/*
* Copyright (c) 2002-2008 LWJGL Project
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of 'LWJGL' nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.lwjgl.util.vector;
import java.io.Serializable;
import java.nio.FloatBuffer;
/**
*
* Holds a 3x3 matrix.
*
* @author cix_foo <cix_foo@users.sourceforge.net>
* @version $Revision$
* $Id$
*/
public class Matrix3f extends Matrix implements Serializable {
private static final long serialVersionUID = 1L;
public float m00,
m01,
m02,
m10,
m11,
m12,
m20,
m21,
m22;
/**
* Constructor for Matrix3f. Matrix is initialised to the identity.
*/
public Matrix3f() {
super();
setIdentity();
}
/**
* Load from another matrix
* @param src The source matrix
* @return this
*/
public Matrix3f load(Matrix3f src) {
return load(src, this);
}
/**
* Copy source matrix to destination matrix
* @param src The source matrix
* @param dest The destination matrix, or null of a new matrix is to be created
* @return The copied matrix
*/
public static Matrix3f load(Matrix3f src, Matrix3f dest) {
if (dest == null)
dest = new Matrix3f();
dest.m00 = src.m00;
dest.m10 = src.m10;
dest.m20 = src.m20;
dest.m01 = src.m01;
dest.m11 = src.m11;
dest.m21 = src.m21;
dest.m02 = src.m02;
dest.m12 = src.m12;
dest.m22 = src.m22;
return dest;
}
/**
* Load from a float buffer. The buffer stores the matrix in column major
* (OpenGL) order.
*
* @param buf A float buffer to read from
* @return this
*/
public Matrix load(FloatBuffer buf) {
m00 = buf.get();
m01 = buf.get();
m02 = buf.get();
m10 = buf.get();
m11 = buf.get();
m12 = buf.get();
m20 = buf.get();
m21 = buf.get();
m22 = buf.get();
return this;
}
/**
* Load from a float buffer. The buffer stores the matrix in row major
* (maths) order.
*
* @param buf A float buffer to read from
* @return this
*/
public Matrix loadTranspose(FloatBuffer buf) {
m00 = buf.get();
m10 = buf.get();
m20 = buf.get();
m01 = buf.get();
m11 = buf.get();
m21 = buf.get();
m02 = buf.get();
m12 = buf.get();
m22 = buf.get();
return this;
}
/**
* Store this matrix in a float buffer. The matrix is stored in column
* major (openGL) order.
* @param buf The buffer to store this matrix in
*/
public Matrix store(FloatBuffer buf) {
buf.put(m00);
buf.put(m01);
buf.put(m02);
buf.put(m10);
buf.put(m11);
buf.put(m12);
buf.put(m20);
buf.put(m21);
buf.put(m22);
return this;
}
/**
* Store this matrix in a float buffer. The matrix is stored in row
* major (maths) order.
* @param buf The buffer to store this matrix in
*/
public Matrix storeTranspose(FloatBuffer buf) {
buf.put(m00);
buf.put(m10);
buf.put(m20);
buf.put(m01);
buf.put(m11);
buf.put(m21);
buf.put(m02);
buf.put(m12);
buf.put(m22);
return this;
}
/**
* Add two matrices together and place the result in a third matrix.
* @param left The left source matrix
* @param right The right source matrix
* @param dest The destination matrix, or null if a new one is to be created
* @return the destination matrix
*/
public static Matrix3f add(Matrix3f left, Matrix3f right, Matrix3f dest) {
if (dest == null)
dest = new Matrix3f();
dest.m00 = left.m00 + right.m00;
dest.m01 = left.m01 + right.m01;
dest.m02 = left.m02 + right.m02;
dest.m10 = left.m10 + right.m10;
dest.m11 = left.m11 + right.m11;
dest.m12 = left.m12 + right.m12;
dest.m20 = left.m20 + right.m20;
dest.m21 = left.m21 + right.m21;
dest.m22 = left.m22 + right.m22;
return dest;
}
/**
* Subtract the right matrix from the left and place the result in a third matrix.
* @param left The left source matrix
* @param right The right source matrix
* @param dest The destination matrix, or null if a new one is to be created
* @return the destination matrix
*/
public static Matrix3f sub(Matrix3f left, Matrix3f right, Matrix3f dest) {
if (dest == null)
dest = new Matrix3f();
dest.m00 = left.m00 - right.m00;
dest.m01 = left.m01 - right.m01;
dest.m02 = left.m02 - right.m02;
dest.m10 = left.m10 - right.m10;
dest.m11 = left.m11 - right.m11;
dest.m12 = left.m12 - right.m12;
dest.m20 = left.m20 - right.m20;
dest.m21 = left.m21 - right.m21;
dest.m22 = left.m22 - right.m22;
return dest;
}
/**
* Multiply the right matrix by the left and place the result in a third matrix.
* @param left The left source matrix
* @param right The right source matrix
* @param dest The destination matrix, or null if a new one is to be created
* @return the destination matrix
*/
public static Matrix3f mul(Matrix3f left, Matrix3f right, Matrix3f dest) {
if (dest == null)
dest = new Matrix3f();
float m00 =
left.m00 * right.m00 + left.m10 * right.m01 + left.m20 * right.m02;
float m01 =
left.m01 * right.m00 + left.m11 * right.m01 + left.m21 * right.m02;
float m02 =
left.m02 * right.m00 + left.m12 * right.m01 + left.m22 * right.m02;
float m10 =
left.m00 * right.m10 + left.m10 * right.m11 + left.m20 * right.m12;
float m11 =
left.m01 * right.m10 + left.m11 * right.m11 + left.m21 * right.m12;
float m12 =
left.m02 * right.m10 + left.m12 * right.m11 + left.m22 * right.m12;
float m20 =
left.m00 * right.m20 + left.m10 * right.m21 + left.m20 * right.m22;
float m21 =
left.m01 * right.m20 + left.m11 * right.m21 + left.m21 * right.m22;
float m22 =
left.m02 * right.m20 + left.m12 * right.m21 + left.m22 * right.m22;
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;
return dest;
}
/**
* Transform a Vector by a matrix and return the result in a destination
* vector.
* @param left The left matrix
* @param right The right vector
* @param dest The destination vector, or null if a new one is to be created
* @return the destination vector
*/
public static Vector3f transform(Matrix3f left, Vector3f right, Vector3f dest) {
if (dest == null)
dest = new Vector3f();
float x = left.m00 * right.x + left.m10 * right.y + left.m20 * right.z;
float y = left.m01 * right.x + left.m11 * right.y + left.m21 * right.z;
float z = left.m02 * right.x + left.m12 * right.y + left.m22 * right.z;
dest.x = x;
dest.y = y;
dest.z = z;
return dest;
}
/**
* Transpose this matrix
* @return this
*/
public Matrix transpose() {
return transpose(this, this);
}
/**
* Transpose this matrix and place the result in another matrix
* @param dest The destination matrix or null if a new matrix is to be created
* @return the transposed matrix
*/
public Matrix3f transpose(Matrix3f dest) {
return transpose(this, dest);
}
/**
* Transpose the source matrix and place the result into the destination matrix
* @param src The source matrix to be transposed
* @param dest The destination matrix or null if a new matrix is to be created
* @return the transposed matrix
*/
public static Matrix3f transpose(Matrix3f src, Matrix3f dest) {
if (dest == null)
dest = new Matrix3f();
float m00 = src.m00;
float m01 = src.m10;
float m02 = src.m20;
float m10 = src.m01;
float m11 = src.m11;
float m12 = src.m21;
float m20 = src.m02;
float m21 = src.m12;
float m22 = src.m22;
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;
return dest;
}
/**
* @return the determinant of the matrix
*/
public float determinant() {
float f =
m00 * (m11 * m22 - m12 * m21)
+ m01 * (m12 * m20 - m10 * m22)
+ m02 * (m10 * m21 - m11 * m20);
return f;
}
/**
* Returns a string representation of this matrix
*/
public String toString() {
StringBuilder buf = new StringBuilder();
buf.append(m00).append(' ').append(m10).append(' ').append(m20).append(' ').append('\n');
buf.append(m01).append(' ').append(m11).append(' ').append(m21).append(' ').append('\n');
buf.append(m02).append(' ').append(m12).append(' ').append(m22).append(' ').append('\n');
return buf.toString();
}
/**
* Invert this matrix
* @return this if successful, null otherwise
*/
public Matrix invert() {
return invert(this, this);
}
/**
* Invert the source matrix and put the result into the destination matrix
* @param src The source matrix to be inverted
* @param dest The destination matrix, or null if a new one is to be created
* @return The inverted matrix if successful, null otherwise
*/
public static Matrix3f invert(Matrix3f src, Matrix3f dest) {
float determinant = src.determinant();
if (determinant != 0) {
if (dest == null)
dest = new Matrix3f();
/* do it the ordinary way
*
* inv(A) = 1/det(A) * adj(T), where adj(T) = transpose(Conjugate Matrix)
*
* m00 m01 m02
* m10 m11 m12
* m20 m21 m22
*/
float determinant_inv = 1f/determinant;
// get the conjugate matrix
float t00 = src.m11 * src.m22 - src.m12* src.m21;
float t01 = - src.m10 * src.m22 + src.m12 * src.m20;
float t02 = src.m10 * src.m21 - src.m11 * src.m20;
float t10 = - src.m01 * src.m22 + src.m02 * src.m21;
float t11 = src.m00 * src.m22 - src.m02 * src.m20;
float t12 = - src.m00 * src.m21 + src.m01 * src.m20;
float t20 = src.m01 * src.m12 - src.m02 * src.m11;
float t21 = -src.m00 * src.m12 + src.m02 * src.m10;
float t22 = src.m00 * src.m11 - src.m01 * src.m10;
dest.m00 = t00*determinant_inv;
dest.m11 = t11*determinant_inv;
dest.m22 = t22*determinant_inv;
dest.m01 = t10*determinant_inv;
dest.m10 = t01*determinant_inv;
dest.m20 = t02*determinant_inv;
dest.m02 = t20*determinant_inv;
dest.m12 = t21*determinant_inv;
dest.m21 = t12*determinant_inv;
return dest;
} else
return null;
}
/**
* Negate this matrix
* @return this
*/
public Matrix negate() {
return negate(this);
}
/**
* Negate this matrix and place the result in a destination matrix.
* @param dest The destination matrix, or null if a new matrix is to be created
* @return the negated matrix
*/
public Matrix3f negate(Matrix3f dest) {
return negate(this, dest);
}
/**
* Negate the source matrix and place the result in the destination matrix.
* @param src The source matrix
* @param dest The destination matrix, or null if a new matrix is to be created
* @return the negated matrix
*/
public static Matrix3f negate(Matrix3f src, Matrix3f dest) {
if (dest == null)
dest = new Matrix3f();
dest.m00 = -src.m00;
dest.m01 = -src.m02;
dest.m02 = -src.m01;
dest.m10 = -src.m10;
dest.m11 = -src.m12;
dest.m12 = -src.m11;
dest.m20 = -src.m20;
dest.m21 = -src.m22;
dest.m22 = -src.m21;
return dest;
}
/**
* Set this matrix to be the identity matrix.
* @return this
*/
public Matrix setIdentity() {
return setIdentity(this);
}
/**
* Set the matrix to be the identity matrix.
* @param m The matrix to be set to the identity
* @return m
*/
public static Matrix3f setIdentity(Matrix3f m) {
m.m00 = 1.0f;
m.m01 = 0.0f;
m.m02 = 0.0f;
m.m10 = 0.0f;
m.m11 = 1.0f;
m.m12 = 0.0f;
m.m20 = 0.0f;
m.m21 = 0.0f;
m.m22 = 1.0f;
return m;
}
/**
* Set this matrix to 0.
* @return this
*/
public Matrix setZero() {
return setZero(this);
}
/**
* Set the matrix matrix to 0.
* @param m The matrix to be set to 0
* @return m
*/
public static Matrix3f setZero(Matrix3f m) {
m.m00 = 0.0f;
m.m01 = 0.0f;
m.m02 = 0.0f;
m.m10 = 0.0f;
m.m11 = 0.0f;
m.m12 = 0.0f;
m.m20 = 0.0f;
m.m21 = 0.0f;
m.m22 = 0.0f;
return m;
}
}