Fix camera and hip height.

Normand Briere

2018-07-01 bb87fae3b097ddd5c5039bf1ab48d3718b900b08

 LA.java
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@@ -306,6 +306,14 @@
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         }
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+        GrafreeD.Assert(Math.abs(src[0][3]) <= 1E-15);
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+        GrafreeD.Assert(Math.abs(src[1][3]) <= 1E-15);
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+        GrafreeD.Assert(Math.abs(src[2][3]) <= 1E-15);
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+        GrafreeD.Assert(Math.abs(src[3][3] - 1) <= 1E-15);
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+        GrafreeD.Assert(Math.abs(dst[0][3]) <= 1E-15);
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+        GrafreeD.Assert(Math.abs(dst[1][3]) <= 1E-15);
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+        GrafreeD.Assert(Math.abs(dst[2][3]) <= 1E-15);
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+        GrafreeD.Assert(Math.abs(dst[3][3] - 1) <= 1E-15);
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     }
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     static double toRadians(double degrees)
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@@ -319,16 +327,16 @@
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         //left = right;
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         //right = tmp;
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-        for (int i = 0; i < 4; i++)
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+        for (int j = 0; j < 4; j++)
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         {
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-            double[] lefti = left[i];
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-            double[] concati = concatTemp[i];
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-            for (int j = 0; j < 4; j++)
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+            double[] rightj = right[j];
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+            double[] concat = concatTemp[j];
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+            for (int i = 0; i < 4; i++)
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             {
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-                concati[j] = 0;
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+                concat[i] = 0;
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                 for (int k = 0; k < 4; k++)
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                 {
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-                    concati[j] += lefti[k] * right[k][j];
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+                    concat[i] += left[k][i] * rightj[k];
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                 }
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             }
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         }
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@@ -345,7 +353,7 @@
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         //xlateTemp[0][3] = dx;
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         //xlateTemp[1][3] = dy;
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         //xlateTemp[2][3] = dz;
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-        matConcat(mat, xlateTemp, mat);
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+        matConcat(xlateTemp, mat, mat);
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     }
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     static void matHomogene(double mat[][], double dx, double dy, double dz)
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@@ -357,7 +365,7 @@
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         //xlateTemp[0][3] = dx;
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         //xlateTemp[1][3] = dy;
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         //xlateTemp[2][3] = dz;
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-        matConcat(mat, xlateTemp, mat);
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+        matConcat(xlateTemp, mat, mat);
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     }
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     static void matTranslateInv(double mat[][], double dx, double dy, double dz)
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@@ -369,7 +377,7 @@
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         //xlateTemp[0][3] = dx;
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         //xlateTemp[1][3] = dy;
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         //xlateTemp[2][3] = dz;
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-        matConcat(xlateTemp, mat, mat);
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+        matConcat(mat, xlateTemp, mat);
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     }
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     static void matScale(double mat[][], double sx, double sy, double sz)
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@@ -378,7 +386,8 @@
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         xlateTemp[0][0] = sx;
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         xlateTemp[1][1] = sy;
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         xlateTemp[2][2] = sz;
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-        matConcat(mat, xlateTemp, mat);
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+        matConcat(xlateTemp, mat, mat);
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+        //matConcat(mat, xlateTemp, mat);
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     }
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     static void matXRotate(double mat[][], double radians)
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@@ -387,9 +396,9 @@
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         rotTemp[1][1] = rotTemp[2][2] = (double) Math.cos(radians);
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         rotTemp[2][1] = -(rotTemp[1][2] = (double) Math.sin(radians));
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    //     if (CameraPane.LOCALTRANSFORM)
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-   //         matConcat(rotTemp, mat, mat);
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+            matConcat(rotTemp, mat, mat);
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    //     else
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-            matConcat(mat, rotTemp, mat);
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+   //         matConcat(mat, rotTemp, mat);
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     }
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     static void matYRotate(double mat[][], double radians)
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@@ -398,9 +407,9 @@
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         rotTemp[0][0] = rotTemp[2][2] = (double) Math.cos(-radians);
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         rotTemp[2][0] = -(rotTemp[0][2] = (double) Math.sin(-radians));
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    //     if (CameraPane.LOCALTRANSFORM)
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-   //         matConcat(rotTemp, mat, mat);
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+            matConcat(rotTemp, mat, mat);
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    //     else
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-            matConcat(mat, rotTemp, mat);
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+   //         matConcat(mat, rotTemp, mat);
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     }
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     static void matZRotate(double mat[][], double radians)
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@@ -409,9 +418,9 @@
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         rotTemp[0][0] = rotTemp[1][1] = (double) Math.cos(radians);
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         rotTemp[1][0] = -(rotTemp[0][1] = (double) Math.sin(radians));
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    //     if (CameraPane.LOCALTRANSFORM)
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-   //         matConcat(rotTemp, mat, mat);
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+            matConcat(rotTemp, mat, mat);
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    //     else
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-            matConcat(mat, rotTemp, mat);
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+   //         matConcat(mat, rotTemp, mat);
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     }
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     // Project A onto B