/*
* (C) Copyright 2015-2017 Richard Greenlees
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
package org.joml;
import java.io.Externalizable;
import java.io.IOException;
import java.io.ObjectInput;
import java.io.ObjectOutput;
//#ifdef __HAS_NIO__
import java.nio.ByteBuffer;
import java.nio.FloatBuffer;
//#endif
import java.text.DecimalFormat;
import java.text.NumberFormat;
//#ifdef __GWT__
import com.google.gwt.typedarrays.shared.Float32Array;
//#endif
/**
* Contains the definition of an affine 4x3 matrix (4 columns, 3 rows) of floats, and associated functions to transform
* it. The matrix is column-major to match OpenGL's interpretation, and it looks like this:
* <p>
* m00 m10 m20 m30<br>
* m01 m11 m21 m31<br>
* m02 m12 m22 m32<br>
*
* @author Richard Greenlees
* @author Kai Burjack
*/
public class Matrix4x3f implements Externalizable, Matrix4x3fc {
private final class Proxy implements Matrix4x3fc {
private final Matrix4x3fc delegate;
Proxy(Matrix4x3fc delegate) {
this.delegate = delegate;
}
public byte properties() {
return delegate.properties();
}
public float m00() {
return delegate.m00();
}
public float m01() {
return delegate.m01();
}
public float m02() {
return delegate.m02();
}
public float m10() {
return delegate.m10();
}
public float m11() {
return delegate.m11();
}
public float m12() {
return delegate.m12();
}
public float m20() {
return delegate.m20();
}
public float m21() {
return delegate.m21();
}
public float m22() {
return delegate.m22();
}
public float m30() {
return delegate.m30();
}
public float m31() {
return delegate.m31();
}
public float m32() {
return delegate.m32();
}
public Matrix4f get(Matrix4f dest) {
return delegate.get(dest);
}
public Matrix4d get(Matrix4d dest) {
return delegate.get(dest);
}
public Matrix4x3f mul(Matrix4x3fc right, Matrix4x3f dest) {
return delegate.mul(right, dest);
}
public Matrix4x3f mulTranslation(Matrix4x3fc right, Matrix4x3f dest) {
return delegate.mulTranslation(right, dest);
}
public Matrix4x3f mulOrtho(Matrix4x3fc view, Matrix4x3f dest) {
return delegate.mulOrtho(view, dest);
}
public Matrix4x3f fma(Matrix4x3fc other, float otherFactor, Matrix4x3f dest) {
return delegate.fma(other, otherFactor, dest);
}
public Matrix4x3f add(Matrix4x3fc other, Matrix4x3f dest) {
return delegate.add(other, dest);
}
public Matrix4x3f sub(Matrix4x3fc subtrahend, Matrix4x3f dest) {
return delegate.sub(subtrahend, dest);
}
public Matrix4x3f mulComponentWise(Matrix4x3fc other, Matrix4x3f dest) {
return delegate.mulComponentWise(other, dest);
}
public float determinant() {
return delegate.determinant();
}
public Matrix4x3f invert(Matrix4x3f dest) {
return delegate.invert(dest);
}
public Matrix4x3f invertOrtho(Matrix4x3f dest) {
return delegate.invertOrtho(dest);
}
public Matrix4x3f invertUnitScale(Matrix4x3f dest) {
return delegate.invertUnitScale(dest);
}
public Matrix4x3f transpose3x3(Matrix4x3f dest) {
return delegate.transpose3x3(dest);
}
public Matrix3f transpose3x3(Matrix3f dest) {
return delegate.transpose3x3(dest);
}
public Vector3f getTranslation(Vector3f dest) {
return delegate.getTranslation(dest);
}
public Vector3f getScale(Vector3f dest) {
return delegate.getScale(dest);
}
public Matrix4x3f get(Matrix4x3f dest) {
return delegate.get(dest);
}
public Matrix4x3d get(Matrix4x3d dest) {
return delegate.get(dest);
}
public AxisAngle4f getRotation(AxisAngle4f dest) {
return delegate.getRotation(dest);
}
public AxisAngle4d getRotation(AxisAngle4d dest) {
return delegate.getRotation(dest);
}
public Quaternionf getUnnormalizedRotation(Quaternionf dest) {
return delegate.getUnnormalizedRotation(dest);
}
public Quaternionf getNormalizedRotation(Quaternionf dest) {
return delegate.getNormalizedRotation(dest);
}
public Quaterniond getUnnormalizedRotation(Quaterniond dest) {
return delegate.getUnnormalizedRotation(dest);
}
public Quaterniond getNormalizedRotation(Quaterniond dest) {
return delegate.getNormalizedRotation(dest);
}
//#ifdef __GWT__
public Float32Array get(Float32Array buffer) {
return delegate.get(buffer);
}
public Float32Array get(int index, Float32Array buffer) {
return delegate.get(index, buffer);
}
//#endif
//#ifdef __HAS_NIO__
public FloatBuffer get(FloatBuffer buffer) {
return delegate.get(buffer);
}
public FloatBuffer get(int index, FloatBuffer buffer) {
return delegate.get(index, buffer);
}
public ByteBuffer get(ByteBuffer buffer) {
return delegate.get(buffer);
}
public ByteBuffer get(int index, ByteBuffer buffer) {
return delegate.get(index, buffer);
}
//#endif
public float[] get(float[] arr, int offset) {
return delegate.get(arr, offset);
}
public float[] get(float[] arr) {
return delegate.get(arr);
}
public float[] get4x4(float[] arr, int offset) {
return delegate.get4x4(arr, offset);
}
public float[] get4x4(float[] arr) {
return delegate.get4x4(arr);
}
//#ifdef __HAS_NIO__
public FloatBuffer get4x4(FloatBuffer buffer) {
return delegate.get4x4(buffer);
}
public FloatBuffer get4x4(int index, FloatBuffer buffer) {
return delegate.get4x4(index, buffer);
}
public ByteBuffer get4x4(ByteBuffer buffer) {
return delegate.get4x4(buffer);
}
public ByteBuffer get4x4(int index, ByteBuffer buffer) {
return delegate.get4x4(index, buffer);
}
public FloatBuffer getTransposed(FloatBuffer buffer) {
return delegate.getTransposed(buffer);
}
public FloatBuffer getTransposed(int index, FloatBuffer buffer) {
return delegate.getTransposed(index, buffer);
}
public ByteBuffer getTransposed(ByteBuffer buffer) {
return delegate.getTransposed(buffer);
}
public ByteBuffer getTransposed(int index, ByteBuffer buffer) {
return delegate.getTransposed(index, buffer);
}
//#endif
public float[] getTransposed(float[] arr, int offset) {
return delegate.getTransposed(arr, offset);
}
public float[] getTransposed(float[] arr) {
return delegate.getTransposed(arr);
}
public Vector4f transform(Vector4f v) {
return delegate.transform(v);
}
public Vector4f transform(Vector4fc v, Vector4f dest) {
return delegate.transform(v, dest);
}
public Vector3f transformPosition(Vector3f v) {
return delegate.transformPosition(v);
}
public Vector3f transformPosition(Vector3fc v, Vector3f dest) {
return delegate.transformPosition(v, dest);
}
public Vector3f transformDirection(Vector3f v) {
return delegate.transformDirection(v);
}
public Vector3f transformDirection(Vector3fc v, Vector3f dest) {
return delegate.transformDirection(v, dest);
}
public Matrix4x3f scale(Vector3fc xyz, Matrix4x3f dest) {
return delegate.scale(xyz, dest);
}
public Matrix4x3f scale(float xyz, Matrix4x3f dest) {
return delegate.scale(xyz, dest);
}
public Matrix4x3f scale(float x, float y, float z, Matrix4x3f dest) {
return delegate.scale(x, y, z, dest);
}
public Matrix4x3f scaleLocal(float x, float y, float z, Matrix4x3f dest) {
return delegate.scaleLocal(x, y, z, dest);
}
public Matrix4x3f rotateX(float ang, Matrix4x3f dest) {
return delegate.rotateX(ang, dest);
}
public Matrix4x3f rotateY(float ang, Matrix4x3f dest) {
return delegate.rotateY(ang, dest);
}
public Matrix4x3f rotateZ(float ang, Matrix4x3f dest) {
return delegate.rotateZ(ang, dest);
}
public Matrix4x3f rotateXYZ(float angleX, float angleY, float angleZ, Matrix4x3f dest) {
return delegate.rotateXYZ(angleX, angleY, angleZ, dest);
}
public Matrix4x3f rotateZYX(float angleZ, float angleY, float angleX, Matrix4x3f dest) {
return delegate.rotateZYX(angleZ, angleY, angleX, dest);
}
public Matrix4x3f rotateYXZ(float angleY, float angleX, float angleZ, Matrix4x3f dest) {
return delegate.rotateYXZ(angleY, angleX, angleZ, dest);
}
public Matrix4x3f rotate(float ang, float x, float y, float z, Matrix4x3f dest) {
return delegate.rotate(ang, x, y, z, dest);
}
public Matrix4x3f rotateTranslation(float ang, float x, float y, float z, Matrix4x3f dest) {
return delegate.rotateTranslation(ang, x, y, z, dest);
}
public Matrix4x3f rotateLocal(float ang, float x, float y, float z, Matrix4x3f dest) {
return delegate.rotateLocal(ang, x, y, z, dest);
}
public Matrix4x3f translate(Vector3fc offset, Matrix4x3f dest) {
return delegate.translate(offset, dest);
}
public Matrix4x3f translate(float x, float y, float z, Matrix4x3f dest) {
return delegate.translate(x, y, z, dest);
}
public Matrix4x3f translateLocal(Vector3fc offset, Matrix4x3f dest) {
return delegate.translateLocal(offset, dest);
}
public Matrix4x3f translateLocal(float x, float y, float z, Matrix4x3f dest) {
return delegate.translateLocal(x, y, z, dest);
}
public Matrix4x3f ortho(float left, float right, float bottom, float top, float zNear, float zFar, boolean zZeroToOne, Matrix4x3f dest) {
return delegate.ortho(left, right, bottom, top, zNear, zFar, zZeroToOne, dest);
}
public Matrix4x3f ortho(float left, float right, float bottom, float top, float zNear, float zFar, Matrix4x3f dest) {
return delegate.ortho(left, right, bottom, top, zNear, zFar, dest);
}
public Matrix4x3f orthoLH(float left, float right, float bottom, float top, float zNear, float zFar, boolean zZeroToOne, Matrix4x3f dest) {
return delegate.orthoLH(left, right, bottom, top, zNear, zFar, zZeroToOne, dest);
}
public Matrix4x3f orthoLH(float left, float right, float bottom, float top, float zNear, float zFar, Matrix4x3f dest) {
return delegate.orthoLH(left, right, bottom, top, zNear, zFar, dest);
}
public Matrix4x3f orthoSymmetric(float width, float height, float zNear, float zFar, boolean zZeroToOne, Matrix4x3f dest) {
return delegate.orthoSymmetric(width, height, zNear, zFar, zZeroToOne, dest);
}
public Matrix4x3f orthoSymmetric(float width, float height, float zNear, float zFar, Matrix4x3f dest) {
return delegate.orthoSymmetric(width, height, zNear, zFar, dest);
}
public Matrix4x3f orthoSymmetricLH(float width, float height, float zNear, float zFar, boolean zZeroToOne, Matrix4x3f dest) {
return delegate.orthoSymmetricLH(width, height, zNear, zFar, zZeroToOne, dest);
}
public Matrix4x3f orthoSymmetricLH(float width, float height, float zNear, float zFar, Matrix4x3f dest) {
return delegate.orthoSymmetricLH(width, height, zNear, zFar, dest);
}
public Matrix4x3f ortho2D(float left, float right, float bottom, float top, Matrix4x3f dest) {
return delegate.ortho2D(left, right, bottom, top, dest);
}
public Matrix4x3f ortho2DLH(float left, float right, float bottom, float top, Matrix4x3f dest) {
return delegate.ortho2DLH(left, right, bottom, top, dest);
}
public Matrix4x3f lookAlong(Vector3fc dir, Vector3fc up, Matrix4x3f dest) {
return delegate.lookAlong(dir, up, dest);
}
public Matrix4x3f lookAlong(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Matrix4x3f dest) {
return delegate.lookAlong(dirX, dirY, dirZ, upX, upY, upZ, dest);
}
public Matrix4x3f lookAt(Vector3fc eye, Vector3fc center, Vector3fc up, Matrix4x3f dest) {
return delegate.lookAt(eye, center, up, dest);
}
public Matrix4x3f lookAt(float eyeX, float eyeY, float eyeZ, float centerX, float centerY, float centerZ, float upX, float upY, float upZ, Matrix4x3f dest) {
return delegate.lookAt(eyeX, eyeY, eyeZ, centerX, centerY, centerZ, upX, upY, upZ, dest);
}
public Matrix4x3f lookAtLH(Vector3fc eye, Vector3fc center, Vector3fc up, Matrix4x3f dest) {
return delegate.lookAtLH(eye, center, up, dest);
}
public Matrix4x3f lookAtLH(float eyeX, float eyeY, float eyeZ, float centerX, float centerY, float centerZ, float upX, float upY, float upZ, Matrix4x3f dest) {
return delegate.lookAtLH(eyeX, eyeY, eyeZ, centerX, centerY, centerZ, upX, upY, upZ, dest);
}
public Matrix4x3f rotate(Quaternionfc quat, Matrix4x3f dest) {
return delegate.rotate(quat, dest);
}
public Matrix4x3f rotateTranslation(Quaternionfc quat, Matrix4x3f dest) {
return delegate.rotateTranslation(quat, dest);
}
public Matrix4x3f rotateLocal(Quaternionfc quat, Matrix4x3f dest) {
return delegate.rotateLocal(quat, dest);
}
public Matrix4x3f rotate(AxisAngle4f axisAngle, Matrix4x3f dest) {
return delegate.rotate(axisAngle, dest);
}
public Matrix4x3f rotate(float angle, Vector3fc axis, Matrix4x3f dest) {
return delegate.rotate(angle, axis, dest);
}
public Matrix4x3f reflect(float a, float b, float c, float d, Matrix4x3f dest) {
return delegate.reflect(a, b, c, d, dest);
}
public Matrix4x3f reflect(float nx, float ny, float nz, float px, float py, float pz, Matrix4x3f dest) {
return delegate.reflect(nx, ny, nz, px, py, pz, dest);
}
public Matrix4x3f reflect(Quaternionfc orientation, Vector3fc point, Matrix4x3f dest) {
return delegate.reflect(orientation, point, dest);
}
public Matrix4x3f reflect(Vector3fc normal, Vector3fc point, Matrix4x3f dest) {
return delegate.reflect(normal, point, dest);
}
public Vector4f getRow(int row, Vector4f dest) throws IndexOutOfBoundsException {
return delegate.getRow(row, dest);
}
public Vector3f getColumn(int column, Vector3f dest) throws IndexOutOfBoundsException {
return delegate.getColumn(column, dest);
}
public Matrix4x3f normal(Matrix4x3f dest) {
return delegate.normal(dest);
}
public Matrix3f normal(Matrix3f dest) {
return delegate.normal(dest);
}
public Matrix4x3f normalize3x3(Matrix4x3f dest) {
return delegate.normalize3x3(dest);
}
public Matrix3f normalize3x3(Matrix3f dest) {
return delegate.normalize3x3(dest);
}
public Vector3f positiveZ(Vector3f dir) {
return delegate.positiveZ(dir);
}
public Vector3f normalizedPositiveZ(Vector3f dir) {
return delegate.normalizedPositiveZ(dir);
}
public Vector3f positiveX(Vector3f dir) {
return delegate.positiveX(dir);
}
public Vector3f normalizedPositiveX(Vector3f dir) {
return delegate.normalizedPositiveX(dir);
}
public Vector3f positiveY(Vector3f dir) {
return delegate.positiveY(dir);
}
public Vector3f normalizedPositiveY(Vector3f dir) {
return delegate.normalizedPositiveY(dir);
}
public Vector3f origin(Vector3f origin) {
return delegate.origin(origin);
}
public Matrix4x3f shadow(Vector4fc light, float a, float b, float c, float d, Matrix4x3f dest) {
return delegate.shadow(light, a, b, c, d, dest);
}
public Matrix4x3f shadow(float lightX, float lightY, float lightZ, float lightW, float a, float b, float c, float d, Matrix4x3f dest) {
return delegate.shadow(lightX, lightY, lightZ, lightW, a, b, c, d, dest);
}
public Matrix4x3f shadow(Vector4fc light, Matrix4x3fc planeTransform, Matrix4x3f dest) {
return delegate.shadow(light, planeTransform, dest);
}
public Matrix4x3f shadow(float lightX, float lightY, float lightZ, float lightW, Matrix4x3fc planeTransform, Matrix4x3f dest) {
return delegate.shadow(lightX, lightY, lightZ, lightW, planeTransform, dest);
}
public Matrix4x3f pick(float x, float y, float width, float height, int[] viewport, Matrix4x3f dest) {
return delegate.pick(x, y, width, height, viewport, dest);
}
public Matrix4x3f arcball(float radius, float centerX, float centerY, float centerZ, float angleX, float angleY, Matrix4x3f dest) {
return delegate.arcball(radius, centerX, centerY, centerZ, angleX, angleY, dest);
}
public Matrix4x3f arcball(float radius, Vector3fc center, float angleX, float angleY, Matrix4x3f dest) {
return delegate.arcball(radius, center, angleX, angleY, dest);
}
public Matrix4x3f transformAab(float minX, float minY, float minZ, float maxX, float maxY, float maxZ, Vector3f outMin, Vector3f outMax) {
return delegate.transformAab(minX, minY, minZ, maxX, maxY, maxZ, outMin, outMax);
}
public Matrix4x3f transformAab(Vector3fc min, Vector3fc max, Vector3f outMin, Vector3f outMax) {
return delegate.transformAab(min, max, outMin, outMax);
}
public Matrix4x3f lerp(Matrix4x3fc other, float t, Matrix4x3f dest) {
return delegate.lerp(other, t, dest);
}
public Matrix4x3f rotateTowards(Vector3fc dir, Vector3fc up, Matrix4x3f dest) {
return delegate.rotateTowards(dir, up, dest);
}
public Matrix4x3f rotateTowards(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Matrix4x3f dest) {
return delegate.rotateTowards(dirX, dirY, dirZ, upX, upY, upZ, dest);
}
public Vector3f getEulerAnglesZYX(Vector3f dest) {
return delegate.getEulerAnglesZYX(dest);
}
}
private static final long serialVersionUID = 1L;
float m00, m01, m02;
float m10, m11, m12;
float m20, m21, m22;
float m30, m31, m32;
byte properties;
/**
* Create a new {@link Matrix4x3f} and set it to {@link #identity() identity}.
*/
public Matrix4x3f() {
m00 = 1.0f;
m11 = 1.0f;
m22 = 1.0f;
properties = PROPERTY_IDENTITY | PROPERTY_TRANSLATION;
}
/**
* Create a new {@link Matrix4x3f} by setting its left 3x3 submatrix to the values of the given {@link Matrix3fc}
* and the rest to identity.
*
* @param mat
* the {@link Matrix3fc}
*/
public Matrix4x3f(Matrix3fc mat) {
if (mat instanceof Matrix3f) {
MemUtil.INSTANCE.copy((Matrix3f) mat, this);
} else {
set3x3Matrix3fc(mat);
}
}
/**
* Create a new {@link Matrix4x3f} and make it a copy of the given matrix.
*
* @param mat
* the {@link Matrix4x3fc} to copy the values from
*/
public Matrix4x3f(Matrix4x3fc mat) {
if (mat instanceof Matrix4x3f) {
MemUtil.INSTANCE.copy((Matrix4x3f) mat, this);
} else {
setMatrix4x3fc(mat);
}
properties = mat.properties();
}
/**
* Create a new 4x4 matrix using the supplied float values.
*
* @param m00
* the value of m00
* @param m01
* the value of m01
* @param m02
* the value of m02
* @param m10
* the value of m10
* @param m11
* the value of m11
* @param m12
* the value of m12
* @param m20
* the value of m20
* @param m21
* the value of m21
* @param m22
* the value of m22
* @param m30
* the value of m30
* @param m31
* the value of m31
* @param m32
* the value of m32
*/
public Matrix4x3f(float m00, float m01, float m02,
float m10, float m11, float m12,
float m20, float m21, float m22,
float m30, float m31, float m32) {
this.m00 = m00;
this.m01 = m01;
this.m02 = m02;
this.m10 = m10;
this.m11 = m11;
this.m12 = m12;
this.m20 = m20;
this.m21 = m21;
this.m22 = m22;
this.m30 = m30;
this.m31 = m31;
this.m32 = m32;
properties = 0;
}
//#ifdef __HAS_NIO__
/**
* Create a new {@link Matrix4x3f} by reading its 12 float components from the given {@link FloatBuffer}
* at the buffer's current position.
* <p>
* That FloatBuffer is expected to hold the values in column-major order.
* <p>
* The buffer's position will not be changed by this method.
*
* @param buffer
* the {@link FloatBuffer} to read the matrix values from
*/
public Matrix4x3f(FloatBuffer buffer) {
MemUtil.INSTANCE.get(this, buffer.position(), buffer);
}
//#endif
/**
* Create a new {@link Matrix4x3f} and initialize its four columns using the supplied vectors.
*
* @param col0
* the first column
* @param col1
* the second column
* @param col2
* the third column
* @param col3
* the fourth column
*/
public Matrix4x3f(Vector3fc col0, Vector3fc col1, Vector3fc col2, Vector3fc col3) {
if (col0 instanceof Vector3f &&
col1 instanceof Vector3f &&
col2 instanceof Vector3f &&
col3 instanceof Vector3f) {
MemUtil.INSTANCE.set(this, (Vector3f) col0, (Vector3f) col1, (Vector3f) col2, (Vector3f) col3);
} else {
setVector3fc(col0, col1, col2, col3);
}
}
/**
* Assume no properties of the matrix.
*
* @return this
*/
public Matrix4x3f assumeNothing() {
properties = 0;
return this;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#properties()
*/
public byte properties() {
return properties;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m00()
*/
public float m00() {
return m00;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m01()
*/
public float m01() {
return m01;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m02()
*/
public float m02() {
return m02;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m10()
*/
public float m10() {
return m10;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m11()
*/
public float m11() {
return m11;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m12()
*/
public float m12() {
return m12;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m20()
*/
public float m20() {
return m20;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m21()
*/
public float m21() {
return m21;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m22()
*/
public float m22() {
return m22;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m30()
*/
public float m30() {
return m30;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m31()
*/
public float m31() {
return m31;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#m32()
*/
public float m32() {
return m32;
}
/**
* Set the value of the matrix element at column 0 and row 0
*
* @param m00
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m00(float m00) {
this.m00 = m00;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set the value of the matrix element at column 0 and row 1
*
* @param m01
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m01(float m01) {
this.m01 = m01;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set the value of the matrix element at column 0 and row 2
*
* @param m02
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m02(float m02) {
this.m02 = m02;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set the value of the matrix element at column 1 and row 0
*
* @param m10
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m10(float m10) {
this.m10 = m10;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set the value of the matrix element at column 1 and row 1
*
* @param m11
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m11(float m11) {
this.m11 = m11;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set the value of the matrix element at column 1 and row 2
*
* @param m12
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m12(float m12) {
this.m12 = m12;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set the value of the matrix element at column 2 and row 0
*
* @param m20
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m20(float m20) {
this.m20 = m20;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set the value of the matrix element at column 2 and row 1
*
* @param m21
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m21(float m21) {
this.m21 = m21;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set the value of the matrix element at column 2 and row 2
*
* @param m22
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m22(float m22) {
this.m22 = m22;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set the value of the matrix element at column 3 and row 0
*
* @param m30
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m30(float m30) {
this.m30 = m30;
properties &= ~(PROPERTY_IDENTITY);
return this;
}
/**
* Set the value of the matrix element at column 3 and row 1
*
* @param m31
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m31(float m31) {
this.m31 = m31;
properties &= ~(PROPERTY_IDENTITY);
return this;
}
/**
* Set the value of the matrix element at column 3 and row 2
*
* @param m32
* the new value
* @return the value of the matrix element
*/
public Matrix4x3f m32(float m32) {
this.m32 = m32;
properties &= ~(PROPERTY_IDENTITY);
return this;
}
/**
* Reset this matrix to the identity.
* <p>
* Please note that if a call to {@link #identity()} is immediately followed by a call to:
* {@link #translate(float, float, float) translate},
* {@link #rotate(float, float, float, float) rotate},
* {@link #scale(float, float, float) scale},
* {@link #ortho(float, float, float, float, float, float) ortho},
* {@link #ortho2D(float, float, float, float) ortho2D},
* {@link #lookAt(float, float, float, float, float, float, float, float, float) lookAt},
* {@link #lookAlong(float, float, float, float, float, float) lookAlong},
* or any of their overloads, then the call to {@link #identity()} can be omitted and the subsequent call replaced with:
* {@link #translation(float, float, float) translation},
* {@link #rotation(float, float, float, float) rotation},
* {@link #scaling(float, float, float) scaling},
* {@link #setOrtho(float, float, float, float, float, float) setOrtho},
* {@link #setOrtho2D(float, float, float, float) setOrtho2D},
* {@link #setLookAt(float, float, float, float, float, float, float, float, float) setLookAt},
* {@link #setLookAlong(float, float, float, float, float, float) setLookAlong},
* or any of their overloads.
*
* @return this
*/
public Matrix4x3f identity() {
MemUtil.INSTANCE.identity(this);
properties = PROPERTY_IDENTITY | PROPERTY_TRANSLATION;
return this;
}
/**
* Store the values of the given matrix <code>m</code> into <code>this</code> matrix.
*
* @see #Matrix4x3f(Matrix4x3fc)
* @see #get(Matrix4x3f)
*
* @param m
* the matrix to copy the values from
* @return this
*/
public Matrix4x3f set(Matrix4x3fc m) {
if (m instanceof Matrix4x3f) {
MemUtil.INSTANCE.copy((Matrix4x3f) m, this);
} else {
setMatrix4x3fc(m);
}
properties = m.properties();
return this;
}
private void setMatrix4x3fc(Matrix4x3fc mat) {
m00 = mat.m00();
m01 = mat.m01();
m02 = mat.m02();
m10 = mat.m10();
m11 = mat.m11();
m12 = mat.m12();
m20 = mat.m20();
m21 = mat.m21();
m22 = mat.m22();
m30 = mat.m30();
m31 = mat.m31();
m32 = mat.m32();
}
/**
* Store the values of the upper 4x3 submatrix of <code>m</code> into <code>this</code> matrix.
*
* @see Matrix4fc#get4x3(Matrix4x3f)
*
* @param m
* the matrix to copy the values from
* @return this
*/
public Matrix4x3f set(Matrix4fc m) {
if (m instanceof Matrix4f) {
MemUtil.INSTANCE.copy((Matrix4f) m, this);
} else {
setMatrix4fc(m);
}
properties = (byte) (m.properties() & (PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return this;
}
private void setMatrix4fc(Matrix4fc mat) {
m00 = mat.m00();
m01 = mat.m01();
m02 = mat.m02();
m10 = mat.m10();
m11 = mat.m11();
m12 = mat.m12();
m20 = mat.m20();
m21 = mat.m21();
m22 = mat.m22();
m30 = mat.m30();
m31 = mat.m31();
m32 = mat.m32();
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get(org.joml.Matrix4f)
*/
public Matrix4f get(Matrix4f dest) {
return dest.set4x3(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get(org.joml.Matrix4d)
*/
public Matrix4d get(Matrix4d dest) {
return dest.set4x3(this);
}
/**
* Set the left 3x3 submatrix of this {@link Matrix4x3f} to the given {@link Matrix3fc}
* and the rest to identity.
*
* @see #Matrix4x3f(Matrix3fc)
*
* @param mat
* the {@link Matrix3fc}
* @return this
*/
public Matrix4x3f set(Matrix3fc mat) {
if (mat instanceof Matrix3f) {
MemUtil.INSTANCE.copy((Matrix3f) mat, this);
} else {
setMatrix3fc(mat);
}
properties = 0;
return this;
}
private void setMatrix3fc(Matrix3fc mat) {
m00 = mat.m00();
m01 = mat.m01();
m02 = mat.m02();
m10 = mat.m10();
m11 = mat.m11();
m12 = mat.m12();
m20 = mat.m20();
m21 = mat.m21();
m22 = mat.m22();
m30 = 0.0f;
m31 = 0.0f;
m32 = 0.0f;
}
/**
* Set this matrix to be equivalent to the rotation specified by the given {@link AxisAngle4f}.
*
* @param axisAngle
* the {@link AxisAngle4f}
* @return this
*/
public Matrix4x3f set(AxisAngle4f axisAngle) {
float x = axisAngle.x;
float y = axisAngle.y;
float z = axisAngle.z;
double angle = axisAngle.angle;
double n = Math.sqrt(x*x + y*y + z*z);
n = 1/n;
x *= n;
y *= n;
z *= n;
double s = Math.sin(angle);
double c = Math.cosFromSin(s, angle);
double omc = 1.0 - c;
m00 = (float)(c + x*x*omc);
m11 = (float)(c + y*y*omc);
m22 = (float)(c + z*z*omc);
double tmp1 = x*y*omc;
double tmp2 = z*s;
m10 = (float)(tmp1 - tmp2);
m01 = (float)(tmp1 + tmp2);
tmp1 = x*z*omc;
tmp2 = y*s;
m20 = (float)(tmp1 + tmp2);
m02 = (float)(tmp1 - tmp2);
tmp1 = y*z*omc;
tmp2 = x*s;
m21 = (float)(tmp1 - tmp2);
m12 = (float)(tmp1 + tmp2);
m30 = 0.0f;
m31 = 0.0f;
m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set this matrix to be equivalent to the rotation specified by the given {@link AxisAngle4d}.
*
* @param axisAngle
* the {@link AxisAngle4d}
* @return this
*/
public Matrix4x3f set(AxisAngle4d axisAngle) {
double x = axisAngle.x;
double y = axisAngle.y;
double z = axisAngle.z;
double angle = axisAngle.angle;
double n = Math.sqrt(x*x + y*y + z*z);
n = 1/n;
x *= n;
y *= n;
z *= n;
double s = Math.sin(angle);
double c = Math.cosFromSin(s, angle);
double omc = 1.0 - c;
m00 = (float)(c + x*x*omc);
m11 = (float)(c + y*y*omc);
m22 = (float)(c + z*z*omc);
double tmp1 = x*y*omc;
double tmp2 = z*s;
m10 = (float)(tmp1 - tmp2);
m01 = (float)(tmp1 + tmp2);
tmp1 = x*z*omc;
tmp2 = y*s;
m20 = (float)(tmp1 + tmp2);
m02 = (float)(tmp1 - tmp2);
tmp1 = y*z*omc;
tmp2 = x*s;
m21 = (float)(tmp1 - tmp2);
m12 = (float)(tmp1 + tmp2);
m30 = 0.0f;
m31 = 0.0f;
m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set this matrix to be equivalent to the rotation - and possibly scaling - specified by the given {@link Quaternionfc}.
* <p>
* This method is equivalent to calling: <tt>rotation(q)</tt>
*
* @see #rotation(Quaternionfc)
*
* @param q
* the {@link Quaternionfc}
* @return this
*/
public Matrix4x3f set(Quaternionfc q) {
return rotation(q);
}
/**
* Set this matrix to be equivalent to the rotation - and possibly scaling - specified by the given {@link Quaterniondc}.
* <p>
* This method is equivalent to calling: <tt>rotation(q)</tt>
*
* @param q
* the {@link Quaterniondc}
* @return this
*/
public Matrix4x3f set(Quaterniondc q) {
double w2 = q.w() * q.w();
double x2 = q.x() * q.x();
double y2 = q.y() * q.y();
double z2 = q.z() * q.z();
double zw = q.z() * q.w();
double xy = q.x() * q.y();
double xz = q.x() * q.z();
double yw = q.y() * q.w();
double yz = q.y() * q.z();
double xw = q.x() * q.w();
m00 = (float) (w2 + x2 - z2 - y2);
m01 = (float) (xy + zw + zw + xy);
m02 = (float) (xz - yw + xz - yw);
m10 = (float) (-zw + xy - zw + xy);
m11 = (float) (y2 - z2 + w2 - x2);
m12 = (float) (yz + yz + xw + xw);
m20 = (float) (yw + xz + xz + yw);
m21 = (float) (yz + yz - xw - xw);
m22 = (float) (z2 - y2 - x2 + w2);
properties = 0;
return this;
}
/**
* Set the four columns of this matrix to the supplied vectors, respectively.
*
* @param col0
* the first column
* @param col1
* the second column
* @param col2
* the third column
* @param col3
* the fourth column
* @return this
*/
public Matrix4x3f set(Vector3fc col0, Vector3fc col1, Vector3fc col2, Vector3fc col3) {
if (col0 instanceof Vector3f &&
col1 instanceof Vector3f &&
col2 instanceof Vector3f &&
col3 instanceof Vector3f) {
MemUtil.INSTANCE.set(this, (Vector3f) col0, (Vector3f) col1, (Vector3f) col2, (Vector3f) col3);
} else {
setVector3fc(col0, col1, col2, col3);
}
this.properties = 0;
return this;
}
private void setVector3fc(Vector3fc col0, Vector3fc col1, Vector3fc col2, Vector3fc col3) {
this.m00 = col0.x();
this.m01 = col0.y();
this.m02 = col0.z();
this.m10 = col1.x();
this.m11 = col1.y();
this.m12 = col1.z();
this.m20 = col2.x();
this.m21 = col2.y();
this.m22 = col2.z();
this.m30 = col3.x();
this.m31 = col3.y();
this.m32 = col3.z();
}
/**
* Set the left 3x3 submatrix of this {@link Matrix4x3f} to that of the given {@link Matrix4x3fc}
* and don't change the other elements.
*
* @param mat
* the {@link Matrix4x3fc}
* @return this
*/
public Matrix4x3f set3x3(Matrix4x3fc mat) {
if (mat instanceof Matrix4x3f) {
MemUtil.INSTANCE.copy3x3((Matrix4x3f) mat, this);
} else {
set3x3Matrix4x3fc(mat);
}
properties &= mat.properties();
return this;
}
private void set3x3Matrix4x3fc(Matrix4x3fc mat) {
m00 = mat.m00();
m01 = mat.m01();
m02 = mat.m02();
m10 = mat.m10();
m11 = mat.m11();
m12 = mat.m12();
m20 = mat.m20();
m21 = mat.m21();
m22 = mat.m22();
}
/**
* Multiply this matrix by the supplied <code>right</code> matrix and store the result in <code>this</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the <code>right</code> matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* transformation of the right matrix will be applied first!
*
* @param right
* the right operand of the matrix multiplication
* @return this
*/
public Matrix4x3f mul(Matrix4x3fc right) {
return mul(right, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#mul(org.joml.Matrix4x3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f mul(Matrix4x3fc right, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.set(right);
else if ((right.properties() & PROPERTY_IDENTITY) != 0)
return dest.set(this);
else if ((properties & PROPERTY_TRANSLATION) != 0)
return mulTranslation(right, dest);
return mulGeneric(right, dest);
}
private Matrix4x3f mulGeneric(Matrix4x3fc right, Matrix4x3f dest) {
float nm00 = m00 * right.m00() + m10 * right.m01() + m20 * right.m02();
float nm01 = m01 * right.m00() + m11 * right.m01() + m21 * right.m02();
float nm02 = m02 * right.m00() + m12 * right.m01() + m22 * right.m02();
float nm10 = m00 * right.m10() + m10 * right.m11() + m20 * right.m12();
float nm11 = m01 * right.m10() + m11 * right.m11() + m21 * right.m12();
float nm12 = m02 * right.m10() + m12 * right.m11() + m22 * right.m12();
float nm20 = m00 * right.m20() + m10 * right.m21() + m20 * right.m22();
float nm21 = m01 * right.m20() + m11 * right.m21() + m21 * right.m22();
float nm22 = m02 * right.m20() + m12 * right.m21() + m22 * right.m22();
float nm30 = m00 * right.m30() + m10 * right.m31() + m20 * right.m32() + m30;
float nm31 = m01 * right.m30() + m11 * right.m31() + m21 * right.m32() + m31;
float nm32 = m02 * right.m30() + m12 * right.m31() + m22 * right.m32() + m32;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.m30 = nm30;
dest.m31 = nm31;
dest.m32 = nm32;
dest.properties = 0;
return dest;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#mulTranslation(org.joml.Matrix4x3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f mulTranslation(Matrix4x3fc right, Matrix4x3f dest) {
float nm00 = right.m00();
float nm01 = right.m01();
float nm02 = right.m02();
float nm10 = right.m10();
float nm11 = right.m11();
float nm12 = right.m12();
float nm20 = right.m20();
float nm21 = right.m21();
float nm22 = right.m22();
float nm30 = right.m30() + m30;
float nm31 = right.m31() + m31;
float nm32 = right.m32() + m32;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.m30 = nm30;
dest.m31 = nm31;
dest.m32 = nm32;
dest.properties = 0;
return dest;
}
/**
* Multiply <code>this</code> orthographic projection matrix by the supplied <code>view</code> matrix.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>V</code> the <code>view</code> matrix,
* then the new matrix will be <code>M * V</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * V * v</code>, the
* transformation of the <code>view</code> matrix will be applied first!
*
* @param view
* the matrix which to multiply <code>this</code> with
* @return dest
*/
public Matrix4x3f mulOrtho(Matrix4x3fc view) {
return mulOrtho(view, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#mulOrtho(org.joml.Matrix4x3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f mulOrtho(Matrix4x3fc view, Matrix4x3f dest) {
float nm00 = m00 * view.m00();
float nm01 = m11 * view.m01();
float nm02 = m22 * view.m02();
float nm10 = m00 * view.m10();
float nm11 = m11 * view.m11();
float nm12 = m22 * view.m12();
float nm20 = m00 * view.m20();
float nm21 = m11 * view.m21();
float nm22 = m22 * view.m22();
float nm30 = m00 * view.m30() + m30;
float nm31 = m11 * view.m31() + m31;
float nm32 = m22 * view.m32() + m32;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.m30 = nm30;
dest.m31 = nm31;
dest.m32 = nm32;
dest.properties = 0;
return dest;
}
/**
* Component-wise add <code>this</code> and <code>other</code>
* by first multiplying each component of <code>other</code> by <code>otherFactor</code> and
* adding that result to <code>this</code>.
* <p>
* The matrix <code>other</code> will not be changed.
*
* @param other
* the other matrix
* @param otherFactor
* the factor to multiply each of the other matrix's components
* @return this
*/
public Matrix4x3f fma(Matrix4x3fc other, float otherFactor) {
return fma(other, otherFactor, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#fma(org.joml.Matrix4x3fc, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f fma(Matrix4x3fc other, float otherFactor, Matrix4x3f dest) {
dest.m00 = m00 + other.m00() * otherFactor;
dest.m01 = m01 + other.m01() * otherFactor;
dest.m02 = m02 + other.m02() * otherFactor;
dest.m10 = m10 + other.m10() * otherFactor;
dest.m11 = m11 + other.m11() * otherFactor;
dest.m12 = m12 + other.m12() * otherFactor;
dest.m20 = m20 + other.m20() * otherFactor;
dest.m21 = m21 + other.m21() * otherFactor;
dest.m22 = m22 + other.m22() * otherFactor;
dest.m30 = m30 + other.m30() * otherFactor;
dest.m31 = m31 + other.m31() * otherFactor;
dest.m32 = m32 + other.m32() * otherFactor;
dest.properties = 0;
return dest;
}
/**
* Component-wise add <code>this</code> and <code>other</code>.
*
* @param other
* the other addend
* @return this
*/
public Matrix4x3f add(Matrix4x3fc other) {
return add(other, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#add(org.joml.Matrix4x3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f add(Matrix4x3fc other, Matrix4x3f dest) {
dest.m00 = m00 + other.m00();
dest.m01 = m01 + other.m01();
dest.m02 = m02 + other.m02();
dest.m10 = m10 + other.m10();
dest.m11 = m11 + other.m11();
dest.m12 = m12 + other.m12();
dest.m20 = m20 + other.m20();
dest.m21 = m21 + other.m21();
dest.m22 = m22 + other.m22();
dest.m30 = m30 + other.m30();
dest.m31 = m31 + other.m31();
dest.m32 = m32 + other.m32();
dest.properties = 0;
return dest;
}
/**
* Component-wise subtract <code>subtrahend</code> from <code>this</code>.
*
* @param subtrahend
* the subtrahend
* @return this
*/
public Matrix4x3f sub(Matrix4x3fc subtrahend) {
return sub(subtrahend, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#sub(org.joml.Matrix4x3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f sub(Matrix4x3fc subtrahend, Matrix4x3f dest) {
dest.m00 = m00 - subtrahend.m00();
dest.m01 = m01 - subtrahend.m01();
dest.m02 = m02 - subtrahend.m02();
dest.m10 = m10 - subtrahend.m10();
dest.m11 = m11 - subtrahend.m11();
dest.m12 = m12 - subtrahend.m12();
dest.m20 = m20 - subtrahend.m20();
dest.m21 = m21 - subtrahend.m21();
dest.m22 = m22 - subtrahend.m22();
dest.m30 = m30 - subtrahend.m30();
dest.m31 = m31 - subtrahend.m31();
dest.m32 = m32 - subtrahend.m32();
dest.properties = 0;
return dest;
}
/**
* Component-wise multiply <code>this</code> by <code>other</code>.
*
* @param other
* the other matrix
* @return this
*/
public Matrix4x3f mulComponentWise(Matrix4x3fc other) {
return mulComponentWise(other, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#mulComponentWise(org.joml.Matrix4x3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f mulComponentWise(Matrix4x3fc other, Matrix4x3f dest) {
dest.m00 = m00 * other.m00();
dest.m01 = m01 * other.m01();
dest.m02 = m02 * other.m02();
dest.m10 = m10 * other.m10();
dest.m11 = m11 * other.m11();
dest.m12 = m12 * other.m12();
dest.m20 = m20 * other.m20();
dest.m21 = m21 * other.m21();
dest.m22 = m22 * other.m22();
dest.m30 = m30 * other.m30();
dest.m31 = m31 * other.m31();
dest.m32 = m32 * other.m32();
dest.properties = 0;
return dest;
}
/**
* Set the values within this matrix to the supplied float values. The matrix will look like this:<br><br>
*
* m00, m10, m20, m30<br>
* m01, m11, m21, m31<br>
* m02, m12, m22, m32<br>
*
* @param m00
* the new value of m00
* @param m01
* the new value of m01
* @param m02
* the new value of m02
* @param m10
* the new value of m10
* @param m11
* the new value of m11
* @param m12
* the new value of m12
* @param m20
* the new value of m20
* @param m21
* the new value of m21
* @param m22
* the new value of m22
* @param m30
* the new value of m30
* @param m31
* the new value of m31
* @param m32
* the new value of m32
* @return this
*/
public Matrix4x3f set(float m00, float m01, float m02,
float m10, float m11, float m12,
float m20, float m21, float m22,
float m30, float m31, float m32) {
this.m00 = m00;
this.m01 = m01;
this.m02 = m02;
this.m10 = m10;
this.m11 = m11;
this.m12 = m12;
this.m20 = m20;
this.m21 = m21;
this.m22 = m22;
this.m30 = m30;
this.m31 = m31;
this.m32 = m32;
properties = 0;
return this;
}
/**
* Set the values in the matrix using a float array that contains the matrix elements in column-major order.
* <p>
* The results will look like this:<br><br>
*
* 0, 3, 6, 9<br>
* 1, 4, 7, 10<br>
* 2, 5, 8, 11<br>
*
* @see #set(float[])
*
* @param m
* the array to read the matrix values from
* @param off
* the offset into the array
* @return this
*/
public Matrix4x3f set(float m[], int off) {
MemUtil.INSTANCE.copy(m, off, this);
properties = 0;
return this;
}
/**
* Set the values in the matrix using a float array that contains the matrix elements in column-major order.
* <p>
* The results will look like this:<br><br>
*
* 0, 3, 6, 9<br>
* 1, 4, 7, 10<br>
* 2, 5, 8, 11<br>
*
* @see #set(float[], int)
*
* @param m
* the array to read the matrix values from
* @return this
*/
public Matrix4x3f set(float m[]) {
return set(m, 0);
}
//#ifdef __HAS_NIO__
/**
* Set the values of this matrix by reading 12 float values from the given {@link FloatBuffer} in column-major order,
* starting at its current position.
* <p>
* The FloatBuffer is expected to contain the values in column-major order.
* <p>
* The position of the FloatBuffer will not be changed by this method.
*
* @param buffer
* the FloatBuffer to read the matrix values from in column-major order
* @return this
*/
public Matrix4x3f set(FloatBuffer buffer) {
MemUtil.INSTANCE.get(this, buffer.position(), buffer);
properties = 0;
return this;
}
/**
* Set the values of this matrix by reading 12 float values from the given {@link ByteBuffer} in column-major order,
* starting at its current position.
* <p>
* The ByteBuffer is expected to contain the values in column-major order.
* <p>
* The position of the ByteBuffer will not be changed by this method.
*
* @param buffer
* the ByteBuffer to read the matrix values from in column-major order
* @return this
*/
public Matrix4x3f set(ByteBuffer buffer) {
MemUtil.INSTANCE.get(this, buffer.position(), buffer);
properties = 0;
return this;
}
//#endif
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#determinant()
*/
public float determinant() {
return (m00 * m11 - m01 * m10) * m22
+ (m02 * m10 - m00 * m12) * m21
+ (m01 * m12 - m02 * m11) * m20;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#invert(org.joml.Matrix4x3f)
*/
public Matrix4x3f invert(Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.identity();
return invertGeneric(dest);
}
private Matrix4x3f invertGeneric(Matrix4x3f dest) {
float m11m00 = m00 * m11, m10m01 = m01 * m10, m10m02 = m02 * m10;
float m12m00 = m00 * m12, m12m01 = m01 * m12, m11m02 = m02 * m11;
float s = 1.0f / ((m11m00 - m10m01) * m22 + (m10m02 - m12m00) * m21 + (m12m01 - m11m02) * m20);
float m10m22 = m10 * m22, m10m21 = m10 * m21, m11m22 = m11 * m22;
float m11m20 = m11 * m20, m12m21 = m12 * m21, m12m20 = m12 * m20;
float m20m02 = m20 * m02, m20m01 = m20 * m01, m21m02 = m21 * m02;
float m21m00 = m21 * m00, m22m01 = m22 * m01, m22m00 = m22 * m00;
float nm00 = (m11m22 - m12m21) * s;
float nm01 = (m21m02 - m22m01) * s;
float nm02 = (m12m01 - m11m02) * s;
float nm10 = (m12m20 - m10m22) * s;
float nm11 = (m22m00 - m20m02) * s;
float nm12 = (m10m02 - m12m00) * s;
float nm20 = (m10m21 - m11m20) * s;
float nm21 = (m20m01 - m21m00) * s;
float nm22 = (m11m00 - m10m01) * s;
float nm30 = (m10m22 * m31 - m10m21 * m32 + m11m20 * m32 - m11m22 * m30 + m12m21 * m30 - m12m20 * m31) * s;
float nm31 = (m20m02 * m31 - m20m01 * m32 + m21m00 * m32 - m21m02 * m30 + m22m01 * m30 - m22m00 * m31) * s;
float nm32 = (m11m02 * m30 - m12m01 * m30 + m12m00 * m31 - m10m02 * m31 + m10m01 * m32 - m11m00 * m32) * s;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.m30 = nm30;
dest.m31 = nm31;
dest.m32 = nm32;
dest.properties = 0;
return dest;
}
/**
* Invert this matrix.
*
* @return this
*/
public Matrix4x3f invert() {
return invert(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#invertOrtho(org.joml.Matrix4x3f)
*/
public Matrix4x3f invertOrtho(Matrix4x3f dest) {
float invM00 = 1.0f / m00;
float invM11 = 1.0f / m11;
float invM22 = 1.0f / m22;
dest.set(invM00, 0, 0,
0, invM11, 0,
0, 0, invM22,
-m30 * invM00, -m31 * invM11, -m32 * invM22);
dest.properties = 0;
return dest;
}
/**
* Invert <code>this</code> orthographic projection matrix.
* <p>
* This method can be used to quickly obtain the inverse of an orthographic projection matrix.
*
* @return this
*/
public Matrix4x3f invertOrtho() {
return invertOrtho(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#invertUnitScale(org.joml.Matrix4x3f)
*/
public Matrix4x3f invertUnitScale(Matrix4x3f dest) {
dest.set(m00, m10, m20,
m01, m11, m21,
m02, m12, m22,
-m00 * m30 - m01 * m31 - m02 * m32,
-m10 * m30 - m11 * m31 - m12 * m32,
-m20 * m30 - m21 * m31 - m22 * m32);
dest.properties = 0;
return dest;
}
/**
* Invert this matrix by assuming that it has unit scaling (i.e. {@link #transformDirection(Vector3f) transformDirection}
* does not change the {@link Vector3f#length() length} of the vector).
* <p>
* Reference: <a href="http://www.gamedev.net/topic/425118-inverse--matrix/">http://www.gamedev.net/</a>
*
* @return this
*/
public Matrix4x3f invertUnitScale() {
return invertUnitScale(this);
}
/**
* Transpose only the left 3x3 submatrix of this matrix and set the rest of the matrix elements to identity.
*
* @return this
*/
public Matrix4x3f transpose3x3() {
return transpose3x3(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#transpose3x3(org.joml.Matrix4x3f)
*/
public Matrix4x3f transpose3x3(Matrix4x3f dest) {
float nm00 = m00;
float nm01 = m10;
float nm02 = m20;
float nm10 = m01;
float nm11 = m11;
float nm12 = m21;
float nm20 = m02;
float nm21 = m12;
float nm22 = m22;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.properties = properties;
return dest;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#transpose3x3(org.joml.Matrix3f)
*/
public Matrix3f transpose3x3(Matrix3f dest) {
dest.m00(m00);
dest.m01(m10);
dest.m02(m20);
dest.m10(m01);
dest.m11(m11);
dest.m12(m21);
dest.m20(m02);
dest.m21(m12);
dest.m22(m22);
return dest;
}
/**
* Set this matrix to be a simple translation matrix.
* <p>
* The resulting matrix can be multiplied against another transformation
* matrix to obtain an additional translation.
* <p>
* In order to post-multiply a translation transformation directly to a
* matrix, use {@link #translate(float, float, float) translate()} instead.
*
* @see #translate(float, float, float)
*
* @param x
* the offset to translate in x
* @param y
* the offset to translate in y
* @param z
* the offset to translate in z
* @return this
*/
public Matrix4x3f translation(float x, float y, float z) {
MemUtil.INSTANCE.identity(this);
m30 = x;
m31 = y;
m32 = z;
properties = PROPERTY_TRANSLATION;
return this;
}
/**
* Set this matrix to be a simple translation matrix.
* <p>
* The resulting matrix can be multiplied against another transformation
* matrix to obtain an additional translation.
* <p>
* In order to post-multiply a translation transformation directly to a
* matrix, use {@link #translate(Vector3fc) translate()} instead.
*
* @see #translate(float, float, float)
*
* @param offset
* the offsets in x, y and z to translate
* @return this
*/
public Matrix4x3f translation(Vector3fc offset) {
return translation(offset.x(), offset.y(), offset.z());
}
/**
* Set only the translation components <tt>(m30, m31, m32)</tt> of this matrix to the given values <tt>(x, y, z)</tt>.
* <p>
* To build a translation matrix instead, use {@link #translation(float, float, float)}.
* To apply a translation, use {@link #translate(float, float, float)}.
*
* @see #translation(float, float, float)
* @see #translate(float, float, float)
*
* @param x
* the offset to translate in x
* @param y
* the offset to translate in y
* @param z
* the offset to translate in z
* @return this
*/
public Matrix4x3f setTranslation(float x, float y, float z) {
m30 = x;
m31 = y;
m32 = z;
properties = 0;
return this;
}
/**
* Set only the translation components <tt>(m30, m31, m32)</tt> of this matrix to the values <tt>(xyz.x, xyz.y, xyz.z)</tt>.
* <p>
* To build a translation matrix instead, use {@link #translation(Vector3fc)}.
* To apply a translation, use {@link #translate(Vector3fc)}.
*
* @see #translation(Vector3fc)
* @see #translate(Vector3fc)
*
* @param xyz
* the units to translate in <tt>(x, y, z)</tt>
* @return this
*/
public Matrix4x3f setTranslation(Vector3fc xyz) {
return setTranslation(xyz.x(), xyz.y(), xyz.z());
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getTranslation(org.joml.Vector3f)
*/
public Vector3f getTranslation(Vector3f dest) {
dest.x = m30;
dest.y = m31;
dest.z = m32;
return dest;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getScale(org.joml.Vector3f)
*/
public Vector3f getScale(Vector3f dest) {
dest.x = (float) Math.sqrt(m00 * m00 + m01 * m01 + m02 * m02);
dest.y = (float) Math.sqrt(m10 * m10 + m11 * m11 + m12 * m12);
dest.z = (float) Math.sqrt(m20 * m20 + m21 * m21 + m22 * m22);
return dest;
}
/**
* Return a string representation of this matrix.
* <p>
* This method creates a new {@link DecimalFormat} on every invocation with the format string "<tt>0.000E0;-</tt>".
*
* @return the string representation
*/
public String toString() {
DecimalFormat formatter = new DecimalFormat(" 0.000E0;-");
String str = toString(formatter);
StringBuffer res = new StringBuffer();
int eIndex = Integer.MIN_VALUE;
for (int i = 0; i < str.length(); i++) {
char c = str.charAt(i);
if (c == 'E') {
eIndex = i;
} else if (c == ' ' && eIndex == i - 1) {
// workaround Java 1.4 DecimalFormat bug
res.append('+');
continue;
} else if (Character.isDigit(c) && eIndex == i - 1) {
res.append('+');
}
res.append(c);
}
return res.toString();
}
/**
* Return a string representation of this matrix by formatting the matrix elements with the given {@link NumberFormat}.
*
* @param formatter
* the {@link NumberFormat} used to format the matrix values with
* @return the string representation
*/
public String toString(NumberFormat formatter) {
return formatter.format(m00) + " " + formatter.format(m10) + " " + formatter.format(m20) + " " + formatter.format(m30) + "\n"
+ formatter.format(m01) + " " + formatter.format(m11) + " " + formatter.format(m21) + " " + formatter.format(m31) + "\n"
+ formatter.format(m02) + " " + formatter.format(m12) + " " + formatter.format(m22) + " " + formatter.format(m32) + "\n";
}
/**
* Get the current values of <code>this</code> matrix and store them into
* <code>dest</code>.
* <p>
* This is the reverse method of {@link #set(Matrix4x3fc)} and allows to obtain
* intermediate calculation results when chaining multiple transformations.
*
* @see #set(Matrix4x3fc)
*
* @param dest
* the destination matrix
* @return the passed in destination
*/
public Matrix4x3f get(Matrix4x3f dest) {
return dest.set(this);
}
/**
* Get the current values of <code>this</code> matrix and store them into
* <code>dest</code>.
* <p>
* This is the reverse method of {@link Matrix4x3d#set(Matrix4x3fc)} and allows to obtain
* intermediate calculation results when chaining multiple transformations.
*
* @see Matrix4x3d#set(Matrix4x3fc)
*
* @param dest
* the destination matrix
* @return the passed in destination
*/
public Matrix4x3d get(Matrix4x3d dest) {
return dest.set(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getRotation(org.joml.AxisAngle4f)
*/
public AxisAngle4f getRotation(AxisAngle4f dest) {
return dest.set(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getRotation(org.joml.AxisAngle4d)
*/
public AxisAngle4d getRotation(AxisAngle4d dest) {
return dest.set(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getUnnormalizedRotation(org.joml.Quaternionf)
*/
public Quaternionf getUnnormalizedRotation(Quaternionf dest) {
return dest.setFromUnnormalized(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getNormalizedRotation(org.joml.Quaternionf)
*/
public Quaternionf getNormalizedRotation(Quaternionf dest) {
return dest.setFromNormalized(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getUnnormalizedRotation(org.joml.Quaterniond)
*/
public Quaterniond getUnnormalizedRotation(Quaterniond dest) {
return dest.setFromUnnormalized(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getNormalizedRotation(org.joml.Quaterniond)
*/
public Quaterniond getNormalizedRotation(Quaterniond dest) {
return dest.setFromNormalized(this);
}
//#ifdef __GWT__
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get(com.google.gwt.typedarrays.shared.Float32Array)
*/
public Float32Array get(Float32Array buffer) {
buffer.set(0, m00);
buffer.set(1, m01);
buffer.set(2, m02);
buffer.set(3, m10);
buffer.set(4, m11);
buffer.set(5, m12);
buffer.set(6, m20);
buffer.set(7, m21);
buffer.set(8, m22);
buffer.set(9, m30);
buffer.set(10, m31);
buffer.set(11, m32);
return buffer;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get(int, com.google.gwt.typedarrays.shared.Float32Array)
*/
public Float32Array get(int index, Float32Array buffer) {
buffer.set(index+0, m00);
buffer.set(index+1, m01);
buffer.set(index+2, m02);
buffer.set(index+3, m10);
buffer.set(index+4, m11);
buffer.set(index+5, m12);
buffer.set(index+6, m20);
buffer.set(index+7, m21);
buffer.set(index+8, m22);
buffer.set(index+9, m30);
buffer.set(index+10, m31);
buffer.set(index+11, m32);
return buffer;
}
//#endif
//#ifdef __HAS_NIO__
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get(java.nio.FloatBuffer)
*/
public FloatBuffer get(FloatBuffer buffer) {
return get(buffer.position(), buffer);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get(int, java.nio.FloatBuffer)
*/
public FloatBuffer get(int index, FloatBuffer buffer) {
MemUtil.INSTANCE.put(this, index, buffer);
return buffer;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get(java.nio.ByteBuffer)
*/
public ByteBuffer get(ByteBuffer buffer) {
return get(buffer.position(), buffer);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get(int, java.nio.ByteBuffer)
*/
public ByteBuffer get(int index, ByteBuffer buffer) {
MemUtil.INSTANCE.put(this, index, buffer);
return buffer;
}
//#endif
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get(float[], int)
*/
public float[] get(float[] arr, int offset) {
MemUtil.INSTANCE.copy(this, arr, offset);
return arr;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get(float[])
*/
public float[] get(float[] arr) {
return get(arr, 0);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get4x4(float[], int)
*/
public float[] get4x4(float[] arr, int offset) {
MemUtil.INSTANCE.copy4x4(this, arr, offset);
return arr;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get4x4(float[])
*/
public float[] get4x4(float[] arr) {
return get4x4(arr, 0);
}
//#ifdef __HAS_NIO__
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get4x4(java.nio.FloatBuffer)
*/
public FloatBuffer get4x4(FloatBuffer buffer) {
return get4x4(buffer.position(), buffer);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get4x4(int, java.nio.FloatBuffer)
*/
public FloatBuffer get4x4(int index, FloatBuffer buffer) {
MemUtil.INSTANCE.put4x4(this, index, buffer);
return buffer;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get4x4(java.nio.ByteBuffer)
*/
public ByteBuffer get4x4(ByteBuffer buffer) {
return get4x4(buffer.position(), buffer);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#get4x4(int, java.nio.ByteBuffer)
*/
public ByteBuffer get4x4(int index, ByteBuffer buffer) {
MemUtil.INSTANCE.put4x4(this, index, buffer);
return buffer;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getTransposed(java.nio.FloatBuffer)
*/
public FloatBuffer getTransposed(FloatBuffer buffer) {
return getTransposed(buffer.position(), buffer);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getTransposed(int, java.nio.FloatBuffer)
*/
public FloatBuffer getTransposed(int index, FloatBuffer buffer) {
MemUtil.INSTANCE.putTransposed(this, index, buffer);
return buffer;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getTransposed(java.nio.ByteBuffer)
*/
public ByteBuffer getTransposed(ByteBuffer buffer) {
return getTransposed(buffer.position(), buffer);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getTransposed(int, java.nio.ByteBuffer)
*/
public ByteBuffer getTransposed(int index, ByteBuffer buffer) {
MemUtil.INSTANCE.putTransposed(this, index, buffer);
return buffer;
}
//#endif
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getTransposed(float[], int)
*/
public float[] getTransposed(float[] arr, int offset) {
arr[offset+0] = m00;
arr[offset+1] = m10;
arr[offset+2] = m20;
arr[offset+3] = m30;
arr[offset+4] = m01;
arr[offset+5] = m11;
arr[offset+6] = m21;
arr[offset+7] = m31;
arr[offset+8] = m02;
arr[offset+9] = m12;
arr[offset+10] = m22;
arr[offset+11] = m32;
return arr;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getTransposed(float[])
*/
public float[] getTransposed(float[] arr) {
return getTransposed(arr, 0);
}
/**
* Set all the values within this matrix to <code>0</code>.
*
* @return this
*/
public Matrix4x3f zero() {
MemUtil.INSTANCE.zero(this);
properties = 0;
return this;
}
/**
* Set this matrix to be a simple scale matrix, which scales all axes uniformly by the given factor.
* <p>
* The resulting matrix can be multiplied against another transformation
* matrix to obtain an additional scaling.
* <p>
* In order to post-multiply a scaling transformation directly to a
* matrix, use {@link #scale(float) scale()} instead.
*
* @see #scale(float)
*
* @param factor
* the scale factor in x, y and z
* @return this
*/
public Matrix4x3f scaling(float factor) {
return scaling(factor, factor, factor);
}
/**
* Set this matrix to be a simple scale matrix.
* <p>
* The resulting matrix can be multiplied against another transformation
* matrix to obtain an additional scaling.
* <p>
* In order to post-multiply a scaling transformation directly to a
* matrix, use {@link #scale(float, float, float) scale()} instead.
*
* @see #scale(float, float, float)
*
* @param x
* the scale in x
* @param y
* the scale in y
* @param z
* the scale in z
* @return this
*/
public Matrix4x3f scaling(float x, float y, float z) {
MemUtil.INSTANCE.identity(this);
m00 = x;
m11 = y;
m22 = z;
properties = 0;
return this;
}
/**
* Set this matrix to be a simple scale matrix which scales the base axes by <tt>xyz.x</tt>, <tt>xyz.y</tt> and <tt>xyz.z</tt> respectively.
* <p>
* The resulting matrix can be multiplied against another transformation
* matrix to obtain an additional scaling.
* <p>
* In order to post-multiply a scaling transformation directly to a
* matrix use {@link #scale(Vector3fc) scale()} instead.
*
* @see #scale(Vector3fc)
*
* @param xyz
* the scale in x, y and z respectively
* @return this
*/
public Matrix4x3f scaling(Vector3fc xyz) {
return scaling(xyz.x(), xyz.y(), xyz.z());
}
/**
* Set this matrix to a rotation matrix which rotates the given radians about a given axis.
* <p>
* The axis described by the <code>axis</code> vector needs to be a unit vector.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* The resulting matrix can be multiplied against another transformation
* matrix to obtain an additional rotation.
* <p>
* In order to post-multiply a rotation transformation directly to a
* matrix, use {@link #rotate(float, Vector3fc) rotate()} instead.
*
* @see #rotate(float, Vector3fc)
*
* @param angle
* the angle in radians
* @param axis
* the axis to rotate about (needs to be {@link Vector3f#normalize() normalized})
* @return this
*/
public Matrix4x3f rotation(float angle, Vector3fc axis) {
return rotation(angle, axis.x(), axis.y(), axis.z());
}
/**
* Set this matrix to a rotation transformation using the given {@link AxisAngle4f}.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* The resulting matrix can be multiplied against another transformation
* matrix to obtain an additional rotation.
* <p>
* In order to apply the rotation transformation to an existing transformation,
* use {@link #rotate(AxisAngle4f) rotate()} instead.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotate(AxisAngle4f)
*
* @param axisAngle
* the {@link AxisAngle4f} (needs to be {@link AxisAngle4f#normalize() normalized})
* @return this
*/
public Matrix4x3f rotation(AxisAngle4f axisAngle) {
return rotation(axisAngle.angle, axisAngle.x, axisAngle.y, axisAngle.z);
}
/**
* Set this matrix to a rotation matrix which rotates the given radians about a given axis.
* <p>
* The axis described by the three components needs to be a unit vector.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* The resulting matrix can be multiplied against another transformation
* matrix to obtain an additional rotation.
* <p>
* In order to apply the rotation transformation to an existing transformation,
* use {@link #rotate(float, float, float, float) rotate()} instead.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotate(float, float, float, float)
*
* @param angle
* the angle in radians
* @param x
* the x-component of the rotation axis
* @param y
* the y-component of the rotation axis
* @param z
* the z-component of the rotation axis
* @return this
*/
public Matrix4x3f rotation(float angle, float x, float y, float z) {
float sin = (float) Math.sin(angle);
float cos = (float) Math.cosFromSin(sin, angle);
float C = 1.0f - cos;
float xy = x * y, xz = x * z, yz = y * z;
m00 = cos + x * x * C;
m10 = xy * C - z * sin;
m20 = xz * C + y * sin;
m30 = 0.0f;
m01 = xy * C + z * sin;
m11 = cos + y * y * C;
m21 = yz * C - x * sin;
m31 = 0.0f;
m02 = xz * C - y * sin;
m12 = yz * C + x * sin;
m22 = cos + z * z * C;
m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set this matrix to a rotation transformation about the X axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
*
* @param ang
* the angle in radians
* @return this
*/
public Matrix4x3f rotationX(float ang) {
float sin, cos;
if (ang == (float) Math.PI || ang == -(float) Math.PI) {
cos = -1.0f;
sin = 0.0f;
} else if (ang == (float) Math.PI * 0.5f || ang == -(float) Math.PI * 1.5f) {
cos = 0.0f;
sin = 1.0f;
} else if (ang == (float) -Math.PI * 0.5f || ang == (float) Math.PI * 1.5f) {
cos = 0.0f;
sin = -1.0f;
} else {
sin = (float) Math.sin(ang);
cos = (float) Math.cosFromSin(sin, ang);
}
m00 = 1.0f;
m01 = 0.0f;
m02 = 0.0f;
m10 = 0.0f;
m11 = cos;
m12 = sin;
m20 = 0.0f;
m21 = -sin;
m22 = cos;
m30 = 0.0f;
m31 = 0.0f;
m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set this matrix to a rotation transformation about the Y axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
*
* @param ang
* the angle in radians
* @return this
*/
public Matrix4x3f rotationY(float ang) {
float sin, cos;
if (ang == (float) Math.PI || ang == -(float) Math.PI) {
cos = -1.0f;
sin = 0.0f;
} else if (ang == (float) Math.PI * 0.5f || ang == -(float) Math.PI * 1.5f) {
cos = 0.0f;
sin = 1.0f;
} else if (ang == (float) -Math.PI * 0.5f || ang == (float) Math.PI * 1.5f) {
cos = 0.0f;
sin = -1.0f;
} else {
sin = (float) Math.sin(ang);
cos = (float) Math.cosFromSin(sin, ang);
}
m00 = cos;
m01 = 0.0f;
m02 = -sin;
m10 = 0.0f;
m11 = 1.0f;
m12 = 0.0f;
m20 = sin;
m21 = 0.0f;
m22 = cos;
m30 = 0.0f;
m31 = 0.0f;
m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set this matrix to a rotation transformation about the Z axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
*
* @param ang
* the angle in radians
* @return this
*/
public Matrix4x3f rotationZ(float ang) {
float sin, cos;
if (ang == (float) Math.PI || ang == -(float) Math.PI) {
cos = -1.0f;
sin = 0.0f;
} else if (ang == (float) Math.PI * 0.5f || ang == -(float) Math.PI * 1.5f) {
cos = 0.0f;
sin = 1.0f;
} else if (ang == (float) -Math.PI * 0.5f || ang == (float) Math.PI * 1.5f) {
cos = 0.0f;
sin = -1.0f;
} else {
sin = (float) Math.sin(ang);
cos = (float) Math.cosFromSin(sin, ang);
}
m00 = cos;
m01 = sin;
m02 = 0.0f;
m10 = -sin;
m11 = cos;
m12 = 0.0f;
m20 = 0.0f;
m21 = 0.0f;
m22 = 1.0f;
m30 = 0.0f;
m31 = 0.0f;
m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set this matrix to a rotation of <code>angleX</code> radians about the X axis, followed by a rotation
* of <code>angleY</code> radians about the Y axis and followed by a rotation of <code>angleZ</code> radians about the Z axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* This method is equivalent to calling: <tt>rotationX(angleX).rotateY(angleY).rotateZ(angleZ)</tt>
*
* @param angleX
* the angle to rotate about X
* @param angleY
* the angle to rotate about Y
* @param angleZ
* the angle to rotate about Z
* @return this
*/
public Matrix4x3f rotationXYZ(float angleX, float angleY, float angleZ) {
float sinX = (float) Math.sin(angleX);
float cosX = (float) Math.cosFromSin(sinX, angleX);
float sinY = (float) Math.sin(angleY);
float cosY = (float) Math.cosFromSin(sinY, angleY);
float sinZ = (float) Math.sin(angleZ);
float cosZ = (float) Math.cosFromSin(sinZ, angleZ);
float m_sinX = -sinX;
float m_sinY = -sinY;
float m_sinZ = -sinZ;
// rotateX
float nm11 = cosX;
float nm12 = sinX;
float nm21 = m_sinX;
float nm22 = cosX;
// rotateY
float nm00 = cosY;
float nm01 = nm21 * m_sinY;
float nm02 = nm22 * m_sinY;
m20 = sinY;
m21 = nm21 * cosY;
m22 = nm22 * cosY;
// rotateZ
m00 = nm00 * cosZ;
m01 = nm01 * cosZ + nm11 * sinZ;
m02 = nm02 * cosZ + nm12 * sinZ;
m10 = nm00 * m_sinZ;
m11 = nm01 * m_sinZ + nm11 * cosZ;
m12 = nm02 * m_sinZ + nm12 * cosZ;
// set last column to identity
m30 = 0.0f;
m31 = 0.0f;
m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set this matrix to a rotation of <code>angleZ</code> radians about the Z axis, followed by a rotation
* of <code>angleY</code> radians about the Y axis and followed by a rotation of <code>angleX</code> radians about the X axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* This method is equivalent to calling: <tt>rotationZ(angleZ).rotateY(angleY).rotateX(angleX)</tt>
*
* @param angleZ
* the angle to rotate about Z
* @param angleY
* the angle to rotate about Y
* @param angleX
* the angle to rotate about X
* @return this
*/
public Matrix4x3f rotationZYX(float angleZ, float angleY, float angleX) {
float sinX = (float) Math.sin(angleX);
float cosX = (float) Math.cosFromSin(sinX, angleX);
float sinY = (float) Math.sin(angleY);
float cosY = (float) Math.cosFromSin(sinY, angleY);
float sinZ = (float) Math.sin(angleZ);
float cosZ = (float) Math.cosFromSin(sinZ, angleZ);
float m_sinZ = -sinZ;
float m_sinY = -sinY;
float m_sinX = -sinX;
// rotateZ
float nm00 = cosZ;
float nm01 = sinZ;
float nm10 = m_sinZ;
float nm11 = cosZ;
// rotateY
float nm20 = nm00 * sinY;
float nm21 = nm01 * sinY;
float nm22 = cosY;
m00 = nm00 * cosY;
m01 = nm01 * cosY;
m02 = m_sinY;
// rotateX
m10 = nm10 * cosX + nm20 * sinX;
m11 = nm11 * cosX + nm21 * sinX;
m12 = nm22 * sinX;
m20 = nm10 * m_sinX + nm20 * cosX;
m21 = nm11 * m_sinX + nm21 * cosX;
m22 = nm22 * cosX;
// set last column to identity
m30 = 0.0f;
m31 = 0.0f;
m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set this matrix to a rotation of <code>angleY</code> radians about the Y axis, followed by a rotation
* of <code>angleX</code> radians about the X axis and followed by a rotation of <code>angleZ</code> radians about the Z axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* This method is equivalent to calling: <tt>rotationY(angleY).rotateX(angleX).rotateZ(angleZ)</tt>
*
* @param angleY
* the angle to rotate about Y
* @param angleX
* the angle to rotate about X
* @param angleZ
* the angle to rotate about Z
* @return this
*/
public Matrix4x3f rotationYXZ(float angleY, float angleX, float angleZ) {
float sinX = (float) Math.sin(angleX);
float cosX = (float) Math.cosFromSin(sinX, angleX);
float sinY = (float) Math.sin(angleY);
float cosY = (float) Math.cosFromSin(sinY, angleY);
float sinZ = (float) Math.sin(angleZ);
float cosZ = (float) Math.cosFromSin(sinZ, angleZ);
float m_sinY = -sinY;
float m_sinX = -sinX;
float m_sinZ = -sinZ;
// rotateY
float nm00 = cosY;
float nm02 = m_sinY;
float nm20 = sinY;
float nm22 = cosY;
// rotateX
float nm10 = nm20 * sinX;
float nm11 = cosX;
float nm12 = nm22 * sinX;
m20 = nm20 * cosX;
m21 = m_sinX;
m22 = nm22 * cosX;
// rotateZ
m00 = nm00 * cosZ + nm10 * sinZ;
m01 = nm11 * sinZ;
m02 = nm02 * cosZ + nm12 * sinZ;
m10 = nm00 * m_sinZ + nm10 * cosZ;
m11 = nm11 * cosZ;
m12 = nm02 * m_sinZ + nm12 * cosZ;
// set last column to identity
m30 = 0.0f;
m31 = 0.0f;
m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set only the left 3x3 submatrix of this matrix to a rotation of <code>angleX</code> radians about the X axis, followed by a rotation
* of <code>angleY</code> radians about the Y axis and followed by a rotation of <code>angleZ</code> radians about the Z axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* @param angleX
* the angle to rotate about X
* @param angleY
* the angle to rotate about Y
* @param angleZ
* the angle to rotate about Z
* @return this
*/
public Matrix4x3f setRotationXYZ(float angleX, float angleY, float angleZ) {
float sinX = (float) Math.sin(angleX);
float cosX = (float) Math.cosFromSin(sinX, angleX);
float sinY = (float) Math.sin(angleY);
float cosY = (float) Math.cosFromSin(sinY, angleY);
float sinZ = (float) Math.sin(angleZ);
float cosZ = (float) Math.cosFromSin(sinZ, angleZ);
float m_sinX = -sinX;
float m_sinY = -sinY;
float m_sinZ = -sinZ;
// rotateX
float nm11 = cosX;
float nm12 = sinX;
float nm21 = m_sinX;
float nm22 = cosX;
// rotateY
float nm00 = cosY;
float nm01 = nm21 * m_sinY;
float nm02 = nm22 * m_sinY;
m20 = sinY;
m21 = nm21 * cosY;
m22 = nm22 * cosY;
// rotateZ
m00 = nm00 * cosZ;
m01 = nm01 * cosZ + nm11 * sinZ;
m02 = nm02 * cosZ + nm12 * sinZ;
m10 = nm00 * m_sinZ;
m11 = nm01 * m_sinZ + nm11 * cosZ;
m12 = nm02 * m_sinZ + nm12 * cosZ;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set only the left 3x3 submatrix of this matrix to a rotation of <code>angleZ</code> radians about the Z axis, followed by a rotation
* of <code>angleY</code> radians about the Y axis and followed by a rotation of <code>angleX</code> radians about the X axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* @param angleZ
* the angle to rotate about Z
* @param angleY
* the angle to rotate about Y
* @param angleX
* the angle to rotate about X
* @return this
*/
public Matrix4x3f setRotationZYX(float angleZ, float angleY, float angleX) {
float sinX = (float) Math.sin(angleX);
float cosX = (float) Math.cosFromSin(sinX, angleX);
float sinY = (float) Math.sin(angleY);
float cosY = (float) Math.cosFromSin(sinY, angleY);
float sinZ = (float) Math.sin(angleZ);
float cosZ = (float) Math.cosFromSin(sinZ, angleZ);
float m_sinZ = -sinZ;
float m_sinY = -sinY;
float m_sinX = -sinX;
// rotateZ
float nm00 = cosZ;
float nm01 = sinZ;
float nm10 = m_sinZ;
float nm11 = cosZ;
// rotateY
float nm20 = nm00 * sinY;
float nm21 = nm01 * sinY;
float nm22 = cosY;
m00 = nm00 * cosY;
m01 = nm01 * cosY;
m02 = m_sinY;
// rotateX
m10 = nm10 * cosX + nm20 * sinX;
m11 = nm11 * cosX + nm21 * sinX;
m12 = nm22 * sinX;
m20 = nm10 * m_sinX + nm20 * cosX;
m21 = nm11 * m_sinX + nm21 * cosX;
m22 = nm22 * cosX;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set only the left 3x3 submatrix of this matrix to a rotation of <code>angleY</code> radians about the Y axis, followed by a rotation
* of <code>angleX</code> radians about the X axis and followed by a rotation of <code>angleZ</code> radians about the Z axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* @param angleY
* the angle to rotate about Y
* @param angleX
* the angle to rotate about X
* @param angleZ
* the angle to rotate about Z
* @return this
*/
public Matrix4x3f setRotationYXZ(float angleY, float angleX, float angleZ) {
float sinX = (float) Math.sin(angleX);
float cosX = (float) Math.cosFromSin(sinX, angleX);
float sinY = (float) Math.sin(angleY);
float cosY = (float) Math.cosFromSin(sinY, angleY);
float sinZ = (float) Math.sin(angleZ);
float cosZ = (float) Math.cosFromSin(sinZ, angleZ);
float m_sinY = -sinY;
float m_sinX = -sinX;
float m_sinZ = -sinZ;
// rotateY
float nm00 = cosY;
float nm02 = m_sinY;
float nm20 = sinY;
float nm22 = cosY;
// rotateX
float nm10 = nm20 * sinX;
float nm11 = cosX;
float nm12 = nm22 * sinX;
m20 = nm20 * cosX;
m21 = m_sinX;
m22 = nm22 * cosX;
// rotateZ
m00 = nm00 * cosZ + nm10 * sinZ;
m01 = nm11 * sinZ;
m02 = nm02 * cosZ + nm12 * sinZ;
m10 = nm00 * m_sinZ + nm10 * cosZ;
m11 = nm11 * cosZ;
m12 = nm02 * m_sinZ + nm12 * cosZ;
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
/**
* Set this matrix to the rotation - and possibly scaling - transformation of the given {@link Quaternionfc}.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* The resulting matrix can be multiplied against another transformation
* matrix to obtain an additional rotation.
* <p>
* In order to apply the rotation transformation to an existing transformation,
* use {@link #rotate(Quaternionfc) rotate()} instead.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
*
* @see #rotate(Quaternionfc)
*
* @param quat
* the {@link Quaternionfc}
* @return this
*/
public Matrix4x3f rotation(Quaternionfc quat) {
float w2 = quat.w() * quat.w();
float x2 = quat.x() * quat.x();
float y2 = quat.y() * quat.y();
float z2 = quat.z() * quat.z();
float zw = quat.z() * quat.w();
float xy = quat.x() * quat.y();
float xz = quat.x() * quat.z();
float yw = quat.y() * quat.w();
float yz = quat.y() * quat.z();
float xw = quat.x() * quat.w();
m00 = w2 + x2 - z2 - y2;
m01 = xy + zw + zw + xy;
m02 = xz - yw + xz - yw;
m10 = -zw + xy - zw + xy;
m11 = y2 - z2 + w2 - x2;
m12 = yz + yz + xw + xw;
m20 = yw + xz + xz + yw;
m21 = yz + yz - xw - xw;
m22 = z2 - y2 - x2 + w2;
properties = 0;
return this;
}
/**
* Set <code>this</code> matrix to <tt>T * R * S</tt>, where <tt>T</tt> is a translation by the given <tt>(tx, ty, tz)</tt>,
* <tt>R</tt> is a rotation transformation specified by the quaternion <tt>(qx, qy, qz, qw)</tt>, and <tt>S</tt> is a scaling transformation
* which scales the three axes x, y and z by <tt>(sx, sy, sz)</tt>.
* <p>
* When transforming a vector by the resulting matrix the scaling transformation will be applied first, then the rotation and
* at last the translation.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* This method is equivalent to calling: <tt>translation(tx, ty, tz).rotate(quat).scale(sx, sy, sz)</tt>
*
* @see #translation(float, float, float)
* @see #rotate(Quaternionfc)
* @see #scale(float, float, float)
*
* @param tx
* the number of units by which to translate the x-component
* @param ty
* the number of units by which to translate the y-component
* @param tz
* the number of units by which to translate the z-component
* @param qx
* the x-coordinate of the vector part of the quaternion
* @param qy
* the y-coordinate of the vector part of the quaternion
* @param qz
* the z-coordinate of the vector part of the quaternion
* @param qw
* the scalar part of the quaternion
* @param sx
* the scaling factor for the x-axis
* @param sy
* the scaling factor for the y-axis
* @param sz
* the scaling factor for the z-axis
* @return this
*/
public Matrix4x3f translationRotateScale(float tx, float ty, float tz,
float qx, float qy, float qz, float qw,
float sx, float sy, float sz) {
float dqx = qx + qx;
float dqy = qy + qy;
float dqz = qz + qz;
float q00 = dqx * qx;
float q11 = dqy * qy;
float q22 = dqz * qz;
float q01 = dqx * qy;
float q02 = dqx * qz;
float q03 = dqx * qw;
float q12 = dqy * qz;
float q13 = dqy * qw;
float q23 = dqz * qw;
m00 = sx - (q11 + q22) * sx;
m01 = (q01 + q23) * sx;
m02 = (q02 - q13) * sx;
m10 = (q01 - q23) * sy;
m11 = sy - (q22 + q00) * sy;
m12 = (q12 + q03) * sy;
m20 = (q02 + q13) * sz;
m21 = (q12 - q03) * sz;
m22 = sz - (q11 + q00) * sz;
m30 = tx;
m31 = ty;
m32 = tz;
properties = 0;
return this;
}
/**
* Set <code>this</code> matrix to <tt>T * R * S</tt>, where <tt>T</tt> is the given <code>translation</code>,
* <tt>R</tt> is a rotation transformation specified by the given quaternion, and <tt>S</tt> is a scaling transformation
* which scales the axes by <code>scale</code>.
* <p>
* When transforming a vector by the resulting matrix the scaling transformation will be applied first, then the rotation and
* at last the translation.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* This method is equivalent to calling: <tt>translation(translation).rotate(quat).scale(scale)</tt>
*
* @see #translation(Vector3fc)
* @see #rotate(Quaternionfc)
*
* @param translation
* the translation
* @param quat
* the quaternion representing a rotation
* @param scale
* the scaling factors
* @return this
*/
public Matrix4x3f translationRotateScale(Vector3fc translation,
Quaternionfc quat,
Vector3fc scale) {
return translationRotateScale(translation.x(), translation.y(), translation.z(), quat.x(), quat.y(), quat.z(), quat.w(), scale.x(), scale.y(), scale.z());
}
/**
* Set <code>this</code> matrix to <tt>T * R * S * M</tt>, where <tt>T</tt> is a translation by the given <tt>(tx, ty, tz)</tt>,
* <tt>R</tt> is a rotation transformation specified by the quaternion <tt>(qx, qy, qz, qw)</tt>, <tt>S</tt> is a scaling transformation
* which scales the three axes x, y and z by <tt>(sx, sy, sz)</tt>.
* <p>
* When transforming a vector by the resulting matrix the transformation described by <code>M</code> will be applied first, then the scaling, then rotation and
* at last the translation.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* This method is equivalent to calling: <tt>translation(tx, ty, tz).rotate(quat).scale(sx, sy, sz).mul(m)</tt>
*
* @see #translation(float, float, float)
* @see #rotate(Quaternionfc)
* @see #scale(float, float, float)
* @see #mul(Matrix4x3fc)
*
* @param tx
* the number of units by which to translate the x-component
* @param ty
* the number of units by which to translate the y-component
* @param tz
* the number of units by which to translate the z-component
* @param qx
* the x-coordinate of the vector part of the quaternion
* @param qy
* the y-coordinate of the vector part of the quaternion
* @param qz
* the z-coordinate of the vector part of the quaternion
* @param qw
* the scalar part of the quaternion
* @param sx
* the scaling factor for the x-axis
* @param sy
* the scaling factor for the y-axis
* @param sz
* the scaling factor for the z-axis
* @param m
* the matrix to multiply by
* @return this
*/
public Matrix4x3f translationRotateScaleMul(float tx, float ty, float tz,
float qx, float qy, float qz, float qw,
float sx, float sy, float sz,
Matrix4x3f m) {
float dqx = qx + qx;
float dqy = qy + qy;
float dqz = qz + qz;
float q00 = dqx * qx;
float q11 = dqy * qy;
float q22 = dqz * qz;
float q01 = dqx * qy;
float q02 = dqx * qz;
float q03 = dqx * qw;
float q12 = dqy * qz;
float q13 = dqy * qw;
float q23 = dqz * qw;
float nm00 = sx - (q11 + q22) * sx;
float nm01 = (q01 + q23) * sx;
float nm02 = (q02 - q13) * sx;
float nm10 = (q01 - q23) * sy;
float nm11 = sy - (q22 + q00) * sy;
float nm12 = (q12 + q03) * sy;
float nm20 = (q02 + q13) * sz;
float nm21 = (q12 - q03) * sz;
float nm22 = sz - (q11 + q00) * sz;
float m00 = nm00 * m.m00 + nm10 * m.m01 + nm20 * m.m02;
float m01 = nm01 * m.m00 + nm11 * m.m01 + nm21 * m.m02;
m02 = nm02 * m.m00 + nm12 * m.m01 + nm22 * m.m02;
this.m00 = m00;
this.m01 = m01;
float m10 = nm00 * m.m10 + nm10 * m.m11 + nm20 * m.m12;
float m11 = nm01 * m.m10 + nm11 * m.m11 + nm21 * m.m12;
m12 = nm02 * m.m10 + nm12 * m.m11 + nm22 * m.m12;
this.m10 = m10;
this.m11 = m11;
float m20 = nm00 * m.m20 + nm10 * m.m21 + nm20 * m.m22;
float m21 = nm01 * m.m20 + nm11 * m.m21 + nm21 * m.m22;
m22 = nm02 * m.m20 + nm12 * m.m21 + nm22 * m.m22;
this.m20 = m20;
this.m21 = m21;
float m30 = nm00 * m.m30 + nm10 * m.m31 + nm20 * m.m32 + tx;
float m31 = nm01 * m.m30 + nm11 * m.m31 + nm21 * m.m32 + ty;
m32 = nm02 * m.m30 + nm12 * m.m31 + nm22 * m.m32 + tz;
this.m30 = m30;
this.m31 = m31;
properties = 0;
return this;
}
/**
* Set <code>this</code> matrix to <tt>T * R * S * M</tt>, where <tt>T</tt> is the given <code>translation</code>,
* <tt>R</tt> is a rotation transformation specified by the given quaternion, <tt>S</tt> is a scaling transformation
* which scales the axes by <code>scale</code>.
* <p>
* When transforming a vector by the resulting matrix the transformation described by <code>M</code> will be applied first, then the scaling, then rotation and
* at last the translation.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* This method is equivalent to calling: <tt>translation(translation).rotate(quat).scale(scale).mul(m)</tt>
*
* @see #translation(Vector3fc)
* @see #rotate(Quaternionfc)
*
* @param translation
* the translation
* @param quat
* the quaternion representing a rotation
* @param scale
* the scaling factors
* @param m
* the matrix to multiply by
* @return this
*/
public Matrix4x3f translationRotateScaleMul(Vector3fc translation, Quaternionfc quat, Vector3fc scale, Matrix4x3f m) {
return translationRotateScaleMul(translation.x(), translation.y(), translation.z(), quat.x(), quat.y(), quat.z(), quat.w(), scale.x(), scale.y(), scale.z(), m);
}
/**
* Set <code>this</code> matrix to <tt>T * R</tt>, where <tt>T</tt> is a translation by the given <tt>(tx, ty, tz)</tt> and
* <tt>R</tt> is a rotation transformation specified by the given quaternion.
* <p>
* When transforming a vector by the resulting matrix the rotation transformation will be applied first and then the translation.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* This method is equivalent to calling: <tt>translation(tx, ty, tz).rotate(quat)</tt>
*
* @see #translation(float, float, float)
* @see #rotate(Quaternionfc)
*
* @param tx
* the number of units by which to translate the x-component
* @param ty
* the number of units by which to translate the y-component
* @param tz
* the number of units by which to translate the z-component
* @param quat
* the quaternion representing a rotation
* @return this
*/
public Matrix4x3f translationRotate(float tx, float ty, float tz, Quaternionfc quat) {
float dqx = quat.x() + quat.x();
float dqy = quat.y() + quat.y();
float dqz = quat.z() + quat.z();
float q00 = dqx * quat.x();
float q11 = dqy * quat.y();
float q22 = dqz * quat.z();
float q01 = dqx * quat.y();
float q02 = dqx * quat.z();
float q03 = dqx * quat.w();
float q12 = dqy * quat.z();
float q13 = dqy * quat.w();
float q23 = dqz * quat.w();
m00 = 1.0f - (q11 + q22);
m01 = q01 + q23;
m02 = q02 - q13;
m10 = q01 - q23;
m11 = 1.0f - (q22 + q00);
m12 = q12 + q03;
m20 = q02 + q13;
m21 = q12 - q03;
m22 = 1.0f - (q11 + q00);
m30 = tx;
m31 = ty;
m32 = tz;
properties = 0;
return this;
}
/**
* Set <code>this</code> matrix to <tt>T * R * M</tt>, where <tt>T</tt> is a translation by the given <tt>(tx, ty, tz)</tt>,
* <tt>R</tt> is a rotation - and possibly scaling - transformation specified by the given quaternion and <tt>M</tt> is the given matrix <code>mat</code>.
* <p>
* When transforming a vector by the resulting matrix the transformation described by <code>M</code> will be applied first, then the scaling, then rotation and
* at last the translation.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* This method is equivalent to calling: <tt>translation(tx, ty, tz).rotate(quat).mul(mat)</tt>
*
* @see #translation(float, float, float)
* @see #rotate(Quaternionfc)
* @see #mul(Matrix4x3fc)
*
* @param tx
* the number of units by which to translate the x-component
* @param ty
* the number of units by which to translate the y-component
* @param tz
* the number of units by which to translate the z-component
* @param quat
* the quaternion representing a rotation
* @param mat
* the matrix to multiply with
* @return this
*/
public Matrix4x3f translationRotateMul(float tx, float ty, float tz, Quaternionfc quat, Matrix4x3fc mat) {
return translationRotateMul(tx, ty, tz, quat.x(), quat.y(), quat.z(), quat.w(), mat);
}
/**
* Set <code>this</code> matrix to <tt>T * R * M</tt>, where <tt>T</tt> is a translation by the given <tt>(tx, ty, tz)</tt>,
* <tt>R</tt> is a rotation - and possibly scaling - transformation specified by the quaternion <tt>(qx, qy, qz, qw)</tt> and <tt>M</tt> is the given matrix <code>mat</code>
* <p>
* When transforming a vector by the resulting matrix the transformation described by <code>M</code> will be applied first, then the scaling, then rotation and
* at last the translation.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* This method is equivalent to calling: <tt>translation(tx, ty, tz).rotate(quat).mul(mat)</tt>
*
* @see #translation(float, float, float)
* @see #rotate(Quaternionfc)
* @see #mul(Matrix4x3fc)
*
* @param tx
* the number of units by which to translate the x-component
* @param ty
* the number of units by which to translate the y-component
* @param tz
* the number of units by which to translate the z-component
* @param qx
* the x-coordinate of the vector part of the quaternion
* @param qy
* the y-coordinate of the vector part of the quaternion
* @param qz
* the z-coordinate of the vector part of the quaternion
* @param qw
* the scalar part of the quaternion
* @param mat
* the matrix to multiply with
* @return this
*/
public Matrix4x3f translationRotateMul(float tx, float ty, float tz, float qx, float qy, float qz, float qw, Matrix4x3fc mat) {
float w2 = qw * qw;
float x2 = qx * qx;
float y2 = qy * qy;
float z2 = qz * qz;
float zw = qz * qw;
float xy = qx * qy;
float xz = qx * qz;
float yw = qy * qw;
float yz = qy * qz;
float xw = qx * qw;
float nm00 = w2 + x2 - z2 - y2;
float nm01 = xy + zw + zw + xy;
float nm02 = xz - yw + xz - yw;
float nm10 = -zw + xy - zw + xy;
float nm11 = y2 - z2 + w2 - x2;
float nm12 = yz + yz + xw + xw;
float nm20 = yw + xz + xz + yw;
float nm21 = yz + yz - xw - xw;
float nm22 = z2 - y2 - x2 + w2;
m00 = nm00 * mat.m00() + nm10 * mat.m01() + nm20 * mat.m02();
m01 = nm01 * mat.m00() + nm11 * mat.m01() + nm21 * mat.m02();
m02 = nm02 * mat.m00() + nm12 * mat.m01() + nm22 * mat.m02();
m10 = nm00 * mat.m10() + nm10 * mat.m11() + nm20 * mat.m12();
m11 = nm01 * mat.m10() + nm11 * mat.m11() + nm21 * mat.m12();
m12 = nm02 * mat.m10() + nm12 * mat.m11() + nm22 * mat.m12();
m20 = nm00 * mat.m20() + nm10 * mat.m21() + nm20 * mat.m22();
m21 = nm01 * mat.m20() + nm11 * mat.m21() + nm21 * mat.m22();
m22 = nm02 * mat.m20() + nm12 * mat.m21() + nm22 * mat.m22();
m30 = nm00 * mat.m30() + nm10 * mat.m31() + nm20 * mat.m32() + tx;
m31 = nm01 * mat.m30() + nm11 * mat.m31() + nm21 * mat.m32() + ty;
m32 = nm02 * mat.m30() + nm12 * mat.m31() + nm22 * mat.m32() + tz;
this.properties = 0;
return this;
}
/**
* Set the left 3x3 submatrix of this {@link Matrix4x3f} to the given {@link Matrix3fc} and don't change the other elements.
*
* @param mat
* the 3x3 matrix
* @return this
*/
public Matrix4x3f set3x3(Matrix3fc mat) {
if (mat instanceof Matrix3f) {
MemUtil.INSTANCE.copy3x3((Matrix3f) mat, this);
} else {
set3x3Matrix3fc(mat);
}
properties &= ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION);
return this;
}
private void set3x3Matrix3fc(Matrix3fc mat) {
m00 = mat.m00();
m01 = mat.m01();
m02 = mat.m02();
m10 = mat.m10();
m11 = mat.m11();
m12 = mat.m12();
m20 = mat.m20();
m21 = mat.m21();
m22 = mat.m22();
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#transform(org.joml.Vector4f)
*/
public Vector4f transform(Vector4f v) {
return v.mul(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#transform(org.joml.Vector4fc, org.joml.Vector4f)
*/
public Vector4f transform(Vector4fc v, Vector4f dest) {
return v.mul(this, dest);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#transformPosition(org.joml.Vector3f)
*/
public Vector3f transformPosition(Vector3f v) {
v.set(m00 * v.x + m10 * v.y + m20 * v.z + m30,
m01 * v.x + m11 * v.y + m21 * v.z + m31,
m02 * v.x + m12 * v.y + m22 * v.z + m32);
return v;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#transformPosition(org.joml.Vector3fc, org.joml.Vector3f)
*/
public Vector3f transformPosition(Vector3fc v, Vector3f dest) {
dest.set(m00 * v.x() + m10 * v.y() + m20 * v.z() + m30,
m01 * v.x() + m11 * v.y() + m21 * v.z() + m31,
m02 * v.x() + m12 * v.y() + m22 * v.z() + m32);
return dest;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#transformDirection(org.joml.Vector3f)
*/
public Vector3f transformDirection(Vector3f v) {
v.set(m00 * v.x + m10 * v.y + m20 * v.z,
m01 * v.x + m11 * v.y + m21 * v.z,
m02 * v.x + m12 * v.y + m22 * v.z);
return v;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#transformDirection(org.joml.Vector3fc, org.joml.Vector3f)
*/
public Vector3f transformDirection(Vector3fc v, Vector3f dest) {
dest.set(m00 * v.x() + m10 * v.y() + m20 * v.z(),
m01 * v.x() + m11 * v.y() + m21 * v.z(),
m02 * v.x() + m12 * v.y() + m22 * v.z());
return dest;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#scale(org.joml.Vector3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f scale(Vector3fc xyz, Matrix4x3f dest) {
return scale(xyz.x(), xyz.y(), xyz.z(), dest);
}
/**
* Apply scaling to this matrix by scaling the base axes by the given <tt>xyz.x</tt>,
* <tt>xyz.y</tt> and <tt>xyz.z</tt> factors, respectively.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the scaling matrix,
* then the new matrix will be <code>M * S</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * S * v</code>, the
* scaling will be applied first!
*
* @param xyz
* the factors of the x, y and z component, respectively
* @return this
*/
public Matrix4x3f scale(Vector3fc xyz) {
return scale(xyz.x(), xyz.y(), xyz.z(), this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#scale(float, org.joml.Matrix4x3f)
*/
public Matrix4x3f scale(float xyz, Matrix4x3f dest) {
return scale(xyz, xyz, xyz, dest);
}
/**
* Apply scaling to this matrix by uniformly scaling all base axes by the given <code>xyz</code> factor.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the scaling matrix,
* then the new matrix will be <code>M * S</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * S * v</code>, the
* scaling will be applied first!
* <p>
* Individual scaling of all three axes can be applied using {@link #scale(float, float, float)}.
*
* @see #scale(float, float, float)
*
* @param xyz
* the factor for all components
* @return this
*/
public Matrix4x3f scale(float xyz) {
return scale(xyz, xyz, xyz);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#scale(float, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f scale(float x, float y, float z, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.scaling(x, y, z);
return scaleGeneric(x, y, z, dest);
}
private Matrix4x3f scaleGeneric(float x, float y, float z, Matrix4x3f dest) {
dest.m00 = m00 * x;
dest.m01 = m01 * x;
dest.m02 = m02 * x;
dest.m10 = m10 * y;
dest.m11 = m11 * y;
dest.m12 = m12 * y;
dest.m20 = m20 * z;
dest.m21 = m21 * z;
dest.m22 = m22 * z;
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply scaling to this matrix by scaling the base axes by the given x,
* y and z factors.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the scaling matrix,
* then the new matrix will be <code>M * S</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * S * v</code>, the
* scaling will be applied first!
*
* @param x
* the factor of the x component
* @param y
* the factor of the y component
* @param z
* the factor of the z component
* @return this
*/
public Matrix4x3f scale(float x, float y, float z) {
return scale(x, y, z, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#scaleLocal(float, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f scaleLocal(float x, float y, float z, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.scaling(x, y, z);
float nm00 = x * m00;
float nm01 = y * m01;
float nm02 = z * m02;
float nm10 = x * m10;
float nm11 = y * m11;
float nm12 = z * m12;
float nm20 = x * m20;
float nm21 = y * m21;
float nm22 = z * m22;
float nm30 = x * m30;
float nm31 = y * m31;
float nm32 = z * m32;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.m30 = nm30;
dest.m31 = nm31;
dest.m32 = nm32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Pre-multiply scaling to this matrix by scaling the base axes by the given x,
* y and z factors.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the scaling matrix,
* then the new matrix will be <code>S * M</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>S * M * v</code>, the
* scaling will be applied last!
*
* @param x
* the factor of the x component
* @param y
* the factor of the y component
* @param z
* the factor of the z component
* @return this
*/
public Matrix4x3f scaleLocal(float x, float y, float z) {
return scaleLocal(x, y, z, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#rotateX(float, org.joml.Matrix4x3f)
*/
public Matrix4x3f rotateX(float ang, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.rotationX(ang);
float sin, cos;
if (ang == (float) Math.PI || ang == -(float) Math.PI) {
cos = -1.0f;
sin = 0.0f;
} else if (ang == (float) Math.PI * 0.5f || ang == -(float) Math.PI * 1.5f) {
cos = 0.0f;
sin = 1.0f;
} else if (ang == (float) -Math.PI * 0.5f || ang == (float) Math.PI * 1.5f) {
cos = 0.0f;
sin = -1.0f;
} else {
sin = (float) Math.sin(ang);
cos = (float) Math.cosFromSin(sin, ang);
}
float rm11 = cos;
float rm12 = sin;
float rm21 = -sin;
float rm22 = cos;
// add temporaries for dependent values
float nm10 = m10 * rm11 + m20 * rm12;
float nm11 = m11 * rm11 + m21 * rm12;
float nm12 = m12 * rm11 + m22 * rm12;
// set non-dependent values directly
dest.m20 = m10 * rm21 + m20 * rm22;
dest.m21 = m11 * rm21 + m21 * rm22;
dest.m22 = m12 * rm21 + m22 * rm22;
// set other values
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m00 = m00;
dest.m01 = m01;
dest.m02 = m02;
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply rotation about the X axis to this matrix by rotating the given amount of radians.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
*
* @param ang
* the angle in radians
* @return this
*/
public Matrix4x3f rotateX(float ang) {
return rotateX(ang, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#rotateY(float, org.joml.Matrix4x3f)
*/
public Matrix4x3f rotateY(float ang, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.rotationY(ang);
float cos, sin;
if (ang == (float) Math.PI || ang == -(float) Math.PI) {
cos = -1.0f;
sin = 0.0f;
} else if (ang == (float) Math.PI * 0.5f || ang == -(float) Math.PI * 1.5f) {
cos = 0.0f;
sin = 1.0f;
} else if (ang == (float) -Math.PI * 0.5f || ang == (float) Math.PI * 1.5f) {
cos = 0.0f;
sin = -1.0f;
} else {
sin = (float) Math.sin(ang);
cos = (float) Math.cosFromSin(sin, ang);
}
float rm00 = cos;
float rm02 = -sin;
float rm20 = sin;
float rm22 = cos;
// add temporaries for dependent values
float nm00 = m00 * rm00 + m20 * rm02;
float nm01 = m01 * rm00 + m21 * rm02;
float nm02 = m02 * rm00 + m22 * rm02;
// set non-dependent values directly
dest.m20 = m00 * rm20 + m20 * rm22;
dest.m21 = m01 * rm20 + m21 * rm22;
dest.m22 = m02 * rm20 + m22 * rm22;
// set other values
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = m10;
dest.m11 = m11;
dest.m12 = m12;
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply rotation about the Y axis to this matrix by rotating the given amount of radians.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
*
* @param ang
* the angle in radians
* @return this
*/
public Matrix4x3f rotateY(float ang) {
return rotateY(ang, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#rotateZ(float, org.joml.Matrix4x3f)
*/
public Matrix4x3f rotateZ(float ang, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.rotationZ(ang);
float sin, cos;
if (ang == (float) Math.PI || ang == -(float) Math.PI) {
cos = -1.0f;
sin = 0.0f;
} else if (ang == (float) Math.PI * 0.5f || ang == -(float) Math.PI * 1.5f) {
cos = 0.0f;
sin = 1.0f;
} else if (ang == (float) -Math.PI * 0.5f || ang == (float) Math.PI * 1.5f) {
cos = 0.0f;
sin = -1.0f;
} else {
sin = (float) Math.sin(ang);
cos = (float) Math.cosFromSin(sin, ang);
}
float rm00 = cos;
float rm01 = sin;
float rm10 = -sin;
float rm11 = cos;
// add temporaries for dependent values
float nm00 = m00 * rm00 + m10 * rm01;
float nm01 = m01 * rm00 + m11 * rm01;
float nm02 = m02 * rm00 + m12 * rm01;
// set non-dependent values directly
dest.m10 = m00 * rm10 + m10 * rm11;
dest.m11 = m01 * rm10 + m11 * rm11;
dest.m12 = m02 * rm10 + m12 * rm11;
// set other values
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m20 = m20;
dest.m21 = m21;
dest.m22 = m22;
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply rotation about the Z axis to this matrix by rotating the given amount of radians.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
*
* @param ang
* the angle in radians
* @return this
*/
public Matrix4x3f rotateZ(float ang) {
return rotateZ(ang, this);
}
/**
* Apply rotation of <code>angles.x</code> radians about the X axis, followed by a rotation of <code>angles.y</code> radians about the Y axis and
* followed by a rotation of <code>angles.z</code> radians about the Z axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* This method is equivalent to calling: <tt>rotateX(angles.x).rotateY(angles.y).rotateZ(angles.z)</tt>
*
* @param angles
* the Euler angles
* @return this
*/
public Matrix4x3f rotateXYZ(Vector3f angles) {
return rotateXYZ(angles.x, angles.y, angles.z);
}
/**
* Apply rotation of <code>angleX</code> radians about the X axis, followed by a rotation of <code>angleY</code> radians about the Y axis and
* followed by a rotation of <code>angleZ</code> radians about the Z axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* This method is equivalent to calling: <tt>rotateX(angleX).rotateY(angleY).rotateZ(angleZ)</tt>
*
* @param angleX
* the angle to rotate about X
* @param angleY
* the angle to rotate about Y
* @param angleZ
* the angle to rotate about Z
* @return this
*/
public Matrix4x3f rotateXYZ(float angleX, float angleY, float angleZ) {
return rotateXYZ(angleX, angleY, angleZ, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#rotateXYZ(float, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f rotateXYZ(float angleX, float angleY, float angleZ, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.rotationXYZ(angleX, angleY, angleZ);
float sinX = (float) Math.sin(angleX);
float cosX = (float) Math.cosFromSin(sinX, angleX);
float sinY = (float) Math.sin(angleY);
float cosY = (float) Math.cosFromSin(sinY, angleY);
float sinZ = (float) Math.sin(angleZ);
float cosZ = (float) Math.cosFromSin(sinZ, angleZ);
float m_sinX = -sinX;
float m_sinY = -sinY;
float m_sinZ = -sinZ;
// rotateX
float nm10 = m10 * cosX + m20 * sinX;
float nm11 = m11 * cosX + m21 * sinX;
float nm12 = m12 * cosX + m22 * sinX;
float nm20 = m10 * m_sinX + m20 * cosX;
float nm21 = m11 * m_sinX + m21 * cosX;
float nm22 = m12 * m_sinX + m22 * cosX;
// rotateY
float nm00 = m00 * cosY + nm20 * m_sinY;
float nm01 = m01 * cosY + nm21 * m_sinY;
float nm02 = m02 * cosY + nm22 * m_sinY;
dest.m20 = m00 * sinY + nm20 * cosY;
dest.m21 = m01 * sinY + nm21 * cosY;
dest.m22 = m02 * sinY + nm22 * cosY;
// rotateZ
dest.m00 = nm00 * cosZ + nm10 * sinZ;
dest.m01 = nm01 * cosZ + nm11 * sinZ;
dest.m02 = nm02 * cosZ + nm12 * sinZ;
dest.m10 = nm00 * m_sinZ + nm10 * cosZ;
dest.m11 = nm01 * m_sinZ + nm11 * cosZ;
dest.m12 = nm02 * m_sinZ + nm12 * cosZ;
// copy last column from 'this'
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply rotation of <code>angles.z</code> radians about the Z axis, followed by a rotation of <code>angles.y</code> radians about the Y axis and
* followed by a rotation of <code>angles.x</code> radians about the X axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* This method is equivalent to calling: <tt>rotateZ(angles.z).rotateY(angles.y).rotateX(angles.x)</tt>
*
* @param angles
* the Euler angles
* @return this
*/
public Matrix4x3f rotateZYX(Vector3f angles) {
return rotateZYX(angles.z, angles.y, angles.x);
}
/**
* Apply rotation of <code>angleZ</code> radians about the Z axis, followed by a rotation of <code>angleY</code> radians about the Y axis and
* followed by a rotation of <code>angleX</code> radians about the X axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* This method is equivalent to calling: <tt>rotateZ(angleZ).rotateY(angleY).rotateX(angleX)</tt>
*
* @param angleZ
* the angle to rotate about Z
* @param angleY
* the angle to rotate about Y
* @param angleX
* the angle to rotate about X
* @return this
*/
public Matrix4x3f rotateZYX(float angleZ, float angleY, float angleX) {
return rotateZYX(angleZ, angleY, angleX, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#rotateZYX(float, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f rotateZYX(float angleZ, float angleY, float angleX, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.rotationZYX(angleZ, angleY, angleX);
float sinX = (float) Math.sin(angleX);
float cosX = (float) Math.cosFromSin(sinX, angleX);
float sinY = (float) Math.sin(angleY);
float cosY = (float) Math.cosFromSin(sinY, angleY);
float sinZ = (float) Math.sin(angleZ);
float cosZ = (float) Math.cosFromSin(sinZ, angleZ);
float m_sinZ = -sinZ;
float m_sinY = -sinY;
float m_sinX = -sinX;
// rotateZ
float nm00 = m00 * cosZ + m10 * sinZ;
float nm01 = m01 * cosZ + m11 * sinZ;
float nm02 = m02 * cosZ + m12 * sinZ;
float nm10 = m00 * m_sinZ + m10 * cosZ;
float nm11 = m01 * m_sinZ + m11 * cosZ;
float nm12 = m02 * m_sinZ + m12 * cosZ;
// rotateY
float nm20 = nm00 * sinY + m20 * cosY;
float nm21 = nm01 * sinY + m21 * cosY;
float nm22 = nm02 * sinY + m22 * cosY;
dest.m00 = nm00 * cosY + m20 * m_sinY;
dest.m01 = nm01 * cosY + m21 * m_sinY;
dest.m02 = nm02 * cosY + m22 * m_sinY;
// rotateX
dest.m10 = nm10 * cosX + nm20 * sinX;
dest.m11 = nm11 * cosX + nm21 * sinX;
dest.m12 = nm12 * cosX + nm22 * sinX;
dest.m20 = nm10 * m_sinX + nm20 * cosX;
dest.m21 = nm11 * m_sinX + nm21 * cosX;
dest.m22 = nm12 * m_sinX + nm22 * cosX;
// copy last column from 'this'
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply rotation of <code>angles.y</code> radians about the Y axis, followed by a rotation of <code>angles.x</code> radians about the X axis and
* followed by a rotation of <code>angles.z</code> radians about the Z axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* This method is equivalent to calling: <tt>rotateY(angles.y).rotateX(angles.x).rotateZ(angles.z)</tt>
*
* @param angles
* the Euler angles
* @return this
*/
public Matrix4x3f rotateYXZ(Vector3f angles) {
return rotateYXZ(angles.y, angles.x, angles.z);
}
/**
* Apply rotation of <code>angleY</code> radians about the Y axis, followed by a rotation of <code>angleX</code> radians about the X axis and
* followed by a rotation of <code>angleZ</code> radians about the Z axis.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* This method is equivalent to calling: <tt>rotateY(angleY).rotateX(angleX).rotateZ(angleZ)</tt>
*
* @param angleY
* the angle to rotate about Y
* @param angleX
* the angle to rotate about X
* @param angleZ
* the angle to rotate about Z
* @return this
*/
public Matrix4x3f rotateYXZ(float angleY, float angleX, float angleZ) {
return rotateYXZ(angleY, angleX, angleZ, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#rotateYXZ(float, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f rotateYXZ(float angleY, float angleX, float angleZ, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.rotationYXZ(angleY, angleX, angleZ);
float sinX = (float) Math.sin(angleX);
float cosX = (float) Math.cosFromSin(sinX, angleX);
float sinY = (float) Math.sin(angleY);
float cosY = (float) Math.cosFromSin(sinY, angleY);
float sinZ = (float) Math.sin(angleZ);
float cosZ = (float) Math.cosFromSin(sinZ, angleZ);
float m_sinY = -sinY;
float m_sinX = -sinX;
float m_sinZ = -sinZ;
// rotateY
float nm20 = m00 * sinY + m20 * cosY;
float nm21 = m01 * sinY + m21 * cosY;
float nm22 = m02 * sinY + m22 * cosY;
float nm00 = m00 * cosY + m20 * m_sinY;
float nm01 = m01 * cosY + m21 * m_sinY;
float nm02 = m02 * cosY + m22 * m_sinY;
// rotateX
float nm10 = m10 * cosX + nm20 * sinX;
float nm11 = m11 * cosX + nm21 * sinX;
float nm12 = m12 * cosX + nm22 * sinX;
dest.m20 = m10 * m_sinX + nm20 * cosX;
dest.m21 = m11 * m_sinX + nm21 * cosX;
dest.m22 = m12 * m_sinX + nm22 * cosX;
// rotateZ
dest.m00 = nm00 * cosZ + nm10 * sinZ;
dest.m01 = nm01 * cosZ + nm11 * sinZ;
dest.m02 = nm02 * cosZ + nm12 * sinZ;
dest.m10 = nm00 * m_sinZ + nm10 * cosZ;
dest.m11 = nm01 * m_sinZ + nm11 * cosZ;
dest.m12 = nm02 * m_sinZ + nm12 * cosZ;
// copy last column from 'this'
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply rotation to this matrix by rotating the given amount of radians
* about the specified <tt>(x, y, z)</tt> axis and store the result in <code>dest</code>.
* <p>
* The axis described by the three components needs to be a unit vector.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* In order to set the matrix to a rotation matrix without post-multiplying the rotation
* transformation, use {@link #rotation(float, float, float, float) rotation()}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotation(float, float, float, float)
*
* @param ang
* the angle in radians
* @param x
* the x component of the axis
* @param y
* the y component of the axis
* @param z
* the z component of the axis
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f rotate(float ang, float x, float y, float z, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.rotation(ang, x, y, z);
else if ((properties & PROPERTY_TRANSLATION) != 0)
return rotateTranslation(ang, x, y, z, dest);
return rotateGeneric(ang, x, y, z, dest);
}
private Matrix4x3f rotateGeneric(float ang, float x, float y, float z, Matrix4x3f dest) {
float s = (float) Math.sin(ang);
float c = (float) Math.cosFromSin(s, ang);
float C = 1.0f - c;
float xx = x * x, xy = x * y, xz = x * z;
float yy = y * y, yz = y * z;
float zz = z * z;
float rm00 = xx * C + c;
float rm01 = xy * C + z * s;
float rm02 = xz * C - y * s;
float rm10 = xy * C - z * s;
float rm11 = yy * C + c;
float rm12 = yz * C + x * s;
float rm20 = xz * C + y * s;
float rm21 = yz * C - x * s;
float rm22 = zz * C + c;
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply rotation to this matrix by rotating the given amount of radians
* about the specified <tt>(x, y, z)</tt> axis.
* <p>
* The axis described by the three components needs to be a unit vector.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* In order to set the matrix to a rotation matrix without post-multiplying the rotation
* transformation, use {@link #rotation(float, float, float, float) rotation()}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotation(float, float, float, float)
*
* @param ang
* the angle in radians
* @param x
* the x component of the axis
* @param y
* the y component of the axis
* @param z
* the z component of the axis
* @return this
*/
public Matrix4x3f rotate(float ang, float x, float y, float z) {
return rotate(ang, x, y, z, this);
}
/**
* Apply rotation to this matrix, which is assumed to only contain a translation, by rotating the given amount of radians
* about the specified <tt>(x, y, z)</tt> axis and store the result in <code>dest</code>.
* <p>
* This method assumes <code>this</code> to only contain a translation.
* <p>
* The axis described by the three components needs to be a unit vector.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* rotation will be applied first!
* <p>
* In order to set the matrix to a rotation matrix without post-multiplying the rotation
* transformation, use {@link #rotation(float, float, float, float) rotation()}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotation(float, float, float, float)
*
* @param ang
* the angle in radians
* @param x
* the x component of the axis
* @param y
* the y component of the axis
* @param z
* the z component of the axis
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f rotateTranslation(float ang, float x, float y, float z, Matrix4x3f dest) {
float s = (float) Math.sin(ang);
float c = (float) Math.cosFromSin(s, ang);
float C = 1.0f - c;
float xx = x * x, xy = x * y, xz = x * z;
float yy = y * y, yz = y * z;
float zz = z * z;
float rm00 = xx * C + c;
float rm01 = xy * C + z * s;
float rm02 = xz * C - y * s;
float rm10 = xy * C - z * s;
float rm11 = yy * C + c;
float rm12 = yz * C + x * s;
float rm20 = xz * C + y * s;
float rm21 = yz * C - x * s;
float rm22 = zz * C + c;
float nm00 = rm00;
float nm01 = rm01;
float nm02 = rm02;
float nm10 = rm10;
float nm11 = rm11;
float nm12 = rm12;
// set non-dependent values directly
dest.m20 = rm20;
dest.m21 = rm21;
dest.m22 = rm22;
// set other values
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Pre-multiply a rotation to this matrix by rotating the given amount of radians
* about the specified <tt>(x, y, z)</tt> axis and store the result in <code>dest</code>.
* <p>
* The axis described by the three components needs to be a unit vector.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>R * M</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>R * M * v</code>, the
* rotation will be applied last!
* <p>
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation
* transformation, use {@link #rotation(float, float, float, float) rotation()}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotation(float, float, float, float)
*
* @param ang
* the angle in radians
* @param x
* the x component of the axis
* @param y
* the y component of the axis
* @param z
* the z component of the axis
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f rotateLocal(float ang, float x, float y, float z, Matrix4x3f dest) {
float s = (float) Math.sin(ang);
float c = (float) Math.cosFromSin(s, ang);
float C = 1.0f - c;
float xx = x * x, xy = x * y, xz = x * z;
float yy = y * y, yz = y * z;
float zz = z * z;
float lm00 = xx * C + c;
float lm01 = xy * C + z * s;
float lm02 = xz * C - y * s;
float lm10 = xy * C - z * s;
float lm11 = yy * C + c;
float lm12 = yz * C + x * s;
float lm20 = xz * C + y * s;
float lm21 = yz * C - x * s;
float lm22 = zz * C + c;
float nm00 = lm00 * m00 + lm10 * m01 + lm20 * m02;
float nm01 = lm01 * m00 + lm11 * m01 + lm21 * m02;
float nm02 = lm02 * m00 + lm12 * m01 + lm22 * m02;
float nm10 = lm00 * m10 + lm10 * m11 + lm20 * m12;
float nm11 = lm01 * m10 + lm11 * m11 + lm21 * m12;
float nm12 = lm02 * m10 + lm12 * m11 + lm22 * m12;
float nm20 = lm00 * m20 + lm10 * m21 + lm20 * m22;
float nm21 = lm01 * m20 + lm11 * m21 + lm21 * m22;
float nm22 = lm02 * m20 + lm12 * m21 + lm22 * m22;
float nm30 = lm00 * m30 + lm10 * m31 + lm20 * m32;
float nm31 = lm01 * m30 + lm11 * m31 + lm21 * m32;
float nm32 = lm02 * m30 + lm12 * m31 + lm22 * m32;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.m30 = nm30;
dest.m31 = nm31;
dest.m32 = nm32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Pre-multiply a rotation to this matrix by rotating the given amount of radians
* about the specified <tt>(x, y, z)</tt> axis.
* <p>
* The axis described by the three components needs to be a unit vector.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
* then the new matrix will be <code>R * M</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>R * M * v</code>, the
* rotation will be applied last!
* <p>
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation
* transformation, use {@link #rotation(float, float, float, float) rotation()}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotation(float, float, float, float)
*
* @param ang
* the angle in radians
* @param x
* the x component of the axis
* @param y
* the y component of the axis
* @param z
* the z component of the axis
* @return this
*/
public Matrix4x3f rotateLocal(float ang, float x, float y, float z) {
return rotateLocal(ang, x, y, z, this);
}
/**
* Apply a translation to this matrix by translating by the given number of
* units in x, y and z.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>T</code> the translation
* matrix, then the new matrix will be <code>M * T</code>. So when
* transforming a vector <code>v</code> with the new matrix by using
* <code>M * T * v</code>, the translation will be applied first!
* <p>
* In order to set the matrix to a translation transformation without post-multiplying
* it, use {@link #translation(Vector3fc)}.
*
* @see #translation(Vector3fc)
*
* @param offset
* the number of units in x, y and z by which to translate
* @return this
*/
public Matrix4x3f translate(Vector3fc offset) {
return translate(offset.x(), offset.y(), offset.z());
}
/**
* Apply a translation to this matrix by translating by the given number of
* units in x, y and z and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>T</code> the translation
* matrix, then the new matrix will be <code>M * T</code>. So when
* transforming a vector <code>v</code> with the new matrix by using
* <code>M * T * v</code>, the translation will be applied first!
* <p>
* In order to set the matrix to a translation transformation without post-multiplying
* it, use {@link #translation(Vector3fc)}.
*
* @see #translation(Vector3fc)
*
* @param offset
* the number of units in x, y and z by which to translate
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f translate(Vector3fc offset, Matrix4x3f dest) {
return translate(offset.x(), offset.y(), offset.z(), dest);
}
/**
* Apply a translation to this matrix by translating by the given number of
* units in x, y and z and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>T</code> the translation
* matrix, then the new matrix will be <code>M * T</code>. So when
* transforming a vector <code>v</code> with the new matrix by using
* <code>M * T * v</code>, the translation will be applied first!
* <p>
* In order to set the matrix to a translation transformation without post-multiplying
* it, use {@link #translation(float, float, float)}.
*
* @see #translation(float, float, float)
*
* @param x
* the offset to translate in x
* @param y
* the offset to translate in y
* @param z
* the offset to translate in z
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f translate(float x, float y, float z, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.translation(x, y, z);
return translateGeneric(x, y, z, dest);
}
private Matrix4x3f translateGeneric(float x, float y, float z, Matrix4x3f dest) {
MemUtil.INSTANCE.copy(this, dest);
dest.m30 = m00 * x + m10 * y + m20 * z + m30;
dest.m31 = m01 * x + m11 * y + m21 * z + m31;
dest.m32 = m02 * x + m12 * y + m22 * z + m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY));
return dest;
}
/**
* Apply a translation to this matrix by translating by the given number of
* units in x, y and z.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>T</code> the translation
* matrix, then the new matrix will be <code>M * T</code>. So when
* transforming a vector <code>v</code> with the new matrix by using
* <code>M * T * v</code>, the translation will be applied first!
* <p>
* In order to set the matrix to a translation transformation without post-multiplying
* it, use {@link #translation(float, float, float)}.
*
* @see #translation(float, float, float)
*
* @param x
* the offset to translate in x
* @param y
* the offset to translate in y
* @param z
* the offset to translate in z
* @return this
*/
public Matrix4x3f translate(float x, float y, float z) {
if ((properties & PROPERTY_IDENTITY) != 0)
return translation(x, y, z);
Matrix4x3f c = this;
c.m30 = c.m00 * x + c.m10 * y + c.m20 * z + c.m30;
c.m31 = c.m01 * x + c.m11 * y + c.m21 * z + c.m31;
c.m32 = c.m02 * x + c.m12 * y + c.m22 * z + c.m32;
c.properties &= ~(PROPERTY_IDENTITY);
return this;
}
/**
* Pre-multiply a translation to this matrix by translating by the given number of
* units in x, y and z.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>T</code> the translation
* matrix, then the new matrix will be <code>T * M</code>. So when
* transforming a vector <code>v</code> with the new matrix by using
* <code>T * M * v</code>, the translation will be applied last!
* <p>
* In order to set the matrix to a translation transformation without pre-multiplying
* it, use {@link #translation(Vector3fc)}.
*
* @see #translation(Vector3fc)
*
* @param offset
* the number of units in x, y and z by which to translate
* @return this
*/
public Matrix4x3f translateLocal(Vector3fc offset) {
return translateLocal(offset.x(), offset.y(), offset.z());
}
/**
* Pre-multiply a translation to this matrix by translating by the given number of
* units in x, y and z and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>T</code> the translation
* matrix, then the new matrix will be <code>T * M</code>. So when
* transforming a vector <code>v</code> with the new matrix by using
* <code>T * M * v</code>, the translation will be applied last!
* <p>
* In order to set the matrix to a translation transformation without pre-multiplying
* it, use {@link #translation(Vector3fc)}.
*
* @see #translation(Vector3fc)
*
* @param offset
* the number of units in x, y and z by which to translate
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f translateLocal(Vector3fc offset, Matrix4x3f dest) {
return translateLocal(offset.x(), offset.y(), offset.z(), dest);
}
/**
* Pre-multiply a translation to this matrix by translating by the given number of
* units in x, y and z and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>T</code> the translation
* matrix, then the new matrix will be <code>T * M</code>. So when
* transforming a vector <code>v</code> with the new matrix by using
* <code>T * M * v</code>, the translation will be applied last!
* <p>
* In order to set the matrix to a translation transformation without pre-multiplying
* it, use {@link #translation(float, float, float)}.
*
* @see #translation(float, float, float)
*
* @param x
* the offset to translate in x
* @param y
* the offset to translate in y
* @param z
* the offset to translate in z
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f translateLocal(float x, float y, float z, Matrix4x3f dest) {
dest.m00 = m00;
dest.m01 = m01;
dest.m02 = m02;
dest.m10 = m10;
dest.m11 = m11;
dest.m12 = m12;
dest.m20 = m20;
dest.m21 = m21;
dest.m22 = m22;
dest.m30 = m30 + x;
dest.m31 = m31 + y;
dest.m32 = m32 + z;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY));
return dest;
}
/**
* Pre-multiply a translation to this matrix by translating by the given number of
* units in x, y and z.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>T</code> the translation
* matrix, then the new matrix will be <code>T * M</code>. So when
* transforming a vector <code>v</code> with the new matrix by using
* <code>T * M * v</code>, the translation will be applied last!
* <p>
* In order to set the matrix to a translation transformation without pre-multiplying
* it, use {@link #translation(float, float, float)}.
*
* @see #translation(float, float, float)
*
* @param x
* the offset to translate in x
* @param y
* the offset to translate in y
* @param z
* the offset to translate in z
* @return this
*/
public Matrix4x3f translateLocal(float x, float y, float z) {
return translateLocal(x, y, z, this);
}
public void writeExternal(ObjectOutput out) throws IOException {
out.writeFloat(m00);
out.writeFloat(m01);
out.writeFloat(m02);
out.writeFloat(m10);
out.writeFloat(m11);
out.writeFloat(m12);
out.writeFloat(m20);
out.writeFloat(m21);
out.writeFloat(m22);
out.writeFloat(m30);
out.writeFloat(m31);
out.writeFloat(m32);
}
public void readExternal(ObjectInput in) throws IOException,
ClassNotFoundException {
m00 = in.readFloat();
m01 = in.readFloat();
m02 = in.readFloat();
m10 = in.readFloat();
m11 = in.readFloat();
m12 = in.readFloat();
m20 = in.readFloat();
m21 = in.readFloat();
m22 = in.readFloat();
m30 = in.readFloat();
m31 = in.readFloat();
m32 = in.readFloat();
properties = 0;
}
/**
* Apply an orthographic projection transformation for a right-handed coordinate system
* using the given NDC z range to this matrix and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrtho(float, float, float, float, float, float, boolean) setOrtho()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrtho(float, float, float, float, float, float, boolean)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f ortho(float left, float right, float bottom, float top, float zNear, float zFar, boolean zZeroToOne, Matrix4x3f dest) {
// calculate right matrix elements
float rm00 = 2.0f / (right - left);
float rm11 = 2.0f / (top - bottom);
float rm22 = (zZeroToOne ? 1.0f : 2.0f) / (zNear - zFar);
float rm30 = (left + right) / (left - right);
float rm31 = (top + bottom) / (bottom - top);
float rm32 = (zZeroToOne ? zNear : (zFar + zNear)) / (zNear - zFar);
// perform optimized multiplication
// compute the last column first, because other columns do not depend on it
dest.m30 = m00 * rm30 + m10 * rm31 + m20 * rm32 + m30;
dest.m31 = m01 * rm30 + m11 * rm31 + m21 * rm32 + m31;
dest.m32 = m02 * rm30 + m12 * rm31 + m22 * rm32 + m32;
dest.m00 = m00 * rm00;
dest.m01 = m01 * rm00;
dest.m02 = m02 * rm00;
dest.m10 = m10 * rm11;
dest.m11 = m11 * rm11;
dest.m12 = m12 * rm11;
dest.m20 = m20 * rm22;
dest.m21 = m21 * rm22;
dest.m22 = m22 * rm22;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply an orthographic projection transformation for a right-handed coordinate system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt> to this matrix and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrtho(float, float, float, float, float, float) setOrtho()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrtho(float, float, float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f ortho(float left, float right, float bottom, float top, float zNear, float zFar, Matrix4x3f dest) {
return ortho(left, right, bottom, top, zNear, zFar, false, dest);
}
/**
* Apply an orthographic projection transformation for a right-handed coordinate system using the given NDC z range to this matrix.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrtho(float, float, float, float, float, float, boolean) setOrtho()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrtho(float, float, float, float, float, float, boolean)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @return this
*/
public Matrix4x3f ortho(float left, float right, float bottom, float top, float zNear, float zFar, boolean zZeroToOne) {
return ortho(left, right, bottom, top, zNear, zFar, zZeroToOne, this);
}
/**
* Apply an orthographic projection transformation for a right-handed coordinate system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt> to this matrix.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrtho(float, float, float, float, float, float) setOrtho()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrtho(float, float, float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @return this
*/
public Matrix4x3f ortho(float left, float right, float bottom, float top, float zNear, float zFar) {
return ortho(left, right, bottom, top, zNear, zFar, false);
}
/**
* Apply an orthographic projection transformation for a left-handed coordiante system
* using the given NDC z range to this matrix and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrthoLH(float, float, float, float, float, float, boolean) setOrthoLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoLH(float, float, float, float, float, float, boolean)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f orthoLH(float left, float right, float bottom, float top, float zNear, float zFar, boolean zZeroToOne, Matrix4x3f dest) {
// calculate right matrix elements
float rm00 = 2.0f / (right - left);
float rm11 = 2.0f / (top - bottom);
float rm22 = (zZeroToOne ? 1.0f : 2.0f) / (zFar - zNear);
float rm30 = (left + right) / (left - right);
float rm31 = (top + bottom) / (bottom - top);
float rm32 = (zZeroToOne ? zNear : (zFar + zNear)) / (zNear - zFar);
// perform optimized multiplication
// compute the last column first, because other columns do not depend on it
dest.m30 = m00 * rm30 + m10 * rm31 + m20 * rm32 + m30;
dest.m31 = m01 * rm30 + m11 * rm31 + m21 * rm32 + m31;
dest.m32 = m02 * rm30 + m12 * rm31 + m22 * rm32 + m32;
dest.m00 = m00 * rm00;
dest.m01 = m01 * rm00;
dest.m02 = m02 * rm00;
dest.m10 = m10 * rm11;
dest.m11 = m11 * rm11;
dest.m12 = m12 * rm11;
dest.m20 = m20 * rm22;
dest.m21 = m21 * rm22;
dest.m22 = m22 * rm22;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply an orthographic projection transformation for a left-handed coordiante system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt> to this matrix and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrthoLH(float, float, float, float, float, float) setOrthoLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoLH(float, float, float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f orthoLH(float left, float right, float bottom, float top, float zNear, float zFar, Matrix4x3f dest) {
return orthoLH(left, right, bottom, top, zNear, zFar, false, dest);
}
/**
* Apply an orthographic projection transformation for a left-handed coordiante system
* using the given NDC z range to this matrix.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrthoLH(float, float, float, float, float, float, boolean) setOrthoLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoLH(float, float, float, float, float, float, boolean)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @return this
*/
public Matrix4x3f orthoLH(float left, float right, float bottom, float top, float zNear, float zFar, boolean zZeroToOne) {
return orthoLH(left, right, bottom, top, zNear, zFar, zZeroToOne, this);
}
/**
* Apply an orthographic projection transformation for a left-handed coordiante system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt> to this matrix.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrthoLH(float, float, float, float, float, float) setOrthoLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoLH(float, float, float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @return this
*/
public Matrix4x3f orthoLH(float left, float right, float bottom, float top, float zNear, float zFar) {
return orthoLH(left, right, bottom, top, zNear, zFar, false);
}
/**
* Set this matrix to be an orthographic projection transformation for a right-handed coordinate system
* using the given NDC z range.
* <p>
* In order to apply the orthographic projection to an already existing transformation,
* use {@link #ortho(float, float, float, float, float, float, boolean) ortho()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #ortho(float, float, float, float, float, float, boolean)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @return this
*/
public Matrix4x3f setOrtho(float left, float right, float bottom, float top, float zNear, float zFar, boolean zZeroToOne) {
MemUtil.INSTANCE.identity(this);
m00 = 2.0f / (right - left);
m11 = 2.0f / (top - bottom);
m22 = (zZeroToOne ? 1.0f : 2.0f) / (zNear - zFar);
m30 = (right + left) / (left - right);
m31 = (top + bottom) / (bottom - top);
m32 = (zZeroToOne ? zNear : (zFar + zNear)) / (zNear - zFar);
properties = 0;
return this;
}
/**
* Set this matrix to be an orthographic projection transformation for a right-handed coordinate system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt>.
* <p>
* In order to apply the orthographic projection to an already existing transformation,
* use {@link #ortho(float, float, float, float, float, float) ortho()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #ortho(float, float, float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @return this
*/
public Matrix4x3f setOrtho(float left, float right, float bottom, float top, float zNear, float zFar) {
return setOrtho(left, right, bottom, top, zNear, zFar, false);
}
/**
* Set this matrix to be an orthographic projection transformation for a left-handed coordinate system
* using the given NDC z range.
* <p>
* In order to apply the orthographic projection to an already existing transformation,
* use {@link #orthoLH(float, float, float, float, float, float, boolean) orthoLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #orthoLH(float, float, float, float, float, float, boolean)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @return this
*/
public Matrix4x3f setOrthoLH(float left, float right, float bottom, float top, float zNear, float zFar, boolean zZeroToOne) {
MemUtil.INSTANCE.identity(this);
m00 = 2.0f / (right - left);
m11 = 2.0f / (top - bottom);
m22 = (zZeroToOne ? 1.0f : 2.0f) / (zFar - zNear);
m30 = (right + left) / (left - right);
m31 = (top + bottom) / (bottom - top);
m32 = (zZeroToOne ? zNear : (zFar + zNear)) / (zNear - zFar);
properties = 0;
return this;
}
/**
* Set this matrix to be an orthographic projection transformation for a left-handed coordinate system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt>.
* <p>
* In order to apply the orthographic projection to an already existing transformation,
* use {@link #orthoLH(float, float, float, float, float, float) orthoLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #orthoLH(float, float, float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @return this
*/
public Matrix4x3f setOrthoLH(float left, float right, float bottom, float top, float zNear, float zFar) {
return setOrthoLH(left, right, bottom, top, zNear, zFar, false);
}
/**
* Apply a symmetric orthographic projection transformation for a right-handed coordinate system
* using the given NDC z range to this matrix and store the result in <code>dest</code>.
* <p>
* This method is equivalent to calling {@link #ortho(float, float, float, float, float, float, boolean, Matrix4x3f) ortho()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to a symmetric orthographic projection without post-multiplying it,
* use {@link #setOrthoSymmetric(float, float, float, float, boolean) setOrthoSymmetric()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoSymmetric(float, float, float, float, boolean)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @return dest
*/
public Matrix4x3f orthoSymmetric(float width, float height, float zNear, float zFar, boolean zZeroToOne, Matrix4x3f dest) {
// calculate right matrix elements
float rm00 = 2.0f / width;
float rm11 = 2.0f / height;
float rm22 = (zZeroToOne ? 1.0f : 2.0f) / (zNear - zFar);
float rm32 = (zZeroToOne ? zNear : (zFar + zNear)) / (zNear - zFar);
// perform optimized multiplication
// compute the last column first, because other columns do not depend on it
dest.m30 = m20 * rm32 + m30;
dest.m31 = m21 * rm32 + m31;
dest.m32 = m22 * rm32 + m32;
dest.m00 = m00 * rm00;
dest.m01 = m01 * rm00;
dest.m02 = m02 * rm00;
dest.m10 = m10 * rm11;
dest.m11 = m11 * rm11;
dest.m12 = m12 * rm11;
dest.m20 = m20 * rm22;
dest.m21 = m21 * rm22;
dest.m22 = m22 * rm22;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply a symmetric orthographic projection transformation for a right-handed coordinate system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt> to this matrix and store the result in <code>dest</code>.
* <p>
* This method is equivalent to calling {@link #ortho(float, float, float, float, float, float, Matrix4x3f) ortho()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to a symmetric orthographic projection without post-multiplying it,
* use {@link #setOrthoSymmetric(float, float, float, float) setOrthoSymmetric()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoSymmetric(float, float, float, float)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f orthoSymmetric(float width, float height, float zNear, float zFar, Matrix4x3f dest) {
return orthoSymmetric(width, height, zNear, zFar, false, dest);
}
/**
* Apply a symmetric orthographic projection transformation for a right-handed coordinate system
* using the given NDC z range to this matrix.
* <p>
* This method is equivalent to calling {@link #ortho(float, float, float, float, float, float, boolean) ortho()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to a symmetric orthographic projection without post-multiplying it,
* use {@link #setOrthoSymmetric(float, float, float, float, boolean) setOrthoSymmetric()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoSymmetric(float, float, float, float, boolean)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @return this
*/
public Matrix4x3f orthoSymmetric(float width, float height, float zNear, float zFar, boolean zZeroToOne) {
return orthoSymmetric(width, height, zNear, zFar, zZeroToOne, this);
}
/**
* Apply a symmetric orthographic projection transformation for a right-handed coordinate system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt> to this matrix.
* <p>
* This method is equivalent to calling {@link #ortho(float, float, float, float, float, float) ortho()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to a symmetric orthographic projection without post-multiplying it,
* use {@link #setOrthoSymmetric(float, float, float, float) setOrthoSymmetric()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoSymmetric(float, float, float, float)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @return this
*/
public Matrix4x3f orthoSymmetric(float width, float height, float zNear, float zFar) {
return orthoSymmetric(width, height, zNear, zFar, false, this);
}
/**
* Apply a symmetric orthographic projection transformation for a left-handed coordinate system
* using the given NDC z range to this matrix and store the result in <code>dest</code>.
* <p>
* This method is equivalent to calling {@link #orthoLH(float, float, float, float, float, float, boolean, Matrix4x3f) orthoLH()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to a symmetric orthographic projection without post-multiplying it,
* use {@link #setOrthoSymmetricLH(float, float, float, float, boolean) setOrthoSymmetricLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoSymmetricLH(float, float, float, float, boolean)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @return dest
*/
public Matrix4x3f orthoSymmetricLH(float width, float height, float zNear, float zFar, boolean zZeroToOne, Matrix4x3f dest) {
// calculate right matrix elements
float rm00 = 2.0f / width;
float rm11 = 2.0f / height;
float rm22 = (zZeroToOne ? 1.0f : 2.0f) / (zFar - zNear);
float rm32 = (zZeroToOne ? zNear : (zFar + zNear)) / (zNear - zFar);
// perform optimized multiplication
// compute the last column first, because other columns do not depend on it
dest.m30 = m20 * rm32 + m30;
dest.m31 = m21 * rm32 + m31;
dest.m32 = m22 * rm32 + m32;
dest.m00 = m00 * rm00;
dest.m01 = m01 * rm00;
dest.m02 = m02 * rm00;
dest.m10 = m10 * rm11;
dest.m11 = m11 * rm11;
dest.m12 = m12 * rm11;
dest.m20 = m20 * rm22;
dest.m21 = m21 * rm22;
dest.m22 = m22 * rm22;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply a symmetric orthographic projection transformation for a left-handed coordinate system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt> to this matrix and store the result in <code>dest</code>.
* <p>
* This method is equivalent to calling {@link #orthoLH(float, float, float, float, float, float, Matrix4x3f) orthoLH()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to a symmetric orthographic projection without post-multiplying it,
* use {@link #setOrthoSymmetricLH(float, float, float, float) setOrthoSymmetricLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoSymmetricLH(float, float, float, float)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f orthoSymmetricLH(float width, float height, float zNear, float zFar, Matrix4x3f dest) {
return orthoSymmetricLH(width, height, zNear, zFar, false, dest);
}
/**
* Apply a symmetric orthographic projection transformation for a left-handed coordinate system
* using the given NDC z range to this matrix.
* <p>
* This method is equivalent to calling {@link #orthoLH(float, float, float, float, float, float, boolean) orthoLH()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to a symmetric orthographic projection without post-multiplying it,
* use {@link #setOrthoSymmetricLH(float, float, float, float, boolean) setOrthoSymmetricLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoSymmetricLH(float, float, float, float, boolean)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @return this
*/
public Matrix4x3f orthoSymmetricLH(float width, float height, float zNear, float zFar, boolean zZeroToOne) {
return orthoSymmetricLH(width, height, zNear, zFar, zZeroToOne, this);
}
/**
* Apply a symmetric orthographic projection transformation for a left-handed coordinate system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt> to this matrix.
* <p>
* This method is equivalent to calling {@link #orthoLH(float, float, float, float, float, float) orthoLH()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to a symmetric orthographic projection without post-multiplying it,
* use {@link #setOrthoSymmetricLH(float, float, float, float) setOrthoSymmetricLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoSymmetricLH(float, float, float, float)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @return this
*/
public Matrix4x3f orthoSymmetricLH(float width, float height, float zNear, float zFar) {
return orthoSymmetricLH(width, height, zNear, zFar, false, this);
}
/**
* Set this matrix to be a symmetric orthographic projection transformation for a right-handed coordinate system using the given NDC z range.
* <p>
* This method is equivalent to calling {@link #setOrtho(float, float, float, float, float, float, boolean) setOrtho()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* In order to apply the symmetric orthographic projection to an already existing transformation,
* use {@link #orthoSymmetric(float, float, float, float, boolean) orthoSymmetric()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #orthoSymmetric(float, float, float, float, boolean)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @return this
*/
public Matrix4x3f setOrthoSymmetric(float width, float height, float zNear, float zFar, boolean zZeroToOne) {
MemUtil.INSTANCE.identity(this);
m00 = 2.0f / width;
m11 = 2.0f / height;
m22 = (zZeroToOne ? 1.0f : 2.0f) / (zNear - zFar);
m32 = (zZeroToOne ? zNear : (zFar + zNear)) / (zNear - zFar);
properties = 0;
return this;
}
/**
* Set this matrix to be a symmetric orthographic projection transformation for a right-handed coordinate system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt>.
* <p>
* This method is equivalent to calling {@link #setOrtho(float, float, float, float, float, float) setOrtho()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* In order to apply the symmetric orthographic projection to an already existing transformation,
* use {@link #orthoSymmetric(float, float, float, float) orthoSymmetric()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #orthoSymmetric(float, float, float, float)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @return this
*/
public Matrix4x3f setOrthoSymmetric(float width, float height, float zNear, float zFar) {
return setOrthoSymmetric(width, height, zNear, zFar, false);
}
/**
* Set this matrix to be a symmetric orthographic projection transformation for a left-handed coordinate system using the given NDC z range.
* <p>
* This method is equivalent to calling {@link #setOrtho(float, float, float, float, float, float, boolean) setOrtho()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* In order to apply the symmetric orthographic projection to an already existing transformation,
* use {@link #orthoSymmetricLH(float, float, float, float, boolean) orthoSymmetricLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #orthoSymmetricLH(float, float, float, float, boolean)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of <tt>[0..+1]</tt> when <code>true</code>
* or whether to use OpenGL's NDC z range of <tt>[-1..+1]</tt> when <code>false</code>
* @return this
*/
public Matrix4x3f setOrthoSymmetricLH(float width, float height, float zNear, float zFar, boolean zZeroToOne) {
MemUtil.INSTANCE.identity(this);
m00 = 2.0f / width;
m11 = 2.0f / height;
m22 = (zZeroToOne ? 1.0f : 2.0f) / (zFar - zNear);
m32 = (zZeroToOne ? zNear : (zFar + zNear)) / (zNear - zFar);
properties = 0;
return this;
}
/**
* Set this matrix to be a symmetric orthographic projection transformation for a left-handed coordinate system
* using OpenGL's NDC z range of <tt>[-1..+1]</tt>.
* <p>
* This method is equivalent to calling {@link #setOrthoLH(float, float, float, float, float, float) setOrthoLH()} with
* <code>left=-width/2</code>, <code>right=+width/2</code>, <code>bottom=-height/2</code> and <code>top=+height/2</code>.
* <p>
* In order to apply the symmetric orthographic projection to an already existing transformation,
* use {@link #orthoSymmetricLH(float, float, float, float) orthoSymmetricLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #orthoSymmetricLH(float, float, float, float)
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @return this
*/
public Matrix4x3f setOrthoSymmetricLH(float width, float height, float zNear, float zFar) {
return setOrthoSymmetricLH(width, height, zNear, zFar, false);
}
/**
* Apply an orthographic projection transformation for a right-handed coordinate system to this matrix
* and store the result in <code>dest</code>.
* <p>
* This method is equivalent to calling {@link #ortho(float, float, float, float, float, float, Matrix4x3f) ortho()} with
* <code>zNear=-1</code> and <code>zFar=+1</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrtho2D(float, float, float, float) setOrtho()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #ortho(float, float, float, float, float, float, Matrix4x3f)
* @see #setOrtho2D(float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f ortho2D(float left, float right, float bottom, float top, Matrix4x3f dest) {
// calculate right matrix elements
float rm00 = 2.0f / (right - left);
float rm11 = 2.0f / (top - bottom);
float rm30 = -(right + left) / (right - left);
float rm31 = -(top + bottom) / (top - bottom);
// perform optimized multiplication
// compute the last column first, because other columns do not depend on it
dest.m30 = m00 * rm30 + m10 * rm31 + m30;
dest.m31 = m01 * rm30 + m11 * rm31 + m31;
dest.m32 = m02 * rm30 + m12 * rm31 + m32;
dest.m00 = m00 * rm00;
dest.m01 = m01 * rm00;
dest.m02 = m02 * rm00;
dest.m10 = m10 * rm11;
dest.m11 = m11 * rm11;
dest.m12 = m12 * rm11;
dest.m20 = -m20;
dest.m21 = -m21;
dest.m22 = -m22;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply an orthographic projection transformation for a right-handed coordinate system to this matrix.
* <p>
* This method is equivalent to calling {@link #ortho(float, float, float, float, float, float) ortho()} with
* <code>zNear=-1</code> and <code>zFar=+1</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrtho2D(float, float, float, float) setOrtho2D()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #ortho(float, float, float, float, float, float)
* @see #setOrtho2D(float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @return this
*/
public Matrix4x3f ortho2D(float left, float right, float bottom, float top) {
return ortho2D(left, right, bottom, top, this);
}
/**
* Apply an orthographic projection transformation for a left-handed coordinate system to this matrix and store the result in <code>dest</code>.
* <p>
* This method is equivalent to calling {@link #orthoLH(float, float, float, float, float, float, Matrix4x3f) orthoLH()} with
* <code>zNear=-1</code> and <code>zFar=+1</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrtho2DLH(float, float, float, float) setOrthoLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #orthoLH(float, float, float, float, float, float, Matrix4x3f)
* @see #setOrtho2DLH(float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f ortho2DLH(float left, float right, float bottom, float top, Matrix4x3f dest) {
// calculate right matrix elements
float rm00 = 2.0f / (right - left);
float rm11 = 2.0f / (top - bottom);
float rm30 = -(right + left) / (right - left);
float rm31 = -(top + bottom) / (top - bottom);
// perform optimized multiplication
// compute the last column first, because other columns do not depend on it
dest.m30 = m00 * rm30 + m10 * rm31 + m30;
dest.m31 = m01 * rm30 + m11 * rm31 + m31;
dest.m32 = m02 * rm30 + m12 * rm31 + m32;
dest.m00 = m00 * rm00;
dest.m01 = m01 * rm00;
dest.m02 = m02 * rm00;
dest.m10 = m10 * rm11;
dest.m11 = m11 * rm11;
dest.m12 = m12 * rm11;
dest.m20 = m20;
dest.m21 = m21;
dest.m22 = m22;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply an orthographic projection transformation for a left-handed coordinate system to this matrix.
* <p>
* This method is equivalent to calling {@link #orthoLH(float, float, float, float, float, float) orthoLH()} with
* <code>zNear=-1</code> and <code>zFar=+1</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the orthographic projection matrix,
* then the new matrix will be <code>M * O</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
* orthographic projection transformation will be applied first!
* <p>
* In order to set the matrix to an orthographic projection without post-multiplying it,
* use {@link #setOrtho2DLH(float, float, float, float) setOrtho2DLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #orthoLH(float, float, float, float, float, float)
* @see #setOrtho2DLH(float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @return this
*/
public Matrix4x3f ortho2DLH(float left, float right, float bottom, float top) {
return ortho2DLH(left, right, bottom, top, this);
}
/**
* Set this matrix to be an orthographic projection transformation for a right-handed coordinate system.
* <p>
* This method is equivalent to calling {@link #setOrtho(float, float, float, float, float, float) setOrtho()} with
* <code>zNear=-1</code> and <code>zFar=+1</code>.
* <p>
* In order to apply the orthographic projection to an already existing transformation,
* use {@link #ortho2D(float, float, float, float) ortho2D()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrtho(float, float, float, float, float, float)
* @see #ortho2D(float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @return this
*/
public Matrix4x3f setOrtho2D(float left, float right, float bottom, float top) {
MemUtil.INSTANCE.identity(this);
m00 = 2.0f / (right - left);
m11 = 2.0f / (top - bottom);
m22 = -1.0f;
m30 = -(right + left) / (right - left);
m31 = -(top + bottom) / (top - bottom);
properties = 0;
return this;
}
/**
* Set this matrix to be an orthographic projection transformation for a left-handed coordinate system.
* <p>
* This method is equivalent to calling {@link #setOrtho(float, float, float, float, float, float) setOrthoLH()} with
* <code>zNear=-1</code> and <code>zFar=+1</code>.
* <p>
* In order to apply the orthographic projection to an already existing transformation,
* use {@link #ortho2DLH(float, float, float, float) ortho2DLH()}.
* <p>
* Reference: <a href="http://www.songho.ca/opengl/gl_projectionmatrix.html#ortho">http://www.songho.ca</a>
*
* @see #setOrthoLH(float, float, float, float, float, float)
* @see #ortho2DLH(float, float, float, float)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @return this
*/
public Matrix4x3f setOrtho2DLH(float left, float right, float bottom, float top) {
MemUtil.INSTANCE.identity(this);
m00 = 2.0f / (right - left);
m11 = 2.0f / (top - bottom);
m22 = 1.0f;
m30 = -(right + left) / (right - left);
m31 = -(top + bottom) / (top - bottom);
properties = 0;
return this;
}
/**
* Apply a rotation transformation to this matrix to make <code>-z</code> point along <code>dir</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookalong rotation matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>, the
* lookalong rotation transformation will be applied first!
* <p>
* This is equivalent to calling
* {@link #lookAt(Vector3fc, Vector3fc, Vector3fc) lookAt}
* with <code>eye = (0, 0, 0)</code> and <code>center = dir</code>.
* <p>
* In order to set the matrix to a lookalong transformation without post-multiplying it,
* use {@link #setLookAlong(Vector3fc, Vector3fc) setLookAlong()}.
*
* @see #lookAlong(float, float, float, float, float, float)
* @see #lookAt(Vector3fc, Vector3fc, Vector3fc)
* @see #setLookAlong(Vector3fc, Vector3fc)
*
* @param dir
* the direction in space to look along
* @param up
* the direction of 'up'
* @return this
*/
public Matrix4x3f lookAlong(Vector3fc dir, Vector3fc up) {
return lookAlong(dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z(), this);
}
/**
* Apply a rotation transformation to this matrix to make <code>-z</code> point along <code>dir</code>
* and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookalong rotation matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>, the
* lookalong rotation transformation will be applied first!
* <p>
* This is equivalent to calling
* {@link #lookAt(Vector3fc, Vector3fc, Vector3fc) lookAt}
* with <code>eye = (0, 0, 0)</code> and <code>center = dir</code>.
* <p>
* In order to set the matrix to a lookalong transformation without post-multiplying it,
* use {@link #setLookAlong(Vector3fc, Vector3fc) setLookAlong()}.
*
* @see #lookAlong(float, float, float, float, float, float)
* @see #lookAt(Vector3fc, Vector3fc, Vector3fc)
* @see #setLookAlong(Vector3fc, Vector3fc)
*
* @param dir
* the direction in space to look along
* @param up
* the direction of 'up'
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f lookAlong(Vector3fc dir, Vector3fc up, Matrix4x3f dest) {
return lookAlong(dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z(), dest);
}
/**
* Apply a rotation transformation to this matrix to make <code>-z</code> point along <code>dir</code>
* and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookalong rotation matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>, the
* lookalong rotation transformation will be applied first!
* <p>
* This is equivalent to calling
* {@link #lookAt(float, float, float, float, float, float, float, float, float) lookAt()}
* with <code>eye = (0, 0, 0)</code> and <code>center = dir</code>.
* <p>
* In order to set the matrix to a lookalong transformation without post-multiplying it,
* use {@link #setLookAlong(float, float, float, float, float, float) setLookAlong()}
*
* @see #lookAt(float, float, float, float, float, float, float, float, float)
* @see #setLookAlong(float, float, float, float, float, float)
*
* @param dirX
* the x-coordinate of the direction to look along
* @param dirY
* the y-coordinate of the direction to look along
* @param dirZ
* the z-coordinate of the direction to look along
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f lookAlong(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return setLookAlong(dirX, dirY, dirZ, upX, upY, upZ);
// Normalize direction
float invDirLength = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
float dirnX = dirX * invDirLength;
float dirnY = dirY * invDirLength;
float dirnZ = dirZ * invDirLength;
// right = direction x up
float rightX, rightY, rightZ;
rightX = dirnY * upZ - dirnZ * upY;
rightY = dirnZ * upX - dirnX * upZ;
rightZ = dirnX * upY - dirnY * upX;
// normalize right
float invRightLength = 1.0f / (float) Math.sqrt(rightX * rightX + rightY * rightY + rightZ * rightZ);
rightX *= invRightLength;
rightY *= invRightLength;
rightZ *= invRightLength;
// up = right x direction
float upnX = rightY * dirnZ - rightZ * dirnY;
float upnY = rightZ * dirnX - rightX * dirnZ;
float upnZ = rightX * dirnY - rightY * dirnX;
// calculate right matrix elements
float rm00 = rightX;
float rm01 = upnX;
float rm02 = -dirnX;
float rm10 = rightY;
float rm11 = upnY;
float rm12 = -dirnY;
float rm20 = rightZ;
float rm21 = upnZ;
float rm22 = -dirnZ;
// perform optimized matrix multiplication
// introduce temporaries for dependent results
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
// set the rest of the matrix elements
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply a rotation transformation to this matrix to make <code>-z</code> point along <code>dir</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookalong rotation matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>, the
* lookalong rotation transformation will be applied first!
* <p>
* This is equivalent to calling
* {@link #lookAt(float, float, float, float, float, float, float, float, float) lookAt()}
* with <code>eye = (0, 0, 0)</code> and <code>center = dir</code>.
* <p>
* In order to set the matrix to a lookalong transformation without post-multiplying it,
* use {@link #setLookAlong(float, float, float, float, float, float) setLookAlong()}
*
* @see #lookAt(float, float, float, float, float, float, float, float, float)
* @see #setLookAlong(float, float, float, float, float, float)
*
* @param dirX
* the x-coordinate of the direction to look along
* @param dirY
* the y-coordinate of the direction to look along
* @param dirZ
* the z-coordinate of the direction to look along
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @return this
*/
public Matrix4x3f lookAlong(float dirX, float dirY, float dirZ, float upX, float upY, float upZ) {
return lookAlong(dirX, dirY, dirZ, upX, upY, upZ, this);
}
/**
* Set this matrix to a rotation transformation to make <code>-z</code>
* point along <code>dir</code>.
* <p>
* This is equivalent to calling
* {@link #setLookAt(Vector3fc, Vector3fc, Vector3fc) setLookAt()}
* with <code>eye = (0, 0, 0)</code> and <code>center = dir</code>.
* <p>
* In order to apply the lookalong transformation to any previous existing transformation,
* use {@link #lookAlong(Vector3fc, Vector3fc)}.
*
* @see #setLookAlong(Vector3fc, Vector3fc)
* @see #lookAlong(Vector3fc, Vector3fc)
*
* @param dir
* the direction in space to look along
* @param up
* the direction of 'up'
* @return this
*/
public Matrix4x3f setLookAlong(Vector3fc dir, Vector3fc up) {
return setLookAlong(dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z());
}
/**
* Set this matrix to a rotation transformation to make <code>-z</code>
* point along <code>dir</code>.
* <p>
* This is equivalent to calling
* {@link #setLookAt(float, float, float, float, float, float, float, float, float)
* setLookAt()} with <code>eye = (0, 0, 0)</code> and <code>center = dir</code>.
* <p>
* In order to apply the lookalong transformation to any previous existing transformation,
* use {@link #lookAlong(float, float, float, float, float, float) lookAlong()}
*
* @see #setLookAlong(float, float, float, float, float, float)
* @see #lookAlong(float, float, float, float, float, float)
*
* @param dirX
* the x-coordinate of the direction to look along
* @param dirY
* the y-coordinate of the direction to look along
* @param dirZ
* the z-coordinate of the direction to look along
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @return this
*/
public Matrix4x3f setLookAlong(float dirX, float dirY, float dirZ, float upX, float upY, float upZ) {
// Normalize direction
float invDirLength = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
float dirnX = dirX * invDirLength;
float dirnY = dirY * invDirLength;
float dirnZ = dirZ * invDirLength;
// right = direction x up
float rightX, rightY, rightZ;
rightX = dirnY * upZ - dirnZ * upY;
rightY = dirnZ * upX - dirnX * upZ;
rightZ = dirnX * upY - dirnY * upX;
// normalize right
float invRightLength = 1.0f / (float) Math.sqrt(rightX * rightX + rightY * rightY + rightZ * rightZ);
rightX *= invRightLength;
rightY *= invRightLength;
rightZ *= invRightLength;
// up = right x direction
float upnX = rightY * dirnZ - rightZ * dirnY;
float upnY = rightZ * dirnX - rightX * dirnZ;
float upnZ = rightX * dirnY - rightY * dirnX;
m00 = rightX;
m01 = upnX;
m02 = -dirnX;
m10 = rightY;
m11 = upnY;
m12 = -dirnY;
m20 = rightZ;
m21 = upnZ;
m22 = -dirnZ;
m30 = 0.0f;
m31 = 0.0f;
m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set this matrix to be a "lookat" transformation for a right-handed coordinate system, that aligns
* <code>-z</code> with <code>center - eye</code>.
* <p>
* In order to not make use of vectors to specify <code>eye</code>, <code>center</code> and <code>up</code> but use primitives,
* like in the GLU function, use {@link #setLookAt(float, float, float, float, float, float, float, float, float) setLookAt()}
* instead.
* <p>
* In order to apply the lookat transformation to a previous existing transformation,
* use {@link #lookAt(Vector3fc, Vector3fc, Vector3fc) lookAt()}.
*
* @see #setLookAt(float, float, float, float, float, float, float, float, float)
* @see #lookAt(Vector3fc, Vector3fc, Vector3fc)
*
* @param eye
* the position of the camera
* @param center
* the point in space to look at
* @param up
* the direction of 'up'
* @return this
*/
public Matrix4x3f setLookAt(Vector3fc eye, Vector3fc center, Vector3fc up) {
return setLookAt(eye.x(), eye.y(), eye.z(), center.x(), center.y(), center.z(), up.x(), up.y(), up.z());
}
/**
* Set this matrix to be a "lookat" transformation for a right-handed coordinate system,
* that aligns <code>-z</code> with <code>center - eye</code>.
* <p>
* In order to apply the lookat transformation to a previous existing transformation,
* use {@link #lookAt(float, float, float, float, float, float, float, float, float) lookAt}.
*
* @see #setLookAt(Vector3fc, Vector3fc, Vector3fc)
* @see #lookAt(float, float, float, float, float, float, float, float, float)
*
* @param eyeX
* the x-coordinate of the eye/camera location
* @param eyeY
* the y-coordinate of the eye/camera location
* @param eyeZ
* the z-coordinate of the eye/camera location
* @param centerX
* the x-coordinate of the point to look at
* @param centerY
* the y-coordinate of the point to look at
* @param centerZ
* the z-coordinate of the point to look at
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @return this
*/
public Matrix4x3f setLookAt(float eyeX, float eyeY, float eyeZ,
float centerX, float centerY, float centerZ,
float upX, float upY, float upZ) {
// Compute direction from position to lookAt
float dirX, dirY, dirZ;
dirX = eyeX - centerX;
dirY = eyeY - centerY;
dirZ = eyeZ - centerZ;
// Normalize direction
float invDirLength = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
dirX *= invDirLength;
dirY *= invDirLength;
dirZ *= invDirLength;
// left = up x direction
float leftX, leftY, leftZ;
leftX = upY * dirZ - upZ * dirY;
leftY = upZ * dirX - upX * dirZ;
leftZ = upX * dirY - upY * dirX;
// normalize left
float invLeftLength = 1.0f / (float) Math.sqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
leftX *= invLeftLength;
leftY *= invLeftLength;
leftZ *= invLeftLength;
// up = direction x left
float upnX = dirY * leftZ - dirZ * leftY;
float upnY = dirZ * leftX - dirX * leftZ;
float upnZ = dirX * leftY - dirY * leftX;
m00 = leftX;
m01 = upnX;
m02 = dirX;
m10 = leftY;
m11 = upnY;
m12 = dirY;
m20 = leftZ;
m21 = upnZ;
m22 = dirZ;
m30 = -(leftX * eyeX + leftY * eyeY + leftZ * eyeZ);
m31 = -(upnX * eyeX + upnY * eyeY + upnZ * eyeZ);
m32 = -(dirX * eyeX + dirY * eyeY + dirZ * eyeZ);
properties = 0;
return this;
}
/**
* Apply a "lookat" transformation to this matrix for a right-handed coordinate system,
* that aligns <code>-z</code> with <code>center - eye</code> and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a lookat transformation without post-multiplying it,
* use {@link #setLookAt(Vector3fc, Vector3fc, Vector3fc)}.
*
* @see #lookAt(float, float, float, float, float, float, float, float, float)
* @see #setLookAlong(Vector3fc, Vector3fc)
*
* @param eye
* the position of the camera
* @param center
* the point in space to look at
* @param up
* the direction of 'up'
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f lookAt(Vector3fc eye, Vector3fc center, Vector3fc up, Matrix4x3f dest) {
return lookAt(eye.x(), eye.y(), eye.z(), center.x(), center.y(), center.z(), up.x(), up.y(), up.z(), dest);
}
/**
* Apply a "lookat" transformation to this matrix for a right-handed coordinate system,
* that aligns <code>-z</code> with <code>center - eye</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a lookat transformation without post-multiplying it,
* use {@link #setLookAt(Vector3fc, Vector3fc, Vector3fc)}.
*
* @see #lookAt(float, float, float, float, float, float, float, float, float)
* @see #setLookAlong(Vector3fc, Vector3fc)
*
* @param eye
* the position of the camera
* @param center
* the point in space to look at
* @param up
* the direction of 'up'
* @return this
*/
public Matrix4x3f lookAt(Vector3fc eye, Vector3fc center, Vector3fc up) {
return lookAt(eye.x(), eye.y(), eye.z(), center.x(), center.y(), center.z(), up.x(), up.y(), up.z(), this);
}
/**
* Apply a "lookat" transformation to this matrix for a right-handed coordinate system,
* that aligns <code>-z</code> with <code>center - eye</code> and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a lookat transformation without post-multiplying it,
* use {@link #setLookAt(float, float, float, float, float, float, float, float, float) setLookAt()}.
*
* @see #lookAt(Vector3fc, Vector3fc, Vector3fc)
* @see #setLookAt(float, float, float, float, float, float, float, float, float)
*
* @param eyeX
* the x-coordinate of the eye/camera location
* @param eyeY
* the y-coordinate of the eye/camera location
* @param eyeZ
* the z-coordinate of the eye/camera location
* @param centerX
* the x-coordinate of the point to look at
* @param centerY
* the y-coordinate of the point to look at
* @param centerZ
* the z-coordinate of the point to look at
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f lookAt(float eyeX, float eyeY, float eyeZ,
float centerX, float centerY, float centerZ,
float upX, float upY, float upZ, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.setLookAt(eyeX, eyeY, eyeZ, centerX, centerY, centerZ, upX, upY, upZ);
return lookAtGeneric(eyeX, eyeY, eyeZ, centerX, centerY, centerZ, upX, upY, upZ, dest);
}
private Matrix4x3f lookAtGeneric(float eyeX, float eyeY, float eyeZ,
float centerX, float centerY, float centerZ,
float upX, float upY, float upZ, Matrix4x3f dest) {
// Compute direction from position to lookAt
float dirX, dirY, dirZ;
dirX = eyeX - centerX;
dirY = eyeY - centerY;
dirZ = eyeZ - centerZ;
// Normalize direction
float invDirLength = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
dirX *= invDirLength;
dirY *= invDirLength;
dirZ *= invDirLength;
// left = up x direction
float leftX, leftY, leftZ;
leftX = upY * dirZ - upZ * dirY;
leftY = upZ * dirX - upX * dirZ;
leftZ = upX * dirY - upY * dirX;
// normalize left
float invLeftLength = 1.0f / (float) Math.sqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
leftX *= invLeftLength;
leftY *= invLeftLength;
leftZ *= invLeftLength;
// up = direction x left
float upnX = dirY * leftZ - dirZ * leftY;
float upnY = dirZ * leftX - dirX * leftZ;
float upnZ = dirX * leftY - dirY * leftX;
// calculate right matrix elements
float rm00 = leftX;
float rm01 = upnX;
float rm02 = dirX;
float rm10 = leftY;
float rm11 = upnY;
float rm12 = dirY;
float rm20 = leftZ;
float rm21 = upnZ;
float rm22 = dirZ;
float rm30 = -(leftX * eyeX + leftY * eyeY + leftZ * eyeZ);
float rm31 = -(upnX * eyeX + upnY * eyeY + upnZ * eyeZ);
float rm32 = -(dirX * eyeX + dirY * eyeY + dirZ * eyeZ);
// perform optimized matrix multiplication
// compute last column first, because others do not depend on it
dest.m30 = m00 * rm30 + m10 * rm31 + m20 * rm32 + m30;
dest.m31 = m01 * rm30 + m11 * rm31 + m21 * rm32 + m31;
dest.m32 = m02 * rm30 + m12 * rm31 + m22 * rm32 + m32;
// introduce temporaries for dependent results
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
// set the rest of the matrix elements
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply a "lookat" transformation to this matrix for a right-handed coordinate system,
* that aligns <code>-z</code> with <code>center - eye</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a lookat transformation without post-multiplying it,
* use {@link #setLookAt(float, float, float, float, float, float, float, float, float) setLookAt()}.
*
* @see #lookAt(Vector3fc, Vector3fc, Vector3fc)
* @see #setLookAt(float, float, float, float, float, float, float, float, float)
*
* @param eyeX
* the x-coordinate of the eye/camera location
* @param eyeY
* the y-coordinate of the eye/camera location
* @param eyeZ
* the z-coordinate of the eye/camera location
* @param centerX
* the x-coordinate of the point to look at
* @param centerY
* the y-coordinate of the point to look at
* @param centerZ
* the z-coordinate of the point to look at
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @return this
*/
public Matrix4x3f lookAt(float eyeX, float eyeY, float eyeZ,
float centerX, float centerY, float centerZ,
float upX, float upY, float upZ) {
return lookAt(eyeX, eyeY, eyeZ, centerX, centerY, centerZ, upX, upY, upZ, this);
}
/**
* Set this matrix to be a "lookat" transformation for a left-handed coordinate system, that aligns
* <code>+z</code> with <code>center - eye</code>.
* <p>
* In order to not make use of vectors to specify <code>eye</code>, <code>center</code> and <code>up</code> but use primitives,
* like in the GLU function, use {@link #setLookAtLH(float, float, float, float, float, float, float, float, float) setLookAtLH()}
* instead.
* <p>
* In order to apply the lookat transformation to a previous existing transformation,
* use {@link #lookAtLH(Vector3fc, Vector3fc, Vector3fc) lookAt()}.
*
* @see #setLookAtLH(float, float, float, float, float, float, float, float, float)
* @see #lookAtLH(Vector3fc, Vector3fc, Vector3fc)
*
* @param eye
* the position of the camera
* @param center
* the point in space to look at
* @param up
* the direction of 'up'
* @return this
*/
public Matrix4x3f setLookAtLH(Vector3fc eye, Vector3fc center, Vector3fc up) {
return setLookAtLH(eye.x(), eye.y(), eye.z(), center.x(), center.y(), center.z(), up.x(), up.y(), up.z());
}
/**
* Set this matrix to be a "lookat" transformation for a left-handed coordinate system,
* that aligns <code>+z</code> with <code>center - eye</code>.
* <p>
* In order to apply the lookat transformation to a previous existing transformation,
* use {@link #lookAtLH(float, float, float, float, float, float, float, float, float) lookAtLH}.
*
* @see #setLookAtLH(Vector3fc, Vector3fc, Vector3fc)
* @see #lookAtLH(float, float, float, float, float, float, float, float, float)
*
* @param eyeX
* the x-coordinate of the eye/camera location
* @param eyeY
* the y-coordinate of the eye/camera location
* @param eyeZ
* the z-coordinate of the eye/camera location
* @param centerX
* the x-coordinate of the point to look at
* @param centerY
* the y-coordinate of the point to look at
* @param centerZ
* the z-coordinate of the point to look at
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @return this
*/
public Matrix4x3f setLookAtLH(float eyeX, float eyeY, float eyeZ,
float centerX, float centerY, float centerZ,
float upX, float upY, float upZ) {
// Compute direction from position to lookAt
float dirX, dirY, dirZ;
dirX = centerX - eyeX;
dirY = centerY - eyeY;
dirZ = centerZ - eyeZ;
// Normalize direction
float invDirLength = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
dirX *= invDirLength;
dirY *= invDirLength;
dirZ *= invDirLength;
// left = up x direction
float leftX, leftY, leftZ;
leftX = upY * dirZ - upZ * dirY;
leftY = upZ * dirX - upX * dirZ;
leftZ = upX * dirY - upY * dirX;
// normalize left
float invLeftLength = 1.0f / (float) Math.sqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
leftX *= invLeftLength;
leftY *= invLeftLength;
leftZ *= invLeftLength;
// up = direction x left
float upnX = dirY * leftZ - dirZ * leftY;
float upnY = dirZ * leftX - dirX * leftZ;
float upnZ = dirX * leftY - dirY * leftX;
m00 = leftX;
m01 = upnX;
m02 = dirX;
m10 = leftY;
m11 = upnY;
m12 = dirY;
m20 = leftZ;
m21 = upnZ;
m22 = dirZ;
m30 = -(leftX * eyeX + leftY * eyeY + leftZ * eyeZ);
m31 = -(upnX * eyeX + upnY * eyeY + upnZ * eyeZ);
m32 = -(dirX * eyeX + dirY * eyeY + dirZ * eyeZ);
properties = 0;
return this;
}
/**
* Apply a "lookat" transformation to this matrix for a left-handed coordinate system,
* that aligns <code>+z</code> with <code>center - eye</code> and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a lookat transformation without post-multiplying it,
* use {@link #setLookAtLH(Vector3fc, Vector3fc, Vector3fc)}.
*
* @see #lookAtLH(float, float, float, float, float, float, float, float, float)
*
* @param eye
* the position of the camera
* @param center
* the point in space to look at
* @param up
* the direction of 'up'
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f lookAtLH(Vector3fc eye, Vector3fc center, Vector3fc up, Matrix4x3f dest) {
return lookAtLH(eye.x(), eye.y(), eye.z(), center.x(), center.y(), center.z(), up.x(), up.y(), up.z(), dest);
}
/**
* Apply a "lookat" transformation to this matrix for a left-handed coordinate system,
* that aligns <code>+z</code> with <code>center - eye</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a lookat transformation without post-multiplying it,
* use {@link #setLookAtLH(Vector3fc, Vector3fc, Vector3fc)}.
*
* @see #lookAtLH(float, float, float, float, float, float, float, float, float)
*
* @param eye
* the position of the camera
* @param center
* the point in space to look at
* @param up
* the direction of 'up'
* @return this
*/
public Matrix4x3f lookAtLH(Vector3fc eye, Vector3fc center, Vector3fc up) {
return lookAtLH(eye.x(), eye.y(), eye.z(), center.x(), center.y(), center.z(), up.x(), up.y(), up.z(), this);
}
/**
* Apply a "lookat" transformation to this matrix for a left-handed coordinate system,
* that aligns <code>+z</code> with <code>center - eye</code> and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a lookat transformation without post-multiplying it,
* use {@link #setLookAtLH(float, float, float, float, float, float, float, float, float) setLookAtLH()}.
*
* @see #lookAtLH(Vector3fc, Vector3fc, Vector3fc)
* @see #setLookAtLH(float, float, float, float, float, float, float, float, float)
*
* @param eyeX
* the x-coordinate of the eye/camera location
* @param eyeY
* the y-coordinate of the eye/camera location
* @param eyeZ
* the z-coordinate of the eye/camera location
* @param centerX
* the x-coordinate of the point to look at
* @param centerY
* the y-coordinate of the point to look at
* @param centerZ
* the z-coordinate of the point to look at
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f lookAtLH(float eyeX, float eyeY, float eyeZ,
float centerX, float centerY, float centerZ,
float upX, float upY, float upZ, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.setLookAtLH(eyeX, eyeY, eyeZ, centerX, centerY, centerZ, upX, upY, upZ);
return lookAtLHGeneric(eyeX, eyeY, eyeZ, centerX, centerY, centerZ, upX, upY, upZ, dest);
}
private Matrix4x3f lookAtLHGeneric(float eyeX, float eyeY, float eyeZ,
float centerX, float centerY, float centerZ,
float upX, float upY, float upZ, Matrix4x3f dest) {
// Compute direction from position to lookAt
float dirX, dirY, dirZ;
dirX = centerX - eyeX;
dirY = centerY - eyeY;
dirZ = centerZ - eyeZ;
// Normalize direction
float invDirLength = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
dirX *= invDirLength;
dirY *= invDirLength;
dirZ *= invDirLength;
// left = up x direction
float leftX, leftY, leftZ;
leftX = upY * dirZ - upZ * dirY;
leftY = upZ * dirX - upX * dirZ;
leftZ = upX * dirY - upY * dirX;
// normalize left
float invLeftLength = 1.0f / (float) Math.sqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
leftX *= invLeftLength;
leftY *= invLeftLength;
leftZ *= invLeftLength;
// up = direction x left
float upnX = dirY * leftZ - dirZ * leftY;
float upnY = dirZ * leftX - dirX * leftZ;
float upnZ = dirX * leftY - dirY * leftX;
// calculate right matrix elements
float rm00 = leftX;
float rm01 = upnX;
float rm02 = dirX;
float rm10 = leftY;
float rm11 = upnY;
float rm12 = dirY;
float rm20 = leftZ;
float rm21 = upnZ;
float rm22 = dirZ;
float rm30 = -(leftX * eyeX + leftY * eyeY + leftZ * eyeZ);
float rm31 = -(upnX * eyeX + upnY * eyeY + upnZ * eyeZ);
float rm32 = -(dirX * eyeX + dirY * eyeY + dirZ * eyeZ);
// perform optimized matrix multiplication
// compute last column first, because others do not depend on it
dest.m30 = m00 * rm30 + m10 * rm31 + m20 * rm32 + m30;
dest.m31 = m01 * rm30 + m11 * rm31 + m21 * rm32 + m31;
dest.m32 = m02 * rm30 + m12 * rm31 + m22 * rm32 + m32;
// introduce temporaries for dependent results
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
// set the rest of the matrix elements
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply a "lookat" transformation to this matrix for a left-handed coordinate system,
* that aligns <code>+z</code> with <code>center - eye</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a lookat transformation without post-multiplying it,
* use {@link #setLookAtLH(float, float, float, float, float, float, float, float, float) setLookAtLH()}.
*
* @see #lookAtLH(Vector3fc, Vector3fc, Vector3fc)
* @see #setLookAtLH(float, float, float, float, float, float, float, float, float)
*
* @param eyeX
* the x-coordinate of the eye/camera location
* @param eyeY
* the y-coordinate of the eye/camera location
* @param eyeZ
* the z-coordinate of the eye/camera location
* @param centerX
* the x-coordinate of the point to look at
* @param centerY
* the y-coordinate of the point to look at
* @param centerZ
* the z-coordinate of the point to look at
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @return this
*/
public Matrix4x3f lookAtLH(float eyeX, float eyeY, float eyeZ,
float centerX, float centerY, float centerZ,
float upX, float upY, float upZ) {
return lookAtLH(eyeX, eyeY, eyeZ, centerX, centerY, centerZ, upX, upY, upZ, this);
}
/**
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix and store
* the result in <code>dest</code>.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>Q</code> the rotation matrix obtained from the given quaternion,
* then the new matrix will be <code>M * Q</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * Q * v</code>,
* the quaternion rotation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying,
* use {@link #rotation(Quaternionfc)}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
*
* @see #rotation(Quaternionfc)
*
* @param quat
* the {@link Quaternionfc}
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f rotate(Quaternionfc quat, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.rotation(quat);
else if ((properties & PROPERTY_TRANSLATION) != 0)
return rotateTranslation(quat, dest);
return rotateGeneric(quat, dest);
}
private Matrix4x3f rotateGeneric(Quaternionfc quat, Matrix4x3f dest) {
float w2 = quat.w() * quat.w();
float x2 = quat.x() * quat.x();
float y2 = quat.y() * quat.y();
float z2 = quat.z() * quat.z();
float zw = quat.z() * quat.w();
float xy = quat.x() * quat.y();
float xz = quat.x() * quat.z();
float yw = quat.y() * quat.w();
float yz = quat.y() * quat.z();
float xw = quat.x() * quat.w();
float rm00 = w2 + x2 - z2 - y2;
float rm01 = xy + zw + zw + xy;
float rm02 = xz - yw + xz - yw;
float rm10 = -zw + xy - zw + xy;
float rm11 = y2 - z2 + w2 - x2;
float rm12 = yz + yz + xw + xw;
float rm20 = yw + xz + xz + yw;
float rm21 = yz + yz - xw - xw;
float rm22 = z2 - y2 - x2 + w2;
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>Q</code> the rotation matrix obtained from the given quaternion,
* then the new matrix will be <code>M * Q</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * Q * v</code>,
* the quaternion rotation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying,
* use {@link #rotation(Quaternionfc)}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
*
* @see #rotation(Quaternionfc)
*
* @param quat
* the {@link Quaternionfc}
* @return this
*/
public Matrix4x3f rotate(Quaternionfc quat) {
return rotate(quat, this);
}
/**
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix, which is assumed to only contain a translation, and store
* the result in <code>dest</code>.
* <p>
* This method assumes <code>this</code> to only contain a translation.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>Q</code> the rotation matrix obtained from the given quaternion,
* then the new matrix will be <code>M * Q</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * Q * v</code>,
* the quaternion rotation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying,
* use {@link #rotation(Quaternionfc)}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
*
* @see #rotation(Quaternionfc)
*
* @param quat
* the {@link Quaternionfc}
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f rotateTranslation(Quaternionfc quat, Matrix4x3f dest) {
float w2 = quat.w() * quat.w();
float x2 = quat.x() * quat.x();
float y2 = quat.y() * quat.y();
float z2 = quat.z() * quat.z();
float zw = quat.z() * quat.w();
float xy = quat.x() * quat.y();
float xz = quat.x() * quat.z();
float yw = quat.y() * quat.w();
float yz = quat.y() * quat.z();
float xw = quat.x() * quat.w();
float rm00 = w2 + x2 - z2 - y2;
float rm01 = xy + zw + zw + xy;
float rm02 = xz - yw + xz - yw;
float rm10 = -zw + xy - zw + xy;
float rm11 = y2 - z2 + w2 - x2;
float rm12 = yz + yz + xw + xw;
float rm20 = yw + xz + xz + yw;
float rm21 = yz + yz - xw - xw;
float rm22 = z2 - y2 - x2 + w2;
float nm00 = rm00;
float nm01 = rm01;
float nm02 = rm02;
float nm10 = rm10;
float nm11 = rm11;
float nm12 = rm12;
dest.m20 = rm20;
dest.m21 = rm21;
dest.m22 = rm22;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Pre-multiply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix and store
* the result in <code>dest</code>.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>Q</code> the rotation matrix obtained from the given quaternion,
* then the new matrix will be <code>Q * M</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>Q * M * v</code>,
* the quaternion rotation will be applied last!
* <p>
* In order to set the matrix to a rotation transformation without pre-multiplying,
* use {@link #rotation(Quaternionfc)}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
*
* @see #rotation(Quaternionfc)
*
* @param quat
* the {@link Quaternionfc}
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f rotateLocal(Quaternionfc quat, Matrix4x3f dest) {
float w2 = quat.w() * quat.w();
float x2 = quat.x() * quat.x();
float y2 = quat.y() * quat.y();
float z2 = quat.z() * quat.z();
float zw = quat.z() * quat.w();
float xy = quat.x() * quat.y();
float xz = quat.x() * quat.z();
float yw = quat.y() * quat.w();
float yz = quat.y() * quat.z();
float xw = quat.x() * quat.w();
float lm00 = w2 + x2 - z2 - y2;
float lm01 = xy + zw + zw + xy;
float lm02 = xz - yw + xz - yw;
float lm10 = -zw + xy - zw + xy;
float lm11 = y2 - z2 + w2 - x2;
float lm12 = yz + yz + xw + xw;
float lm20 = yw + xz + xz + yw;
float lm21 = yz + yz - xw - xw;
float lm22 = z2 - y2 - x2 + w2;
float nm00 = lm00 * m00 + lm10 * m01 + lm20 * m02;
float nm01 = lm01 * m00 + lm11 * m01 + lm21 * m02;
float nm02 = lm02 * m00 + lm12 * m01 + lm22 * m02;
float nm10 = lm00 * m10 + lm10 * m11 + lm20 * m12;
float nm11 = lm01 * m10 + lm11 * m11 + lm21 * m12;
float nm12 = lm02 * m10 + lm12 * m11 + lm22 * m12;
float nm20 = lm00 * m20 + lm10 * m21 + lm20 * m22;
float nm21 = lm01 * m20 + lm11 * m21 + lm21 * m22;
float nm22 = lm02 * m20 + lm12 * m21 + lm22 * m22;
float nm30 = lm00 * m30 + lm10 * m31 + lm20 * m32;
float nm31 = lm01 * m30 + lm11 * m31 + lm21 * m32;
float nm32 = lm02 * m30 + lm12 * m31 + lm22 * m32;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.m30 = nm30;
dest.m31 = nm31;
dest.m32 = nm32;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Pre-multiply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>Q</code> the rotation matrix obtained from the given quaternion,
* then the new matrix will be <code>Q * M</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>Q * M * v</code>,
* the quaternion rotation will be applied last!
* <p>
* In order to set the matrix to a rotation transformation without pre-multiplying,
* use {@link #rotation(Quaternionfc)}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
*
* @see #rotation(Quaternionfc)
*
* @param quat
* the {@link Quaternionfc}
* @return this
*/
public Matrix4x3f rotateLocal(Quaternionfc quat) {
return rotateLocal(quat, this);
}
/**
* Apply a rotation transformation, rotating about the given {@link AxisAngle4f}, to this matrix.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>A</code> the rotation matrix obtained from the given {@link AxisAngle4f},
* then the new matrix will be <code>M * A</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * A * v</code>,
* the {@link AxisAngle4f} rotation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying,
* use {@link #rotation(AxisAngle4f)}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotate(float, float, float, float)
* @see #rotation(AxisAngle4f)
*
* @param axisAngle
* the {@link AxisAngle4f} (needs to be {@link AxisAngle4f#normalize() normalized})
* @return this
*/
public Matrix4x3f rotate(AxisAngle4f axisAngle) {
return rotate(axisAngle.angle, axisAngle.x, axisAngle.y, axisAngle.z);
}
/**
* Apply a rotation transformation, rotating about the given {@link AxisAngle4f} and store the result in <code>dest</code>.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>A</code> the rotation matrix obtained from the given {@link AxisAngle4f},
* then the new matrix will be <code>M * A</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * A * v</code>,
* the {@link AxisAngle4f} rotation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying,
* use {@link #rotation(AxisAngle4f)}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotate(float, float, float, float)
* @see #rotation(AxisAngle4f)
*
* @param axisAngle
* the {@link AxisAngle4f} (needs to be {@link AxisAngle4f#normalize() normalized})
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f rotate(AxisAngle4f axisAngle, Matrix4x3f dest) {
return rotate(axisAngle.angle, axisAngle.x, axisAngle.y, axisAngle.z, dest);
}
/**
* Apply a rotation transformation, rotating the given radians about the specified axis, to this matrix.
* <p>
* The axis described by the <code>axis</code> vector needs to be a unit vector.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>A</code> the rotation matrix obtained from the given axis-angle,
* then the new matrix will be <code>M * A</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * A * v</code>,
* the axis-angle rotation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying,
* use {@link #rotation(float, Vector3fc)}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotate(float, float, float, float)
* @see #rotation(float, Vector3fc)
*
* @param angle
* the angle in radians
* @param axis
* the rotation axis (needs to be {@link Vector3f#normalize() normalized})
* @return this
*/
public Matrix4x3f rotate(float angle, Vector3fc axis) {
return rotate(angle, axis.x(), axis.y(), axis.z());
}
/**
* Apply a rotation transformation, rotating the given radians about the specified axis and store the result in <code>dest</code>.
* <p>
* The axis described by the <code>axis</code> vector needs to be a unit vector.
* <p>
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>A</code> the rotation matrix obtained from the given axis-angle,
* then the new matrix will be <code>M * A</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * A * v</code>,
* the axis-angle rotation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying,
* use {@link #rotation(float, Vector3fc)}.
* <p>
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
*
* @see #rotate(float, float, float, float)
* @see #rotation(float, Vector3fc)
*
* @param angle
* the angle in radians
* @param axis
* the rotation axis (needs to be {@link Vector3f#normalize() normalized})
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f rotate(float angle, Vector3fc axis, Matrix4x3f dest) {
return rotate(angle, axis.x(), axis.y(), axis.z(), dest);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#reflect(float, float, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f reflect(float a, float b, float c, float d, Matrix4x3f dest) {
if ((properties & PROPERTY_IDENTITY) != 0)
return dest.reflection(a, b, c, d);
float da = a + a, db = b + b, dc = c + c, dd = d + d;
float rm00 = 1.0f - da * a;
float rm01 = -da * b;
float rm02 = -da * c;
float rm10 = -db * a;
float rm11 = 1.0f - db * b;
float rm12 = -db * c;
float rm20 = -dc * a;
float rm21 = -dc * b;
float rm22 = 1.0f - dc * c;
float rm30 = -dd * a;
float rm31 = -dd * b;
float rm32 = -dd * c;
// matrix multiplication
dest.m30 = m00 * rm30 + m10 * rm31 + m20 * rm32 + m30;
dest.m31 = m01 * rm30 + m11 * rm31 + m21 * rm32 + m31;
dest.m32 = m02 * rm30 + m12 * rm31 + m22 * rm32 + m32;
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Apply a mirror/reflection transformation to this matrix that reflects about the given plane
* specified via the equation <tt>x*a + y*b + z*c + d = 0</tt>.
* <p>
* The vector <tt>(a, b, c)</tt> must be a unit vector.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the reflection matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* reflection will be applied first!
* <p>
* Reference: <a href="https://msdn.microsoft.com/en-us/library/windows/desktop/bb281733(v=vs.85).aspx">msdn.microsoft.com</a>
*
* @param a
* the x factor in the plane equation
* @param b
* the y factor in the plane equation
* @param c
* the z factor in the plane equation
* @param d
* the constant in the plane equation
* @return this
*/
public Matrix4x3f reflect(float a, float b, float c, float d) {
return reflect(a, b, c, d, this);
}
/**
* Apply a mirror/reflection transformation to this matrix that reflects about the given plane
* specified via the plane normal and a point on the plane.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the reflection matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* reflection will be applied first!
*
* @param nx
* the x-coordinate of the plane normal
* @param ny
* the y-coordinate of the plane normal
* @param nz
* the z-coordinate of the plane normal
* @param px
* the x-coordinate of a point on the plane
* @param py
* the y-coordinate of a point on the plane
* @param pz
* the z-coordinate of a point on the plane
* @return this
*/
public Matrix4x3f reflect(float nx, float ny, float nz, float px, float py, float pz) {
return reflect(nx, ny, nz, px, py, pz, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#reflect(float, float, float, float, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f reflect(float nx, float ny, float nz, float px, float py, float pz, Matrix4x3f dest) {
float invLength = 1.0f / (float) Math.sqrt(nx * nx + ny * ny + nz * nz);
float nnx = nx * invLength;
float nny = ny * invLength;
float nnz = nz * invLength;
/* See: http://mathworld.wolfram.com/Plane.html */
return reflect(nnx, nny, nnz, -nnx * px - nny * py - nnz * pz, dest);
}
/**
* Apply a mirror/reflection transformation to this matrix that reflects about the given plane
* specified via the plane normal and a point on the plane.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the reflection matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* reflection will be applied first!
*
* @param normal
* the plane normal
* @param point
* a point on the plane
* @return this
*/
public Matrix4x3f reflect(Vector3fc normal, Vector3fc point) {
return reflect(normal.x(), normal.y(), normal.z(), point.x(), point.y(), point.z());
}
/**
* Apply a mirror/reflection transformation to this matrix that reflects about a plane
* specified via the plane orientation and a point on the plane.
* <p>
* This method can be used to build a reflection transformation based on the orientation of a mirror object in the scene.
* It is assumed that the default mirror plane's normal is <tt>(0, 0, 1)</tt>. So, if the given {@link Quaternionfc} is
* the identity (does not apply any additional rotation), the reflection plane will be <tt>z=0</tt>, offset by the given <code>point</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the reflection matrix,
* then the new matrix will be <code>M * R</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
* reflection will be applied first!
*
* @param orientation
* the plane orientation
* @param point
* a point on the plane
* @return this
*/
public Matrix4x3f reflect(Quaternionfc orientation, Vector3fc point) {
return reflect(orientation, point, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#reflect(org.joml.Quaternionfc, org.joml.Vector3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f reflect(Quaternionfc orientation, Vector3fc point, Matrix4x3f dest) {
double num1 = orientation.x() + orientation.x();
double num2 = orientation.y() + orientation.y();
double num3 = orientation.z() + orientation.z();
float normalX = (float) (orientation.x() * num3 + orientation.w() * num2);
float normalY = (float) (orientation.y() * num3 - orientation.w() * num1);
float normalZ = (float) (1.0 - (orientation.x() * num1 + orientation.y() * num2));
return reflect(normalX, normalY, normalZ, point.x(), point.y(), point.z(), dest);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#reflect(org.joml.Vector3fc, org.joml.Vector3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f reflect(Vector3fc normal, Vector3fc point, Matrix4x3f dest) {
return reflect(normal.x(), normal.y(), normal.z(), point.x(), point.y(), point.z(), dest);
}
/**
* Set this matrix to a mirror/reflection transformation that reflects about the given plane
* specified via the equation <tt>x*a + y*b + z*c + d = 0</tt>.
* <p>
* The vector <tt>(a, b, c)</tt> must be a unit vector.
* <p>
* Reference: <a href="https://msdn.microsoft.com/en-us/library/windows/desktop/bb281733(v=vs.85).aspx">msdn.microsoft.com</a>
*
* @param a
* the x factor in the plane equation
* @param b
* the y factor in the plane equation
* @param c
* the z factor in the plane equation
* @param d
* the constant in the plane equation
* @return this
*/
public Matrix4x3f reflection(float a, float b, float c, float d) {
float da = a + a, db = b + b, dc = c + c, dd = d + d;
m00 = 1.0f - da * a;
m01 = -da * b;
m02 = -da * c;
m10 = -db * a;
m11 = 1.0f - db * b;
m12 = -db * c;
m20 = -dc * a;
m21 = -dc * b;
m22 = 1.0f - dc * c;
m30 = -dd * a;
m31 = -dd * b;
m32 = -dd * c;
properties = 0;
return this;
}
/**
* Set this matrix to a mirror/reflection transformation that reflects about the given plane
* specified via the plane normal and a point on the plane.
*
* @param nx
* the x-coordinate of the plane normal
* @param ny
* the y-coordinate of the plane normal
* @param nz
* the z-coordinate of the plane normal
* @param px
* the x-coordinate of a point on the plane
* @param py
* the y-coordinate of a point on the plane
* @param pz
* the z-coordinate of a point on the plane
* @return this
*/
public Matrix4x3f reflection(float nx, float ny, float nz, float px, float py, float pz) {
float invLength = 1.0f / (float) Math.sqrt(nx * nx + ny * ny + nz * nz);
float nnx = nx * invLength;
float nny = ny * invLength;
float nnz = nz * invLength;
/* See: http://mathworld.wolfram.com/Plane.html */
return reflection(nnx, nny, nnz, -nnx * px - nny * py - nnz * pz);
}
/**
* Set this matrix to a mirror/reflection transformation that reflects about the given plane
* specified via the plane normal and a point on the plane.
*
* @param normal
* the plane normal
* @param point
* a point on the plane
* @return this
*/
public Matrix4x3f reflection(Vector3fc normal, Vector3fc point) {
return reflection(normal.x(), normal.y(), normal.z(), point.x(), point.y(), point.z());
}
/**
* Set this matrix to a mirror/reflection transformation that reflects about a plane
* specified via the plane orientation and a point on the plane.
* <p>
* This method can be used to build a reflection transformation based on the orientation of a mirror object in the scene.
* It is assumed that the default mirror plane's normal is <tt>(0, 0, 1)</tt>. So, if the given {@link Quaternionfc} is
* the identity (does not apply any additional rotation), the reflection plane will be <tt>z=0</tt>, offset by the given <code>point</code>.
*
* @param orientation
* the plane orientation
* @param point
* a point on the plane
* @return this
*/
public Matrix4x3f reflection(Quaternionfc orientation, Vector3fc point) {
double num1 = orientation.x() + orientation.x();
double num2 = orientation.y() + orientation.y();
double num3 = orientation.z() + orientation.z();
float normalX = (float) (orientation.x() * num3 + orientation.w() * num2);
float normalY = (float) (orientation.y() * num3 - orientation.w() * num1);
float normalZ = (float) (1.0 - (orientation.x() * num1 + orientation.y() * num2));
return reflection(normalX, normalY, normalZ, point.x(), point.y(), point.z());
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getRow(int, org.joml.Vector4f)
*/
public Vector4f getRow(int row, Vector4f dest) throws IndexOutOfBoundsException {
switch (row) {
case 0:
dest.x = m00;
dest.y = m10;
dest.z = m20;
dest.w = m30;
break;
case 1:
dest.x = m01;
dest.y = m11;
dest.z = m21;
dest.w = m31;
break;
case 2:
dest.x = m02;
dest.y = m12;
dest.z = m22;
dest.w = m32;
break;
default:
throw new IndexOutOfBoundsException();
}
return dest;
}
/**
* Set the row at the given <code>row</code> index, starting with <code>0</code>.
*
* @param row
* the row index in <tt>[0..2]</tt>
* @param src
* the row components to set
* @return this
* @throws IndexOutOfBoundsException if <code>row</code> is not in <tt>[0..2]</tt>
*/
public Matrix4x3f setRow(int row, Vector4fc src) throws IndexOutOfBoundsException {
switch (row) {
case 0:
this.m00 = src.x();
this.m10 = src.y();
this.m20 = src.z();
this.m30 = src.w();
break;
case 1:
this.m01 = src.x();
this.m11 = src.y();
this.m21 = src.z();
this.m31 = src.w();
break;
case 2:
this.m02 = src.x();
this.m12 = src.y();
this.m22 = src.z();
this.m32 = src.w();
break;
default:
throw new IndexOutOfBoundsException();
}
return this;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#getColumn(int, org.joml.Vector3f)
*/
public Vector3f getColumn(int column, Vector3f dest) throws IndexOutOfBoundsException {
switch (column) {
case 0:
dest.x = m00;
dest.y = m01;
dest.z = m02;
break;
case 1:
dest.x = m10;
dest.y = m11;
dest.z = m12;
break;
case 2:
dest.x = m20;
dest.y = m21;
dest.z = m22;
break;
case 3:
dest.x = m30;
dest.y = m31;
dest.z = m32;
break;
default:
throw new IndexOutOfBoundsException();
}
return dest;
}
/**
* Set the column at the given <code>column</code> index, starting with <code>0</code>.
*
* @param column
* the column index in <tt>[0..3]</tt>
* @param src
* the column components to set
* @return this
* @throws IndexOutOfBoundsException if <code>column</code> is not in <tt>[0..3]</tt>
*/
public Matrix4x3f setColumn(int column, Vector3fc src) throws IndexOutOfBoundsException {
switch (column) {
case 0:
this.m00 = src.x();
this.m01 = src.y();
this.m02 = src.z();
break;
case 1:
this.m10 = src.x();
this.m11 = src.y();
this.m12 = src.z();
break;
case 2:
this.m20 = src.x();
this.m21 = src.y();
this.m22 = src.z();
break;
case 3:
this.m30 = src.x();
this.m31 = src.y();
this.m32 = src.z();
break;
default:
throw new IndexOutOfBoundsException();
}
return this;
}
/**
* Compute a normal matrix from the left 3x3 submatrix of <code>this</code>
* and store it into the left 3x3 submatrix of <code>this</code>.
* All other values of <code>this</code> will be set to {@link #identity() identity}.
* <p>
* The normal matrix of <tt>m</tt> is the transpose of the inverse of <tt>m</tt>.
* <p>
* Please note that, if <code>this</code> is an orthogonal matrix or a matrix whose columns are orthogonal vectors,
* then this method <i>need not</i> be invoked, since in that case <code>this</code> itself is its normal matrix.
* In that case, use {@link #set3x3(Matrix4x3fc)} to set a given Matrix4x3f to only the left 3x3 submatrix
* of this matrix.
*
* @see #set3x3(Matrix4x3fc)
*
* @return this
*/
public Matrix4x3f normal() {
return normal(this);
}
/**
* Compute a normal matrix from the left 3x3 submatrix of <code>this</code>
* and store it into the left 3x3 submatrix of <code>dest</code>.
* All other values of <code>dest</code> will be set to {@link #identity() identity}.
* <p>
* The normal matrix of <tt>m</tt> is the transpose of the inverse of <tt>m</tt>.
* <p>
* Please note that, if <code>this</code> is an orthogonal matrix or a matrix whose columns are orthogonal vectors,
* then this method <i>need not</i> be invoked, since in that case <code>this</code> itself is its normal matrix.
* In that case, use {@link #set3x3(Matrix4x3fc)} to set a given Matrix4x3f to only the left 3x3 submatrix
* of this matrix.
*
* @see #set3x3(Matrix4x3fc)
*
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f normal(Matrix4x3f dest) {
float m00m11 = m00 * m11;
float m01m10 = m01 * m10;
float m02m10 = m02 * m10;
float m00m12 = m00 * m12;
float m01m12 = m01 * m12;
float m02m11 = m02 * m11;
float det = (m00m11 - m01m10) * m22 + (m02m10 - m00m12) * m21 + (m01m12 - m02m11) * m20;
float s = 1.0f / det;
/* Invert and transpose in one go */
float nm00 = (m11 * m22 - m21 * m12) * s;
float nm01 = (m20 * m12 - m10 * m22) * s;
float nm02 = (m10 * m21 - m20 * m11) * s;
float nm10 = (m21 * m02 - m01 * m22) * s;
float nm11 = (m00 * m22 - m20 * m02) * s;
float nm12 = (m20 * m01 - m00 * m21) * s;
float nm20 = (m01m12 - m02m11) * s;
float nm21 = (m02m10 - m00m12) * s;
float nm22 = (m00m11 - m01m10) * s;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.m30 = 0.0f;
dest.m31 = 0.0f;
dest.m32 = 0.0f;
dest.properties = 0;
return dest;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#normal(org.joml.Matrix3f)
*/
public Matrix3f normal(Matrix3f dest) {
float m00m11 = m00 * m11;
float m01m10 = m01 * m10;
float m02m10 = m02 * m10;
float m00m12 = m00 * m12;
float m01m12 = m01 * m12;
float m02m11 = m02 * m11;
float det = (m00m11 - m01m10) * m22 + (m02m10 - m00m12) * m21 + (m01m12 - m02m11) * m20;
float s = 1.0f / det;
/* Invert and transpose in one go */
dest.m00((m11 * m22 - m21 * m12) * s);
dest.m01((m20 * m12 - m10 * m22) * s);
dest.m02((m10 * m21 - m20 * m11) * s);
dest.m10((m21 * m02 - m01 * m22) * s);
dest.m11((m00 * m22 - m20 * m02) * s);
dest.m12((m20 * m01 - m00 * m21) * s);
dest.m20((m01m12 - m02m11) * s);
dest.m21((m02m10 - m00m12) * s);
dest.m22((m00m11 - m01m10) * s);
return dest;
}
/**
* Normalize the left 3x3 submatrix of this matrix.
* <p>
* The resulting matrix will map unit vectors to unit vectors, though a pair of orthogonal input unit
* vectors need not be mapped to a pair of orthogonal output vectors if the original matrix was not orthogonal itself
* (i.e. had <i>skewing</i>).
*
* @return this
*/
public Matrix4x3f normalize3x3() {
return normalize3x3(this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#normalize3x3(org.joml.Matrix4x3f)
*/
public Matrix4x3f normalize3x3(Matrix4x3f dest) {
float invXlen = (float) (1.0 / Math.sqrt(m00 * m00 + m01 * m01 + m02 * m02));
float invYlen = (float) (1.0 / Math.sqrt(m10 * m10 + m11 * m11 + m12 * m12));
float invZlen = (float) (1.0 / Math.sqrt(m20 * m20 + m21 * m21 + m22 * m22));
dest.m00 = m00 * invXlen; dest.m01 = m01 * invXlen; dest.m02 = m02 * invXlen;
dest.m10 = m10 * invYlen; dest.m11 = m11 * invYlen; dest.m12 = m12 * invYlen;
dest.m20 = m20 * invZlen; dest.m21 = m21 * invZlen; dest.m22 = m22 * invZlen;
dest.properties = properties;
return dest;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#normalize3x3(org.joml.Matrix3f)
*/
public Matrix3f normalize3x3(Matrix3f dest) {
float invXlen = (float) (1.0 / Math.sqrt(m00 * m00 + m01 * m01 + m02 * m02));
float invYlen = (float) (1.0 / Math.sqrt(m10 * m10 + m11 * m11 + m12 * m12));
float invZlen = (float) (1.0 / Math.sqrt(m20 * m20 + m21 * m21 + m22 * m22));
dest.m00(m00 * invXlen); dest.m01(m01 * invXlen); dest.m02(m02 * invXlen);
dest.m10(m10 * invYlen); dest.m11(m11 * invYlen); dest.m12(m12 * invYlen);
dest.m20(m20 * invZlen); dest.m21(m21 * invZlen); dest.m22(m22 * invZlen);
return dest;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#positiveZ(org.joml.Vector3f)
*/
public Vector3f positiveZ(Vector3f dir) {
dir.x = m10 * m21 - m11 * m20;
dir.y = m20 * m01 - m21 * m00;
dir.z = m00 * m11 - m01 * m10;
dir.normalize();
return dir;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#normalizedPositiveZ(org.joml.Vector3f)
*/
public Vector3f normalizedPositiveZ(Vector3f dir) {
dir.x = m02;
dir.y = m12;
dir.z = m22;
return dir;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#positiveX(org.joml.Vector3f)
*/
public Vector3f positiveX(Vector3f dir) {
dir.x = m11 * m22 - m12 * m21;
dir.y = m02 * m21 - m01 * m22;
dir.z = m01 * m12 - m02 * m11;
dir.normalize();
return dir;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#normalizedPositiveX(org.joml.Vector3f)
*/
public Vector3f normalizedPositiveX(Vector3f dir) {
dir.x = m00;
dir.y = m10;
dir.z = m20;
return dir;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#positiveY(org.joml.Vector3f)
*/
public Vector3f positiveY(Vector3f dir) {
dir.x = m12 * m20 - m10 * m22;
dir.y = m00 * m22 - m02 * m20;
dir.z = m02 * m10 - m00 * m12;
dir.normalize();
return dir;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#normalizedPositiveY(org.joml.Vector3f)
*/
public Vector3f normalizedPositiveY(Vector3f dir) {
dir.x = m01;
dir.y = m11;
dir.z = m21;
return dir;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#origin(org.joml.Vector3f)
*/
public Vector3f origin(Vector3f origin) {
float a = m00 * m11 - m01 * m10;
float b = m00 * m12 - m02 * m10;
float d = m01 * m12 - m02 * m11;
float g = m20 * m31 - m21 * m30;
float h = m20 * m32 - m22 * m30;
float j = m21 * m32 - m22 * m31;
origin.x = -m10 * j + m11 * h - m12 * g;
origin.y = m00 * j - m01 * h + m02 * g;
origin.z = -m30 * d + m31 * b - m32 * a;
return origin;
}
/**
* Apply a projection transformation to this matrix that projects onto the plane specified via the general plane equation
* <tt>x*a + y*b + z*c + d = 0</tt> as if casting a shadow from a given light position/direction <code>light</code>.
* <p>
* If <tt>light.w</tt> is <tt>0.0</tt> the light is being treated as a directional light; if it is <tt>1.0</tt> it is a point light.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the shadow matrix,
* then the new matrix will be <code>M * S</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * S * v</code>, the
* reflection will be applied first!
* <p>
* Reference: <a href="ftp://ftp.sgi.com/opengl/contrib/blythe/advanced99/notes/node192.html">ftp.sgi.com</a>
*
* @param light
* the light's vector
* @param a
* the x factor in the plane equation
* @param b
* the y factor in the plane equation
* @param c
* the z factor in the plane equation
* @param d
* the constant in the plane equation
* @return this
*/
public Matrix4x3f shadow(Vector4fc light, float a, float b, float c, float d) {
return shadow(light.x(), light.y(), light.z(), light.w(), a, b, c, d, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#shadow(org.joml.Vector4fc, float, float, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f shadow(Vector4fc light, float a, float b, float c, float d, Matrix4x3f dest) {
return shadow(light.x(), light.y(), light.z(), light.w(), a, b, c, d, dest);
}
/**
* Apply a projection transformation to this matrix that projects onto the plane specified via the general plane equation
* <tt>x*a + y*b + z*c + d = 0</tt> as if casting a shadow from a given light position/direction <tt>(lightX, lightY, lightZ, lightW)</tt>.
* <p>
* If <code>lightW</code> is <tt>0.0</tt> the light is being treated as a directional light; if it is <tt>1.0</tt> it is a point light.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the shadow matrix,
* then the new matrix will be <code>M * S</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * S * v</code>, the
* reflection will be applied first!
* <p>
* Reference: <a href="ftp://ftp.sgi.com/opengl/contrib/blythe/advanced99/notes/node192.html">ftp.sgi.com</a>
*
* @param lightX
* the x-component of the light's vector
* @param lightY
* the y-component of the light's vector
* @param lightZ
* the z-component of the light's vector
* @param lightW
* the w-component of the light's vector
* @param a
* the x factor in the plane equation
* @param b
* the y factor in the plane equation
* @param c
* the z factor in the plane equation
* @param d
* the constant in the plane equation
* @return this
*/
public Matrix4x3f shadow(float lightX, float lightY, float lightZ, float lightW, float a, float b, float c, float d) {
return shadow(lightX, lightY, lightZ, lightW, a, b, c, d, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#shadow(float, float, float, float, float, float, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f shadow(float lightX, float lightY, float lightZ, float lightW, float a, float b, float c, float d, Matrix4x3f dest) {
// normalize plane
float invPlaneLen = (float) (1.0 / Math.sqrt(a*a + b*b + c*c));
float an = a * invPlaneLen;
float bn = b * invPlaneLen;
float cn = c * invPlaneLen;
float dn = d * invPlaneLen;
float dot = an * lightX + bn * lightY + cn * lightZ + dn * lightW;
// compute right matrix elements
float rm00 = dot - an * lightX;
float rm01 = -an * lightY;
float rm02 = -an * lightZ;
float rm03 = -an * lightW;
float rm10 = -bn * lightX;
float rm11 = dot - bn * lightY;
float rm12 = -bn * lightZ;
float rm13 = -bn * lightW;
float rm20 = -cn * lightX;
float rm21 = -cn * lightY;
float rm22 = dot - cn * lightZ;
float rm23 = -cn * lightW;
float rm30 = -dn * lightX;
float rm31 = -dn * lightY;
float rm32 = -dn * lightZ;
float rm33 = dot - dn * lightW;
// matrix multiplication
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02 + m30 * rm03;
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02 + m31 * rm03;
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02 + m32 * rm03;
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12 + m30 * rm13;
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12 + m31 * rm13;
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12 + m32 * rm13;
float nm20 = m00 * rm20 + m10 * rm21 + m20 * rm22 + m30 * rm23;
float nm21 = m01 * rm20 + m11 * rm21 + m21 * rm22 + m31 * rm23;
float nm22 = m02 * rm20 + m12 * rm21 + m22 * rm22 + m32 * rm23;
dest.m30 = m00 * rm30 + m10 * rm31 + m20 * rm32 + m30 * rm33;
dest.m31 = m01 * rm30 + m11 * rm31 + m21 * rm32 + m31 * rm33;
dest.m32 = m02 * rm30 + m12 * rm31 + m22 * rm32 + m32 * rm33;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#shadow(org.joml.Vector4fc, org.joml.Matrix4x3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f shadow(Vector4fc light, Matrix4x3fc planeTransform, Matrix4x3f dest) {
// compute plane equation by transforming (y = 0)
float a = planeTransform.m10();
float b = planeTransform.m11();
float c = planeTransform.m12();
float d = -a * planeTransform.m30() - b * planeTransform.m31() - c * planeTransform.m32();
return shadow(light.x(), light.y(), light.z(), light.w(), a, b, c, d, dest);
}
/**
* Apply a projection transformation to this matrix that projects onto the plane with the general plane equation
* <tt>y = 0</tt> as if casting a shadow from a given light position/direction <code>light</code>.
* <p>
* Before the shadow projection is applied, the plane is transformed via the specified <code>planeTransformation</code>.
* <p>
* If <tt>light.w</tt> is <tt>0.0</tt> the light is being treated as a directional light; if it is <tt>1.0</tt> it is a point light.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the shadow matrix,
* then the new matrix will be <code>M * S</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * S * v</code>, the
* reflection will be applied first!
*
* @param light
* the light's vector
* @param planeTransform
* the transformation to transform the implied plane <tt>y = 0</tt> before applying the projection
* @return this
*/
public Matrix4x3f shadow(Vector4fc light, Matrix4x3fc planeTransform) {
return shadow(light, planeTransform, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#shadow(float, float, float, float, org.joml.Matrix4x3fc, org.joml.Matrix4x3f)
*/
public Matrix4x3f shadow(float lightX, float lightY, float lightZ, float lightW, Matrix4x3fc planeTransform, Matrix4x3f dest) {
// compute plane equation by transforming (y = 0)
float a = planeTransform.m10();
float b = planeTransform.m11();
float c = planeTransform.m12();
float d = -a * planeTransform.m30() - b * planeTransform.m31() - c * planeTransform.m32();
return shadow(lightX, lightY, lightZ, lightW, a, b, c, d, dest);
}
/**
* Apply a projection transformation to this matrix that projects onto the plane with the general plane equation
* <tt>y = 0</tt> as if casting a shadow from a given light position/direction <tt>(lightX, lightY, lightZ, lightW)</tt>.
* <p>
* Before the shadow projection is applied, the plane is transformed via the specified <code>planeTransformation</code>.
* <p>
* If <code>lightW</code> is <tt>0.0</tt> the light is being treated as a directional light; if it is <tt>1.0</tt> it is a point light.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the shadow matrix,
* then the new matrix will be <code>M * S</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * S * v</code>, the
* reflection will be applied first!
*
* @param lightX
* the x-component of the light vector
* @param lightY
* the y-component of the light vector
* @param lightZ
* the z-component of the light vector
* @param lightW
* the w-component of the light vector
* @param planeTransform
* the transformation to transform the implied plane <tt>y = 0</tt> before applying the projection
* @return this
*/
public Matrix4x3f shadow(float lightX, float lightY, float lightZ, float lightW, Matrix4x3f planeTransform) {
return shadow(lightX, lightY, lightZ, lightW, planeTransform, this);
}
/**
* Set this matrix to a cylindrical billboard transformation that rotates the local +Z axis of a given object with position <code>objPos</code> towards
* a target position at <code>targetPos</code> while constraining a cylindrical rotation around the given <code>up</code> vector.
* <p>
* This method can be used to create the complete model transformation for a given object, including the translation of the object to
* its position <code>objPos</code>.
*
* @param objPos
* the position of the object to rotate towards <code>targetPos</code>
* @param targetPos
* the position of the target (for example the camera) towards which to rotate the object
* @param up
* the rotation axis (must be {@link Vector3f#normalize() normalized})
* @return this
*/
public Matrix4x3f billboardCylindrical(Vector3fc objPos, Vector3fc targetPos, Vector3fc up) {
float dirX = targetPos.x() - objPos.x();
float dirY = targetPos.y() - objPos.y();
float dirZ = targetPos.z() - objPos.z();
// left = up x dir
float leftX = up.y() * dirZ - up.z() * dirY;
float leftY = up.z() * dirX - up.x() * dirZ;
float leftZ = up.x() * dirY - up.y() * dirX;
// normalize left
float invLeftLen = 1.0f / (float) Math.sqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
leftX *= invLeftLen;
leftY *= invLeftLen;
leftZ *= invLeftLen;
// recompute dir by constraining rotation around 'up'
// dir = left x up
dirX = leftY * up.z() - leftZ * up.y();
dirY = leftZ * up.x() - leftX * up.z();
dirZ = leftX * up.y() - leftY * up.x();
// normalize dir
float invDirLen = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
dirX *= invDirLen;
dirY *= invDirLen;
dirZ *= invDirLen;
// set matrix elements
m00 = leftX;
m01 = leftY;
m02 = leftZ;
m10 = up.x();
m11 = up.y();
m12 = up.z();
m20 = dirX;
m21 = dirY;
m22 = dirZ;
m30 = objPos.x();
m31 = objPos.y();
m32 = objPos.z();
properties = 0;
return this;
}
/**
* Set this matrix to a spherical billboard transformation that rotates the local +Z axis of a given object with position <code>objPos</code> towards
* a target position at <code>targetPos</code>.
* <p>
* This method can be used to create the complete model transformation for a given object, including the translation of the object to
* its position <code>objPos</code>.
* <p>
* If preserving an <i>up</i> vector is not necessary when rotating the +Z axis, then a shortest arc rotation can be obtained
* using {@link #billboardSpherical(Vector3fc, Vector3fc)}.
*
* @see #billboardSpherical(Vector3fc, Vector3fc)
*
* @param objPos
* the position of the object to rotate towards <code>targetPos</code>
* @param targetPos
* the position of the target (for example the camera) towards which to rotate the object
* @param up
* the up axis used to orient the object
* @return this
*/
public Matrix4x3f billboardSpherical(Vector3fc objPos, Vector3fc targetPos, Vector3fc up) {
float dirX = targetPos.x() - objPos.x();
float dirY = targetPos.y() - objPos.y();
float dirZ = targetPos.z() - objPos.z();
// normalize dir
float invDirLen = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
dirX *= invDirLen;
dirY *= invDirLen;
dirZ *= invDirLen;
// left = up x dir
float leftX = up.y() * dirZ - up.z() * dirY;
float leftY = up.z() * dirX - up.x() * dirZ;
float leftZ = up.x() * dirY - up.y() * dirX;
// normalize left
float invLeftLen = 1.0f / (float) Math.sqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
leftX *= invLeftLen;
leftY *= invLeftLen;
leftZ *= invLeftLen;
// up = dir x left
float upX = dirY * leftZ - dirZ * leftY;
float upY = dirZ * leftX - dirX * leftZ;
float upZ = dirX * leftY - dirY * leftX;
// set matrix elements
m00 = leftX;
m01 = leftY;
m02 = leftZ;
m10 = upX;
m11 = upY;
m12 = upZ;
m20 = dirX;
m21 = dirY;
m22 = dirZ;
m30 = objPos.x();
m31 = objPos.y();
m32 = objPos.z();
properties = 0;
return this;
}
/**
* Set this matrix to a spherical billboard transformation that rotates the local +Z axis of a given object with position <code>objPos</code> towards
* a target position at <code>targetPos</code> using a shortest arc rotation by not preserving any <i>up</i> vector of the object.
* <p>
* This method can be used to create the complete model transformation for a given object, including the translation of the object to
* its position <code>objPos</code>.
* <p>
* In order to specify an <i>up</i> vector which needs to be maintained when rotating the +Z axis of the object,
* use {@link #billboardSpherical(Vector3fc, Vector3fc, Vector3fc)}.
*
* @see #billboardSpherical(Vector3fc, Vector3fc, Vector3fc)
*
* @param objPos
* the position of the object to rotate towards <code>targetPos</code>
* @param targetPos
* the position of the target (for example the camera) towards which to rotate the object
* @return this
*/
public Matrix4x3f billboardSpherical(Vector3fc objPos, Vector3fc targetPos) {
float toDirX = targetPos.x() - objPos.x();
float toDirY = targetPos.y() - objPos.y();
float toDirZ = targetPos.z() - objPos.z();
float x = -toDirY;
float y = toDirX;
float w = (float) Math.sqrt(toDirX * toDirX + toDirY * toDirY + toDirZ * toDirZ) + toDirZ;
float invNorm = (float) (1.0 / Math.sqrt(x * x + y * y + w * w));
x *= invNorm;
y *= invNorm;
w *= invNorm;
float q00 = (x + x) * x;
float q11 = (y + y) * y;
float q01 = (x + x) * y;
float q03 = (x + x) * w;
float q13 = (y + y) * w;
m00 = 1.0f - q11;
m01 = q01;
m02 = -q13;
m10 = q01;
m11 = 1.0f - q00;
m12 = q03;
m20 = q13;
m21 = -q03;
m22 = 1.0f - q11 - q00;
m30 = objPos.x();
m31 = objPos.y();
m32 = objPos.z();
properties = 0;
return this;
}
public int hashCode() {
final int prime = 31;
int result = 1;
result = prime * result + Float.floatToIntBits(m00);
result = prime * result + Float.floatToIntBits(m01);
result = prime * result + Float.floatToIntBits(m02);
result = prime * result + Float.floatToIntBits(m10);
result = prime * result + Float.floatToIntBits(m11);
result = prime * result + Float.floatToIntBits(m12);
result = prime * result + Float.floatToIntBits(m20);
result = prime * result + Float.floatToIntBits(m21);
result = prime * result + Float.floatToIntBits(m22);
result = prime * result + Float.floatToIntBits(m30);
result = prime * result + Float.floatToIntBits(m31);
result = prime * result + Float.floatToIntBits(m32);
return result;
}
public boolean equals(Object obj) {
if (this == obj)
return true;
if (obj == null)
return false;
if (!(obj instanceof Matrix4x3f))
return false;
Matrix4x3f other = (Matrix4x3f) obj;
if (Float.floatToIntBits(m00) != Float.floatToIntBits(other.m00))
return false;
if (Float.floatToIntBits(m01) != Float.floatToIntBits(other.m01))
return false;
if (Float.floatToIntBits(m02) != Float.floatToIntBits(other.m02))
return false;
if (Float.floatToIntBits(m10) != Float.floatToIntBits(other.m10))
return false;
if (Float.floatToIntBits(m11) != Float.floatToIntBits(other.m11))
return false;
if (Float.floatToIntBits(m12) != Float.floatToIntBits(other.m12))
return false;
if (Float.floatToIntBits(m20) != Float.floatToIntBits(other.m20))
return false;
if (Float.floatToIntBits(m21) != Float.floatToIntBits(other.m21))
return false;
if (Float.floatToIntBits(m22) != Float.floatToIntBits(other.m22))
return false;
if (Float.floatToIntBits(m30) != Float.floatToIntBits(other.m30))
return false;
if (Float.floatToIntBits(m31) != Float.floatToIntBits(other.m31))
return false;
if (Float.floatToIntBits(m32) != Float.floatToIntBits(other.m32))
return false;
return true;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#pick(float, float, float, float, int[], org.joml.Matrix4x3f)
*/
public Matrix4x3f pick(float x, float y, float width, float height, int[] viewport, Matrix4x3f dest) {
float sx = viewport[2] / width;
float sy = viewport[3] / height;
float tx = (viewport[2] + 2.0f * (viewport[0] - x)) / width;
float ty = (viewport[3] + 2.0f * (viewport[1] - y)) / height;
dest.m30 = m00 * tx + m10 * ty + m30;
dest.m31 = m01 * tx + m11 * ty + m31;
dest.m32 = m02 * tx + m12 * ty + m32;
dest.m00 = m00 * sx;
dest.m01 = m01 * sx;
dest.m02 = m02 * sx;
dest.m10 = m10 * sy;
dest.m11 = m11 * sy;
dest.m12 = m12 * sy;
dest.properties = 0;
return dest;
}
/**
* Apply a picking transformation to this matrix using the given window coordinates <tt>(x, y)</tt> as the pick center
* and the given <tt>(width, height)</tt> as the size of the picking region in window coordinates.
*
* @param x
* the x coordinate of the picking region center in window coordinates
* @param y
* the y coordinate of the picking region center in window coordinates
* @param width
* the width of the picking region in window coordinates
* @param height
* the height of the picking region in window coordinates
* @param viewport
* the viewport described by <tt>[x, y, width, height]</tt>
* @return this
*/
public Matrix4x3f pick(float x, float y, float width, float height, int[] viewport) {
return pick(x, y, width, height, viewport, this);
}
/**
* Exchange the values of <code>this</code> matrix with the given <code>other</code> matrix.
*
* @param other
* the other matrix to exchange the values with
* @return this
*/
public Matrix4x3f swap(Matrix4x3f other) {
MemUtil.INSTANCE.swap(this, other);
byte props = properties;
this.properties = other.properties;
other.properties = props;
return this;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#arcball(float, float, float, float, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f arcball(float radius, float centerX, float centerY, float centerZ, float angleX, float angleY, Matrix4x3f dest) {
float m30 = m20 * -radius + this.m30;
float m31 = m21 * -radius + this.m31;
float m32 = m22 * -radius + this.m32;
float sin = (float) Math.sin(angleX);
float cos = (float) Math.cosFromSin(sin, angleX);
float nm10 = m10 * cos + m20 * sin;
float nm11 = m11 * cos + m21 * sin;
float nm12 = m12 * cos + m22 * sin;
float m20 = this.m20 * cos - m10 * sin;
float m21 = this.m21 * cos - m11 * sin;
float m22 = this.m22 * cos - m12 * sin;
sin = (float) Math.sin(angleY);
cos = (float) Math.cosFromSin(sin, angleY);
float nm00 = m00 * cos - m20 * sin;
float nm01 = m01 * cos - m21 * sin;
float nm02 = m02 * cos - m22 * sin;
float nm20 = m00 * sin + m20 * cos;
float nm21 = m01 * sin + m21 * cos;
float nm22 = m02 * sin + m22 * cos;
dest.m30 = -nm00 * centerX - nm10 * centerY - nm20 * centerZ + m30;
dest.m31 = -nm01 * centerX - nm11 * centerY - nm21 * centerZ + m31;
dest.m32 = -nm02 * centerX - nm12 * centerY - nm22 * centerZ + m32;
dest.m20 = nm20;
dest.m21 = nm21;
dest.m22 = nm22;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#arcball(float, org.joml.Vector3fc, float, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f arcball(float radius, Vector3fc center, float angleX, float angleY, Matrix4x3f dest) {
return arcball(radius, center.x(), center.y(), center.z(), angleX, angleY, dest);
}
/**
* Apply an arcball view transformation to this matrix with the given <code>radius</code> and center <tt>(centerX, centerY, centerZ)</tt>
* position of the arcball and the specified X and Y rotation angles.
* <p>
* This method is equivalent to calling: <tt>translate(0, 0, -radius).rotateX(angleX).rotateY(angleY).translate(-centerX, -centerY, -centerZ)</tt>
*
* @param radius
* the arcball radius
* @param centerX
* the x coordinate of the center position of the arcball
* @param centerY
* the y coordinate of the center position of the arcball
* @param centerZ
* the z coordinate of the center position of the arcball
* @param angleX
* the rotation angle around the X axis in radians
* @param angleY
* the rotation angle around the Y axis in radians
* @return dest
*/
public Matrix4x3f arcball(float radius, float centerX, float centerY, float centerZ, float angleX, float angleY) {
return arcball(radius, centerX, centerY, centerZ, angleX, angleY, this);
}
/**
* Apply an arcball view transformation to this matrix with the given <code>radius</code> and <code>center</code>
* position of the arcball and the specified X and Y rotation angles.
* <p>
* This method is equivalent to calling: <tt>translate(0, 0, -radius).rotateX(angleX).rotateY(angleY).translate(-center.x, -center.y, -center.z)</tt>
*
* @param radius
* the arcball radius
* @param center
* the center position of the arcball
* @param angleX
* the rotation angle around the X axis in radians
* @param angleY
* the rotation angle around the Y axis in radians
* @return this
*/
public Matrix4x3f arcball(float radius, Vector3fc center, float angleX, float angleY) {
return arcball(radius, center.x(), center.y(), center.z(), angleX, angleY, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#transformAab(float, float, float, float, float, float, org.joml.Vector3f, org.joml.Vector3f)
*/
public Matrix4x3f transformAab(float minX, float minY, float minZ, float maxX, float maxY, float maxZ, Vector3f outMin, Vector3f outMax) {
float xax = m00 * minX, xay = m01 * minX, xaz = m02 * minX;
float xbx = m00 * maxX, xby = m01 * maxX, xbz = m02 * maxX;
float yax = m10 * minY, yay = m11 * minY, yaz = m12 * minY;
float ybx = m10 * maxY, yby = m11 * maxY, ybz = m12 * maxY;
float zax = m20 * minZ, zay = m21 * minZ, zaz = m22 * minZ;
float zbx = m20 * maxZ, zby = m21 * maxZ, zbz = m22 * maxZ;
float xminx, xminy, xminz, yminx, yminy, yminz, zminx, zminy, zminz;
float xmaxx, xmaxy, xmaxz, ymaxx, ymaxy, ymaxz, zmaxx, zmaxy, zmaxz;
if (xax < xbx) {
xminx = xax;
xmaxx = xbx;
} else {
xminx = xbx;
xmaxx = xax;
}
if (xay < xby) {
xminy = xay;
xmaxy = xby;
} else {
xminy = xby;
xmaxy = xay;
}
if (xaz < xbz) {
xminz = xaz;
xmaxz = xbz;
} else {
xminz = xbz;
xmaxz = xaz;
}
if (yax < ybx) {
yminx = yax;
ymaxx = ybx;
} else {
yminx = ybx;
ymaxx = yax;
}
if (yay < yby) {
yminy = yay;
ymaxy = yby;
} else {
yminy = yby;
ymaxy = yay;
}
if (yaz < ybz) {
yminz = yaz;
ymaxz = ybz;
} else {
yminz = ybz;
ymaxz = yaz;
}
if (zax < zbx) {
zminx = zax;
zmaxx = zbx;
} else {
zminx = zbx;
zmaxx = zax;
}
if (zay < zby) {
zminy = zay;
zmaxy = zby;
} else {
zminy = zby;
zmaxy = zay;
}
if (zaz < zbz) {
zminz = zaz;
zmaxz = zbz;
} else {
zminz = zbz;
zmaxz = zaz;
}
outMin.x = xminx + yminx + zminx + m30;
outMin.y = xminy + yminy + zminy + m31;
outMin.z = xminz + yminz + zminz + m32;
outMax.x = xmaxx + ymaxx + zmaxx + m30;
outMax.y = xmaxy + ymaxy + zmaxy + m31;
outMax.z = xmaxz + ymaxz + zmaxz + m32;
return this;
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#transformAab(org.joml.Vector3fc, org.joml.Vector3fc, org.joml.Vector3f, org.joml.Vector3f)
*/
public Matrix4x3f transformAab(Vector3fc min, Vector3fc max, Vector3f outMin, Vector3f outMax) {
return transformAab(min.x(), min.y(), min.z(), max.x(), max.y(), max.z(), outMin, outMax);
}
/**
* Linearly interpolate <code>this</code> and <code>other</code> using the given interpolation factor <code>t</code>
* and store the result in <code>this</code>.
* <p>
* If <code>t</code> is <tt>0.0</tt> then the result is <code>this</code>. If the interpolation factor is <code>1.0</code>
* then the result is <code>other</code>.
*
* @param other
* the other matrix
* @param t
* the interpolation factor between 0.0 and 1.0
* @return this
*/
public Matrix4x3f lerp(Matrix4x3fc other, float t) {
return lerp(other, t, this);
}
/* (non-Javadoc)
* @see org.joml.Matrix4x3fc#lerp(org.joml.Matrix4x3fc, float, org.joml.Matrix4x3f)
*/
public Matrix4x3f lerp(Matrix4x3fc other, float t, Matrix4x3f dest) {
dest.m00 = m00 + (other.m00() - m00) * t;
dest.m01 = m01 + (other.m01() - m01) * t;
dest.m02 = m02 + (other.m02() - m02) * t;
dest.m10 = m10 + (other.m10() - m10) * t;
dest.m11 = m11 + (other.m11() - m11) * t;
dest.m12 = m12 + (other.m12() - m12) * t;
dest.m20 = m20 + (other.m20() - m20) * t;
dest.m21 = m21 + (other.m21() - m21) * t;
dest.m22 = m22 + (other.m22() - m22) * t;
dest.m30 = m30 + (other.m30() - m30) * t;
dest.m31 = m31 + (other.m31() - m31) * t;
dest.m32 = m32 + (other.m32() - m32) * t;
return dest;
}
/**
* Apply a model transformation to this matrix for a right-handed coordinate system,
* that aligns the local <code>+Z</code> axis with <code>dir</code>
* and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying it,
* use {@link #rotationTowards(Vector3fc, Vector3fc) rotationTowards()}.
* <p>
* This method is equivalent to calling: <tt>mul(new Matrix4x3f().lookAt(new Vector3f(), new Vector3f(dir).negate(), up).invert(), dest)</tt>
*
* @see #rotateTowards(float, float, float, float, float, float, Matrix4x3f)
* @see #rotationTowards(Vector3fc, Vector3fc)
*
* @param dir
* the direction to rotate towards
* @param up
* the up vector
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f rotateTowards(Vector3fc dir, Vector3fc up, Matrix4x3f dest) {
return rotateTowards(dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z(), dest);
}
/**
* Apply a model transformation to this matrix for a right-handed coordinate system,
* that aligns the local <code>+Z</code> axis with <code>dir</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying it,
* use {@link #rotationTowards(Vector3fc, Vector3fc) rotationTowards()}.
* <p>
* This method is equivalent to calling: <tt>mul(new Matrix4x3f().lookAt(new Vector3f(), new Vector3f(dir).negate(), up).invert())</tt>
*
* @see #rotateTowards(float, float, float, float, float, float)
* @see #rotationTowards(Vector3fc, Vector3fc)
*
* @param dir
* the direction to orient towards
* @param up
* the up vector
* @return this
*/
public Matrix4x3f rotateTowards(Vector3fc dir, Vector3fc up) {
return rotateTowards(dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z(), this);
}
/**
* Apply a model transformation to this matrix for a right-handed coordinate system,
* that aligns the local <code>+Z</code> axis with <code>(dirX, dirY, dirZ)</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying it,
* use {@link #rotationTowards(float, float, float, float, float, float) rotationTowards()}.
* <p>
* This method is equivalent to calling: <tt>mul(new Matrix4x3f().lookAt(0, 0, 0, -dirX, -dirY, -dirZ, upX, upY, upZ).invert())</tt>
*
* @see #rotateTowards(Vector3fc, Vector3fc)
* @see #rotationTowards(float, float, float, float, float, float)
*
* @param dirX
* the x-coordinate of the direction to rotate towards
* @param dirY
* the y-coordinate of the direction to rotate towards
* @param dirZ
* the z-coordinate of the direction to rotate towards
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @return this
*/
public Matrix4x3f rotateTowards(float dirX, float dirY, float dirZ, float upX, float upY, float upZ) {
return rotateTowards(dirX, dirY, dirZ, upX, upY, upZ, this);
}
/**
* Apply a model transformation to this matrix for a right-handed coordinate system,
* that aligns the local <code>+Z</code> axis with <code>(dirX, dirY, dirZ)</code>
* and store the result in <code>dest</code>.
* <p>
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
* then the new matrix will be <code>M * L</code>. So when transforming a
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
* the lookat transformation will be applied first!
* <p>
* In order to set the matrix to a rotation transformation without post-multiplying it,
* use {@link #rotationTowards(float, float, float, float, float, float) rotationTowards()}.
* <p>
* This method is equivalent to calling: <tt>mul(new Matrix4x3f().lookAt(0, 0, 0, -dirX, -dirY, -dirZ, upX, upY, upZ).invert(), dest)</tt>
*
* @see #rotateTowards(Vector3fc, Vector3fc)
* @see #rotationTowards(float, float, float, float, float, float)
*
* @param dirX
* the x-coordinate of the direction to rotate towards
* @param dirY
* the y-coordinate of the direction to rotate towards
* @param dirZ
* the z-coordinate of the direction to rotate towards
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @param dest
* will hold the result
* @return dest
*/
public Matrix4x3f rotateTowards(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Matrix4x3f dest) {
// Normalize direction
float invDirLength = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
float ndirX = dirX * invDirLength;
float ndirY = dirY * invDirLength;
float ndirZ = dirZ * invDirLength;
// left = up x direction
float leftX, leftY, leftZ;
leftX = upY * ndirZ - upZ * ndirY;
leftY = upZ * ndirX - upX * ndirZ;
leftZ = upX * ndirY - upY * ndirX;
// normalize left
float invLeftLength = 1.0f / (float) Math.sqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
leftX *= invLeftLength;
leftY *= invLeftLength;
leftZ *= invLeftLength;
// up = direction x left
float upnX = ndirY * leftZ - ndirZ * leftY;
float upnY = ndirZ * leftX - ndirX * leftZ;
float upnZ = ndirX * leftY - ndirY * leftX;
float rm00 = leftX;
float rm01 = leftY;
float rm02 = leftZ;
float rm10 = upnX;
float rm11 = upnY;
float rm12 = upnZ;
float rm20 = ndirX;
float rm21 = ndirY;
float rm22 = ndirZ;
dest.m30 = m30;
dest.m31 = m31;
dest.m32 = m32;
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m12 = nm12;
dest.properties = (byte) (properties & ~(PROPERTY_IDENTITY | PROPERTY_TRANSLATION));
return dest;
}
/**
* Set this matrix to a model transformation for a right-handed coordinate system,
* that aligns the local <code>-z</code> axis with <code>dir</code>.
* <p>
* In order to apply the rotation transformation to a previous existing transformation,
* use {@link #rotateTowards(float, float, float, float, float, float) rotateTowards}.
* <p>
* This method is equivalent to calling: <tt>setLookAt(new Vector3f(), new Vector3f(dir).negate(), up).invert()</tt>
*
* @see #rotationTowards(Vector3fc, Vector3fc)
* @see #rotateTowards(float, float, float, float, float, float)
*
* @param dir
* the direction to orient the local -z axis towards
* @param up
* the up vector
* @return this
*/
public Matrix4x3f rotationTowards(Vector3fc dir, Vector3fc up) {
return rotationTowards(dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z());
}
/**
* Set this matrix to a model transformation for a right-handed coordinate system,
* that aligns the local <code>-z</code> axis with <code>(dirX, dirY, dirZ)</code>.
* <p>
* In order to apply the rotation transformation to a previous existing transformation,
* use {@link #rotateTowards(float, float, float, float, float, float) rotateTowards}.
* <p>
* This method is equivalent to calling: <tt>setLookAt(0, 0, 0, -dirX, -dirY, -dirZ, upX, upY, upZ).invert()</tt>
*
* @see #rotateTowards(Vector3fc, Vector3fc)
* @see #rotationTowards(float, float, float, float, float, float)
*
* @param dirX
* the x-coordinate of the direction to rotate towards
* @param dirY
* the y-coordinate of the direction to rotate towards
* @param dirZ
* the z-coordinate of the direction to rotate towards
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @return this
*/
public Matrix4x3f rotationTowards(float dirX, float dirY, float dirZ, float upX, float upY, float upZ) {
// Normalize direction
float invDirLength = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
float ndirX = dirX * invDirLength;
float ndirY = dirY * invDirLength;
float ndirZ = dirZ * invDirLength;
// left = up x direction
float leftX, leftY, leftZ;
leftX = upY * ndirZ - upZ * ndirY;
leftY = upZ * ndirX - upX * ndirZ;
leftZ = upX * ndirY - upY * ndirX;
// normalize left
float invLeftLength = 1.0f / (float) Math.sqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
leftX *= invLeftLength;
leftY *= invLeftLength;
leftZ *= invLeftLength;
// up = direction x left
float upnX = ndirY * leftZ - ndirZ * leftY;
float upnY = ndirZ * leftX - ndirX * leftZ;
float upnZ = ndirX * leftY - ndirY * leftX;
this.m00 = leftX;
this.m01 = leftY;
this.m02 = leftZ;
this.m10 = upnX;
this.m11 = upnY;
this.m12 = upnZ;
this.m20 = ndirX;
this.m21 = ndirY;
this.m22 = ndirZ;
this.m30 = 0.0f;
this.m31 = 0.0f;
this.m32 = 0.0f;
properties = 0;
return this;
}
/**
* Set this matrix to a model transformation for a right-handed coordinate system,
* that translates to the given <code>pos</code> and aligns the local <code>-z</code>
* axis with <code>dir</code>.
* <p>
* This method is equivalent to calling: <tt>translation(pos).rotateTowards(dir, up)</tt>
*
* @see #translation(Vector3fc)
* @see #rotateTowards(Vector3fc, Vector3fc)
*
* @param pos
* the position to translate to
* @param dir
* the direction to rotate towards
* @param up
* the up vector
* @return this
*/
public Matrix4x3f translationRotateTowards(Vector3fc pos, Vector3fc dir, Vector3fc up) {
return translationRotateTowards(pos.x(), pos.y(), pos.z(), dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z());
}
/**
* Set this matrix to a model transformation for a right-handed coordinate system,
* that translates to the given <code>(posX, posY, posZ)</code> and aligns the local <code>-z</code>
* axis with <code>(dirX, dirY, dirZ)</code>.
* <p>
* This method is equivalent to calling: <tt>translation(posX, posY, posZ).rotateTowards(dirX, dirY, dirZ, upX, upY, upZ)</tt>
*
* @see #translation(float, float, float)
* @see #rotateTowards(float, float, float, float, float, float)
*
* @param posX
* the x-coordinate of the position to translate to
* @param posY
* the y-coordinate of the position to translate to
* @param posZ
* the z-coordinate of the position to translate to
* @param dirX
* the x-coordinate of the direction to rotate towards
* @param dirY
* the y-coordinate of the direction to rotate towards
* @param dirZ
* the z-coordinate of the direction to rotate towards
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @return this
*/
public Matrix4x3f translationRotateTowards(float posX, float posY, float posZ, float dirX, float dirY, float dirZ, float upX, float upY, float upZ) {
// Normalize direction
float invDirLength = 1.0f / (float) Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
float ndirX = dirX * invDirLength;
float ndirY = dirY * invDirLength;
float ndirZ = dirZ * invDirLength;
// left = up x direction
float leftX, leftY, leftZ;
leftX = upY * ndirZ - upZ * ndirY;
leftY = upZ * ndirX - upX * ndirZ;
leftZ = upX * ndirY - upY * ndirX;
// normalize left
float invLeftLength = 1.0f / (float) Math.sqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
leftX *= invLeftLength;
leftY *= invLeftLength;
leftZ *= invLeftLength;
// up = direction x left
float upnX = ndirY * leftZ - ndirZ * leftY;
float upnY = ndirZ * leftX - ndirX * leftZ;
float upnZ = ndirX * leftY - ndirY * leftX;
this.m00 = leftX;
this.m01 = leftY;
this.m02 = leftZ;
this.m10 = upnX;
this.m11 = upnY;
this.m12 = upnZ;
this.m20 = ndirX;
this.m21 = ndirY;
this.m22 = ndirZ;
this.m30 = posX;
this.m31 = posY;
this.m32 = posZ;
properties = 0;
return this;
}
/**
* Extract the Euler angles from the rotation represented by the upper left 3x3 submatrix of <code>this</code>
* and store the extracted Euler angles in <code>dest</code>.
* <p>
* This method assumes that the upper left of <code>this</code> only represents a rotation without scaling.
* <p>
* Note that the returned Euler angles must be applied in the order <tt>Z * Y * X</tt> to obtain the identical matrix.
* This means that calling {@link Matrix4x3f#rotateZYX(float, float, float)} using the obtained Euler angles will yield
* the same rotation as the original matrix from which the Euler angles were obtained, so in the below code the matrix
* <tt>m2</tt> should be identical to <tt>m</tt> (disregarding possible floating-point inaccuracies).
* <pre>
* Matrix4x3f m = ...; // <- matrix only representing rotation
* Matrix4x3f n = new Matrix4x3f();
* n.rotateZYX(m.getEulerAnglesZYX(new Vector3f()));
* </pre>
* <p>
* Reference: <a href="http://nghiaho.com/?page_id=846">http://nghiaho.com/</a>
*
* @param dest
* will hold the extracted Euler angles
* @return dest
*/
public Vector3f getEulerAnglesZYX(Vector3f dest) {
dest.x = (float) Math.atan2(m12, m22);
dest.y = (float) Math.atan2(-m02, (float) Math.sqrt(m12 * m12 + m22 * m22));
dest.z = (float) Math.atan2(m01, m00);
return dest;
}
/**
* Create a new immutable view of this {@link Matrix4x3f}.
* <p>
* The observable state of the returned object is the same as that of <code>this</code>, but casting
* the returned object to Matrix4x3f will not be possible.
* <p>
* This method allocates a new instance of a class implementing Matrix4x3fc on every call.
*
* @return the immutable instance
*/
public Matrix4x3fc toImmutable() {
if (!Options.DEBUG)
return this;
return new Proxy(this);
}
}