import javax.vecmath.Vector4d; //导入依赖的package包/类
private Vector4d transform_now(String source, String target, Vector4d point) throws InterruptedException, TransformerException {
    long when = System.currentTimeMillis();
    Thread.sleep(30);

    if (receiver.canTransform(target, source, when)) {
        Transform trafo = receiver.lookupTransform(target, source, when);
        System.out.println("[" + trafo.getFrameChild() + "]  -->  " + "[" + trafo.getFrameParent() + "]");

        Vector4d point4d = new Vector4d(point.x, point.y, point.z, 1.0);
        trafo.getTransform().transform(point4d);
        return point4d;

    } else {
        System.out.println("Error: Cannot transfrom " + source + " --> " + target);
        return new Vector4d();
    }

}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
private void test() throws InterruptedException, TransformerException, TransformerFactory.TransformerFactoryException {
    receiver = TransformerFactory.getInstance().createTransformReceiver();

    System.out.println("Gathering available transformations ...");
    Thread.sleep(1000);

    // The different systems and the base
    String[] targets = {"java_static", "java_dynamic", "python_static", "python_dynamic"};
    String base = "base";

    Vector4d point = new Vector4d(1.0, 1.0, 1.0, 1.0);
    System.out.println("Point to transform: " + point + "\n");

    for (String target : targets) {
        // Forward transfrom
        Vector4d transformed_point = transform_now(base, target, point);
        System.out.println("[" + point + "]  -->  " + "[" + transformed_point + "]");

        // Backward transfrom
        Vector4d re_transformed_point = transform_now(target, base, transformed_point);
        System.out.println("[" + transformed_point + "]  -->  " + "[" + re_transformed_point + "]");

        System.out.println("");
    }
    System.exit(0);
}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
private float[] locTrans(int[] fs, Matrix4d viewMatrix) {
	
	Vector4d loc =new Vector4d(
			Math.floor( ( fs[0] ) + 0.5),
			Math.floor( ( fs[1] ) + 0.5), 
			Math.floor( ( fs[2] ) + 0.5),
			1); 
	
	viewMatrix.transform(loc);
	
	return new float[] { (float) loc.x, (float) loc.y , (float) loc.z};
}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
public static Vector4d readVector4d(ByteBuffer bf) {

		Vector4d v = new Vector4d();
		v.x = bf.getFloat();
		v.y = bf.getFloat();
		v.z = bf.getFloat();
		v.w = bf.getFloat();

		return v;
	}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
public static void writeVector4d(FileOutputStream bos, Vector4d v) throws IOException {

		writeFloat(bos, (float) v.x);
		writeFloat(bos, (float) v.y);
		writeFloat(bos, (float) v.z);
		writeFloat(bos, (float) v.x);
	}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
/** returns a copy of this quad with the given transformation applied */
public RawQuad transform(Matrix4d matrix)
{
    RawQuad result = this.clone();
    
    // transform vertices
    for(int i = 0; i < result.vertexCount; i++)
    {
        Vertex vertex = result.getVertex(i);
        Vector4d temp = new Vector4d(vertex.x, vertex.y, vertex.z, 1.0);
        matrix.transform(temp);
        if(Math.abs(temp.w - 1.0) > 1e-5) temp.scale(1.0 / temp.w);
        result.setVertex(i, vertex.withXYZ(temp.x, temp.y, temp.z));
    }
    
    // transform nominal face
    // our matrix transform has block center as its origin,
    // so need to translate face vectors to/from block center 
    // origin before/applying matrix.
    if(this.face != null)
    {
        Vec3i curNorm = this.face.getDirectionVec();
        Vector4d newFaceVec = new Vector4d(curNorm.getX() + 0.5, curNorm.getY() + 0.5, curNorm.getZ() + 0.5, 1.0);
        matrix.transform(newFaceVec);
        newFaceVec.x -= 0.5;
        newFaceVec.y -= 0.5;
        newFaceVec.z -= 0.5;
        result.setFace(QuadHelper.computeFaceForNormal(newFaceVec));
    }
    
    return result;
}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
public Point3d transform(Vector4d vec) {
    Vector4d res = new Vector4d();
    P.transform(vec, res);
    Point3d p = new Point3d(res.x, res.y, res.z);
    if (Math.abs(p.z) < EPS) { // point at infinity
        p.z = 0;
    } else if (p.z > 0) {
        p.scale(1.0 / p.z);
    }// else point is behind of camera
    return p;
}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
public Point2d vanishingPoint(Vector3d vec) {
    Point3d p = this.transform(new Vector4d(vec.x, vec.y, vec.z, 0.0));
    if (p.z > 0) {
        return new Point2d(p.x, p.y);
    }
    return null;
}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
private double planeDist(Point3d pt, Vector4d plane)
{
	return pt.x * plane.x + pt.y * plane.y + pt.z * plane.z + plane.w;
}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
public void setWeightmapScaleBias(Vector4d weightmapScaleBias) {
	this.weightmapScaleBias = weightmapScaleBias;
}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
public void setHeightmapScaleBias(Vector4d heightmapScaleBias) {
	this.heightmapScaleBias = heightmapScaleBias;
}
 

import javax.vecmath.Vector4d; //导入依赖的package包/类
public static EnumFacing computeFaceForNormal(Vector4d normal)
{
    return computeFaceForNormal(new Vec3d(normal.x, normal.y, normal.z));
}