_mix", pass_mix);
//    shader_.uniform2f       ("wh_shadow", w_shadow, h_shadow);
//    shader_.uniform1f       ("shadow_bias_mag", shadow_bias_mag);
  }
 

public void setup() {
    
    surface.setLocation(viewport_x, viewport_y);
    
    float SCENE_SCALE = 1000;
    
    capture = new DwFrameCapture(this, "examples/");
    font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);

    cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
    perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

    group_bulletbodies = createShape(GROUP);
    
//    Vector3f min = new Vector3f(-200, -200,    0);
//    Vector3f max = new Vector3f(+200, +200, +400);
//    physics = new BPhysics(min, max);
    physics = new BPhysics(); // no bounding box
    physics.world.setGravity(new Vector3f(0, 0, -300));
   
    pg_render = (PGraphics3D) createGraphics(width, height, P3D);
    pg_render.smooth(0);
    pg_render.beginDraw();
    pg_render.endDraw();
    
    
    // compute scene bounding-sphere
    DwBoundingSphere scene_bs = new DwBoundingSphere();
    scene_bs.set(0, 0, 200, 450);
    PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

    // matrix, to place (centering, scaling) the scene in the viewport
    mat_scene_view = new PMatrix3D();
    mat_scene_view.scale(SCENE_SCALE);
    mat_scene_view.apply(mat_bs);

    // matrix, to place the scene in the skylight renderer
    mat_scene_bounds = mat_scene_view.get();
    mat_scene_bounds.invert();
    mat_scene_bounds.preApply(mat_bs);

    // callback for rendering the scene
    DwSceneDisplay scene_display = new DwSceneDisplay(){
      @Override
      public void display(PGraphics3D canvas) {
        displayScene(canvas);  
      }
    };
    
    // library context
    context = new DwPixelFlow(this);
    context.print();
    context.printGL();
    
    // postprocessing filters
    filter = DwFilter.get(context);
    
    // init skylight renderer
    skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
    
    // parameters for sky-light
    skylight.sky.param.iterations     = 50;
    skylight.sky.param.solar_azimuth  = 0;
    skylight.sky.param.solar_zenith   = 0;
    skylight.sky.param.sample_focus   = 1; // full sphere sampling
    skylight.sky.param.intensity      = 1.0f;
    skylight.sky.param.rgb            = new float[]{1,1,1};
    skylight.sky.param.shadowmap_size = 512; // quality vs. performance
    
    // parameters for sun-light
    skylight.sun.param.iterations     = 50;
    skylight.sun.param.solar_azimuth  = 35;
    skylight.sun.param.solar_zenith   = 65;
    skylight.sun.param.sample_focus   = 0.1f;
    skylight.sun.param.intensity      = 1.0f;
    skylight.sun.param.rgb            = new float[]{1,1,1};
    skylight.sun.param.shadowmap_size = 512;
    
    // postprocessing AA
    smaa = new SMAA(context);
    pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
    pg_aa.smooth(0);
    pg_aa.textureSampling(5);
    
    
    dof = new DepthOfField(context);
    geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
    
    pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
    pg_tmp.smooth(0);
    DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);

    
    // fresh start
    reset();
    
    frameRate(60);
  }
 

public void setup() {
    
    surface.setLocation(viewport_x, viewport_y);
    
    float SCENE_SCALE = 1000;
    
    capture = new DwFrameCapture(this, "examples/");
    
    font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);
    font96 = createFont("../data/SourceCodePro-Regular.ttf", 32);
    
    cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
    perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

    group_bulletbodies = createShape(GROUP);
    
//    Vector3f min = new Vector3f(-300, -300,    0);
//    Vector3f max = new Vector3f(+300, +300, +1000);
//    physics = new BPhysics(min, max);
    physics = new BPhysics(); // no bounding box
    physics.world.setGravity(new Vector3f(0, 0, -30));
   
    pg_render = (PGraphics3D) createGraphics(width, height, P3D);
    pg_render.smooth(0);
    pg_render.beginDraw();
    pg_render.endDraw();
    
    
    // compute scene bounding-sphere
    DwBoundingSphere scene_bs = new DwBoundingSphere();
    scene_bs.set(0, 0, 200, 450);
    PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

    // matrix, to place (centering, scaling) the scene in the viewport
    mat_scene_view = new PMatrix3D();
    mat_scene_view.scale(SCENE_SCALE);
    mat_scene_view.apply(mat_bs);

    // matrix, to place the scene in the skylight renderer
    mat_scene_bounds = mat_scene_view.get();
    mat_scene_bounds.invert();
    mat_scene_bounds.preApply(mat_bs);

    // callback for rendering the scene
    DwSceneDisplay scene_display = new DwSceneDisplay(){
      @Override
      public void display(PGraphics3D canvas) {
        displayScene(canvas);  
      }
    };
    
    // library context
    context = new DwPixelFlow(this);
    context.print();
    context.printGL();
    
    // postprocessing filters
    filter = DwFilter.get(context);
    
    // init skylight renderer
    skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
    
    // parameters for sky-light
    skylight.sky.param.iterations     = 50;
    skylight.sky.param.solar_azimuth  = 0;
    skylight.sky.param.solar_zenith   = 0;
    skylight.sky.param.sample_focus   = 1; // full sphere sampling
    skylight.sky.param.intensity      = 1.0f;
    skylight.sky.param.rgb            = new float[]{1,1,1};
    skylight.sky.param.shadowmap_size = 512; // quality vs. performance
    
    // parameters for sun-light
    skylight.sun.param.iterations     = 50;
    skylight.sun.param.solar_azimuth  = 35;
    skylight.sun.param.solar_zenith   = 65;
    skylight.sun.param.sample_focus   = 0.1f;
    skylight.sun.param.intensity      = 1.0f;
    skylight.sun.param.rgb            = new float[]{1,1,1};
    skylight.sun.param.shadowmap_size = 512;
    
    // postprocessing AA
    smaa = new SMAA(context);
    pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
    pg_aa.smooth(0);
    pg_aa.textureSampling(5);
    
    
    dof = new DepthOfField(context);
    geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
    
    pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
    pg_tmp.smooth(0);
    DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);
    
    // fresh start
    reset();
    createBuildings(BUILDING);
    frameRate(60);
  }
 

public void setup() {
  
  surface.setLocation(viewport_x, viewport_y);
  
  float SCENE_SCALE = 1000;
  
  // for screenshot
  capture = new DwFrameCapture(this, "examples/");
  
  font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);

  cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
  perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

  group_bulletbodies = createShape(GROUP);
  
  physics = new MyBPhysics(); // no bounding box
  physics.world.setGravity(new Vector3f(0, 0, -100));
 
  pg_render = (PGraphics3D) createGraphics(width, height, P3D);
  pg_render.smooth(0);
  pg_render.beginDraw();
  pg_render.endDraw();
  
  
  // compute scene bounding-sphere
  DwBoundingSphere scene_bs = new DwBoundingSphere();
  scene_bs.set(0, 0, 200, 450);
  PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

  // matrix, to place (centering, scaling) the scene in the viewport
  mat_scene_view = new PMatrix3D();
  mat_scene_view.scale(SCENE_SCALE);
  mat_scene_view.apply(mat_bs);

  // matrix, to place the scene in the skylight renderer
  mat_scene_bounds = mat_scene_view.get();
  mat_scene_bounds.invert();
  mat_scene_bounds.preApply(mat_bs);

  // callback for rendering the scene
  DwSceneDisplay scene_display = new DwSceneDisplay(){
    @Override
    public void display(PGraphics3D canvas) {
      displayScene(canvas);  
    }
  };
  
  // library context
  context = new DwPixelFlow(this);
  context.print();
  context.printGL();
  
  // postprocessing filters
  filter = DwFilter.get(context);
  
  // init skylight renderer
  skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
  
  // parameters for sky-light
  skylight.sky.param.iterations     = 50;
  skylight.sky.param.solar_azimuth  = 0;
  skylight.sky.param.solar_zenith   = 0;
  skylight.sky.param.sample_focus   = 1; // full sphere sampling
  skylight.sky.param.intensity      = 1.0f;
  skylight.sky.param.rgb            = new float[]{1,1,1};
  skylight.sky.param.shadowmap_size = 512; // quality vs. performance
  
  // parameters for sun-light
  skylight.sun.param.iterations     = 50;
  skylight.sun.param.solar_azimuth  = 35;
  skylight.sun.param.solar_zenith   = 65;
  skylight.sun.param.sample_focus   = 0.1f;
  skylight.sun.param.intensity      = 1.0f;
  skylight.sun.param.rgb            = new float[]{1,1,1};
  skylight.sun.param.shadowmap_size = 512;
  
  // postprocessing AA
  smaa = new SMAA(context);
  pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
  pg_aa.smooth(0);
  pg_aa.textureSampling(5);
  
  
  dof = new DepthOfField(context);
  geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
  
  pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
  pg_tmp.smooth(0);
  DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);
  
  // fresh start
  reset();
  
  createFractureShape();
  
  frameRate(60);
}
 

public void setup() {
  
  surface.setLocation(viewport_x, viewport_y);
  
  float SCENE_SCALE = 1000;
  
  // for screenshot
  capture = new DwFrameCapture(this, "examples/");
  
  font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);

  cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
  perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

  group_bulletbodies = createShape(GROUP);
  
  physics = new BPhysics(); // no bounding box
  physics.world.setGravity(new Vector3f(0, 0, -50));
 
  pg_render = (PGraphics3D) createGraphics(width, height, P3D);
  pg_render.smooth(0);
  pg_render.beginDraw();
  pg_render.endDraw();
  
  
  // compute scene bounding-sphere
  DwBoundingSphere scene_bs = new DwBoundingSphere();
  scene_bs.set(0, 0, 200, 450);
  PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

  // matrix, to place (centering, scaling) the scene in the viewport
  mat_scene_view = new PMatrix3D();
  mat_scene_view.scale(SCENE_SCALE);
  mat_scene_view.apply(mat_bs);

  // matrix, to place the scene in the skylight renderer
  mat_scene_bounds = mat_scene_view.get();
  mat_scene_bounds.invert();
  mat_scene_bounds.preApply(mat_bs);

  // callback for rendering the scene
  DwSceneDisplay scene_display = new DwSceneDisplay(){
    @Override
    public void display(PGraphics3D canvas) {
      displayScene(canvas);  
    }
  };
  
  // library context
  context = new DwPixelFlow(this);
  context.print();
  context.printGL();
  
  // postprocessing filters
  filter = DwFilter.get(context);
  
  // init skylight renderer
  skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
  
  // parameters for sky-light
  skylight.sky.param.iterations     = 50;
  skylight.sky.param.solar_azimuth  = 0;
  skylight.sky.param.solar_zenith   = 0;
  skylight.sky.param.sample_focus   = 1; // full sphere sampling
  skylight.sky.param.intensity      = 1.0f;
  skylight.sky.param.rgb            = new float[]{1,1,1};
  skylight.sky.param.shadowmap_size = 512; // quality vs. performance
  
  // parameters for sun-light
  skylight.sun.param.iterations     = 50;
  skylight.sun.param.solar_azimuth  = 35;
  skylight.sun.param.solar_zenith   = 70;
  skylight.sun.param.sample_focus   = 0.1f;
  skylight.sun.param.intensity      = 1.0f;
  skylight.sun.param.rgb            = new float[]{1,1,1};
  skylight.sun.param.shadowmap_size = 512;
  
  // postprocessing AA
  smaa = new SMAA(context);
  pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
  pg_aa.smooth(0);
  pg_aa.textureSampling(5);
  
  
  dof = new DepthOfField(context);
  geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
  
  pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
  pg_tmp.smooth(0);
  DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);

  // fresh start
  reset();
  
  createFractureShape();
  
  frameRate(60);
}
 

public void setup() {
  
  surface.setLocation(viewport_x, viewport_y);
  
  float SCENE_SCALE = 1000;
  
  // for screenshot
  capture = new DwFrameCapture(this, "examples/");
  
  font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);

  cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
  perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

  group_bulletbodies = createShape(GROUP);
  
  physics = new BPhysics(); // no bounding box
  physics.world.setGravity(new Vector3f(0, 0, -100));
 
  pg_render = (PGraphics3D) createGraphics(width, height, P3D);
  pg_render.smooth(0);
  pg_render.beginDraw();
  pg_render.endDraw();
  
  
  // compute scene bounding-sphere
  DwBoundingSphere scene_bs = new DwBoundingSphere();
  scene_bs.set(0, 0, 200, 450);
  PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

  // matrix, to place (centering, scaling) the scene in the viewport
  mat_scene_view = new PMatrix3D();
  mat_scene_view.scale(SCENE_SCALE);
  mat_scene_view.apply(mat_bs);

  // matrix, to place the scene in the skylight renderer
  mat_scene_bounds = mat_scene_view.get();
  mat_scene_bounds.invert();
  mat_scene_bounds.preApply(mat_bs);

  // callback for rendering the scene
  DwSceneDisplay scene_display = new DwSceneDisplay(){
    @Override
    public void display(PGraphics3D canvas) {
      displayScene(canvas);  
    }
  };
  
  // library context
  context = new DwPixelFlow(this);
  context.print();
  context.printGL();
  
  // postprocessing filters
  filter = DwFilter.get(context);
  
  // init skylight renderer
  skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
  
  // parameters for sky-light
  skylight.sky.param.iterations     = 50;
  skylight.sky.param.solar_azimuth  = 0;
  skylight.sky.param.solar_zenith   = 0;
  skylight.sky.param.sample_focus   = 1; // full sphere sampling
  skylight.sky.param.intensity      = 1.0f;
  skylight.sky.param.rgb            = new float[]{1,1,1};
  skylight.sky.param.shadowmap_size = 512; // quality vs. performance
  
  // parameters for sun-light
  skylight.sun.param.iterations     = 50;
  skylight.sun.param.solar_azimuth  = 35;
  skylight.sun.param.solar_zenith   = 65;
  skylight.sun.param.sample_focus   = 0.1f;
  skylight.sun.param.intensity      = 1.0f;
  skylight.sun.param.rgb            = new float[]{1,1,1};
  skylight.sun.param.shadowmap_size = 512;
  
  // postprocessing AA
  smaa = new SMAA(context);
  pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
  pg_aa.smooth(0);
  pg_aa.textureSampling(5);
  
  
  dof = new DepthOfField(context);
  geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
  
  pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
  pg_tmp.smooth(0);
  DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);


  // fresh start
  reset();
  
  createFractureShape();
  
  frameRate(60);
}
 

/**
 * Get a copy of the overall transform (after tracking and second
 * transform).
 *
 * @param trackedLocation
 * @return
 */
public PMatrix3D getLocation(PMatrix3D trackedLocation) {
    PMatrix3D combinedTransfos = trackedLocation.get();
    combinedTransfos.apply(extrinsics);
    return combinedTransfos;
}