/*******************************************************************************
* Copyright 2011 See AUTHORS file.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on
* an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the
* specific language governing permissions and limitations under the License.
******************************************************************************/
package com.badlogic.gdx.math;
import java.io.Serializable;
/**
* Encapsulates a <a href="http://en.wikipedia.org/wiki/Row-major_order">column major</a> 4 by 4 matrix. Like the
* {@link Vector3} class it allows the chaining of methods by returning a reference to itself. For example:
*
* <pre>
* Matrix4 mat = new Matrix4().trn(position).mul(camera.combined);
* </pre>
*
* @author badlogicgames@gmail.com
*/
public class Matrix4 implements Serializable {
private static final long serialVersionUID = -2717655254359579617L;
public static final int M00 = 0;// 0;
public static final int M01 = 4;// 1;
public static final int M02 = 8;// 2;
public static final int M03 = 12;// 3;
public static final int M10 = 1;// 4;
public static final int M11 = 5;// 5;
public static final int M12 = 9;// 6;
public static final int M13 = 13;// 7;
public static final int M20 = 2;// 8;
public static final int M21 = 6;// 9;
public static final int M22 = 10;// 10;
public static final int M23 = 14;// 11;
public static final int M30 = 3;// 12;
public static final int M31 = 7;// 13;
public static final int M32 = 11;// 14;
public static final int M33 = 15;// 15;
public final float tmp[] = new float[16];
public final float val[] = new float[16];
/** Constructs an identity matrix */
public Matrix4() {
val[M00] = 1f;
val[M11] = 1f;
val[M22] = 1f;
val[M33] = 1f;
}
/**
* Constructs a matrix from the given matrix.
*
* @param matrix
* The matrix to copy. (This matrix is not modified)
*/
public Matrix4(Matrix4 matrix) {
this.set(matrix);
}
/**
* Constructs a matrix from the given float array. The array must have at least 16 elements; the first 16 will be
* copied.
*
* @param values
* The float array to copy. Remember that this matrix is in <a
* href="http://en.wikipedia.org/wiki/Row-major_order">column major</a> order. (The float array is not
* modified)
*/
public Matrix4(float[] values) {
this.set(values);
}
/**
* Constructs a rotation matrix from the given {@link Quaternion}.
*
* @param quaternion
* The quaternion to be copied. (The quaternion is not modified)
*/
public Matrix4(Quaternion quaternion) {
this.set(quaternion);
}
/**
* Sets the matrix to the given matrix.
*
* @param matrix
* The matrix that is to be copied. (The given matrix is not modified)
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 set(Matrix4 matrix) {
return this.set(matrix.val);
}
/**
* Sets the matrix to the given matrix as a float array. The float array must have at least 16 elements; the first
* 16 will be copied.
*
* @param values
* The matrix, in float form, that is to be copied. Remember that this matrix is in <a
* href="http://en.wikipedia.org/wiki/Row-major_order">column major</a> order.
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 set(float[] values) {
System.arraycopy(values, 0, val, 0, val.length);
return this;
}
/**
* Sets the matrix to a rotation matrix representing the quaternion.
*
* @param quaternion
* The quaternion that is to be used to set this matrix.
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 set(Quaternion quaternion) {
// Compute quaternion factors
float l_xx = quaternion.x * quaternion.x;
float l_xy = quaternion.x * quaternion.y;
float l_xz = quaternion.x * quaternion.z;
float l_xw = quaternion.x * quaternion.w;
float l_yy = quaternion.y * quaternion.y;
float l_yz = quaternion.y * quaternion.z;
float l_yw = quaternion.y * quaternion.w;
float l_zz = quaternion.z * quaternion.z;
float l_zw = quaternion.z * quaternion.w;
// Set matrix from quaternion
val[M00] = 1 - 2 * (l_yy + l_zz);
val[M01] = 2 * (l_xy - l_zw);
val[M02] = 2 * (l_xz + l_yw);
val[M03] = 0;
val[M10] = 2 * (l_xy + l_zw);
val[M11] = 1 - 2 * (l_xx + l_zz);
val[M12] = 2 * (l_yz - l_xw);
val[M13] = 0;
val[M20] = 2 * (l_xz - l_yw);
val[M21] = 2 * (l_yz + l_xw);
val[M22] = 1 - 2 * (l_xx + l_yy);
val[M23] = 0;
val[M30] = 0;
val[M31] = 0;
val[M32] = 0;
val[M33] = 1;
return this;
}
/**
* Sets the four columns of the matrix which correspond to the x-, y- and z-axis of the vector space this matrix
* creates as well as the 4th column representing the translation of any point that is multiplied by this matrix.
*
* @param xAxis
* The x-axis.
* @param yAxis
* The y-axis.
* @param zAxis
* The z-axis.
* @param pos
* The translation vector.
*/
public Matrix4 set(Vector3 xAxis, Vector3 yAxis, Vector3 zAxis, Vector3 pos) {
val[M00] = xAxis.x;
val[M01] = xAxis.y;
val[M02] = xAxis.z;
val[M10] = yAxis.x;
val[M11] = yAxis.y;
val[M12] = yAxis.z;
val[M20] = -zAxis.x;
val[M21] = -zAxis.y;
val[M22] = -zAxis.z;
val[M03] = pos.x;
val[M13] = pos.y;
val[M23] = pos.z;
val[M30] = 0;
val[M31] = 0;
val[M32] = 0;
val[M33] = 1;
return this;
}
/** @return a copy of this matrix */
public Matrix4 cpy() {
return new Matrix4(this);
}
/**
* Adds a translational component to the matrix in the 4th column. The other columns are untouched.
*
* @param vector
* The translation vector to add to the current matrix. (This vector is not modified)
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 trn(Vector3 vector) {
val[M03] += vector.x;
val[M13] += vector.y;
val[M23] += vector.z;
return this;
}
/**
* Adds a translational component to the matrix in the 4th column. The other columns are untouched.
*
* @param x
* The x-component of the translation vector.
* @param y
* The y-component of the translation vector.
* @param z
* The z-component of the translation vector.
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 trn(float x, float y, float z) {
val[M03] += x;
val[M13] += y;
val[M23] += z;
return this;
}
/** @return the backing float array */
public float[] getValues() {
return val;
}
/**
* Multiplies this matrix with the given matrix, storing the result in this matrix. For example:
*
* <pre>
* A.mul(B) results in A := AB.
* </pre>
*
* @param matrix
* The other matrix to multiply by.
* @return This matrix for the purpose of chaining operations together.
*/
public Matrix4 mul(Matrix4 matrix) {
mul(val, matrix.val);
return this;
}
/**
* Transposes the matrix.
*
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 tra() {
tmp[M00] = val[M00];
tmp[M01] = val[M10];
tmp[M02] = val[M20];
tmp[M03] = val[M30];
tmp[M10] = val[M01];
tmp[M11] = val[M11];
tmp[M12] = val[M21];
tmp[M13] = val[M31];
tmp[M20] = val[M02];
tmp[M21] = val[M12];
tmp[M22] = val[M22];
tmp[M23] = val[M32];
tmp[M30] = val[M03];
tmp[M31] = val[M13];
tmp[M32] = val[M23];
tmp[M33] = val[M33];
return set(tmp);
}
/**
* Sets the matrix to an identity matrix.
*
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 idt() {
val[M00] = 1;
val[M01] = 0;
val[M02] = 0;
val[M03] = 0;
val[M10] = 0;
val[M11] = 1;
val[M12] = 0;
val[M13] = 0;
val[M20] = 0;
val[M21] = 0;
val[M22] = 1;
val[M23] = 0;
val[M30] = 0;
val[M31] = 0;
val[M32] = 0;
val[M33] = 1;
return this;
}
/**
* Inverts the matrix. Throws a {@link RuntimeException} in case the matrix is not invertible. Stores the result in
* this matrix.
*
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 inv() {
float l_det = val[M30] * val[M21] * val[M12] * val[M03] - val[M20] * val[M31] * val[M12] * val[M03] - val[M30]
* val[M11] * val[M22] * val[M03] + val[M10] * val[M31] * val[M22] * val[M03] + val[M20] * val[M11]
* val[M32] * val[M03] - val[M10] * val[M21] * val[M32] * val[M03] - val[M30] * val[M21] * val[M02]
* val[M13] + val[M20] * val[M31] * val[M02] * val[M13] + val[M30] * val[M01] * val[M22] * val[M13]
- val[M00] * val[M31] * val[M22] * val[M13] - val[M20] * val[M01] * val[M32] * val[M13] + val[M00]
* val[M21] * val[M32] * val[M13] + val[M30] * val[M11] * val[M02] * val[M23] - val[M10] * val[M31]
* val[M02] * val[M23] - val[M30] * val[M01] * val[M12] * val[M23] + val[M00] * val[M31] * val[M12]
* val[M23] + val[M10] * val[M01] * val[M32] * val[M23] - val[M00] * val[M11] * val[M32] * val[M23]
- val[M20] * val[M11] * val[M02] * val[M33] + val[M10] * val[M21] * val[M02] * val[M33] + val[M20]
* val[M01] * val[M12] * val[M33] - val[M00] * val[M21] * val[M12] * val[M33] - val[M10] * val[M01]
* val[M22] * val[M33] + val[M00] * val[M11] * val[M22] * val[M33];
if (l_det == 0f)
throw new RuntimeException("non-invertible matrix");
float inv_det = 1.0f / l_det;
tmp[M00] = val[M12] * val[M23] * val[M31] - val[M13] * val[M22] * val[M31] + val[M13] * val[M21] * val[M32]
- val[M11] * val[M23] * val[M32] - val[M12] * val[M21] * val[M33] + val[M11] * val[M22] * val[M33];
tmp[M01] = val[M03] * val[M22] * val[M31] - val[M02] * val[M23] * val[M31] - val[M03] * val[M21] * val[M32]
+ val[M01] * val[M23] * val[M32] + val[M02] * val[M21] * val[M33] - val[M01] * val[M22] * val[M33];
tmp[M02] = val[M02] * val[M13] * val[M31] - val[M03] * val[M12] * val[M31] + val[M03] * val[M11] * val[M32]
- val[M01] * val[M13] * val[M32] - val[M02] * val[M11] * val[M33] + val[M01] * val[M12] * val[M33];
tmp[M03] = val[M03] * val[M12] * val[M21] - val[M02] * val[M13] * val[M21] - val[M03] * val[M11] * val[M22]
+ val[M01] * val[M13] * val[M22] + val[M02] * val[M11] * val[M23] - val[M01] * val[M12] * val[M23];
tmp[M10] = val[M13] * val[M22] * val[M30] - val[M12] * val[M23] * val[M30] - val[M13] * val[M20] * val[M32]
+ val[M10] * val[M23] * val[M32] + val[M12] * val[M20] * val[M33] - val[M10] * val[M22] * val[M33];
tmp[M11] = val[M02] * val[M23] * val[M30] - val[M03] * val[M22] * val[M30] + val[M03] * val[M20] * val[M32]
- val[M00] * val[M23] * val[M32] - val[M02] * val[M20] * val[M33] + val[M00] * val[M22] * val[M33];
tmp[M12] = val[M03] * val[M12] * val[M30] - val[M02] * val[M13] * val[M30] - val[M03] * val[M10] * val[M32]
+ val[M00] * val[M13] * val[M32] + val[M02] * val[M10] * val[M33] - val[M00] * val[M12] * val[M33];
tmp[M13] = val[M02] * val[M13] * val[M20] - val[M03] * val[M12] * val[M20] + val[M03] * val[M10] * val[M22]
- val[M00] * val[M13] * val[M22] - val[M02] * val[M10] * val[M23] + val[M00] * val[M12] * val[M23];
tmp[M20] = val[M11] * val[M23] * val[M30] - val[M13] * val[M21] * val[M30] + val[M13] * val[M20] * val[M31]
- val[M10] * val[M23] * val[M31] - val[M11] * val[M20] * val[M33] + val[M10] * val[M21] * val[M33];
tmp[M21] = val[M03] * val[M21] * val[M30] - val[M01] * val[M23] * val[M30] - val[M03] * val[M20] * val[M31]
+ val[M00] * val[M23] * val[M31] + val[M01] * val[M20] * val[M33] - val[M00] * val[M21] * val[M33];
tmp[M22] = val[M01] * val[M13] * val[M30] - val[M03] * val[M11] * val[M30] + val[M03] * val[M10] * val[M31]
- val[M00] * val[M13] * val[M31] - val[M01] * val[M10] * val[M33] + val[M00] * val[M11] * val[M33];
tmp[M23] = val[M03] * val[M11] * val[M20] - val[M01] * val[M13] * val[M20] - val[M03] * val[M10] * val[M21]
+ val[M00] * val[M13] * val[M21] + val[M01] * val[M10] * val[M23] - val[M00] * val[M11] * val[M23];
tmp[M30] = val[M12] * val[M21] * val[M30] - val[M11] * val[M22] * val[M30] - val[M12] * val[M20] * val[M31]
+ val[M10] * val[M22] * val[M31] + val[M11] * val[M20] * val[M32] - val[M10] * val[M21] * val[M32];
tmp[M31] = val[M01] * val[M22] * val[M30] - val[M02] * val[M21] * val[M30] + val[M02] * val[M20] * val[M31]
- val[M00] * val[M22] * val[M31] - val[M01] * val[M20] * val[M32] + val[M00] * val[M21] * val[M32];
tmp[M32] = val[M02] * val[M11] * val[M30] - val[M01] * val[M12] * val[M30] - val[M02] * val[M10] * val[M31]
+ val[M00] * val[M12] * val[M31] + val[M01] * val[M10] * val[M32] - val[M00] * val[M11] * val[M32];
tmp[M33] = val[M01] * val[M12] * val[M20] - val[M02] * val[M11] * val[M20] + val[M02] * val[M10] * val[M21]
- val[M00] * val[M12] * val[M21] - val[M01] * val[M10] * val[M22] + val[M00] * val[M11] * val[M22];
val[M00] = tmp[M00] * inv_det;
val[M01] = tmp[M01] * inv_det;
val[M02] = tmp[M02] * inv_det;
val[M03] = tmp[M03] * inv_det;
val[M10] = tmp[M10] * inv_det;
val[M11] = tmp[M11] * inv_det;
val[M12] = tmp[M12] * inv_det;
val[M13] = tmp[M13] * inv_det;
val[M20] = tmp[M20] * inv_det;
val[M21] = tmp[M21] * inv_det;
val[M22] = tmp[M22] * inv_det;
val[M23] = tmp[M23] * inv_det;
val[M30] = tmp[M30] * inv_det;
val[M31] = tmp[M31] * inv_det;
val[M32] = tmp[M32] * inv_det;
val[M33] = tmp[M33] * inv_det;
return this;
}
/** @return The determinant of this matrix */
public float det() {
return val[M30] * val[M21] * val[M12] * val[M03] - val[M20] * val[M31] * val[M12] * val[M03] - val[M30]
* val[M11] * val[M22] * val[M03] + val[M10] * val[M31] * val[M22] * val[M03] + val[M20] * val[M11]
* val[M32] * val[M03] - val[M10] * val[M21] * val[M32] * val[M03] - val[M30] * val[M21] * val[M02]
* val[M13] + val[M20] * val[M31] * val[M02] * val[M13] + val[M30] * val[M01] * val[M22] * val[M13]
- val[M00] * val[M31] * val[M22] * val[M13] - val[M20] * val[M01] * val[M32] * val[M13] + val[M00]
* val[M21] * val[M32] * val[M13] + val[M30] * val[M11] * val[M02] * val[M23] - val[M10] * val[M31]
* val[M02] * val[M23] - val[M30] * val[M01] * val[M12] * val[M23] + val[M00] * val[M31] * val[M12]
* val[M23] + val[M10] * val[M01] * val[M32] * val[M23] - val[M00] * val[M11] * val[M32] * val[M23]
- val[M20] * val[M11] * val[M02] * val[M33] + val[M10] * val[M21] * val[M02] * val[M33] + val[M20]
* val[M01] * val[M12] * val[M33] - val[M00] * val[M21] * val[M12] * val[M33] - val[M10] * val[M01]
* val[M22] * val[M33] + val[M00] * val[M11] * val[M22] * val[M33];
}
/**
* Sets the matrix to a projection matrix with a near- and far plane, a field of view in degrees and an aspect
* ratio.
*
* @param near
* The near plane
* @param far
* The far plane
* @param fov
* The field of view in degrees
* @param aspectRatio
* The aspect ratio
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToProjection(float near, float far, float fov, float aspectRatio) {
idt();
float l_fd = (float) (1.0 / Math.tan((fov * (Math.PI / 180)) / 2.0));
float l_a1 = (far + near) / (near - far);
float l_a2 = (2 * far * near) / (near - far);
val[M00] = l_fd / aspectRatio;
val[M10] = 0;
val[M20] = 0;
val[M30] = 0;
val[M01] = 0;
val[M11] = l_fd;
val[M21] = 0;
val[M31] = 0;
val[M02] = 0;
val[M12] = 0;
val[M22] = l_a1;
val[M32] = -1;
val[M03] = 0;
val[M13] = 0;
val[M23] = l_a2;
val[M33] = 0;
return this;
}
/**
* Sets this matrix to an orthographic projection matrix with the origin at (x,y) extending by width and height. The
* near plane is set to 0, the far plane is set to 1.
*
* @param x
* The x-coordinate of the origin
* @param y
* The y-coordinate of the origin
* @param width
* The width
* @param height
* The height
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToOrtho2D(float x, float y, float width, float height) {
setToOrtho(x, x + width, y, y + height, 0, 1);
return this;
}
/**
* Sets this matrix to an orthographic projection matrix with the origin at (x,y) extending by width and height,
* having a near and far plane.
*
* @param x
* The x-coordinate of the origin
* @param y
* The y-coordinate of the origin
* @param width
* The width
* @param height
* The height
* @param near
* The near plane
* @param far
* The far plane
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToOrtho2D(float x, float y, float width, float height, float near, float far) {
setToOrtho(x, x + width, y, y + height, near, far);
return this;
}
/**
* Sets the matrix to an orthographic projection like glOrtho (http://www.opengl.org/sdk/docs/man/xhtml/glOrtho.xml)
* following the OpenGL equivalent
*
* @param left
* The left clipping plane
* @param right
* The right clipping plane
* @param bottom
* The bottom clipping plane
* @param top
* The top clipping plane
* @param near
* The near clipping plane
* @param far
* The far clipping plane
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToOrtho(float left, float right, float bottom, float top, float near, float far) {
this.idt();
float x_orth = 2 / (right - left);
float y_orth = 2 / (top - bottom);
float z_orth = -2 / (far - near);
float tx = -(right + left) / (right - left);
float ty = -(top + bottom) / (top - bottom);
float tz = -(far + near) / (far - near);
val[M00] = x_orth;
val[M10] = 0;
val[M20] = 0;
val[M30] = 0;
val[M01] = 0;
val[M11] = y_orth;
val[M21] = 0;
val[M31] = 0;
val[M02] = 0;
val[M12] = 0;
val[M22] = z_orth;
val[M32] = 0;
val[M03] = tx;
val[M13] = ty;
val[M23] = tz;
val[M33] = 1;
return this;
}
/**
* Sets this matrix to a translation matrix, overwriting it first by an identity matrix and then setting the 4th
* column to the translation vector.
*
* @param vector
* The translation vector
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToTranslation(Vector3 vector) {
idt();
val[M03] = vector.x;
val[M13] = vector.y;
val[M23] = vector.z;
return this;
}
/**
* Sets this matrix to a translation matrix, overwriting it first by an identity matrix and then setting the 4th
* column to the translation vector.
*
* @param x
* The x-component of the translation vector.
* @param y
* The y-component of the translation vector.
* @param z
* The z-component of the translation vector.
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToTranslation(float x, float y, float z) {
idt();
val[M03] = x;
val[M13] = y;
val[M23] = z;
return this;
}
/**
* Sets this matrix to a translation and scaling matrix by first overwritting it with an identity and then setting
* the translation vector in the 4th column and the scaling vector in the diagonal.
*
* @param translation
* The translation vector
* @param scaling
* The scaling vector
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToTranslationAndScaling(Vector3 translation, Vector3 scaling) {
idt();
val[M03] = translation.x;
val[M13] = translation.y;
val[M23] = translation.z;
val[M00] = scaling.x;
val[M11] = scaling.y;
val[M22] = scaling.z;
return this;
}
/**
* Sets this matrix to a translation and scaling matrix by first overwritting it with an identity and then setting
* the translation vector in the 4th column and the scaling vector in the diagonal.
*
* @param translationX
* The x-component of the translation vector
* @param translationY
* The y-component of the translation vector
* @param translationZ
* The z-component of the translation vector
* @param scalingX
* The x-component of the scaling vector
* @param scalingY
* The x-component of the scaling vector
* @param scalingZ
* The x-component of the scaling vector
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToTranslationAndScaling(float translationX, float translationY, float translationZ,
float scalingX, float scalingY, float scalingZ) {
idt();
val[M03] = translationX;
val[M13] = translationY;
val[M23] = translationZ;
val[M00] = scalingX;
val[M11] = scalingY;
val[M22] = scalingZ;
return this;
}
static Quaternion quat = new Quaternion();
/**
* Sets the matrix to a rotation matrix around the given axis.
*
* @param axis
* The axis
* @param angle
* The angle in degrees
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToRotation(Vector3 axis, float angle) {
if (angle == 0) {
idt();
return this;
}
return set(quat.set(axis, angle));
}
/**
* Sets the matrix to a rotation matrix around the given axis.
*
* @param axisX
* The x-component of the axis
* @param axisY
* The y-component of the axis
* @param axisZ
* The z-component of the axis
* @param angle
* The angle in degrees
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToRotation(float axisX, float axisY, float axisZ, float angle) {
if (angle == 0) {
idt();
return this;
}
return set(quat.set(tmpV.set(axisX, axisY, axisZ), angle));
}
/**
* Set the matrix to a rotation matrix between two vectors.
*
* @param v1
* The base vector
* @param v2
* The target vector
* @return This matrix for the purpose of chaining methods together
*/
public Matrix4 setToRotation(final Vector3 v1, final Vector3 v2) {
idt();
return set(quat.setFromCross(v1, v2));
}
/**
* Set the matrix to a rotation matrix between two vectors.
*
* @param x1
* The base vectors x value
* @param y1
* The base vectors y value
* @param z1
* The base vectors z value
* @param x2
* The target vector x value
* @param y2
* The target vector y value
* @param z2
* The target vector z value
* @return This matrix for the purpose of chaining methods together
*/
public Matrix4 setToRotation(final float x1, final float y1, final float z1, final float x2, final float y2,
final float z2) {
idt();
return set(quat.setFromCross(x1, y1, z1, x2, y2, z2));
}
static final Vector3 tmpV = new Vector3();
/**
* Sets this matrix to a rotation matrix from the given euler angles.
*
* @param yaw
* the yaw in degrees
* @param pitch
* the pitch in degress
* @param roll
* the roll in degrees
* @return This matrix
*/
public Matrix4 setFromEulerAngles(float yaw, float pitch, float roll) {
quat.setEulerAngles(yaw, pitch, roll);
return set(quat);
}
/**
* Sets this matrix to a scaling matrix
*
* @param vector
* The scaling vector
* @return This matrix for chaining.
*/
public Matrix4 setToScaling(Vector3 vector) {
idt();
val[M00] = vector.x;
val[M11] = vector.y;
val[M22] = vector.z;
return this;
}
/**
* Sets this matrix to a scaling matrix
*
* @param x
* The x-component of the scaling vector
* @param y
* The y-component of the scaling vector
* @param z
* The z-component of the scaling vector
* @return This matrix for chaining.
*/
public Matrix4 setToScaling(float x, float y, float z) {
idt();
val[M00] = x;
val[M11] = y;
val[M22] = z;
return this;
}
static Vector3 l_vez = new Vector3();
static Vector3 l_vex = new Vector3();
static Vector3 l_vey = new Vector3();
/**
* Sets the matrix to a look at matrix with a direction and an up vector. Multiply with a translation matrix to get
* a camera model view matrix.
*
* @param direction
* The direction vector
* @param up
* The up vector
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 setToLookAt(Vector3 direction, Vector3 up) {
l_vez.set(direction).nor();
l_vex.set(direction).nor();
l_vex.crs(up).nor();
l_vey.set(l_vex).crs(l_vez).nor();
idt();
val[M00] = l_vex.x;
val[M01] = l_vex.y;
val[M02] = l_vex.z;
val[M10] = l_vey.x;
val[M11] = l_vey.y;
val[M12] = l_vey.z;
val[M20] = -l_vez.x;
val[M21] = -l_vez.y;
val[M22] = -l_vez.z;
return this;
}
static final Vector3 tmpVec = new Vector3();
static final Matrix4 tmpMat = new Matrix4();
/**
* Sets this matrix to a look at matrix with the given position, target and up vector.
*
* @param position
* the position
* @param target
* the target
* @param up
* the up vector
* @return This matrix
*/
public Matrix4 setToLookAt(Vector3 position, Vector3 target, Vector3 up) {
tmpVec.set(target).sub(position);
setToLookAt(tmpVec, up);
this.mul(tmpMat.setToTranslation(position.tmp().mul(-1)));
return this;
}
static Vector3 right = new Vector3();
static Vector3 tmpForward = new Vector3();
static Vector3 tmpUp = new Vector3();
public Matrix4 setToWorld(Vector3 position, Vector3 forward, Vector3 up) {
tmpForward.set(forward).nor();
right.set(tmpForward).crs(up).nor();
tmpUp.set(right).crs(tmpForward).nor();
this.set(right, tmpUp, tmpForward, position);
return this;
}
/** {@inheritDoc} */
public String toString() {
return "[" + val[M00] + "|" + val[M01] + "|" + val[M02] + "|" + val[M03] + "]\n" + "[" + val[M10] + "|"
+ val[M11] + "|" + val[M12] + "|" + val[M13] + "]\n" + "[" + val[M20] + "|" + val[M21] + "|" + val[M22]
+ "|" + val[M23] + "]\n" + "[" + val[M30] + "|" + val[M31] + "|" + val[M32] + "|" + val[M33] + "]\n";
}
/**
* Linearly interpolates between this matrix and the given matrix mixing by alpha
*
* @param matrix
* the matrix
* @param alpha
* the alpha value in the range [0,1]
*/
public void lerp(Matrix4 matrix, float alpha) {
for (int i = 0; i < 16; i++)
this.val[i] = this.val[i] * (1 - alpha) + matrix.val[i] * alpha;
}
/**
* Sets this matrix to the given 3x3 matrix. The third column of this matrix is set to (0,0,1,0).
*
* @param mat
* the matrix
*/
public Matrix4 set(Matrix3 mat) {
val[0] = mat.val[0];
val[1] = mat.val[1];
val[2] = mat.val[2];
val[3] = 0;
val[4] = mat.val[3];
val[5] = mat.val[4];
val[6] = mat.val[5];
val[7] = 0;
val[8] = 0;
val[9] = 0;
val[10] = 1;
val[11] = 0;
val[12] = mat.val[6];
val[13] = mat.val[7];
val[14] = 0;
val[15] = mat.val[8];
return this;
}
public Matrix4 scl(Vector3 scale) {
val[M00] *= scale.x;
val[M11] *= scale.y;
val[M22] *= scale.z;
return this;
}
public Matrix4 scl(float x, float y, float z) {
val[M00] *= x;
val[M11] *= y;
val[M22] *= z;
return this;
}
public Matrix4 scl(float scale) {
val[M00] *= scale;
val[M11] *= scale;
val[M22] *= scale;
return this;
}
public void getTranslation(Vector3 position) {
position.x = val[M03];
position.y = val[M13];
position.z = val[M23];
}
public void getRotation(Quaternion rotation) {
rotation.setFromMatrix(this);
}
/** removes the translational part and transposes the matrix. */
public Matrix4 toNormalMatrix() {
val[M03] = 0;
val[M13] = 0;
val[M23] = 0;
return inv().tra();
}
// @off
/*JNI
#include <memory.h>
#include <stdio.h>
#include <string.h>
#define M00 0
#define M01 4
#define M02 8
#define M03 12
#define M10 1
#define M11 5
#define M12 9
#define M13 13
#define M20 2
#define M21 6
#define M22 10
#define M23 14
#define M30 3
#define M31 7
#define M32 11
#define M33 15
static inline void matrix4_mul(float* mata, float* matb) {
float tmp[16];
tmp[M00] = mata[M00] * matb[M00] + mata[M01] * matb[M10] + mata[M02] * matb[M20] + mata[M03] * matb[M30];
tmp[M01] = mata[M00] * matb[M01] + mata[M01] * matb[M11] + mata[M02] * matb[M21] + mata[M03] * matb[M31];
tmp[M02] = mata[M00] * matb[M02] + mata[M01] * matb[M12] + mata[M02] * matb[M22] + mata[M03] * matb[M32];
tmp[M03] = mata[M00] * matb[M03] + mata[M01] * matb[M13] + mata[M02] * matb[M23] + mata[M03] * matb[M33];
tmp[M10] = mata[M10] * matb[M00] + mata[M11] * matb[M10] + mata[M12] * matb[M20] + mata[M13] * matb[M30];
tmp[M11] = mata[M10] * matb[M01] + mata[M11] * matb[M11] + mata[M12] * matb[M21] + mata[M13] * matb[M31];
tmp[M12] = mata[M10] * matb[M02] + mata[M11] * matb[M12] + mata[M12] * matb[M22] + mata[M13] * matb[M32];
tmp[M13] = mata[M10] * matb[M03] + mata[M11] * matb[M13] + mata[M12] * matb[M23] + mata[M13] * matb[M33];
tmp[M20] = mata[M20] * matb[M00] + mata[M21] * matb[M10] + mata[M22] * matb[M20] + mata[M23] * matb[M30];
tmp[M21] = mata[M20] * matb[M01] + mata[M21] * matb[M11] + mata[M22] * matb[M21] + mata[M23] * matb[M31];
tmp[M22] = mata[M20] * matb[M02] + mata[M21] * matb[M12] + mata[M22] * matb[M22] + mata[M23] * matb[M32];
tmp[M23] = mata[M20] * matb[M03] + mata[M21] * matb[M13] + mata[M22] * matb[M23] + mata[M23] * matb[M33];
tmp[M30] = mata[M30] * matb[M00] + mata[M31] * matb[M10] + mata[M32] * matb[M20] + mata[M33] * matb[M30];
tmp[M31] = mata[M30] * matb[M01] + mata[M31] * matb[M11] + mata[M32] * matb[M21] + mata[M33] * matb[M31];
tmp[M32] = mata[M30] * matb[M02] + mata[M31] * matb[M12] + mata[M32] * matb[M22] + mata[M33] * matb[M32];
tmp[M33] = mata[M30] * matb[M03] + mata[M31] * matb[M13] + mata[M32] * matb[M23] + mata[M33] * matb[M33];
memcpy(mata, tmp, sizeof(float) * 16);
}
static inline float matrix4_det(float* val) {
return val[M30] * val[M21] * val[M12] * val[M03] - val[M20] * val[M31] * val[M12] * val[M03] - val[M30] * val[M11]
* val[M22] * val[M03] + val[M10] * val[M31] * val[M22] * val[M03] + val[M20] * val[M11] * val[M32] * val[M03] - val[M10]
* val[M21] * val[M32] * val[M03] - val[M30] * val[M21] * val[M02] * val[M13] + val[M20] * val[M31] * val[M02] * val[M13]
+ val[M30] * val[M01] * val[M22] * val[M13] - val[M00] * val[M31] * val[M22] * val[M13] - val[M20] * val[M01] * val[M32]
* val[M13] + val[M00] * val[M21] * val[M32] * val[M13] + val[M30] * val[M11] * val[M02] * val[M23] - val[M10] * val[M31]
* val[M02] * val[M23] - val[M30] * val[M01] * val[M12] * val[M23] + val[M00] * val[M31] * val[M12] * val[M23] + val[M10]
* val[M01] * val[M32] * val[M23] - val[M00] * val[M11] * val[M32] * val[M23] - val[M20] * val[M11] * val[M02] * val[M33]
+ val[M10] * val[M21] * val[M02] * val[M33] + val[M20] * val[M01] * val[M12] * val[M33] - val[M00] * val[M21] * val[M12]
* val[M33] - val[M10] * val[M01] * val[M22] * val[M33] + val[M00] * val[M11] * val[M22] * val[M33];
}
static inline bool matrix4_inv(float* val) {
float tmp[16];
float l_det = matrix4_det(val);
if (l_det == 0) return false;
tmp[M00] = val[M12] * val[M23] * val[M31] - val[M13] * val[M22] * val[M31] + val[M13] * val[M21] * val[M32] - val[M11]
* val[M23] * val[M32] - val[M12] * val[M21] * val[M33] + val[M11] * val[M22] * val[M33];
tmp[M01] = val[M03] * val[M22] * val[M31] - val[M02] * val[M23] * val[M31] - val[M03] * val[M21] * val[M32] + val[M01]
* val[M23] * val[M32] + val[M02] * val[M21] * val[M33] - val[M01] * val[M22] * val[M33];
tmp[M02] = val[M02] * val[M13] * val[M31] - val[M03] * val[M12] * val[M31] + val[M03] * val[M11] * val[M32] - val[M01]
* val[M13] * val[M32] - val[M02] * val[M11] * val[M33] + val[M01] * val[M12] * val[M33];
tmp[M03] = val[M03] * val[M12] * val[M21] - val[M02] * val[M13] * val[M21] - val[M03] * val[M11] * val[M22] + val[M01]
* val[M13] * val[M22] + val[M02] * val[M11] * val[M23] - val[M01] * val[M12] * val[M23];
tmp[M10] = val[M13] * val[M22] * val[M30] - val[M12] * val[M23] * val[M30] - val[M13] * val[M20] * val[M32] + val[M10]
* val[M23] * val[M32] + val[M12] * val[M20] * val[M33] - val[M10] * val[M22] * val[M33];
tmp[M11] = val[M02] * val[M23] * val[M30] - val[M03] * val[M22] * val[M30] + val[M03] * val[M20] * val[M32] - val[M00]
* val[M23] * val[M32] - val[M02] * val[M20] * val[M33] + val[M00] * val[M22] * val[M33];
tmp[M12] = val[M03] * val[M12] * val[M30] - val[M02] * val[M13] * val[M30] - val[M03] * val[M10] * val[M32] + val[M00]
* val[M13] * val[M32] + val[M02] * val[M10] * val[M33] - val[M00] * val[M12] * val[M33];
tmp[M13] = val[M02] * val[M13] * val[M20] - val[M03] * val[M12] * val[M20] + val[M03] * val[M10] * val[M22] - val[M00]
* val[M13] * val[M22] - val[M02] * val[M10] * val[M23] + val[M00] * val[M12] * val[M23];
tmp[M20] = val[M11] * val[M23] * val[M30] - val[M13] * val[M21] * val[M30] + val[M13] * val[M20] * val[M31] - val[M10]
* val[M23] * val[M31] - val[M11] * val[M20] * val[M33] + val[M10] * val[M21] * val[M33];
tmp[M21] = val[M03] * val[M21] * val[M30] - val[M01] * val[M23] * val[M30] - val[M03] * val[M20] * val[M31] + val[M00]
* val[M23] * val[M31] + val[M01] * val[M20] * val[M33] - val[M00] * val[M21] * val[M33];
tmp[M22] = val[M01] * val[M13] * val[M30] - val[M03] * val[M11] * val[M30] + val[M03] * val[M10] * val[M31] - val[M00]
* val[M13] * val[M31] - val[M01] * val[M10] * val[M33] + val[M00] * val[M11] * val[M33];
tmp[M23] = val[M03] * val[M11] * val[M20] - val[M01] * val[M13] * val[M20] - val[M03] * val[M10] * val[M21] + val[M00]
* val[M13] * val[M21] + val[M01] * val[M10] * val[M23] - val[M00] * val[M11] * val[M23];
tmp[M30] = val[M12] * val[M21] * val[M30] - val[M11] * val[M22] * val[M30] - val[M12] * val[M20] * val[M31] + val[M10]
* val[M22] * val[M31] + val[M11] * val[M20] * val[M32] - val[M10] * val[M21] * val[M32];
tmp[M31] = val[M01] * val[M22] * val[M30] - val[M02] * val[M21] * val[M30] + val[M02] * val[M20] * val[M31] - val[M00]
* val[M22] * val[M31] - val[M01] * val[M20] * val[M32] + val[M00] * val[M21] * val[M32];
tmp[M32] = val[M02] * val[M11] * val[M30] - val[M01] * val[M12] * val[M30] - val[M02] * val[M10] * val[M31] + val[M00]
* val[M12] * val[M31] + val[M01] * val[M10] * val[M32] - val[M00] * val[M11] * val[M32];
tmp[M33] = val[M01] * val[M12] * val[M20] - val[M02] * val[M11] * val[M20] + val[M02] * val[M10] * val[M21] - val[M00]
* val[M12] * val[M21] - val[M01] * val[M10] * val[M22] + val[M00] * val[M11] * val[M22];
float inv_det = 1.0f / l_det;
val[M00] = tmp[M00] * inv_det;
val[M01] = tmp[M01] * inv_det;
val[M02] = tmp[M02] * inv_det;
val[M03] = tmp[M03] * inv_det;
val[M10] = tmp[M10] * inv_det;
val[M11] = tmp[M11] * inv_det;
val[M12] = tmp[M12] * inv_det;
val[M13] = tmp[M13] * inv_det;
val[M20] = tmp[M20] * inv_det;
val[M21] = tmp[M21] * inv_det;
val[M22] = tmp[M22] * inv_det;
val[M23] = tmp[M23] * inv_det;
val[M30] = tmp[M30] * inv_det;
val[M31] = tmp[M31] * inv_det;
val[M32] = tmp[M32] * inv_det;
val[M33] = tmp[M33] * inv_det;
return true;
}
static inline void matrix4_mulVec(float* mat, float* vec) {
float x = vec[0] * mat[M00] + vec[1] * mat[M01] + vec[2] * mat[M02] + mat[M03];
float y = vec[0] * mat[M10] + vec[1] * mat[M11] + vec[2] * mat[M12] + mat[M13];
float z = vec[0] * mat[M20] + vec[1] * mat[M21] + vec[2] * mat[M22] + mat[M23];
vec[0] = x;
vec[1] = y;
vec[2] = z;
}
static inline void matrix4_proj(float* mat, float* vec) {
float inv_w = 1.0f / (vec[0] * mat[M30] + vec[1] * mat[M31] + vec[2] * mat[M32] + mat[M33]);
float x = (vec[0] * mat[M00] + vec[1] * mat[M01] + vec[2] * mat[M02] + mat[M03]) * inv_w;
float y = (vec[0] * mat[M10] + vec[1] * mat[M11] + vec[2] * mat[M12] + mat[M13]) * inv_w;
float z = (vec[0] * mat[M20] + vec[1] * mat[M21] + vec[2] * mat[M22] + mat[M23]) * inv_w;
vec[0] = x;
vec[1] = y;
vec[2] = z;
}
static inline void matrix4_rot(float* mat, float* vec) {
float x = vec[0] * mat[M00] + vec[1] * mat[M01] + vec[2] * mat[M02];
float y = vec[0] * mat[M10] + vec[1] * mat[M11] + vec[2] * mat[M12];
float z = vec[0] * mat[M20] + vec[1] * mat[M21] + vec[2] * mat[M22];
vec[0] = x;
vec[1] = y;
vec[2] = z;
}
*/
/**
* Multiplies the matrix mata with matrix matb, storing the result in mata. The arrays are assumed to hold 4x4
* column major matrices as you can get from {@link Matrix4#val}. This is the same as {@link Matrix4#mul(Matrix4)}.
*
* @param mata
* the first matrix.
* @param matb
* the second matrix.
*/
public static native void mul(float[] mata, float[] matb) /*-{ }-*/; /*
matrix4_mul(mata, matb);
*/
/**
* Multiplies the vector with the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you
* can get from {@link Matrix4#val}. The vector array is assumed to hold a 3-component vector, with x being the
* first element, y being the second and z being the last component. The result is stored in the vector array. This
* is the same as {@link Vector3#mul(Matrix4)}.
*
* @param mat
* the matrix
* @param vec
* the vector.
*/
public static native void mulVec(float[] mat, float[] vec) /*-{ }-*/; /*
matrix4_mulVec(mat, vec);
*/
/**
* Multiplies the vectors with the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as
* you can get from {@link Matrix4#val}. The vectors array is assumed to hold 3-component vectors. Offset specifies
* the offset into the array where the x-component of the first vector is located. The numVecs parameter specifies
* the number of vectors stored in the vectors array. The stride parameter specifies the number of floats between
* subsequent vectors and must be >= 3. This is the same as {@link Vector3#mul(Matrix4)} applied to multiple
* vectors.
*
* @param mat
* the matrix
* @param vecs
* the vectors
* @param offset
* the offset into the vectors array
* @param numVecs
* the number of vectors
* @param stride
* the stride between vectors in floats
*/
public static native void mulVec(float[] mat, float[] vecs, int offset, int numVecs, int stride) /*-{ }-*/; /*
float* vecPtr = vecs + offset;
for(int i = 0; i < numVecs; i++) {
matrix4_mulVec(mat, vecPtr);
vecPtr += stride;
}
*/
/**
* Multiplies the vector with the given matrix, performing a division by w. The matrix array is assumed to hold a
* 4x4 column major matrix as you can get from {@link Matrix4#val}. The vector array is assumed to hold a
* 3-component vector, with x being the first element, y being the second and z being the last component. The result
* is stored in the vector array. This is the same as {@link Vector3#prj(Matrix4)}.
*
* @param mat
* the matrix
* @param vec
* the vector.
*/
public static native void prj(float[] mat, float[] vec) /*-{ }-*/; /*
matrix4_proj(mat, vec);
*/
/**
* Multiplies the vectors with the given matrix, , performing a division by w. The matrix array is assumed to hold a
* 4x4 column major matrix as you can get from {@link Matrix4#val}. The vectors array is assumed to hold 3-component
* vectors. Offset specifies the offset into the array where the x-component of the first vector is located. The
* numVecs parameter specifies the number of vectors stored in the vectors array. The stride parameter specifies the
* number of floats between subsequent vectors and must be >= 3. This is the same as {@link Vector3#prj(Matrix4)}
* applied to multiple vectors.
*
* @param mat
* the matrix
* @param vecs
* the vectors
* @param offset
* the offset into the vectors array
* @param numVecs
* the number of vectors
* @param stride
* the stride between vectors in floats
*/
public static native void prj(float[] mat, float[] vecs, int offset, int numVecs, int stride) /*-{ }-*/; /*
float* vecPtr = vecs + offset;
for(int i = 0; i < numVecs; i++) {
matrix4_proj(mat, vecPtr);
vecPtr += stride;
}
*/
/**
* Multiplies the vector with the top most 3x3 sub-matrix of the given matrix. The matrix array is assumed to hold a
* 4x4 column major matrix as you can get from {@link Matrix4#val}. The vector array is assumed to hold a
* 3-component vector, with x being the first element, y being the second and z being the last component. The result
* is stored in the vector array. This is the same as {@link Vector3#rot(Matrix4)}.
*
* @param mat
* the matrix
* @param vec
* the vector.
*/
public static native void rot(float[] mat, float[] vec) /*-{ }-*/; /*
matrix4_rot(mat, vec);
*/
/**
* Multiplies the vectors with the top most 3x3 sub-matrix of the given matrix. The matrix array is assumed to hold
* a 4x4 column major matrix as you can get from {@link Matrix4#val}. The vectors array is assumed to hold
* 3-component vectors. Offset specifies the offset into the array where the x-component of the first vector is
* located. The numVecs parameter specifies the number of vectors stored in the vectors array. The stride parameter
* specifies the number of floats between subsequent vectors and must be >= 3. This is the same as
* {@link Vector3#rot(Matrix4)} applied to multiple vectors.
*
* @param mat
* the matrix
* @param vecs
* the vectors
* @param offset
* the offset into the vectors array
* @param numVecs
* the number of vectors
* @param stride
* the stride between vectors in floats
*/
public static native void rot(float[] mat, float[] vecs, int offset, int numVecs, int stride) /*-{ }-*/; /*
float* vecPtr = vecs + offset;
for(int i = 0; i < numVecs; i++) {
matrix4_rot(mat, vecPtr);
vecPtr += stride;
}
*/
/**
* Computes the inverse of the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you
* can get from {@link Matrix4#val}.
*
* @param values
* the matrix values.
* @return false in case the inverse could not be calculated, true otherwise.
*/
public static native boolean inv(float[] values) /*-{ }-*/; /*
return matrix4_inv(values);
*/
/**
* Computes the determinante of the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as
* you can get from {@link Matrix4#val}.
*
* @param values
* the matrix values.
* @return the determinante.
*/
public static native float det(float[] values) /*-{ }-*/; /*
return matrix4_det(values);
*/
// @on
/**
* Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES'
* glTranslate/glRotate/glScale
*
* @param translation
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 translate(Vector3 translation) {
return translate(translation.x, translation.y, translation.z);
}
/**
* Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' 1.x
* glTranslate/glRotate/glScale.
*
* @param x
* Translation in the x-axis.
* @param y
* Translation in the y-axis.
* @param z
* Translation in the z-axis.
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 translate(float x, float y, float z) {
tmp[M00] = 1;
tmp[M01] = 0;
tmp[M02] = 0;
tmp[M03] = x;
tmp[M10] = 0;
tmp[M11] = 1;
tmp[M12] = 0;
tmp[M13] = y;
tmp[M20] = 0;
tmp[M21] = 0;
tmp[M22] = 1;
tmp[M23] = z;
tmp[M30] = 0;
tmp[M31] = 0;
tmp[M32] = 0;
tmp[M33] = 1;
mul(val, tmp);
return this;
}
/**
* Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL
* ES' 1.x glTranslate/glRotate/glScale.
*
* @param axis
* The vector axis to rotate around.
* @param angle
* The angle in degrees.
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 rotate(Vector3 axis, float angle) {
if (angle == 0)
return this;
quat.set(axis, angle);
return rotate(quat);
}
/**
* Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL
* ES' 1.x glTranslate/glRotate/glScale
*
* @param axisX
* The x-axis component of the vector to rotate around.
* @param axisY
* The y-axis component of the vector to rotate around.
* @param axisZ
* The z-axis component of the vector to rotate around.
* @param angle
* The angle in degrees
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 rotate(float axisX, float axisY, float axisZ, float angle) {
if (angle == 0)
return this;
quat.set(tmpV.set(axisX, axisY, axisZ), angle);
return rotate(quat);
}
/**
* Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL
* ES' 1.x glTranslate/glRotate/glScale.
*
* @param rotation
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 rotate(Quaternion rotation) {
rotation.toMatrix(tmp);
mul(val, tmp);
return this;
}
/**
* Postmultiplies this matrix with a scale matrix. Postmultiplication is also used by OpenGL ES' 1.x
* glTranslate/glRotate/glScale.
*
* @param scaleX
* The scale in the x-axis.
* @param scaleY
* The scale in the y-axis.
* @param scaleZ
* The scale in the z-axis.
* @return This matrix for the purpose of chaining methods together.
*/
public Matrix4 scale(float scaleX, float scaleY, float scaleZ) {
tmp[M00] = scaleX;
tmp[M01] = 0;
tmp[M02] = 0;
tmp[M03] = 0;
tmp[M10] = 0;
tmp[M11] = scaleY;
tmp[M12] = 0;
tmp[M13] = 0;
tmp[M20] = 0;
tmp[M21] = 0;
tmp[M22] = scaleZ;
tmp[M23] = 0;
tmp[M30] = 0;
tmp[M31] = 0;
tmp[M32] = 0;
tmp[M33] = 1;
mul(val, tmp);
return this;
}
}