/*
* This file is part or JMathLib
*
* Check it out at http://www.jmathlib.de
*
* Author: stefan@held-mueller.de and others
* (c) 2008-2009
*/
package jmathlib.core.graphics;
/** A fairly conventional 3D matrix object that can transform sets of
3D points and perform a variety of manipulations on the transform */
public class Matrix3D {
double xx, xy, xz, xo;
double yx, yy, yz, yo;
double zx, zy, zz, zo;
static final double pi = 3.14159265;
double[][] matrix = new double[3][4];
double[][] unitMatrix = {{1.0, 0.0, 0.0, 0.0},{0.0, 1.0, 0.0, 0.0},{0.0, 0.0, 1.0, 0.0}};
/** Create a new unit matrix */
public Matrix3D()
{
xx = 1.0f;
yy = 1.0f;
zz = 1.0f;
matrix = unitMatrix;
}
/** Scale by f in all dimensions */
public void scale(double f)
{
//xx *= f; xy *= f; xz *= f; xo *= f;
//yx *= f; yy *= f; yz *= f; yo *= f;
//zx *= f; zy *= f; zz *= f; zo *= f;
scale(f, f, f);
}
/** Scale along each axis independently */
public void scale(double xf, double yf, double zf)
{
xx *= xf; xy *= xf; xz *= xf; xo *= xf;
yx *= yf; yy *= yf; yz *= yf; yo *= yf;
zx *= zf; zy *= zf; zz *= zf; zo *= zf;
for (int i=0; i<4; i++)
{
matrix[0][i] *= xf;
matrix[1][i] *= yf;
matrix[2][i] *= zf;
}
}
/** Translate the origin */
public void translate(double x, double y, double z)
{
xo += x;
yo += y;
zo += z;
}
/** rotate theta degrees about the y axis */
public void yrot(double theta)
{
theta *= (pi / 180);
double ct = Math.cos(theta);
double st = Math.sin(theta);
double Nxx = (double) (xx * ct + zx * st);
double Nxy = (double) (xy * ct + zy * st);
double Nxz = (double) (xz * ct + zz * st);
double Nxo = (double) (xo * ct + zo * st);
double Nzx = (double) (zx * ct - xx * st);
double Nzy = (double) (zy * ct - xy * st);
double Nzz = (double) (zz * ct - xz * st);
double Nzo = (double) (zo * ct - xo * st);
xo = Nxo;
xx = Nxx;
xy = Nxy;
xz = Nxz;
zo = Nzo;
zx = Nzx;
zy = Nzy;
zz = Nzz;
}
/** rotate theta degrees about the x axis */
public void xrot(double theta) {
theta *= (pi / 180);
double ct = Math.cos(theta);
double st = Math.sin(theta);
double Nyx = (double) (yx * ct + zx * st);
double Nyy = (double) (yy * ct + zy * st);
double Nyz = (double) (yz * ct + zz * st);
double Nyo = (double) (yo * ct + zo * st);
double Nzx = (double) (zx * ct - yx * st);
double Nzy = (double) (zy * ct - yy * st);
double Nzz = (double) (zz * ct - yz * st);
double Nzo = (double) (zo * ct - yo * st);
yo = Nyo;
yx = Nyx;
yy = Nyy;
yz = Nyz;
zo = Nzo;
zx = Nzx;
zy = Nzy;
zz = Nzz;
}
/** rotate theta degrees about the z axis */
public void zrot(double theta) {
theta *= (pi / 180);
double ct = Math.cos(theta);
double st = Math.sin(theta);
double Nyx = (double) (yx * ct + xx * st);
double Nyy = (double) (yy * ct + xy * st);
double Nyz = (double) (yz * ct + xz * st);
double Nyo = (double) (yo * ct + xo * st);
double Nxx = (double) (xx * ct - yx * st);
double Nxy = (double) (xy * ct - yy * st);
double Nxz = (double) (xz * ct - yz * st);
double Nxo = (double) (xo * ct - yo * st);
yo = Nyo;
yx = Nyx;
yy = Nyy;
yz = Nyz;
xo = Nxo;
xx = Nxx;
xy = Nxy;
xz = Nxz;
}
/** Multiply this matrix by a second: M = M*R */
public void mult(Matrix3D rhs) {
double lxx = xx * rhs.xx + yx * rhs.xy + zx * rhs.xz;
double lxy = xy * rhs.xx + yy * rhs.xy + zy * rhs.xz;
double lxz = xz * rhs.xx + yz * rhs.xy + zz * rhs.xz;
double lxo = xo * rhs.xx + yo * rhs.xy + zo * rhs.xz + rhs.xo;
double lyx = xx * rhs.yx + yx * rhs.yy + zx * rhs.yz;
double lyy = xy * rhs.yx + yy * rhs.yy + zy * rhs.yz;
double lyz = xz * rhs.yx + yz * rhs.yy + zz * rhs.yz;
double lyo = xo * rhs.yx + yo * rhs.yy + zo * rhs.yz + rhs.yo;
double lzx = xx * rhs.zx + yx * rhs.zy + zx * rhs.zz;
double lzy = xy * rhs.zx + yy * rhs.zy + zy * rhs.zz;
double lzz = xz * rhs.zx + yz * rhs.zy + zz * rhs.zz;
double lzo = xo * rhs.zx + yo * rhs.zy + zo * rhs.zz + rhs.zo;
xx = lxx;
xy = lxy;
xz = lxz;
xo = lxo;
yx = lyx;
yy = lyy;
yz = lyz;
yo = lyo;
zx = lzx;
zy = lzy;
zz = lzz;
zo = lzo;
}
/** Reinitialize to the unit matrix */
public void unit()
{
xx = 1; xy = 0; xz = 0; xo = 0;
yx = 0; yy = 1; yz = 0; yo = 0;
zx = 0; zy = 0; zz = 1; zo = 0;
}
/** Transform nvert points from v into tv. v contains the input
coordinates in floating point. Three successive entries in
the array constitute a point. tv ends up holding the transformed
points as integers; three successive entries per point */
public void transform(double x[], double y[], double z[],
int tx[], int ty[], int tz[])
{
for (int i=0; i<x.length; i++)
{
tx[i] = (int) (x[i] * xx + y[i] * xy + z[i] * xz + xo);
ty[i] = (int) (x[i] * yx + y[i] * yy + z[i] * yz + yo);
tz[i] = (int) (x[i] * zx + y[i] * zy + z[i] * zz + zo);
}
}
/** Transform nvert points from v into tv. v contains the input
coordinates in floating point. Three successive entries in
the array constitute a point. tv ends up holding the transformed
points as integers; three successive entries per point */
public void transform(double x[][], double y[][], double z[][],
int tx[][], int ty[][], int tz[][])
{
for (int i=0; i<x.length; i++)
{
for (int j=0; j<x[0].length; j++)
{
tx[i][j] = (int) (x[i][j] * xx + y[i][j] * xy + z[i][j] * xz + xo);
ty[i][j] = (int) (x[i][j] * yx + y[i][j] * yy + z[i][j] * yz + yo);
tz[i][j] = (int) (x[i][j] * zx + y[i][j] * zy + z[i][j] * zz + zo);
}
}
}
public java.awt.Point transform(double x, double y, double z)
{
return new java.awt.Point(
(int) (x * xx + y * xy + z * xz + xo),
(int) (x * yx + y * yy + z * yz + yo)
);
}
}