/*
* $RCSfile: Matrix3f.java,v $
*
* Copyright 1996-2008 Sun Microsystems, Inc. All Rights Reserved.
* DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
*
* This code is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License version 2 only, as
* published by the Free Software Foundation. Sun designates this
* particular file as subject to the "Classpath" exception as provided
* by Sun in the LICENSE file that accompanied this code.
*
* This code is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* version 2 for more details (a copy is included in the LICENSE file that
* accompanied this code).
*
* You should have received a copy of the GNU General Public License version
* 2 along with this work; if not, write to the Free Software Foundation,
* Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
*
* Please contact Sun Microsystems, Inc., 4150 Network Circle, Santa Clara,
* CA 95054 USA or visit www.sun.com if you need additional information or
* have any questions.
*
* $Revision: 1.8 $
* $Date: 2008/02/28 20:18:50 $
* $State: Exp $
*/
package javax.vecmath;
import java.lang.Math;
/**
* A single precision floating point 3 by 3 matrix. Primarily to support 3D
* rotations.
*
*/
public class Matrix3f implements java.io.Serializable, Cloneable {
// Compatible with 1.1
static final long serialVersionUID = 329697160112089834L;
/**
* The first matrix element in the first row.
*/
public float m00;
/**
* The second matrix element in the first row.
*/
public float m01;
/**
* The third matrix element in the first row.
*/
public float m02;
/**
* The first matrix element in the second row.
*/
public float m10;
/**
* The second matrix element in the second row.
*/
public float m11;
/**
* The third matrix element in the second row.
*/
public float m12;
/**
* The first matrix element in the third row.
*/
public float m20;
/**
* The second matrix element in the third row.
*/
public float m21;
/**
* The third matrix element in the third row.
*/
public float m22;
/*
* double[] tmp = new double[9]; // scratch matrix double[] tmp_rot = new
* double[9]; // scratch matrix double[] tmp_scale = new double[3]; // scratch
* matrix
*/
private static final double EPS = 1.0E-8;
/**
* Constructs and initializes a Matrix3f from the specified nine values.
*
* @param m00
* the [0][0] element
* @param m01
* the [0][1] element
* @param m02
* the [0][2] element
* @param m10
* the [1][0] element
* @param m11
* the [1][1] element
* @param m12
* the [1][2] element
* @param m20
* the [2][0] element
* @param m21
* the [2][1] element
* @param m22
* the [2][2] element
*/
public Matrix3f(float m00, float m01, float m02, float m10, float m11,
float m12, float m20, float m21, float m22) {
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;
}
/**
* Constructs and initializes a Matrix3f from the specified nine-element
* array. this.m00 =v[0], this.m01=v[1], etc.
*
* @param v
* the array of length 9 containing in order
*/
public Matrix3f(float[] v) {
this.m00 = v[0];
this.m01 = v[1];
this.m02 = v[2];
this.m10 = v[3];
this.m11 = v[4];
this.m12 = v[5];
this.m20 = v[6];
this.m21 = v[7];
this.m22 = v[8];
}
/**
* Constructs a new matrix with the same values as the Matrix3d parameter.
*
* @param m1
* the source matrix
*/
public Matrix3f(Matrix3d m1) {
this.m00 = (float) m1.m00;
this.m01 = (float) m1.m01;
this.m02 = (float) m1.m02;
this.m10 = (float) m1.m10;
this.m11 = (float) m1.m11;
this.m12 = (float) m1.m12;
this.m20 = (float) m1.m20;
this.m21 = (float) m1.m21;
this.m22 = (float) m1.m22;
}
/**
* Constructs a new matrix with the same values as the Matrix3f parameter.
*
* @param m1
* the source matrix
*/
public Matrix3f(Matrix3f m1) {
this.m00 = m1.m00;
this.m01 = m1.m01;
this.m02 = m1.m02;
this.m10 = m1.m10;
this.m11 = m1.m11;
this.m12 = m1.m12;
this.m20 = m1.m20;
this.m21 = m1.m21;
this.m22 = m1.m22;
}
/**
* Constructs and initializes a Matrix3f to all zeros.
*/
public Matrix3f() {
this.m00 = (float) 0.0;
this.m01 = (float) 0.0;
this.m02 = (float) 0.0;
this.m10 = (float) 0.0;
this.m11 = (float) 0.0;
this.m12 = (float) 0.0;
this.m20 = (float) 0.0;
this.m21 = (float) 0.0;
this.m22 = (float) 0.0;
}
/**
* Returns a string that contains the values of this Matrix3f.
*
* @return the String representation
*/
public String toString() {
return this.m00 + ", " + this.m01 + ", " + this.m02 + "\n" + this.m10
+ ", " + this.m11 + ", " + this.m12 + "\n" + this.m20 + ", " + this.m21
+ ", " + this.m22 + "\n";
}
/**
* Sets this Matrix3f to identity.
*/
public final void setIdentity() {
this.m00 = (float) 1.0;
this.m01 = (float) 0.0;
this.m02 = (float) 0.0;
this.m10 = (float) 0.0;
this.m11 = (float) 1.0;
this.m12 = (float) 0.0;
this.m20 = (float) 0.0;
this.m21 = (float) 0.0;
this.m22 = (float) 1.0;
}
/**
* Sets the scale component of the current matrix by factoring out the current
* scale (by doing an SVD) and multiplying by the new scale.
*
* @param scale
* the new scale amount
*/
public final void setScale(float scale) {
double[] tmp_rot = new double[9]; // scratch matrix
double[] tmp_scale = new double[3]; // scratch matrix
getScaleRotate(tmp_scale, tmp_rot);
this.m00 = (float) (tmp_rot[0] * scale);
this.m01 = (float) (tmp_rot[1] * scale);
this.m02 = (float) (tmp_rot[2] * scale);
this.m10 = (float) (tmp_rot[3] * scale);
this.m11 = (float) (tmp_rot[4] * scale);
this.m12 = (float) (tmp_rot[5] * scale);
this.m20 = (float) (tmp_rot[6] * scale);
this.m21 = (float) (tmp_rot[7] * scale);
this.m22 = (float) (tmp_rot[8] * scale);
}
/**
* Sets the specified element of this matrix3f to the value provided.
*
* @param row
* the row number to be modified (zero indexed)
* @param column
* the column number to be modified (zero indexed)
* @param value
* the new value
*/
public final void setElement(int row, int column, float value) {
switch (row) {
case 0:
switch (column) {
case 0:
this.m00 = value;
break;
case 1:
this.m01 = value;
break;
case 2:
this.m02 = value;
break;
default:
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f0"));
}
break;
case 1:
switch (column) {
case 0:
this.m10 = value;
break;
case 1:
this.m11 = value;
break;
case 2:
this.m12 = value;
break;
default:
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f0"));
}
break;
case 2:
switch (column) {
case 0:
this.m20 = value;
break;
case 1:
this.m21 = value;
break;
case 2:
this.m22 = value;
break;
default:
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f0"));
}
break;
default:
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f0"));
}
}
/**
* Copies the matrix values in the specified row into the vector parameter.
*
* @param row
* the matrix row
* @param v
* the vector into which the matrix row values will be copied
*/
public final void getRow(int row, Vector3f v) {
if (row == 0) {
v.x = m00;
v.y = m01;
v.z = m02;
} else if (row == 1) {
v.x = m10;
v.y = m11;
v.z = m12;
} else if (row == 2) {
v.x = m20;
v.y = m21;
v.z = m22;
} else {
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f1"));
}
}
/**
* Copies the matrix values in the specified row into the array parameter.
*
* @param row
* the matrix row
* @param v
* the array into which the matrix row values will be copied
*/
public final void getRow(int row, float v[]) {
if (row == 0) {
v[0] = m00;
v[1] = m01;
v[2] = m02;
} else if (row == 1) {
v[0] = m10;
v[1] = m11;
v[2] = m12;
} else if (row == 2) {
v[0] = m20;
v[1] = m21;
v[2] = m22;
} else {
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f1"));
}
}
/**
* Copies the matrix values in the specified column into the vector parameter.
*
* @param column
* the matrix column
* @param v
* the vector into which the matrix row values will be copied
*/
public final void getColumn(int column, Vector3f v) {
if (column == 0) {
v.x = m00;
v.y = m10;
v.z = m20;
} else if (column == 1) {
v.x = m01;
v.y = m11;
v.z = m21;
} else if (column == 2) {
v.x = m02;
v.y = m12;
v.z = m22;
} else {
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f3"));
}
}
/**
* Copies the matrix values in the specified column into the array parameter.
*
* @param column
* the matrix column
* @param v
* the array into which the matrix row values will be copied
*/
public final void getColumn(int column, float v[]) {
if (column == 0) {
v[0] = m00;
v[1] = m10;
v[2] = m20;
} else if (column == 1) {
v[0] = m01;
v[1] = m11;
v[2] = m21;
} else if (column == 2) {
v[0] = m02;
v[1] = m12;
v[2] = m22;
} else {
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f3"));
}
}
/**
* Retrieves the value at the specified row and column of this matrix.
*
* @param row
* the row number to be retrieved (zero indexed)
* @param column
* the column number to be retrieved (zero indexed)
* @return the value at the indexed element.
*/
public final float getElement(int row, int column) {
switch (row) {
case 0:
switch (column) {
case 0:
return (this.m00);
case 1:
return (this.m01);
case 2:
return (this.m02);
default:
break;
}
break;
case 1:
switch (column) {
case 0:
return (this.m10);
case 1:
return (this.m11);
case 2:
return (this.m12);
default:
break;
}
break;
case 2:
switch (column) {
case 0:
return (this.m20);
case 1:
return (this.m21);
case 2:
return (this.m22);
default:
break;
}
break;
default:
break;
}
throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix3f5"));
}
/**
* Sets the specified row of this matrix3f to the three values provided.
*
* @param row
* the row number to be modified (zero indexed)
* @param x
* the first column element
* @param y
* the second column element
* @param z
* the third column element
*/
public final void setRow(int row, float x, float y, float z) {
switch (row) {
case 0:
this.m00 = x;
this.m01 = y;
this.m02 = z;
break;
case 1:
this.m10 = x;
this.m11 = y;
this.m12 = z;
break;
case 2:
this.m20 = x;
this.m21 = y;
this.m22 = z;
break;
default:
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f6"));
}
}
/**
* Sets the specified row of this matrix3f to the Vector provided.
*
* @param row
* the row number to be modified (zero indexed)
* @param v
* the replacement row
*/
public final void setRow(int row, Vector3f v) {
switch (row) {
case 0:
this.m00 = v.x;
this.m01 = v.y;
this.m02 = v.z;
break;
case 1:
this.m10 = v.x;
this.m11 = v.y;
this.m12 = v.z;
break;
case 2:
this.m20 = v.x;
this.m21 = v.y;
this.m22 = v.z;
break;
default:
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f6"));
}
}
/**
* Sets the specified row of this matrix3f to the three values provided.
*
* @param row
* the row number to be modified (zero indexed)
* @param v
* the replacement row
*/
public final void setRow(int row, float v[]) {
switch (row) {
case 0:
this.m00 = v[0];
this.m01 = v[1];
this.m02 = v[2];
break;
case 1:
this.m10 = v[0];
this.m11 = v[1];
this.m12 = v[2];
break;
case 2:
this.m20 = v[0];
this.m21 = v[1];
this.m22 = v[2];
break;
default:
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f6"));
}
}
/**
* Sets the specified column of this matrix3f to the three values provided.
*
* @param column
* the column number to be modified (zero indexed)
* @param x
* the first row element
* @param y
* the second row element
* @param z
* the third row element
*/
public final void setColumn(int column, float x, float y, float z) {
switch (column) {
case 0:
this.m00 = x;
this.m10 = y;
this.m20 = z;
break;
case 1:
this.m01 = x;
this.m11 = y;
this.m21 = z;
break;
case 2:
this.m02 = x;
this.m12 = y;
this.m22 = z;
break;
default:
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f9"));
}
}
/**
* Sets the specified column of this matrix3f to the vector provided.
*
* @param column
* the column number to be modified (zero indexed)
* @param v
* the replacement column
*/
public final void setColumn(int column, Vector3f v) {
switch (column) {
case 0:
this.m00 = v.x;
this.m10 = v.y;
this.m20 = v.z;
break;
case 1:
this.m01 = v.x;
this.m11 = v.y;
this.m21 = v.z;
break;
case 2:
this.m02 = v.x;
this.m12 = v.y;
this.m22 = v.z;
break;
default:
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f9"));
}
}
/**
* Sets the specified column of this matrix3f to the three values provided.
*
* @param column
* the column number to be modified (zero indexed)
* @param v
* the replacement column
*/
public final void setColumn(int column, float v[]) {
switch (column) {
case 0:
this.m00 = v[0];
this.m10 = v[1];
this.m20 = v[2];
break;
case 1:
this.m01 = v[0];
this.m11 = v[1];
this.m21 = v[2];
break;
case 2:
this.m02 = v[0];
this.m12 = v[1];
this.m22 = v[2];
break;
default:
throw new ArrayIndexOutOfBoundsException(VecMathI18N
.getString("Matrix3f9"));
}
}
/**
* Performs an SVD normalization of this matrix to calculate and return the
* uniform scale factor. If the matrix has non-uniform scale factors, the
* largest of the x, y, and z scale factors will be returned. This matrix is
* not modified.
*
* @return the scale factor of this matrix
*/
public final float getScale() {
double[] tmp_rot = new double[9]; // scratch matrix
double[] tmp_scale = new double[3]; // scratch matrix
getScaleRotate(tmp_scale, tmp_rot);
return ((float) Matrix3d.max3(tmp_scale));
}
/**
* Adds a scalar to each component of this matrix.
*
* @param scalar
* the scalar adder
*/
public final void add(float scalar) {
m00 += scalar;
m01 += scalar;
m02 += scalar;
m10 += scalar;
m11 += scalar;
m12 += scalar;
m20 += scalar;
m21 += scalar;
m22 += scalar;
}
/**
* Adds a scalar to each component of the matrix m1 and places the result into
* this. Matrix m1 is not modified.
*
* @param scalar
* the scalar adder.
* @param m1
* the original matrix values
*/
public final void add(float scalar, Matrix3f m1) {
this.m00 = m1.m00 + scalar;
this.m01 = m1.m01 + scalar;
this.m02 = m1.m02 + scalar;
this.m10 = m1.m10 + scalar;
this.m11 = m1.m11 + scalar;
this.m12 = m1.m12 + scalar;
this.m20 = m1.m20 + scalar;
this.m21 = m1.m21 + scalar;
this.m22 = m1.m22 + scalar;
}
/**
* Sets the value of this matrix to the matrix sum of matrices m1 and m2.
*
* @param m1
* the first matrix
* @param m2
* the second matrix
*/
public final void add(Matrix3f m1, Matrix3f m2) {
this.m00 = m1.m00 + m2.m00;
this.m01 = m1.m01 + m2.m01;
this.m02 = m1.m02 + m2.m02;
this.m10 = m1.m10 + m2.m10;
this.m11 = m1.m11 + m2.m11;
this.m12 = m1.m12 + m2.m12;
this.m20 = m1.m20 + m2.m20;
this.m21 = m1.m21 + m2.m21;
this.m22 = m1.m22 + m2.m22;
}
/**
* Sets the value of this matrix to the matrix sum of itself and matrix m1.
*
* @param m1
* the other matrix
*/
public final void add(Matrix3f m1) {
this.m00 += m1.m00;
this.m01 += m1.m01;
this.m02 += m1.m02;
this.m10 += m1.m10;
this.m11 += m1.m11;
this.m12 += m1.m12;
this.m20 += m1.m20;
this.m21 += m1.m21;
this.m22 += m1.m22;
}
/**
* Sets the value of this matrix to the matrix difference of matrices m1 and
* m2.
*
* @param m1
* the first matrix
* @param m2
* the second matrix
*/
public final void sub(Matrix3f m1, Matrix3f m2) {
this.m00 = m1.m00 - m2.m00;
this.m01 = m1.m01 - m2.m01;
this.m02 = m1.m02 - m2.m02;
this.m10 = m1.m10 - m2.m10;
this.m11 = m1.m11 - m2.m11;
this.m12 = m1.m12 - m2.m12;
this.m20 = m1.m20 - m2.m20;
this.m21 = m1.m21 - m2.m21;
this.m22 = m1.m22 - m2.m22;
}
/**
* Sets the value of this matrix to the matrix difference of itself and matrix
* m1 (this = this - m1).
*
* @param m1
* the other matrix
*/
public final void sub(Matrix3f m1) {
this.m00 -= m1.m00;
this.m01 -= m1.m01;
this.m02 -= m1.m02;
this.m10 -= m1.m10;
this.m11 -= m1.m11;
this.m12 -= m1.m12;
this.m20 -= m1.m20;
this.m21 -= m1.m21;
this.m22 -= m1.m22;
}
/**
* Sets the value of this matrix to its transpose.
*/
public final void transpose() {
float temp;
temp = this.m10;
this.m10 = this.m01;
this.m01 = temp;
temp = this.m20;
this.m20 = this.m02;
this.m02 = temp;
temp = this.m21;
this.m21 = this.m12;
this.m12 = temp;
}
/**
* Sets the value of this matrix to the transpose of the argument matrix.
*
* @param m1
* the matrix to be transposed
*/
public final void transpose(Matrix3f m1) {
if (this != m1) {
this.m00 = m1.m00;
this.m01 = m1.m10;
this.m02 = m1.m20;
this.m10 = m1.m01;
this.m11 = m1.m11;
this.m12 = m1.m21;
this.m20 = m1.m02;
this.m21 = m1.m12;
this.m22 = m1.m22;
} else
this.transpose();
}
/**
* Sets the value of this matrix to the matrix conversion of the (single
* precision) quaternion argument.
*
* @param q1
* the quaternion to be converted
*/
public final void set(Quat4f q1) {
this.m00 = 1.0f - 2.0f * q1.y * q1.y - 2.0f * q1.z * q1.z;
this.m10 = 2.0f * (q1.x * q1.y + q1.w * q1.z);
this.m20 = 2.0f * (q1.x * q1.z - q1.w * q1.y);
this.m01 = 2.0f * (q1.x * q1.y - q1.w * q1.z);
this.m11 = 1.0f - 2.0f * q1.x * q1.x - 2.0f * q1.z * q1.z;
this.m21 = 2.0f * (q1.y * q1.z + q1.w * q1.x);
this.m02 = 2.0f * (q1.x * q1.z + q1.w * q1.y);
this.m12 = 2.0f * (q1.y * q1.z - q1.w * q1.x);
this.m22 = 1.0f - 2.0f * q1.x * q1.x - 2.0f * q1.y * q1.y;
}
/**
* Sets the value of this matrix to the matrix conversion of the (single
* precision) axis and angle argument.
*
* @param a1
* the axis and angle to be converted
*/
public final void set(AxisAngle4f a1) {
float mag = (float) Math.sqrt(a1.x * a1.x + a1.y * a1.y + a1.z * a1.z);
if (mag < EPS) {
m00 = 1.0f;
m01 = 0.0f;
m02 = 0.0f;
m10 = 0.0f;
m11 = 1.0f;
m12 = 0.0f;
m20 = 0.0f;
m21 = 0.0f;
m22 = 1.0f;
} else {
mag = 1.0f / mag;
float ax = a1.x * mag;
float ay = a1.y * mag;
float az = a1.z * mag;
float sinTheta = (float) Math.sin((float) a1.angle);
float cosTheta = (float) Math.cos((float) a1.angle);
float t = (float) 1.0 - cosTheta;
float xz = ax * az;
float xy = ax * ay;
float yz = ay * az;
m00 = t * ax * ax + cosTheta;
m01 = t * xy - sinTheta * az;
m02 = t * xz + sinTheta * ay;
m10 = t * xy + sinTheta * az;
m11 = t * ay * ay + cosTheta;
m12 = t * yz - sinTheta * ax;
m20 = t * xz - sinTheta * ay;
m21 = t * yz + sinTheta * ax;
m22 = t * az * az + cosTheta;
}
}
/**
* Sets the value of this matrix to the matrix conversion of the (double
* precision) axis and angle argument.
*
* @param a1
* the axis and angle to be converted
*/
public final void set(AxisAngle4d a1) {
double mag = Math.sqrt(a1.x * a1.x + a1.y * a1.y + a1.z * a1.z);
if (mag < EPS) {
m00 = 1.0f;
m01 = 0.0f;
m02 = 0.0f;
m10 = 0.0f;
m11 = 1.0f;
m12 = 0.0f;
m20 = 0.0f;
m21 = 0.0f;
m22 = 1.0f;
} else {
mag = 1.0 / mag;
double ax = a1.x * mag;
double ay = a1.y * mag;
double az = a1.z * mag;
double sinTheta = Math.sin(a1.angle);
double cosTheta = Math.cos(a1.angle);
double t = 1.0 - cosTheta;
double xz = ax * az;
double xy = ax * ay;
double yz = ay * az;
m00 = (float) (t * ax * ax + cosTheta);
m01 = (float) (t * xy - sinTheta * az);
m02 = (float) (t * xz + sinTheta * ay);
m10 = (float) (t * xy + sinTheta * az);
m11 = (float) (t * ay * ay + cosTheta);
m12 = (float) (t * yz - sinTheta * ax);
m20 = (float) (t * xz - sinTheta * ay);
m21 = (float) (t * yz + sinTheta * ax);
m22 = (float) (t * az * az + cosTheta);
}
}
/**
* Sets the value of this matrix to the matrix conversion of the (single
* precision) quaternion argument.
*
* @param q1
* the quaternion to be converted
*/
public final void set(Quat4d q1) {
this.m00 = (float) (1.0 - 2.0 * q1.y * q1.y - 2.0 * q1.z * q1.z);
this.m10 = (float) (2.0 * (q1.x * q1.y + q1.w * q1.z));
this.m20 = (float) (2.0 * (q1.x * q1.z - q1.w * q1.y));
this.m01 = (float) (2.0 * (q1.x * q1.y - q1.w * q1.z));
this.m11 = (float) (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.z * q1.z);
this.m21 = (float) (2.0 * (q1.y * q1.z + q1.w * q1.x));
this.m02 = (float) (2.0 * (q1.x * q1.z + q1.w * q1.y));
this.m12 = (float) (2.0 * (q1.y * q1.z - q1.w * q1.x));
this.m22 = (float) (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.y * q1.y);
}
/**
* Sets the values in this Matrix3f equal to the row-major array parameter
* (ie, the first three elements of the array will be copied into the first
* row of this matrix, etc.).
*
* @param m
* the single precision array of length 9
*/
public final void set(float[] m) {
m00 = m[0];
m01 = m[1];
m02 = m[2];
m10 = m[3];
m11 = m[4];
m12 = m[5];
m20 = m[6];
m21 = m[7];
m22 = m[8];
}
/**
* Sets the value of this matrix to the value of the Matrix3f argument.
*
* @param m1
* the source matrix3f
*/
public final void set(Matrix3f m1) {
this.m00 = m1.m00;
this.m01 = m1.m01;
this.m02 = m1.m02;
this.m10 = m1.m10;
this.m11 = m1.m11;
this.m12 = m1.m12;
this.m20 = m1.m20;
this.m21 = m1.m21;
this.m22 = m1.m22;
}
/**
* Sets the value of this matrix to the float value of the Matrix3d argument.
*
* @param m1
* the source matrix3d
*/
public final void set(Matrix3d m1) {
this.m00 = (float) m1.m00;
this.m01 = (float) m1.m01;
this.m02 = (float) m1.m02;
this.m10 = (float) m1.m10;
this.m11 = (float) m1.m11;
this.m12 = (float) m1.m12;
this.m20 = (float) m1.m20;
this.m21 = (float) m1.m21;
this.m22 = (float) m1.m22;
}
/**
* Sets the value of this matrix to the matrix inverse of the passed matrix
* m1.
*
* @param m1
* the matrix to be inverted
*/
public final void invert(Matrix3f m1) {
invertGeneral(m1);
}
/**
* Inverts this matrix in place.
*/
public final void invert() {
invertGeneral(this);
}
/**
* General invert routine. Inverts m1 and places the result in "this". Note
* that this routine handles both the "this" version and the non-"this"
* version.
*
* Also note that since this routine is slow anyway, we won't worry about
* allocating a little bit of garbage.
*/
private final void invertGeneral(Matrix3f m1) {
double temp[] = new double[9];
double result[] = new double[9];
int row_perm[] = new int[3];
int i;
// Use LU decomposition and backsubstitution code specifically
// for floating-point 3x3 matrices.
// Copy source matrix to t1tmp
temp[0] = (double) m1.m00;
temp[1] = (double) m1.m01;
temp[2] = (double) m1.m02;
temp[3] = (double) m1.m10;
temp[4] = (double) m1.m11;
temp[5] = (double) m1.m12;
temp[6] = (double) m1.m20;
temp[7] = (double) m1.m21;
temp[8] = (double) m1.m22;
// Calculate LU decomposition: Is the matrix singular?
if (!luDecomposition(temp, row_perm)) {
// Matrix has no inverse
throw new SingularMatrixException(VecMathI18N.getString("Matrix3f12"));
}
// Perform back substitution on the identity matrix
for (i = 0; i < 9; i++)
result[i] = 0.0;
result[0] = 1.0;
result[4] = 1.0;
result[8] = 1.0;
luBacksubstitution(temp, row_perm, result);
this.m00 = (float) result[0];
this.m01 = (float) result[1];
this.m02 = (float) result[2];
this.m10 = (float) result[3];
this.m11 = (float) result[4];
this.m12 = (float) result[5];
this.m20 = (float) result[6];
this.m21 = (float) result[7];
this.m22 = (float) result[8];
}
/**
* Given a 3x3 array "matrix0", this function replaces it with the LU
* decomposition of a row-wise permutation of itself. The input parameters are
* "matrix0" and "dimen". The array "matrix0" is also an output parameter. The
* vector "row_perm[3]" is an output parameter that contains the row
* permutations resulting from partial pivoting. The output parameter
* "even_row_xchg" is 1 when the number of row exchanges is even, or -1
* otherwise. Assumes data type is always double.
*
* This function is similar to luDecomposition, except that it is tuned
* specifically for 3x3 matrices.
*
* @return true if the matrix is nonsingular, or false otherwise.
*/
//
// Reference: Press, Flannery, Teukolsky, Vetterling,
// _Numerical_Recipes_in_C_, Cambridge University Press,
// 1988, pp 40-45.
//
static boolean luDecomposition(double[] matrix0, int[] row_perm) {
double row_scale[] = new double[3];
// Determine implicit scaling information by looping over rows
{
int i, j;
int ptr, rs;
double big, temp;
ptr = 0;
rs = 0;
// For each row ...
i = 3;
while (i-- != 0) {
big = 0.0;
// For each column, find the largest element in the row
j = 3;
while (j-- != 0) {
temp = matrix0[ptr++];
temp = Math.abs(temp);
if (temp > big) {
big = temp;
}
}
// Is the matrix singular?
if (big == 0.0) {
return false;
}
row_scale[rs++] = 1.0 / big;
}
}
{
int j;
int mtx;
mtx = 0;
// For all columns, execute Crout's method
for (j = 0; j < 3; j++) {
int i, imax, k;
int target, p1, p2;
double sum, big, temp;
// Determine elements of upper diagonal matrix U
for (i = 0; i < j; i++) {
target = mtx + (3 * i) + j;
sum = matrix0[target];
k = i;
p1 = mtx + (3 * i);
p2 = mtx + j;
while (k-- != 0) {
sum -= matrix0[p1] * matrix0[p2];
p1++;
p2 += 3;
}
matrix0[target] = sum;
}
// Search for largest pivot element and calculate
// intermediate elements of lower diagonal matrix L.
big = 0.0;
imax = -1;
for (i = j; i < 3; i++) {
target = mtx + (3 * i) + j;
sum = matrix0[target];
k = j;
p1 = mtx + (3 * i);
p2 = mtx + j;
while (k-- != 0) {
sum -= matrix0[p1] * matrix0[p2];
p1++;
p2 += 3;
}
matrix0[target] = sum;
// Is this the best pivot so far?
if ((temp = row_scale[i] * Math.abs(sum)) >= big) {
big = temp;
imax = i;
}
}
if (imax < 0) {
throw new RuntimeException(VecMathI18N.getString("Matrix3f13"));
}
// Is a row exchange necessary?
if (j != imax) {
// Yes: exchange rows
k = 3;
p1 = mtx + (3 * imax);
p2 = mtx + (3 * j);
while (k-- != 0) {
temp = matrix0[p1];
matrix0[p1++] = matrix0[p2];
matrix0[p2++] = temp;
}
// Record change in scale factor
row_scale[imax] = row_scale[j];
}
// Record row permutation
row_perm[j] = imax;
// Is the matrix singular
if (matrix0[(mtx + (3 * j) + j)] == 0.0) {
return false;
}
// Divide elements of lower diagonal matrix L by pivot
if (j != (3 - 1)) {
temp = 1.0 / (matrix0[(mtx + (3 * j) + j)]);
target = mtx + (3 * (j + 1)) + j;
i = 2 - j;
while (i-- != 0) {
matrix0[target] *= temp;
target += 3;
}
}
}
}
return true;
}
/**
* Solves a set of linear equations. The input parameters "matrix1", and
* "row_perm" come from luDecompostionD3x3 and do not change here. The
* parameter "matrix2" is a set of column vectors assembled into a 3x3 matrix
* of floating-point values. The procedure takes each column of "matrix2" in
* turn and treats it as the right-hand side of the matrix equation Ax = LUx =
* b. The solution vector replaces the original column of the matrix.
*
* If "matrix2" is the identity matrix, the procedure replaces its contents
* with the inverse of the matrix from which "matrix1" was originally derived.
*/
//
// Reference: Press, Flannery, Teukolsky, Vetterling,
// _Numerical_Recipes_in_C_, Cambridge University Press,
// 1988, pp 44-45.
//
static void luBacksubstitution(double[] matrix1, int[] row_perm,
double[] matrix2) {
int i, ii, ip, j, k;
int rp;
int cv, rv;
// rp = row_perm;
rp = 0;
// For each column vector of matrix2 ...
for (k = 0; k < 3; k++) {
// cv = &(matrix2[0][k]);
cv = k;
ii = -1;
// Forward substitution
for (i = 0; i < 3; i++) {
double sum;
ip = row_perm[rp + i];
sum = matrix2[cv + 3 * ip];
matrix2[cv + 3 * ip] = matrix2[cv + 3 * i];
if (ii >= 0) {
// rv = &(matrix1[i][0]);
rv = i * 3;
for (j = ii; j <= i - 1; j++) {
sum -= matrix1[rv + j] * matrix2[cv + 3 * j];
}
} else if (sum != 0.0) {
ii = i;
}
matrix2[cv + 3 * i] = sum;
}
// Backsubstitution
// rv = &(matrix1[3][0]);
rv = 2 * 3;
matrix2[cv + 3 * 2] /= matrix1[rv + 2];
rv -= 3;
matrix2[cv + 3 * 1] = (matrix2[cv + 3 * 1] - matrix1[rv + 2]
* matrix2[cv + 3 * 2])
/ matrix1[rv + 1];
rv -= 3;
matrix2[cv + 4 * 0] = (matrix2[cv + 3 * 0] - matrix1[rv + 1]
* matrix2[cv + 3 * 1] - matrix1[rv + 2] * matrix2[cv + 3 * 2])
/ matrix1[rv + 0];
}
}
/**
* Computes the determinant of this matrix.
*
* @return the determinant of this matrix
*/
public final float determinant() {
float total;
total = this.m00 * (this.m11 * this.m22 - this.m12 * this.m21) + this.m01
* (this.m12 * this.m20 - this.m10 * this.m22) + this.m02
* (this.m10 * this.m21 - this.m11 * this.m20);
return total;
}
/**
* Sets the value of this matrix to a scale matrix with the passed scale
* amount.
*
* @param scale
* the scale factor for the matrix
*/
public final void set(float scale) {
this.m00 = scale;
this.m01 = (float) 0.0;
this.m02 = (float) 0.0;
this.m10 = (float) 0.0;
this.m11 = scale;
this.m12 = (float) 0.0;
this.m20 = (float) 0.0;
this.m21 = (float) 0.0;
this.m22 = scale;
}
/**
* Sets the value of this matrix to a counter clockwise rotation about the x
* axis.
*
* @param angle
* the angle to rotate about the X axis in radians
*/
public final void rotX(float angle) {
float sinAngle, cosAngle;
sinAngle = (float) Math.sin((double) angle);
cosAngle = (float) Math.cos((double) angle);
this.m00 = (float) 1.0;
this.m01 = (float) 0.0;
this.m02 = (float) 0.0;
this.m10 = (float) 0.0;
this.m11 = cosAngle;
this.m12 = -sinAngle;
this.m20 = (float) 0.0;
this.m21 = sinAngle;
this.m22 = cosAngle;
}
/**
* Sets the value of this matrix to a counter clockwise rotation about the y
* axis.
*
* @param angle
* the angle to rotate about the Y axis in radians
*/
public final void rotY(float angle) {
float sinAngle, cosAngle;
sinAngle = (float) Math.sin((double) angle);
cosAngle = (float) Math.cos((double) angle);
this.m00 = cosAngle;
this.m01 = (float) 0.0;
this.m02 = sinAngle;
this.m10 = (float) 0.0;
this.m11 = (float) 1.0;
this.m12 = (float) 0.0;
this.m20 = -sinAngle;
this.m21 = (float) 0.0;
this.m22 = cosAngle;
}
/**
* Sets the value of this matrix to a counter clockwise rotation about the z
* axis.
*
* @param angle
* the angle to rotate about the Z axis in radians
*/
public final void rotZ(float angle) {
float sinAngle, cosAngle;
sinAngle = (float) Math.sin((double) angle);
cosAngle = (float) Math.cos((double) angle);
this.m00 = cosAngle;
this.m01 = -sinAngle;
this.m02 = (float) 0.0;
this.m10 = sinAngle;
this.m11 = cosAngle;
this.m12 = (float) 0.0;
this.m20 = (float) 0.0;
this.m21 = (float) 0.0;
this.m22 = (float) 1.0;
}
/**
* Multiplies each element of this matrix by a scalar.
*
* @param scalar
* the scalar multiplier
*/
public final void mul(float scalar) {
m00 *= scalar;
m01 *= scalar;
m02 *= scalar;
m10 *= scalar;
m11 *= scalar;
m12 *= scalar;
m20 *= scalar;
m21 *= scalar;
m22 *= scalar;
}
/**
* Multiplies each element of matrix m1 by a scalar and places the result into
* this. Matrix m1 is not modified.
*
* @param scalar
* the scalar multiplier
* @param m1
* the original matrix
*/
public final void mul(float scalar, Matrix3f m1) {
this.m00 = scalar * m1.m00;
this.m01 = scalar * m1.m01;
this.m02 = scalar * m1.m02;
this.m10 = scalar * m1.m10;
this.m11 = scalar * m1.m11;
this.m12 = scalar * m1.m12;
this.m20 = scalar * m1.m20;
this.m21 = scalar * m1.m21;
this.m22 = scalar * m1.m22;
}
/**
* Sets the value of this matrix to the result of multiplying itself with
* matrix m1.
*
* @param m1
* the other matrix
*/
public final void mul(Matrix3f m1) {
float m00, m01, m02, m10, m11, m12, m20, m21, m22;
m00 = this.m00 * m1.m00 + this.m01 * m1.m10 + this.m02 * m1.m20;
m01 = this.m00 * m1.m01 + this.m01 * m1.m11 + this.m02 * m1.m21;
m02 = this.m00 * m1.m02 + this.m01 * m1.m12 + this.m02 * m1.m22;
m10 = this.m10 * m1.m00 + this.m11 * m1.m10 + this.m12 * m1.m20;
m11 = this.m10 * m1.m01 + this.m11 * m1.m11 + this.m12 * m1.m21;
m12 = this.m10 * m1.m02 + this.m11 * m1.m12 + this.m12 * m1.m22;
m20 = this.m20 * m1.m00 + this.m21 * m1.m10 + this.m22 * m1.m20;
m21 = this.m20 * m1.m01 + this.m21 * m1.m11 + this.m22 * m1.m21;
m22 = this.m20 * m1.m02 + this.m21 * m1.m12 + this.m22 * m1.m22;
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;
}
/**
* Sets the value of this matrix to the result of multiplying the two argument
* matrices together.
*
* @param m1
* the first matrix
* @param m2
* the second matrix
*/
public final void mul(Matrix3f m1, Matrix3f m2) {
if (this != m1 && this != m2) {
this.m00 = m1.m00 * m2.m00 + m1.m01 * m2.m10 + m1.m02 * m2.m20;
this.m01 = m1.m00 * m2.m01 + m1.m01 * m2.m11 + m1.m02 * m2.m21;
this.m02 = m1.m00 * m2.m02 + m1.m01 * m2.m12 + m1.m02 * m2.m22;
this.m10 = m1.m10 * m2.m00 + m1.m11 * m2.m10 + m1.m12 * m2.m20;
this.m11 = m1.m10 * m2.m01 + m1.m11 * m2.m11 + m1.m12 * m2.m21;
this.m12 = m1.m10 * m2.m02 + m1.m11 * m2.m12 + m1.m12 * m2.m22;
this.m20 = m1.m20 * m2.m00 + m1.m21 * m2.m10 + m1.m22 * m2.m20;
this.m21 = m1.m20 * m2.m01 + m1.m21 * m2.m11 + m1.m22 * m2.m21;
this.m22 = m1.m20 * m2.m02 + m1.m21 * m2.m12 + m1.m22 * m2.m22;
} else {
float m00, m01, m02, m10, m11, m12, m20, m21, m22;
m00 = m1.m00 * m2.m00 + m1.m01 * m2.m10 + m1.m02 * m2.m20;
m01 = m1.m00 * m2.m01 + m1.m01 * m2.m11 + m1.m02 * m2.m21;
m02 = m1.m00 * m2.m02 + m1.m01 * m2.m12 + m1.m02 * m2.m22;
m10 = m1.m10 * m2.m00 + m1.m11 * m2.m10 + m1.m12 * m2.m20;
m11 = m1.m10 * m2.m01 + m1.m11 * m2.m11 + m1.m12 * m2.m21;
m12 = m1.m10 * m2.m02 + m1.m11 * m2.m12 + m1.m12 * m2.m22;
m20 = m1.m20 * m2.m00 + m1.m21 * m2.m10 + m1.m22 * m2.m20;
m21 = m1.m20 * m2.m01 + m1.m21 * m2.m11 + m1.m22 * m2.m21;
m22 = m1.m20 * m2.m02 + m1.m21 * m2.m12 + m1.m22 * m2.m22;
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;
}
}
/**
* Multiplies this matrix by matrix m1, does an SVD normalization of the
* result, and places the result back into this matrix. this =
* SVDnorm(this*m1).
*
* @param m1
* the matrix on the right hand side of the multiplication
*/
public final void mulNormalize(Matrix3f m1) {
double[] tmp = new double[9]; // scratch matrix
double[] tmp_rot = new double[9]; // scratch matrix
double[] tmp_scale = new double[3]; // scratch matrix
tmp[0] = this.m00 * m1.m00 + this.m01 * m1.m10 + this.m02 * m1.m20;
tmp[1] = this.m00 * m1.m01 + this.m01 * m1.m11 + this.m02 * m1.m21;
tmp[2] = this.m00 * m1.m02 + this.m01 * m1.m12 + this.m02 * m1.m22;
tmp[3] = this.m10 * m1.m00 + this.m11 * m1.m10 + this.m12 * m1.m20;
tmp[4] = this.m10 * m1.m01 + this.m11 * m1.m11 + this.m12 * m1.m21;
tmp[5] = this.m10 * m1.m02 + this.m11 * m1.m12 + this.m12 * m1.m22;
tmp[6] = this.m20 * m1.m00 + this.m21 * m1.m10 + this.m22 * m1.m20;
tmp[7] = this.m20 * m1.m01 + this.m21 * m1.m11 + this.m22 * m1.m21;
tmp[8] = this.m20 * m1.m02 + this.m21 * m1.m12 + this.m22 * m1.m22;
Matrix3d.compute_svd(tmp, tmp_scale, tmp_rot);
this.m00 = (float) (tmp_rot[0]);
this.m01 = (float) (tmp_rot[1]);
this.m02 = (float) (tmp_rot[2]);
this.m10 = (float) (tmp_rot[3]);
this.m11 = (float) (tmp_rot[4]);
this.m12 = (float) (tmp_rot[5]);
this.m20 = (float) (tmp_rot[6]);
this.m21 = (float) (tmp_rot[7]);
this.m22 = (float) (tmp_rot[8]);
}
/**
* Multiplies matrix m1 by matrix m2, does an SVD normalization of the result,
* and places the result into this matrix. this = SVDnorm(m1*m2).
*
* @param m1
* the matrix on the left hand side of the multiplication
* @param m2
* the matrix on the right hand side of the multiplication
*/
public final void mulNormalize(Matrix3f m1, Matrix3f m2) {
double[] tmp = new double[9]; // scratch matrix
double[] tmp_rot = new double[9]; // scratch matrix
double[] tmp_scale = new double[3]; // scratch matrix
tmp[0] = m1.m00 * m2.m00 + m1.m01 * m2.m10 + m1.m02 * m2.m20;
tmp[1] = m1.m00 * m2.m01 + m1.m01 * m2.m11 + m1.m02 * m2.m21;
tmp[2] = m1.m00 * m2.m02 + m1.m01 * m2.m12 + m1.m02 * m2.m22;
tmp[3] = m1.m10 * m2.m00 + m1.m11 * m2.m10 + m1.m12 * m2.m20;
tmp[4] = m1.m10 * m2.m01 + m1.m11 * m2.m11 + m1.m12 * m2.m21;
tmp[5] = m1.m10 * m2.m02 + m1.m11 * m2.m12 + m1.m12 * m2.m22;
tmp[6] = m1.m20 * m2.m00 + m1.m21 * m2.m10 + m1.m22 * m2.m20;
tmp[7] = m1.m20 * m2.m01 + m1.m21 * m2.m11 + m1.m22 * m2.m21;
tmp[8] = m1.m20 * m2.m02 + m1.m21 * m2.m12 + m1.m22 * m2.m22;
Matrix3d.compute_svd(tmp, tmp_scale, tmp_rot);
this.m00 = (float) (tmp_rot[0]);
this.m01 = (float) (tmp_rot[1]);
this.m02 = (float) (tmp_rot[2]);
this.m10 = (float) (tmp_rot[3]);
this.m11 = (float) (tmp_rot[4]);
this.m12 = (float) (tmp_rot[5]);
this.m20 = (float) (tmp_rot[6]);
this.m21 = (float) (tmp_rot[7]);
this.m22 = (float) (tmp_rot[8]);
}
/**
* Multiplies the transpose of matrix m1 times the transpose of matrix m2, and
* places the result into this.
*
* @param m1
* the matrix on the left hand side of the multiplication
* @param m2
* the matrix on the right hand side of the multiplication
*/
public final void mulTransposeBoth(Matrix3f m1, Matrix3f m2) {
if (this != m1 && this != m2) {
this.m00 = m1.m00 * m2.m00 + m1.m10 * m2.m01 + m1.m20 * m2.m02;
this.m01 = m1.m00 * m2.m10 + m1.m10 * m2.m11 + m1.m20 * m2.m12;
this.m02 = m1.m00 * m2.m20 + m1.m10 * m2.m21 + m1.m20 * m2.m22;
this.m10 = m1.m01 * m2.m00 + m1.m11 * m2.m01 + m1.m21 * m2.m02;
this.m11 = m1.m01 * m2.m10 + m1.m11 * m2.m11 + m1.m21 * m2.m12;
this.m12 = m1.m01 * m2.m20 + m1.m11 * m2.m21 + m1.m21 * m2.m22;
this.m20 = m1.m02 * m2.m00 + m1.m12 * m2.m01 + m1.m22 * m2.m02;
this.m21 = m1.m02 * m2.m10 + m1.m12 * m2.m11 + m1.m22 * m2.m12;
this.m22 = m1.m02 * m2.m20 + m1.m12 * m2.m21 + m1.m22 * m2.m22;
} else {
float m00, m01, m02, m10, m11, m12, m20, m21, m22; // vars for temp result
// matrix
m00 = m1.m00 * m2.m00 + m1.m10 * m2.m01 + m1.m20 * m2.m02;
m01 = m1.m00 * m2.m10 + m1.m10 * m2.m11 + m1.m20 * m2.m12;
m02 = m1.m00 * m2.m20 + m1.m10 * m2.m21 + m1.m20 * m2.m22;
m10 = m1.m01 * m2.m00 + m1.m11 * m2.m01 + m1.m21 * m2.m02;
m11 = m1.m01 * m2.m10 + m1.m11 * m2.m11 + m1.m21 * m2.m12;
m12 = m1.m01 * m2.m20 + m1.m11 * m2.m21 + m1.m21 * m2.m22;
m20 = m1.m02 * m2.m00 + m1.m12 * m2.m01 + m1.m22 * m2.m02;
m21 = m1.m02 * m2.m10 + m1.m12 * m2.m11 + m1.m22 * m2.m12;
m22 = m1.m02 * m2.m20 + m1.m12 * m2.m21 + m1.m22 * m2.m22;
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;
}
}
/**
* Multiplies matrix m1 times the transpose of matrix m2, and places the
* result into this.
*
* @param m1
* the matrix on the left hand side of the multiplication
* @param m2
* the matrix on the right hand side of the multiplication
*/
public final void mulTransposeRight(Matrix3f m1, Matrix3f m2) {
if (this != m1 && this != m2) {
this.m00 = m1.m00 * m2.m00 + m1.m01 * m2.m01 + m1.m02 * m2.m02;
this.m01 = m1.m00 * m2.m10 + m1.m01 * m2.m11 + m1.m02 * m2.m12;
this.m02 = m1.m00 * m2.m20 + m1.m01 * m2.m21 + m1.m02 * m2.m22;
this.m10 = m1.m10 * m2.m00 + m1.m11 * m2.m01 + m1.m12 * m2.m02;
this.m11 = m1.m10 * m2.m10 + m1.m11 * m2.m11 + m1.m12 * m2.m12;
this.m12 = m1.m10 * m2.m20 + m1.m11 * m2.m21 + m1.m12 * m2.m22;
this.m20 = m1.m20 * m2.m00 + m1.m21 * m2.m01 + m1.m22 * m2.m02;
this.m21 = m1.m20 * m2.m10 + m1.m21 * m2.m11 + m1.m22 * m2.m12;
this.m22 = m1.m20 * m2.m20 + m1.m21 * m2.m21 + m1.m22 * m2.m22;
} else {
float m00, m01, m02, m10, m11, m12, m20, m21, m22; // vars for temp result
// matrix
m00 = m1.m00 * m2.m00 + m1.m01 * m2.m01 + m1.m02 * m2.m02;
m01 = m1.m00 * m2.m10 + m1.m01 * m2.m11 + m1.m02 * m2.m12;
m02 = m1.m00 * m2.m20 + m1.m01 * m2.m21 + m1.m02 * m2.m22;
m10 = m1.m10 * m2.m00 + m1.m11 * m2.m01 + m1.m12 * m2.m02;
m11 = m1.m10 * m2.m10 + m1.m11 * m2.m11 + m1.m12 * m2.m12;
m12 = m1.m10 * m2.m20 + m1.m11 * m2.m21 + m1.m12 * m2.m22;
m20 = m1.m20 * m2.m00 + m1.m21 * m2.m01 + m1.m22 * m2.m02;
m21 = m1.m20 * m2.m10 + m1.m21 * m2.m11 + m1.m22 * m2.m12;
m22 = m1.m20 * m2.m20 + m1.m21 * m2.m21 + m1.m22 * m2.m22;
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;
}
}
/**
* Multiplies the transpose of matrix m1 times matrix m2, and places the
* result into this.
*
* @param m1
* the matrix on the left hand side of the multiplication
* @param m2
* the matrix on the right hand side of the multiplication
*/
public final void mulTransposeLeft(Matrix3f m1, Matrix3f m2) {
if (this != m1 && this != m2) {
this.m00 = m1.m00 * m2.m00 + m1.m10 * m2.m10 + m1.m20 * m2.m20;
this.m01 = m1.m00 * m2.m01 + m1.m10 * m2.m11 + m1.m20 * m2.m21;
this.m02 = m1.m00 * m2.m02 + m1.m10 * m2.m12 + m1.m20 * m2.m22;
this.m10 = m1.m01 * m2.m00 + m1.m11 * m2.m10 + m1.m21 * m2.m20;
this.m11 = m1.m01 * m2.m01 + m1.m11 * m2.m11 + m1.m21 * m2.m21;
this.m12 = m1.m01 * m2.m02 + m1.m11 * m2.m12 + m1.m21 * m2.m22;
this.m20 = m1.m02 * m2.m00 + m1.m12 * m2.m10 + m1.m22 * m2.m20;
this.m21 = m1.m02 * m2.m01 + m1.m12 * m2.m11 + m1.m22 * m2.m21;
this.m22 = m1.m02 * m2.m02 + m1.m12 * m2.m12 + m1.m22 * m2.m22;
} else {
float m00, m01, m02, m10, m11, m12, m20, m21, m22; // vars for temp result
// matrix
m00 = m1.m00 * m2.m00 + m1.m10 * m2.m10 + m1.m20 * m2.m20;
m01 = m1.m00 * m2.m01 + m1.m10 * m2.m11 + m1.m20 * m2.m21;
m02 = m1.m00 * m2.m02 + m1.m10 * m2.m12 + m1.m20 * m2.m22;
m10 = m1.m01 * m2.m00 + m1.m11 * m2.m10 + m1.m21 * m2.m20;
m11 = m1.m01 * m2.m01 + m1.m11 * m2.m11 + m1.m21 * m2.m21;
m12 = m1.m01 * m2.m02 + m1.m11 * m2.m12 + m1.m21 * m2.m22;
m20 = m1.m02 * m2.m00 + m1.m12 * m2.m10 + m1.m22 * m2.m20;
m21 = m1.m02 * m2.m01 + m1.m12 * m2.m11 + m1.m22 * m2.m21;
m22 = m1.m02 * m2.m02 + m1.m12 * m2.m12 + m1.m22 * m2.m22;
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;
}
}
/**
* Performs singular value decomposition normalization of this matrix.
*/
public final void normalize() {
double[] tmp_rot = new double[9]; // scratch matrix
double[] tmp_scale = new double[3]; // scratch matrix
getScaleRotate(tmp_scale, tmp_rot);
this.m00 = (float) tmp_rot[0];
this.m01 = (float) tmp_rot[1];
this.m02 = (float) tmp_rot[2];
this.m10 = (float) tmp_rot[3];
this.m11 = (float) tmp_rot[4];
this.m12 = (float) tmp_rot[5];
this.m20 = (float) tmp_rot[6];
this.m21 = (float) tmp_rot[7];
this.m22 = (float) tmp_rot[8];
}
/**
* Perform singular value decomposition normalization of matrix m1 and place
* the normalized values into this.
*
* @param m1
* the matrix values to be normalized
*/
public final void normalize(Matrix3f m1) {
double[] tmp = new double[9]; // scratch matrix
double[] tmp_rot = new double[9]; // scratch matrix
double[] tmp_scale = new double[3]; // scratch matrix
tmp[0] = m1.m00;
tmp[1] = m1.m01;
tmp[2] = m1.m02;
tmp[3] = m1.m10;
tmp[4] = m1.m11;
tmp[5] = m1.m12;
tmp[6] = m1.m20;
tmp[7] = m1.m21;
tmp[8] = m1.m22;
Matrix3d.compute_svd(tmp, tmp_scale, tmp_rot);
this.m00 = (float) (tmp_rot[0]);
this.m01 = (float) (tmp_rot[1]);
this.m02 = (float) (tmp_rot[2]);
this.m10 = (float) (tmp_rot[3]);
this.m11 = (float) (tmp_rot[4]);
this.m12 = (float) (tmp_rot[5]);
this.m20 = (float) (tmp_rot[6]);
this.m21 = (float) (tmp_rot[7]);
this.m22 = (float) (tmp_rot[8]);
}
/**
* Perform cross product normalization of this matrix.
*/
public final void normalizeCP() {
float mag = 1.0f / (float) Math.sqrt(m00 * m00 + m10 * m10 + m20 * m20);
m00 = m00 * mag;
m10 = m10 * mag;
m20 = m20 * mag;
mag = 1.0f / (float) Math.sqrt(m01 * m01 + m11 * m11 + m21 * m21);
m01 = m01 * mag;
m11 = m11 * mag;
m21 = m21 * mag;
m02 = m10 * m21 - m11 * m20;
m12 = m01 * m20 - m00 * m21;
m22 = m00 * m11 - m01 * m10;
}
/**
* Perform cross product normalization of matrix m1 and place the normalized
* values into this.
*
* @param m1
* Provides the matrix values to be normalized
*/
public final void normalizeCP(Matrix3f m1) {
float mag = 1.0f / (float) Math.sqrt(m1.m00 * m1.m00 + m1.m10 * m1.m10
+ m1.m20 * m1.m20);
m00 = m1.m00 * mag;
m10 = m1.m10 * mag;
m20 = m1.m20 * mag;
mag = 1.0f / (float) Math.sqrt(m1.m01 * m1.m01 + m1.m11 * m1.m11 + m1.m21
* m1.m21);
m01 = m1.m01 * mag;
m11 = m1.m11 * mag;
m21 = m1.m21 * mag;
m02 = m10 * m21 - m11 * m20;
m12 = m01 * m20 - m00 * m21;
m22 = m00 * m11 - m01 * m10;
}
/**
* Returns true if all of the data members of Matrix3f m1 are equal to the
* corresponding data members in this Matrix3f.
*
* @param m1
* the matrix with which the comparison is made
* @return true or false
*/
public boolean equals(Matrix3f m1) {
try {
return (this.m00 == m1.m00 && this.m01 == m1.m01 && this.m02 == m1.m02
&& this.m10 == m1.m10 && this.m11 == m1.m11 && this.m12 == m1.m12
&& this.m20 == m1.m20 && this.m21 == m1.m21 && this.m22 == m1.m22);
} catch (NullPointerException e2) {
return false;
}
}
/**
* Returns true if the Object o1 is of type Matrix3f and all of the data
* members of o1 are equal to the corresponding data members in this Matrix3f.
*
* @param o1
* the object with which the comparison is made
* @return true or false
*/
public boolean equals(Object o1) {
try {
Matrix3f m2 = (Matrix3f) o1;
return (this.m00 == m2.m00 && this.m01 == m2.m01 && this.m02 == m2.m02
&& this.m10 == m2.m10 && this.m11 == m2.m11 && this.m12 == m2.m12
&& this.m20 == m2.m20 && this.m21 == m2.m21 && this.m22 == m2.m22);
} catch (ClassCastException e1) {
return false;
} catch (NullPointerException e2) {
return false;
}
}
/**
* Returns true if the L-infinite distance between this matrix and matrix m1
* is less than or equal to the epsilon parameter, otherwise returns false.
* The L-infinite distance is equal to MAX[i=0,1,2 ; j=0,1,2 ; abs(this.m(i,j)
* - m1.m(i,j)]
*
* @param m1
* the matrix to be compared to this matrix
* @param epsilon
* the threshold value
*/
public boolean epsilonEquals(Matrix3f m1, float epsilon) {
boolean status = true;
if (Math.abs(this.m00 - m1.m00) > epsilon)
status = false;
if (Math.abs(this.m01 - m1.m01) > epsilon)
status = false;
if (Math.abs(this.m02 - m1.m02) > epsilon)
status = false;
if (Math.abs(this.m10 - m1.m10) > epsilon)
status = false;
if (Math.abs(this.m11 - m1.m11) > epsilon)
status = false;
if (Math.abs(this.m12 - m1.m12) > epsilon)
status = false;
if (Math.abs(this.m20 - m1.m20) > epsilon)
status = false;
if (Math.abs(this.m21 - m1.m21) > epsilon)
status = false;
if (Math.abs(this.m22 - m1.m22) > epsilon)
status = false;
return (status);
}
/**
* Returns a hash code value based on the data values in this object. Two
* different Matrix3f objects with identical data values (i.e.,
* Matrix3f.equals returns true) will return the same hash code value. Two
* objects with different data members may return the same hash value,
* although this is not likely.
*
* @return the integer hash code value
*/
public int hashCode() {
long bits = 1L;
bits = 31L * bits + VecMathUtil.floatToIntBits(m00);
bits = 31L * bits + VecMathUtil.floatToIntBits(m01);
bits = 31L * bits + VecMathUtil.floatToIntBits(m02);
bits = 31L * bits + VecMathUtil.floatToIntBits(m10);
bits = 31L * bits + VecMathUtil.floatToIntBits(m11);
bits = 31L * bits + (long) VecMathUtil.floatToIntBits(m12);
bits = 31L * bits + (long) VecMathUtil.floatToIntBits(m20);
bits = 31L * bits + (long) VecMathUtil.floatToIntBits(m21);
bits = 31L * bits + (long) VecMathUtil.floatToIntBits(m22);
return (int) (bits ^ (bits >> 32));
}
/**
* Sets this matrix to all zeros.
*/
public final void setZero() {
m00 = 0.0f;
m01 = 0.0f;
m02 = 0.0f;
m10 = 0.0f;
m11 = 0.0f;
m12 = 0.0f;
m20 = 0.0f;
m21 = 0.0f;
m22 = 0.0f;
}
/**
* Negates the value of this matrix: this = -this.
*/
public final void negate() {
this.m00 = -this.m00;
this.m01 = -this.m01;
this.m02 = -this.m02;
this.m10 = -this.m10;
this.m11 = -this.m11;
this.m12 = -this.m12;
this.m20 = -this.m20;
this.m21 = -this.m21;
this.m22 = -this.m22;
}
/**
* Sets the value of this matrix equal to the negation of of the Matrix3f
* parameter.
*
* @param m1
* the source matrix
*/
public final void negate(Matrix3f m1) {
this.m00 = -m1.m00;
this.m01 = -m1.m01;
this.m02 = -m1.m02;
this.m10 = -m1.m10;
this.m11 = -m1.m11;
this.m12 = -m1.m12;
this.m20 = -m1.m20;
this.m21 = -m1.m21;
this.m22 = -m1.m22;
}
/**
* Multiply this matrix by the tuple t and place the result back into the
* tuple (t = this*t).
*
* @param t
* the tuple to be multiplied by this matrix and then replaced
*/
public final void transform(Tuple3f t) {
float x, y, z;
x = m00 * t.x + m01 * t.y + m02 * t.z;
y = m10 * t.x + m11 * t.y + m12 * t.z;
z = m20 * t.x + m21 * t.y + m22 * t.z;
t.set(x, y, z);
}
/**
* Multiply this matrix by the tuple t and and place the result into the tuple
* "result" (result = this*t).
*
* @param t
* the tuple to be multiplied by this matrix
* @param result
* the tuple into which the product is placed
*/
public final void transform(Tuple3f t, Tuple3f result) {
float x, y;
x = m00 * t.x + m01 * t.y + m02 * t.z;
y = m10 * t.x + m11 * t.y + m12 * t.z;
result.z = m20 * t.x + m21 * t.y + m22 * t.z;
result.x = x;
result.y = y;
}
/**
* perform SVD (if necessary to get rotational component
*/
void getScaleRotate(double[] scales, double[] rot) {
double[] tmp = new double[9]; // scratch matrix
tmp[0] = m00;
tmp[1] = m01;
tmp[2] = m02;
tmp[3] = m10;
tmp[4] = m11;
tmp[5] = m12;
tmp[6] = m20;
tmp[7] = m21;
tmp[8] = m22;
Matrix3d.compute_svd(tmp, scales, rot);
return;
}
/**
* Get the first matrix element in the first row.
*
* @return Returns the m00.
*
* @since vecmath 1.5
*/
public final float getM00() {
return m00;
}
/**
* Set the first matrix element in the first row.
*
* @param m00
* The m00 to set.
*
* @since vecmath 1.5
*/
public final void setM00(float m00) {
this.m00 = m00;
}
/**
* Get the second matrix element in the first row.
*
* @return Returns the m01.
*
*
* @since vecmath 1.5
*/
public final float getM01() {
return m01;
}
/**
* Set the second matrix element in the first row.
*
* @param m01
* The m01 to set.
*
* @since vecmath 1.5
*/
public final void setM01(float m01) {
this.m01 = m01;
}
/**
* Get the third matrix element in the first row.
*
* @return Returns the m02.
*
* @since vecmath 1.5
*/
public final float getM02() {
return m02;
}
/**
* Set the third matrix element in the first row.
*
* @param m02
* The m02 to set.
*
* @since vecmath 1.5
*/
public final void setM02(float m02) {
this.m02 = m02;
}
/**
* Get first matrix element in the second row.
*
* @return Returns the m10.
*
* @since vecmath 1.5
*/
public final float getM10() {
return m10;
}
/**
* Set first matrix element in the second row.
*
* @param m10
* The m10 to set.
*
* @since vecmath 1.5
*/
public final void setM10(float m10) {
this.m10 = m10;
}
/**
* Get second matrix element in the second row.
*
* @return Returns the m11.
*
* @since vecmath 1.5
*/
public final float getM11() {
return m11;
}
/**
* Set the second matrix element in the second row.
*
* @param m11
* The m11 to set.
*
* @since vecmath 1.5
*/
public final void setM11(float m11) {
this.m11 = m11;
}
/**
* Get the third matrix element in the second row.
*
* @return Returns the m12.
*
* @since vecmath 1.5
*/
public final float getM12() {
return m12;
}
/**
* Set the third matrix element in the second row.
*
* @param m12
* The m12 to set.
* @since vecmath 1.5
*/
public final void setM12(float m12) {
this.m12 = m12;
}
/**
* Get the first matrix element in the third row.
*
* @return Returns the m20.
*
* @since vecmath 1.5
*/
public final float getM20() {
return m20;
}
/**
* Set the first matrix element in the third row.
*
* @param m20
* The m20 to set.
*
* @since vecmath 1.5
*/
public final void setM20(float m20) {
this.m20 = m20;
}
/**
* Get the second matrix element in the third row.
*
* @return Returns the m21.
*
* @since vecmath 1.5
*/
public final float getM21() {
return m21;
}
/**
* Set the second matrix element in the third row.
*
* @param m21
* The m21 to set.
*
* @since vecmath 1.5
*/
public final void setM21(float m21) {
this.m21 = m21;
}
/**
* Get the third matrix element in the third row .
*
* @return Returns the m22.
*
* @since vecmath 1.5
*/
public final float getM22() {
return m22;
}
/**
* Set the third matrix element in the third row.
*
* @param m22
* The m22 to set.
*
* @since vecmath 1.5
*/
public final void setM22(float m22) {
this.m22 = m22;
}
/**
* BDX conveniences:
*/
public final Matrix3f mult(Matrix3f b){
Matrix3f a = new Matrix3f(this);
a.mul(b);
return a;
}
public final Vector3f mult(Vector3f b){
Vector3f a = new Vector3f(b);
transform(a);
return a;
}
public final Vector3f euler(){
Vector3f a = new Vector3f();
a.x = (float)Math.atan2(m21, m22);
a.y = (float)Math.atan2(-m20, Math.sqrt(m21*m21 + m22*m22));
a.z = (float)Math.atan2(m10, m00);
return a;
}
public final Matrix3f inverted(){
Matrix3f m = new Matrix3f(this);
m.invert();
return m;
}
public final Matrix3f transposed(){
Matrix3f m = new Matrix3f(this);
m.transpose();
return m;
}
public final float[] floatArray(){
return new float[]{m00, m01, m02, m10, m11, m12, m20, m21, m22};
}
public final static Matrix3f identity(){
Matrix3f m = new Matrix3f();
m.setIdentity();
return m;
}
public final static Matrix3f rotation(Vector3f axis, float angle){
AxisAngle4f aa = new AxisAngle4f(axis, angle);
Matrix3f m = new Matrix3f();
m.set(aa);
return m;
}
}