summaryrefslogtreecommitdiffstats
path: root/src/javax/vecmath/Matrix3d.java
diff options
context:
space:
mode:
Diffstat (limited to 'src/javax/vecmath/Matrix3d.java')
-rw-r--r--src/javax/vecmath/Matrix3d.java3317
1 files changed, 0 insertions, 3317 deletions
diff --git a/src/javax/vecmath/Matrix3d.java b/src/javax/vecmath/Matrix3d.java
deleted file mode 100644
index 44d30bd..0000000
--- a/src/javax/vecmath/Matrix3d.java
+++ /dev/null
@@ -1,3317 +0,0 @@
-/*
- * 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.
- *
- */
-
-package javax.vecmath;
-
-
-/**
- * A double precision floating point 3 by 3 matrix.
- * Primarily to support 3D rotations.
- *
- */
-public class Matrix3d implements java.io.Serializable, Cloneable {
-
- // Compatible with 1.1
- static final long serialVersionUID = 6837536777072402710L;
-
- /**
- * The first matrix element in the first row.
- */
- public double m00;
-
- /**
- * The second matrix element in the first row.
- */
- public double m01;
-
- /**
- * The third matrix element in the first row.
- */
- public double m02;
-
- /**
- * The first matrix element in the second row.
- */
- public double m10;
-
- /**
- * The second matrix element in the second row.
- */
- public double m11;
-
- /**
- * The third matrix element in the second row.
- */
- public double m12;
-
- /**
- * The first matrix element in the third row.
- */
- public double m20;
-
- /**
- * The second matrix element in the third row.
- */
- public double m21;
-
- /**
- * The third matrix element in the third row.
- */
- public double 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 = 1.110223024E-16;
-
- /**
- * Constructs and initializes a Matrix3d 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 Matrix3d(double m00, double m01, double m02,
- double m10, double m11, double m12,
- double m20, double m21, double 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 Matrix3d from the specified nine-
- * element array.
- * @param v the array of length 9 containing in order
- */
- public Matrix3d(double[] 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 Matrix3d(Matrix3d 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 a new matrix with the same values as the
- * Matrix3f parameter.
- * @param m1 the source matrix
- */
- public Matrix3d(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 Matrix3d to all zeros.
- */
- public Matrix3d()
- {
- this.m00 = 0.0;
- this.m01 = 0.0;
- this.m02 = 0.0;
-
- this.m10 = 0.0;
- this.m11 = 0.0;
- this.m12 = 0.0;
-
- this.m20 = 0.0;
- this.m21 = 0.0;
- this.m22 = 0.0;
-
- }
-
- /**
- * Returns a string that contains the values of this Matrix3d.
- * @return the String representation
- */
- @Override
- 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 Matrix3d to identity.
- */
- public final void setIdentity()
- {
- this.m00 = 1.0;
- this.m01 = 0.0;
- this.m02 = 0.0;
-
- this.m10 = 0.0;
- this.m11 = 1.0;
- this.m12 = 0.0;
-
- this.m20 = 0.0;
- this.m21 = 0.0;
- this.m22 = 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(double scale)
- {
-
- double[] tmp_rot = new double[9]; // scratch matrix
- double[] tmp_scale = new double[3]; // scratch matrix
-
- getScaleRotate(tmp_scale, tmp_rot);
-
- this.m00 = tmp_rot[0] * scale;
- this.m01 = tmp_rot[1] * scale;
- this.m02 = tmp_rot[2] * scale;
-
- this.m10 = tmp_rot[3] * scale;
- this.m11 = tmp_rot[4] * scale;
- this.m12 = tmp_rot[5] * scale;
-
- this.m20 = tmp_rot[6] * scale;
- this.m21 = tmp_rot[7] * scale;
- this.m22 = 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, double 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("Matrix3d0"));
- }
- 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("Matrix3d0"));
- }
- 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("Matrix3d0"));
- }
- break;
-
- default:
- throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix3d0"));
- }
- }
-
- /**
- * Retrieves the value at the specified row and column of the specified
- * 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 double 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("Matrix3d1"));
- }
-
- /**
- * 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, Vector3d 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("Matrix3d2"));
- }
-
- }
-
- /**
- * 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, double 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("Matrix3d2"));
- }
-
- }
-
- /**
- * 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, Vector3d 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("Matrix3d4"));
- }
-
- }
-
- /**
- * 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, double 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("Matrix3d4"));
- }
-
- }
-
-
- /**
- * Sets the specified row of this matrix3d to the 4 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, double x, double y, double 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("Matrix3d6"));
- }
- }
-
- /**
- * Sets the specified row of this matrix3d 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, Vector3d 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("Matrix3d6"));
- }
- }
-
- /**
- * Sets the specified row of this matrix3d 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, double 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("Matrix3d6"));
- }
- }
-
- /**
- * Sets the specified column of this matrix3d 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, double x, double y, double 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("Matrix3d9"));
- }
- }
-
- /**
- * Sets the specified column of this matrix3d 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, Vector3d 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("Matrix3d9"));
- }
- }
-
- /**
- * Sets the specified column of this matrix3d 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, double 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("Matrix3d9"));
- }
- }
-
- /**
- * 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 double getScale()
- {
-
- double[] tmp_scale = new double[3]; // scratch matrix
- double[] tmp_rot = new double[9]; // scratch matrix
- getScaleRotate(tmp_scale, tmp_rot);
-
- return( max3(tmp_scale) );
-
- }
-
- /**
- * Adds a scalar to each component of this matrix.
- * @param scalar the scalar adder
- */
- public final void add(double 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(double scalar, Matrix3d 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(Matrix3d m1, Matrix3d 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 sum of itself and matrix m1.
- * @param m1 the other matrix
- */
- public final void add(Matrix3d 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(Matrix3d m1, Matrix3d 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(Matrix3d 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()
- {
- double 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(Matrix3d 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
- * double precision quaternion argument.
- * @param q1 the quaternion to be converted
- */
- public final void set(Quat4d q1)
- {
- this.m00 = (1.0 - 2.0*q1.y*q1.y - 2.0*q1.z*q1.z);
- this.m10 = (2.0*(q1.x*q1.y + q1.w*q1.z));
- this.m20 = (2.0*(q1.x*q1.z - q1.w*q1.y));
-
- this.m01 = (2.0*(q1.x*q1.y - q1.w*q1.z));
- this.m11 = (1.0 - 2.0*q1.x*q1.x - 2.0*q1.z*q1.z);
- this.m21 = (2.0*(q1.y*q1.z + q1.w*q1.x));
-
- this.m02 = (2.0*(q1.x*q1.z + q1.w*q1.y));
- this.m12 = (2.0*(q1.y*q1.z - q1.w*q1.x));
- this.m22 = (1.0 - 2.0*q1.x*q1.x - 2.0*q1.y*q1.y);
- }
-
- /**
- * 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 = 1.0;
- m01 = 0.0;
- m02 = 0.0;
-
- m10 = 0.0;
- m11 = 1.0;
- m12 = 0.0;
-
- m20 = 0.0;
- m21 = 0.0;
- m22 = 1.0;
- } 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 = 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
- * single precision quaternion argument.
- * @param q1 the quaternion to be converted
- */
- public final void set(Quat4f q1)
- {
- this.m00 = (1.0 - 2.0*q1.y*q1.y - 2.0*q1.z*q1.z);
- this.m10 = (2.0*(q1.x*q1.y + q1.w*q1.z));
- this.m20 = (2.0*(q1.x*q1.z - q1.w*q1.y));
-
- this.m01 = (2.0*(q1.x*q1.y - q1.w*q1.z));
- this.m11 = (1.0 - 2.0*q1.x*q1.x - 2.0*q1.z*q1.z);
- this.m21 = (2.0*(q1.y*q1.z + q1.w*q1.x));
-
- this.m02 = (2.0*(q1.x*q1.z + q1.w*q1.y));
- this.m12 = (2.0*(q1.y*q1.z - q1.w*q1.x));
- this.m22 = (1.0 - 2.0*q1.x*q1.x - 2.0*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)
- {
- double mag = Math.sqrt( a1.x*a1.x + a1.y*a1.y + a1.z*a1.z);
- if( mag < EPS ) {
- m00 = 1.0;
- m01 = 0.0;
- m02 = 0.0;
-
- m10 = 0.0;
- m11 = 1.0;
- m12 = 0.0;
-
- m20 = 0.0;
- m21 = 0.0;
- m22 = 1.0;
- } 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 = 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 double value of the Matrix3f
- * argument.
- * @param m1 the matrix3d to be converted to double
- */
- 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 value of the Matrix3d
- * argument.
- * @param m1 the source matrix3d
- */
- public final void set(Matrix3d 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 values in this Matrix3d 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 double precision array of length 9
- */
- public final void set(double[] 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 matrix inverse
- * of the passed matrix m1.
- * @param m1 the matrix to be inverted
- */
- public final void invert(Matrix3d 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(Matrix3d m1) {
- double result[] = new double[9];
- int row_perm[] = new int[3];
- int i;
- double[] tmp = new double[9]; // scratch matrix
-
- // Use LU decomposition and backsubstitution code specifically
- // for floating-point 3x3 matrices.
-
- // Copy source matrix to t1tmp
- 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;
-
-
- // Calculate LU decomposition: Is the matrix singular?
- if (!luDecomposition(tmp, row_perm)) {
- // Matrix has no inverse
- throw new SingularMatrixException(VecMathI18N.getString("Matrix3d12"));
- }
-
- // 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(tmp, row_perm, result);
-
- this.m00 = result[0];
- this.m01 = result[1];
- this.m02 = result[2];
-
- this.m10 = result[3];
- this.m11 = result[4];
- this.m12 = result[5];
-
- this.m20 = result[6];
- this.m21 = result[7];
- this.m22 = 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("Matrix3d13"));
- }
-
- // 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 the matrix
- */
- public final double determinant()
- {
- double 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(double scale)
- {
- this.m00 = scale;
- this.m01 = 0.0;
- this.m02 = 0.0;
-
- this.m10 = 0.0;
- this.m11 = scale;
- this.m12 = 0.0;
-
- this.m20 = 0.0;
- this.m21 = 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(double angle)
- {
- double sinAngle, cosAngle;
-
- sinAngle = Math.sin(angle);
- cosAngle = Math.cos(angle);
-
- this.m00 = 1.0;
- this.m01 = 0.0;
- this.m02 = 0.0;
-
- this.m10 = 0.0;
- this.m11 = cosAngle;
- this.m12 = -sinAngle;
-
- this.m20 = 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(double angle)
- {
- double sinAngle, cosAngle;
-
- sinAngle = Math.sin(angle);
- cosAngle = Math.cos(angle);
-
- this.m00 = cosAngle;
- this.m01 = 0.0;
- this.m02 = sinAngle;
-
- this.m10 = 0.0;
- this.m11 = 1.0;
- this.m12 = 0.0;
-
- this.m20 = -sinAngle;
- this.m21 = 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(double angle)
- {
- double sinAngle, cosAngle;
-
- sinAngle = Math.sin(angle);
- cosAngle = Math.cos(angle);
-
- this.m00 = cosAngle;
- this.m01 = -sinAngle;
- this.m02 = 0.0;
-
- this.m10 = sinAngle;
- this.m11 = cosAngle;
- this.m12 = 0.0;
-
- this.m20 = 0.0;
- this.m21 = 0.0;
- this.m22 = 1.0;
- }
-
- /**
- * Multiplies each element of this matrix by a scalar.
- * @param scalar The scalar multiplier.
- */
- public final void mul(double 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(double scalar, Matrix3d 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(Matrix3d m1)
- {
- double 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(Matrix3d m1, Matrix3d 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 {
- double m00, m01, m02,
- m10, m11, m12,
- m20, m21, m22; // vars for temp result matrix
-
- 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(Matrix3d 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;
-
- compute_svd( tmp, tmp_scale, tmp_rot);
-
- this.m00 = tmp_rot[0];
- this.m01 = tmp_rot[1];
- this.m02 = tmp_rot[2];
-
- this.m10 = tmp_rot[3];
- this.m11 = tmp_rot[4];
- this.m12 = tmp_rot[5];
-
- this.m20 = tmp_rot[6];
- this.m21 = tmp_rot[7];
- this.m22 = 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(Matrix3d m1, Matrix3d 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;
-
- compute_svd( tmp, tmp_scale, tmp_rot);
-
- this.m00 = tmp_rot[0];
- this.m01 = tmp_rot[1];
- this.m02 = tmp_rot[2];
-
- this.m10 = tmp_rot[3];
- this.m11 = tmp_rot[4];
- this.m12 = tmp_rot[5];
-
- this.m20 = tmp_rot[6];
- this.m21 = tmp_rot[7];
- this.m22 = 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(Matrix3d m1, Matrix3d 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 {
- double 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(Matrix3d m1, Matrix3d 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 {
- double 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(Matrix3d m1, Matrix3d 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 {
- double 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 = tmp_rot[0];
- this.m01 = tmp_rot[1];
- this.m02 = tmp_rot[2];
-
- this.m10 = tmp_rot[3];
- this.m11 = tmp_rot[4];
- this.m12 = tmp_rot[5];
-
- this.m20 = tmp_rot[6];
- this.m21 = tmp_rot[7];
- this.m22 = tmp_rot[8];
-
- }
-
-
- /**
- * Perform singular value decomposition normalization of matrix m1 and
- * place the normalized values into this.
- * @param m1 Provides the matrix values to be normalized
- */
- public final void normalize(Matrix3d 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;
-
- compute_svd( tmp, tmp_scale, tmp_rot);
-
- this.m00 = tmp_rot[0];
- this.m01 = tmp_rot[1];
- this.m02 = tmp_rot[2];
-
- this.m10 = tmp_rot[3];
- this.m11 = tmp_rot[4];
- this.m12 = tmp_rot[5];
-
- this.m20 = tmp_rot[6];
- this.m21 = tmp_rot[7];
- this.m22 = tmp_rot[8];
- }
-
-
- /**
- * Perform cross product normalization of this matrix.
- */
-
- public final void normalizeCP()
- {
- double mag = 1.0/Math.sqrt(m00*m00 + m10*m10 + m20*m20);
- m00 = m00*mag;
- m10 = m10*mag;
- m20 = m20*mag;
-
- mag = 1.0/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(Matrix3d m1)
- {
- double mag = 1.0/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 = 1.0/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 Matrix3d m1 are
- * equal to the corresponding data members in this Matrix3d.
- * @param m1 the matrix with which the comparison is made
- * @return true or false
- */
- public boolean equals(Matrix3d 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 t1 is of type Matrix3d and all of the
- * data members of t1 are equal to the corresponding data members in
- * this Matrix3d.
- * @param t1 the matrix with which the comparison is made
- * @return true or false
- */
- @Override
- public boolean equals(Object t1)
- {
- try {
- Matrix3d m2 = (Matrix3d) t1;
- 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(Matrix3d m1, double epsilon)
- {
- double diff;
-
- diff = m00 - m1.m00;
- if((diff<0?-diff:diff) > epsilon) return false;
-
- diff = m01 - m1.m01;
- if((diff<0?-diff:diff) > epsilon) return false;
-
- diff = m02 - m1.m02;
- if((diff<0?-diff:diff) > epsilon) return false;
-
- diff = m10 - m1.m10;
- if((diff<0?-diff:diff) > epsilon) return false;
-
- diff = m11 - m1.m11;
- if((diff<0?-diff:diff) > epsilon) return false;
-
- diff = m12 - m1.m12;
- if((diff<0?-diff:diff) > epsilon) return false;
-
- diff = m20 - m1.m20;
- if((diff<0?-diff:diff) > epsilon) return false;
-
- diff = m21 - m1.m21;
- if((diff<0?-diff:diff) > epsilon) return false;
-
- diff = m22 - m1.m22;
- if((diff<0?-diff:diff) > epsilon) return false;
-
- return true;
- }
-
-
- /**
- * Returns a hash code value based on the data values in this
- * object. Two different Matrix3d objects with identical data values
- * (i.e., Matrix3d.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
- */
- @Override
- public int hashCode() {
- long bits = 1L;
- bits = VecMathUtil.hashDoubleBits(bits, m00);
- bits = VecMathUtil.hashDoubleBits(bits, m01);
- bits = VecMathUtil.hashDoubleBits(bits, m02);
- bits = VecMathUtil.hashDoubleBits(bits, m10);
- bits = VecMathUtil.hashDoubleBits(bits, m11);
- bits = VecMathUtil.hashDoubleBits(bits, m12);
- bits = VecMathUtil.hashDoubleBits(bits, m20);
- bits = VecMathUtil.hashDoubleBits(bits, m21);
- bits = VecMathUtil.hashDoubleBits(bits, m22);
- return VecMathUtil.hashFinish(bits);
- }
-
-
- /**
- * Sets this matrix to all zeros.
- */
- public final void setZero()
- {
- m00 = 0.0;
- m01 = 0.0;
- m02 = 0.0;
-
- m10 = 0.0;
- m11 = 0.0;
- m12 = 0.0;
-
- m20 = 0.0;
- m21 = 0.0;
- m22 = 0.0;
-
- }
-
- /**
- * 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 Matrix3d parameter.
- * @param m1 the source matrix
- */
- public final void negate(Matrix3d 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(Tuple3d t) {
- double 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(Tuple3d t, Tuple3d result) {
- double x,y,z;
- 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
- */
- final void getScaleRotate(double scales[], double rots[]) {
-
- 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;
- compute_svd( tmp, scales, rots);
-
- return;
- }
-
- static void compute_svd( double[] m, double[] outScale, double[] outRot) {
- int i,j;
- double g,scale;
- double[] u1 = new double[9];
- double[] v1 = new double[9];
- double[] t1 = new double[9];
- double[] t2 = new double[9];
-
- double[] tmp = t1;
- double[] single_values = t2;
-
- double[] rot = new double[9];
- double[] e = new double[3];
- double[] scales = new double[3];
-
- int converged, negCnt=0;
- double cs,sn;
- double c1,c2,c3,c4;
- double s1,s2,s3,s4;
- double cl1,cl2,cl3;
-
-
- for(i=0; i<9; i++)
- rot[i] = m[i];
-
- // u1
-
- if( m[3]*m[3] < EPS ) {
- u1[0] = 1.0; u1[1] = 0.0; u1[2] = 0.0;
- u1[3] = 0.0; u1[4] = 1.0; u1[5] = 0.0;
- u1[6] = 0.0; u1[7] = 0.0; u1[8] = 1.0;
- } else if( m[0]*m[0] < EPS ) {
- tmp[0] = m[0];
- tmp[1] = m[1];
- tmp[2] = m[2];
- m[0] = m[3];
- m[1] = m[4];
- m[2] = m[5];
-
- m[3] = -tmp[0]; // zero
- m[4] = -tmp[1];
- m[5] = -tmp[2];
-
- u1[0] = 0.0; u1[1] = 1.0; u1[2] = 0.0;
- u1[3] = -1.0; u1[4] = 0.0; u1[5] = 0.0;
- u1[6] = 0.0; u1[7] = 0.0; u1[8] = 1.0;
- } else {
- g = 1.0/Math.sqrt(m[0]*m[0] + m[3]*m[3]);
- c1 = m[0]*g;
- s1 = m[3]*g;
- tmp[0] = c1*m[0] + s1*m[3];
- tmp[1] = c1*m[1] + s1*m[4];
- tmp[2] = c1*m[2] + s1*m[5];
-
- m[3] = -s1*m[0] + c1*m[3]; // zero
- m[4] = -s1*m[1] + c1*m[4];
- m[5] = -s1*m[2] + c1*m[5];
-
- m[0] = tmp[0];
- m[1] = tmp[1];
- m[2] = tmp[2];
- u1[0] = c1; u1[1] = s1; u1[2] = 0.0;
- u1[3] = -s1; u1[4] = c1; u1[5] = 0.0;
- u1[6] = 0.0; u1[7] = 0.0; u1[8] = 1.0;
- }
-
- // u2
-
- if( m[6]*m[6] < EPS ) {
- } else if( m[0]*m[0] < EPS ){
- tmp[0] = m[0];
- tmp[1] = m[1];
- tmp[2] = m[2];
- m[0] = m[6];
- m[1] = m[7];
- m[2] = m[8];
-
- m[6] = -tmp[0]; // zero
- m[7] = -tmp[1];
- m[8] = -tmp[2];
-
- tmp[0] = u1[0];
- tmp[1] = u1[1];
- tmp[2] = u1[2];
- u1[0] = u1[6];
- u1[1] = u1[7];
- u1[2] = u1[8];
-
- u1[6] = -tmp[0]; // zero
- u1[7] = -tmp[1];
- u1[8] = -tmp[2];
- } else {
- g = 1.0/Math.sqrt(m[0]*m[0] + m[6]*m[6]);
- c2 = m[0]*g;
- s2 = m[6]*g;
- tmp[0] = c2*m[0] + s2*m[6];
- tmp[1] = c2*m[1] + s2*m[7];
- tmp[2] = c2*m[2] + s2*m[8];
-
- m[6] = -s2*m[0] + c2*m[6];
- m[7] = -s2*m[1] + c2*m[7];
- m[8] = -s2*m[2] + c2*m[8];
- m[0] = tmp[0];
- m[1] = tmp[1];
- m[2] = tmp[2];
-
- tmp[0] = c2*u1[0];
- tmp[1] = c2*u1[1];
- u1[2] = s2;
-
- tmp[6] = -u1[0]*s2;
- tmp[7] = -u1[1]*s2;
- u1[8] = c2;
- u1[0] = tmp[0];
- u1[1] = tmp[1];
- u1[6] = tmp[6];
- u1[7] = tmp[7];
- }
-
- // v1
-
- if( m[2]*m[2] < EPS ) {
- v1[0] = 1.0; v1[1] = 0.0; v1[2] = 0.0;
- v1[3] = 0.0; v1[4] = 1.0; v1[5] = 0.0;
- v1[6] = 0.0; v1[7] = 0.0; v1[8] = 1.0;
- } else if( m[1]*m[1] < EPS ) {
- tmp[2] = m[2];
- tmp[5] = m[5];
- tmp[8] = m[8];
- m[2] = -m[1];
- m[5] = -m[4];
- m[8] = -m[7];
-
- m[1] = tmp[2]; // zero
- m[4] = tmp[5];
- m[7] = tmp[8];
-
- v1[0] = 1.0; v1[1] = 0.0; v1[2] = 0.0;
- v1[3] = 0.0; v1[4] = 0.0; v1[5] =-1.0;
- v1[6] = 0.0; v1[7] = 1.0; v1[8] = 0.0;
- } else {
- g = 1.0/Math.sqrt(m[1]*m[1] + m[2]*m[2]);
- c3 = m[1]*g;
- s3 = m[2]*g;
- tmp[1] = c3*m[1] + s3*m[2]; // can assign to m[1]?
- m[2] =-s3*m[1] + c3*m[2]; // zero
- m[1] = tmp[1];
-
- tmp[4] = c3*m[4] + s3*m[5];
- m[5] =-s3*m[4] + c3*m[5];
- m[4] = tmp[4];
-
- tmp[7] = c3*m[7] + s3*m[8];
- m[8] =-s3*m[7] + c3*m[8];
- m[7] = tmp[7];
-
- v1[0] = 1.0; v1[1] = 0.0; v1[2] = 0.0;
- v1[3] = 0.0; v1[4] = c3; v1[5] = -s3;
- v1[6] = 0.0; v1[7] = s3; v1[8] = c3;
- }
-
- // u3
-
- if( m[7]*m[7] < EPS ) {
- } else if( m[4]*m[4] < EPS ) {
- tmp[3] = m[3];
- tmp[4] = m[4];
- tmp[5] = m[5];
- m[3] = m[6]; // zero
- m[4] = m[7];
- m[5] = m[8];
-
- m[6] = -tmp[3]; // zero
- m[7] = -tmp[4]; // zero
- m[8] = -tmp[5];
-
- tmp[3] = u1[3];
- tmp[4] = u1[4];
- tmp[5] = u1[5];
- u1[3] = u1[6];
- u1[4] = u1[7];
- u1[5] = u1[8];
-
- u1[6] = -tmp[3]; // zero
- u1[7] = -tmp[4];
- u1[8] = -tmp[5];
-
- } else {
- g = 1.0/Math.sqrt(m[4]*m[4] + m[7]*m[7]);
- c4 = m[4]*g;
- s4 = m[7]*g;
- tmp[3] = c4*m[3] + s4*m[6];
- m[6] =-s4*m[3] + c4*m[6]; // zero
- m[3] = tmp[3];
-
- tmp[4] = c4*m[4] + s4*m[7];
- m[7] =-s4*m[4] + c4*m[7];
- m[4] = tmp[4];
-
- tmp[5] = c4*m[5] + s4*m[8];
- m[8] =-s4*m[5] + c4*m[8];
- m[5] = tmp[5];
-
- tmp[3] = c4*u1[3] + s4*u1[6];
- u1[6] =-s4*u1[3] + c4*u1[6];
- u1[3] = tmp[3];
-
- tmp[4] = c4*u1[4] + s4*u1[7];
- u1[7] =-s4*u1[4] + c4*u1[7];
- u1[4] = tmp[4];
-
- tmp[5] = c4*u1[5] + s4*u1[8];
- u1[8] =-s4*u1[5] + c4*u1[8];
- u1[5] = tmp[5];
- }
-
- single_values[0] = m[0];
- single_values[1] = m[4];
- single_values[2] = m[8];
- e[0] = m[1];
- e[1] = m[5];
-
- if( e[0]*e[0]<EPS && e[1]*e[1]<EPS ) {
-
- } else {
- compute_qr( single_values, e, u1, v1);
- }
-
- scales[0] = single_values[0];
- scales[1] = single_values[1];
- scales[2] = single_values[2];
-
-
- // Do some optimization here. If scale is unity, simply return the rotation matric.
- if(almostEqual(Math.abs(scales[0]), 1.0) &&
- almostEqual(Math.abs(scales[1]), 1.0) &&
- almostEqual(Math.abs(scales[2]), 1.0)) {
- // System.out.println("Scale components almost to 1.0");
-
- for(i=0;i<3;i++)
- if(scales[i]<0.0)
- negCnt++;
-
- if((negCnt==0)||(negCnt==2)) {
- //System.out.println("Optimize!!");
- outScale[0] = outScale[1] = outScale[2] = 1.0;
- for(i=0;i<9;i++)
- outRot[i] = rot[i];
-
- return;
- }
- }
-
-
- transpose_mat(u1, t1);
- transpose_mat(v1, t2);
-
- /*
- System.out.println("t1 is \n" + t1);
- System.out.println("t1="+t1[0]+" "+t1[1]+" "+t1[2]);
- System.out.println("t1="+t1[3]+" "+t1[4]+" "+t1[5]);
- System.out.println("t1="+t1[6]+" "+t1[7]+" "+t1[8]);
-
- System.out.println("t2 is \n" + t2);
- System.out.println("t2="+t2[0]+" "+t2[1]+" "+t2[2]);
- System.out.println("t2="+t2[3]+" "+t2[4]+" "+t2[5]);
- System.out.println("t2="+t2[6]+" "+t2[7]+" "+t2[8]);
- */
-
- svdReorder( m, t1, t2, scales, outRot, outScale);
-
- }
-
- static void svdReorder( double[] m, double[] t1, double[] t2, double[] scales,
- double[] outRot, double[] outScale) {
-
- int[] out = new int[3];
- int[] in = new int[3];
- int in0, in1, in2, index, i;
- double[] mag = new double[3];
- double[] rot = new double[9];
-
-
- // check for rotation information in the scales
- if(scales[0] < 0.0 ) { // move the rotation info to rotation matrix
- scales[0] = -scales[0];
- t2[0] = -t2[0];
- t2[1] = -t2[1];
- t2[2] = -t2[2];
- }
- if(scales[1] < 0.0 ) { // move the rotation info to rotation matrix
- scales[1] = -scales[1];
- t2[3] = -t2[3];
- t2[4] = -t2[4];
- t2[5] = -t2[5];
- }
- if(scales[2] < 0.0 ) { // move the rotation info to rotation matrix
- scales[2] = -scales[2];
- t2[6] = -t2[6];
- t2[7] = -t2[7];
- t2[8] = -t2[8];
- }
-
- mat_mul(t1,t2,rot);
-
- // check for equal scales case and do not reorder
- if(almostEqual(Math.abs(scales[0]), Math.abs(scales[1])) &&
- almostEqual(Math.abs(scales[1]), Math.abs(scales[2])) ){
- for(i=0;i<9;i++){
- outRot[i] = rot[i];
- }
- for(i=0;i<3;i++){
- outScale[i] = scales[i];
- }
-
- }else {
-
- // sort the order of the results of SVD
- if( scales[0] > scales[1]) {
- if( scales[0] > scales[2] ) {
- if( scales[2] > scales[1] ) {
- out[0] = 0; out[1] = 2; out[2] = 1; // xzy
- } else {
- out[0] = 0; out[1] = 1; out[2] = 2; // xyz
- }
- } else {
- out[0] = 2; out[1] = 0; out[2] = 1; // zxy
- }
- } else { // y > x
- if( scales[1] > scales[2] ) {
- if( scales[2] > scales[0] ) {
- out[0] = 1; out[1] = 2; out[2] = 0; // yzx
- } else {
- out[0] = 1; out[1] = 0; out[2] = 2; // yxz
- }
- } else {
- out[0] = 2; out[1] = 1; out[2] = 0; // zyx
- }
- }
-
- /*
- System.out.println("\nscales="+scales[0]+" "+scales[1]+" "+scales[2]);
- System.out.println("\nrot="+rot[0]+" "+rot[1]+" "+rot[2]);
- System.out.println("rot="+rot[3]+" "+rot[4]+" "+rot[5]);
- System.out.println("rot="+rot[6]+" "+rot[7]+" "+rot[8]);
- */
-
- // sort the order of the input matrix
- mag[0] = (m[0]*m[0] + m[1]*m[1] + m[2]*m[2]);
- mag[1] = (m[3]*m[3] + m[4]*m[4] + m[5]*m[5]);
- mag[2] = (m[6]*m[6] + m[7]*m[7] + m[8]*m[8]);
-
- if( mag[0] > mag[1]) {
- if( mag[0] > mag[2] ) {
- if( mag[2] > mag[1] ) {
- // 0 - 2 - 1
- in0 = 0; in2 = 1; in1 = 2;// xzy
- } else {
- // 0 - 1 - 2
- in0 = 0; in1 = 1; in2 = 2; // xyz
- }
- } else {
- // 2 - 0 - 1
- in2 = 0; in0 = 1; in1 = 2; // zxy
- }
- } else { // y > x 1>0
- if( mag[1] > mag[2] ) {
- if( mag[2] > mag[0] ) {
- // 1 - 2 - 0
- in1 = 0; in2 = 1; in0 = 2; // yzx
- } else {
- // 1 - 0 - 2
- in1 = 0; in0 = 1; in2 = 2; // yxz
- }
- } else {
- // 2 - 1 - 0
- in2 = 0; in1 = 1; in0 = 2; // zyx
- }
- }
-
-
- index = out[in0];
- outScale[0] = scales[index];
-
- index = out[in1];
- outScale[1] = scales[index];
-
- index = out[in2];
- outScale[2] = scales[index];
-
-
- index = out[in0];
- outRot[0] = rot[index];
-
- index = out[in0]+3;
- outRot[0+3] = rot[index];
-
- index = out[in0]+6;
- outRot[0+6] = rot[index];
-
- index = out[in1];
- outRot[1] = rot[index];
-
- index = out[in1]+3;
- outRot[1+3] = rot[index];
-
- index = out[in1]+6;
- outRot[1+6] = rot[index];
-
- index = out[in2];
- outRot[2] = rot[index];
-
- index = out[in2]+3;
- outRot[2+3] = rot[index];
-
- index = out[in2]+6;
- outRot[2+6] = rot[index];
- }
- }
-
- static int compute_qr( double[] s, double[] e, double[] u, double[] v) {
-
- int i,j,k;
- boolean converged;
- double shift,ssmin,ssmax,r;
- double[] cosl = new double[2];
- double[] cosr = new double[2];
- double[] sinl = new double[2];
- double[] sinr = new double[2];
- double[] m = new double[9];
-
- double utemp,vtemp;
- double f,g;
-
- final int MAX_INTERATIONS = 10;
- final double CONVERGE_TOL = 4.89E-15;
-
- double c_b48 = 1.;
- double c_b71 = -1.;
- int first;
- converged = false;
-
-
- first = 1;
-
- if( Math.abs(e[1]) < CONVERGE_TOL || Math.abs(e[0]) < CONVERGE_TOL) converged = true;
-
- for(k=0;k<MAX_INTERATIONS && !converged;k++) {
- shift = compute_shift( s[1], e[1], s[2]);
- f = (Math.abs(s[0]) - shift) * (d_sign(c_b48, s[0]) + shift/s[0]);
- g = e[0];
- r = compute_rot(f, g, sinr, cosr, 0, first);
- f = cosr[0] * s[0] + sinr[0] * e[0];
- e[0] = cosr[0] * e[0] - sinr[0] * s[0];
- g = sinr[0] * s[1];
- s[1] = cosr[0] * s[1];
-
- r = compute_rot(f, g, sinl, cosl, 0, first);
- first = 0;
- s[0] = r;
- f = cosl[0] * e[0] + sinl[0] * s[1];
- s[1] = cosl[0] * s[1] - sinl[0] * e[0];
- g = sinl[0] * e[1];
- e[1] = cosl[0] * e[1];
-
- r = compute_rot(f, g, sinr, cosr, 1, first);
- e[0] = r;
- f = cosr[1] * s[1] + sinr[1] * e[1];
- e[1] = cosr[1] * e[1] - sinr[1] * s[1];
- g = sinr[1] * s[2];
- s[2] = cosr[1] * s[2];
-
- r = compute_rot(f, g, sinl, cosl, 1, first);
- s[1] = r;
- f = cosl[1] * e[1] + sinl[1] * s[2];
- s[2] = cosl[1] * s[2] - sinl[1] * e[1];
- e[1] = f;
-
- // update u matrices
- utemp = u[0];
- u[0] = cosl[0]*utemp + sinl[0]*u[3];
- u[3] = -sinl[0]*utemp + cosl[0]*u[3];
- utemp = u[1];
- u[1] = cosl[0]*utemp + sinl[0]*u[4];
- u[4] = -sinl[0]*utemp + cosl[0]*u[4];
- utemp = u[2];
- u[2] = cosl[0]*utemp + sinl[0]*u[5];
- u[5] = -sinl[0]*utemp + cosl[0]*u[5];
-
- utemp = u[3];
- u[3] = cosl[1]*utemp + sinl[1]*u[6];
- u[6] = -sinl[1]*utemp + cosl[1]*u[6];
- utemp = u[4];
- u[4] = cosl[1]*utemp + sinl[1]*u[7];
- u[7] = -sinl[1]*utemp + cosl[1]*u[7];
- utemp = u[5];
- u[5] = cosl[1]*utemp + sinl[1]*u[8];
- u[8] = -sinl[1]*utemp + cosl[1]*u[8];
-
- // update v matrices
-
- vtemp = v[0];
- v[0] = cosr[0]*vtemp + sinr[0]*v[1];
- v[1] = -sinr[0]*vtemp + cosr[0]*v[1];
- vtemp = v[3];
- v[3] = cosr[0]*vtemp + sinr[0]*v[4];
- v[4] = -sinr[0]*vtemp + cosr[0]*v[4];
- vtemp = v[6];
- v[6] = cosr[0]*vtemp + sinr[0]*v[7];
- v[7] = -sinr[0]*vtemp + cosr[0]*v[7];
-
- vtemp = v[1];
- v[1] = cosr[1]*vtemp + sinr[1]*v[2];
- v[2] = -sinr[1]*vtemp + cosr[1]*v[2];
- vtemp = v[4];
- v[4] = cosr[1]*vtemp + sinr[1]*v[5];
- v[5] = -sinr[1]*vtemp + cosr[1]*v[5];
- vtemp = v[7];
- v[7] = cosr[1]*vtemp + sinr[1]*v[8];
- v[8] = -sinr[1]*vtemp + cosr[1]*v[8];
-
-
- m[0] = s[0]; m[1] = e[0]; m[2] = 0.0;
- m[3] = 0.0; m[4] = s[1]; m[5] =e[1];
- m[6] = 0.0; m[7] = 0.0; m[8] =s[2];
-
- if( Math.abs(e[1]) < CONVERGE_TOL || Math.abs(e[0]) < CONVERGE_TOL) converged = true;
- }
-
- if( Math.abs(e[1]) < CONVERGE_TOL ) {
- compute_2X2( s[0],e[0],s[1],s,sinl,cosl,sinr,cosr, 0);
-
- utemp = u[0];
- u[0] = cosl[0]*utemp + sinl[0]*u[3];
- u[3] = -sinl[0]*utemp + cosl[0]*u[3];
- utemp = u[1];
- u[1] = cosl[0]*utemp + sinl[0]*u[4];
- u[4] = -sinl[0]*utemp + cosl[0]*u[4];
- utemp = u[2];
- u[2] = cosl[0]*utemp + sinl[0]*u[5];
- u[5] = -sinl[0]*utemp + cosl[0]*u[5];
-
- // update v matrices
-
- vtemp = v[0];
- v[0] = cosr[0]*vtemp + sinr[0]*v[1];
- v[1] = -sinr[0]*vtemp + cosr[0]*v[1];
- vtemp = v[3];
- v[3] = cosr[0]*vtemp + sinr[0]*v[4];
- v[4] = -sinr[0]*vtemp + cosr[0]*v[4];
- vtemp = v[6];
- v[6] = cosr[0]*vtemp + sinr[0]*v[7];
- v[7] = -sinr[0]*vtemp + cosr[0]*v[7];
- } else {
- compute_2X2( s[1],e[1],s[2],s,sinl,cosl,sinr,cosr,1);
-
- utemp = u[3];
- u[3] = cosl[0]*utemp + sinl[0]*u[6];
- u[6] = -sinl[0]*utemp + cosl[0]*u[6];
- utemp = u[4];
- u[4] = cosl[0]*utemp + sinl[0]*u[7];
- u[7] = -sinl[0]*utemp + cosl[0]*u[7];
- utemp = u[5];
- u[5] = cosl[0]*utemp + sinl[0]*u[8];
- u[8] = -sinl[0]*utemp + cosl[0]*u[8];
-
- // update v matrices
-
- vtemp = v[1];
- v[1] = cosr[0]*vtemp + sinr[0]*v[2];
- v[2] = -sinr[0]*vtemp + cosr[0]*v[2];
- vtemp = v[4];
- v[4] = cosr[0]*vtemp + sinr[0]*v[5];
- v[5] = -sinr[0]*vtemp + cosr[0]*v[5];
- vtemp = v[7];
- v[7] = cosr[0]*vtemp + sinr[0]*v[8];
- v[8] = -sinr[0]*vtemp + cosr[0]*v[8];
- }
-
- return(0);
-}
-static double max( double a, double b) {
- if( a > b)
- return( a);
- else
- return( b);
-}
-static double min( double a, double b) {
- if( a < b)
- return( a);
- else
- return( b);
-}
-static double d_sign(double a, double b) {
-double x;
-x = (a >= 0 ? a : - a);
-return( b >= 0 ? x : -x);
-}
-
-static double compute_shift( double f, double g, double h) {
- double d__1, d__2;
- double fhmn, fhmx, c, fa, ga, ha, as, at, au;
- double ssmin;
-
- fa = Math.abs(f);
- ga = Math.abs(g);
- ha = Math.abs(h);
- fhmn = min(fa,ha);
- fhmx = max(fa,ha);
- if (fhmn == 0.) {
- ssmin = 0.;
- if (fhmx == 0.) {
- } else {
- d__1 = min(fhmx,ga) / max(fhmx,ga);
- }
- } else {
- if (ga < fhmx) {
- as = fhmn / fhmx + 1.;
- at = (fhmx - fhmn) / fhmx;
- d__1 = ga / fhmx;
- au = d__1 * d__1;
- c = 2. / (Math.sqrt(as * as + au) + Math.sqrt(at * at + au));
- ssmin = fhmn * c;
- } else {
- au = fhmx / ga;
- if (au == 0.) {
- ssmin = fhmn * fhmx / ga;
- } else {
- as = fhmn / fhmx + 1.;
- at = (fhmx - fhmn) / fhmx;
- d__1 = as * au;
- d__2 = at * au;
- c = 1. / (Math.sqrt(d__1 * d__1 + 1.) + Math.sqrt(d__2 * d__2 + 1.));
- ssmin = fhmn * c * au;
- ssmin += ssmin;
- }
- }
- }
-
- return(ssmin);
-}
-static int compute_2X2( double f, double g, double h, double[] single_values,
- double[] snl, double[] csl, double[] snr, double[] csr, int index) {
-
- double c_b3 = 2.;
- double c_b4 = 1.;
-
- double d__1;
- int pmax;
- double temp;
- boolean swap;
- double a, d, l, m, r, s, t, tsign, fa, ga, ha;
- double ft, gt, ht, mm;
- boolean gasmal;
- double tt, clt, crt, slt, srt;
- double ssmin,ssmax;
-
- ssmax = single_values[0];
- ssmin = single_values[1];
- clt = 0.0;
- crt = 0.0;
- slt = 0.0;
- srt = 0.0;
- tsign = 0.0;
-
- ft = f;
- fa = Math.abs(ft);
- ht = h;
- ha = Math.abs(h);
-
- pmax = 1;
- if( ha > fa)
- swap = true;
- else
- swap = false;
-
- if (swap) {
- pmax = 3;
- temp = ft;
- ft = ht;
- ht = temp;
- temp = fa;
- fa = ha;
- ha = temp;
-
- }
- gt = g;
- ga = Math.abs(gt);
- if (ga == 0.) {
-
- single_values[1] = ha;
- single_values[0] = fa;
- clt = 1.;
- crt = 1.;
- slt = 0.;
- srt = 0.;
- } else {
- gasmal = true;
-
- if (ga > fa) {
- pmax = 2;
- if (fa / ga < EPS) {
-
- gasmal = false;
- ssmax = ga;
- if (ha > 1.) {
- ssmin = fa / (ga / ha);
- } else {
- ssmin = fa / ga * ha;
- }
- clt = 1.;
- slt = ht / gt;
- srt = 1.;
- crt = ft / gt;
- }
- }
- if (gasmal) {
-
- d = fa - ha;
- if (d == fa) {
-
- l = 1.;
- } else {
- l = d / fa;
- }
-
- m = gt / ft;
-
- t = 2. - l;
-
- mm = m * m;
- tt = t * t;
- s = Math.sqrt(tt + mm);
-
- if (l == 0.) {
- r = Math.abs(m);
- } else {
- r = Math.sqrt(l * l + mm);
- }
-
- a = (s + r) * .5;
-
- if (ga > fa) {
- pmax = 2;
- if (fa / ga < EPS) {
-
- gasmal = false;
- ssmax = ga;
- if (ha > 1.) {
- ssmin = fa / (ga / ha);
- } else {
- ssmin = fa / ga * ha;
- }
- clt = 1.;
- slt = ht / gt;
- srt = 1.;
- crt = ft / gt;
- }
- }
- if (gasmal) {
-
- d = fa - ha;
- if (d == fa) {
-
- l = 1.;
- } else {
- l = d / fa;
- }
-
- m = gt / ft;
-
- t = 2. - l;
-
- mm = m * m;
- tt = t * t;
- s = Math.sqrt(tt + mm);
-
- if (l == 0.) {
- r = Math.abs(m);
- } else {
- r = Math.sqrt(l * l + mm);
- }
-
- a = (s + r) * .5;
-
-
- ssmin = ha / a;
- ssmax = fa * a;
- if (mm == 0.) {
-
- if (l == 0.) {
- t = d_sign(c_b3, ft) * d_sign(c_b4, gt);
- } else {
- t = gt / d_sign(d, ft) + m / t;
- }
- } else {
- t = (m / (s + t) + m / (r + l)) * (a + 1.);
- }
- l = Math.sqrt(t * t + 4.);
- crt = 2. / l;
- srt = t / l;
- clt = (crt + srt * m) / a;
- slt = ht / ft * srt / a;
- }
- }
- if (swap) {
- csl[0] = srt;
- snl[0] = crt;
- csr[0] = slt;
- snr[0] = clt;
- } else {
- csl[0] = clt;
- snl[0] = slt;
- csr[0] = crt;
- snr[0] = srt;
- }
-
- if (pmax == 1) {
- tsign = d_sign(c_b4, csr[0]) * d_sign(c_b4, csl[0]) * d_sign(c_b4, f);
- }
- if (pmax == 2) {
- tsign = d_sign(c_b4, snr[0]) * d_sign(c_b4, csl[0]) * d_sign(c_b4, g);
- }
- if (pmax == 3) {
- tsign = d_sign(c_b4, snr[0]) * d_sign(c_b4, snl[0]) * d_sign(c_b4, h);
- }
- single_values[index] = d_sign(ssmax, tsign);
- d__1 = tsign * d_sign(c_b4, f) * d_sign(c_b4, h);
- single_values[index+1] = d_sign(ssmin, d__1);
-
-
- }
- return 0;
- }
- static double compute_rot( double f, double g, double[] sin, double[] cos, int index, int first) {
- int i__1;
- double d__1, d__2;
- double cs,sn;
- int i;
- double scale;
- int count;
- double f1, g1;
- double r;
- final double safmn2 = 2.002083095183101E-146;
- final double safmx2 = 4.994797680505588E+145;
-
- if (g == 0.) {
- cs = 1.;
- sn = 0.;
- r = f;
- } else if (f == 0.) {
- cs = 0.;
- sn = 1.;
- r = g;
- } else {
- f1 = f;
- g1 = g;
- scale = max(Math.abs(f1),Math.abs(g1));
- if (scale >= safmx2) {
- count = 0;
- while(scale >= safmx2) {
- ++count;
- f1 *= safmn2;
- g1 *= safmn2;
- scale = max(Math.abs(f1),Math.abs(g1));
- }
- r = Math.sqrt(f1*f1 + g1*g1);
- cs = f1 / r;
- sn = g1 / r;
- i__1 = count;
- for (i = 1; i <= count; ++i) {
- r *= safmx2;
- }
- } else if (scale <= safmn2) {
- count = 0;
- while(scale <= safmn2) {
- ++count;
- f1 *= safmx2;
- g1 *= safmx2;
- scale = max(Math.abs(f1),Math.abs(g1));
- }
- r = Math.sqrt(f1*f1 + g1*g1);
- cs = f1 / r;
- sn = g1 / r;
- i__1 = count;
- for (i = 1; i <= count; ++i) {
- r *= safmn2;
- }
- } else {
- r = Math.sqrt(f1*f1 + g1*g1);
- cs = f1 / r;
- sn = g1 / r;
- }
- if (Math.abs(f) > Math.abs(g) && cs < 0.) {
- cs = -cs;
- sn = -sn;
- r = -r;
- }
- }
- sin[index] = sn;
- cos[index] = cs;
- return r;
-
- }
-static void print_mat( double[] mat) {
-int i;
- for(i=0;i<3;i++){
- System.out.println(mat[i*3+0]+" "+mat[i*3+1]+" "+mat[i*3+2]+"\n");
- }
-
-}
-static void print_det( double[] mat) {
-double det;
-
- det = mat[0]*mat[4]*mat[8] +
- mat[1]*mat[5]*mat[6] +
- mat[2]*mat[3]*mat[7] -
- mat[2]*mat[4]*mat[6] -
- mat[0]*mat[5]*mat[7] -
- mat[1]*mat[3]*mat[8];
- System.out.println("det= "+det);
-}
-static void mat_mul(double[] m1, double[] m2, double[] m3) {
- int i;
- double[] tmp = new double[9];
-
- tmp[0] = m1[0]*m2[0] + m1[1]*m2[3] + m1[2]*m2[6];
- tmp[1] = m1[0]*m2[1] + m1[1]*m2[4] + m1[2]*m2[7];
- tmp[2] = m1[0]*m2[2] + m1[1]*m2[5] + m1[2]*m2[8];
-
- tmp[3] = m1[3]*m2[0] + m1[4]*m2[3] + m1[5]*m2[6];
- tmp[4] = m1[3]*m2[1] + m1[4]*m2[4] + m1[5]*m2[7];
- tmp[5] = m1[3]*m2[2] + m1[4]*m2[5] + m1[5]*m2[8];
-
- tmp[6] = m1[6]*m2[0] + m1[7]*m2[3] + m1[8]*m2[6];
- tmp[7] = m1[6]*m2[1] + m1[7]*m2[4] + m1[8]*m2[7];
- tmp[8] = m1[6]*m2[2] + m1[7]*m2[5] + m1[8]*m2[8];
-
- for(i=0;i<9;i++) {
- m3[i] = tmp[i];
- }
-}
-static void transpose_mat(double[] in, double[] out) {
- out[0] = in[0];
- out[1] = in[3];
- out[2] = in[6];
-
- out[3] = in[1];
- out[4] = in[4];
- out[5] = in[7];
-
- out[6] = in[2];
- out[7] = in[5];
- out[8] = in[8];
-}
-static double max3( double[] values) {
- if( values[0] > values[1] ) {
- if( values[0] > values[2] )
- return(values[0]);
- else
- return(values[2]);
- } else {
- if( values[1] > values[2] )
- return(values[1]);
- else
- return(values[2]);
- }
- }
-
- private static final boolean almostEqual(double a, double b) {
- if (a == b)
- return true;
-
- final double EPSILON_ABSOLUTE = 1.0e-6;
- final double EPSILON_RELATIVE = 1.0e-4;
- double diff = Math.abs(a-b);
- double absA = Math.abs(a);
- double absB = Math.abs(b);
- double max = (absA >= absB) ? absA : absB;
-
- if (diff < EPSILON_ABSOLUTE)
- return true;
-
- if ((diff / max) < EPSILON_RELATIVE)
- return true;
-
- return false;
- }
-
- /**
- * Creates a new object of the same class as this object.
- *
- * @return a clone of this instance.
- * @exception OutOfMemoryError if there is not enough memory.
- * @see java.lang.Cloneable
- * @since vecmath 1.3
- */
- @Override
- public Object clone() {
- Matrix3d m1 = null;
- try {
- m1 = (Matrix3d)super.clone();
- } catch (CloneNotSupportedException e) {
- // this shouldn't happen, since we are Cloneable
- throw new InternalError();
- }
-
- // Also need to create new tmp arrays (no need to actually clone them)
- return m1;
- }
-
- /**
- * Get the first matrix element in the first row.
- * @return Returns the m00.
- * @since vecmath 1.5
- */
- public final double 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(double m00) {
- this.m00 = m00;
- }
-
- /**
- * Get the second matrix element in the first row.
- *
- * @return Returns the m01.
- *
- * @since vecmath 1.5
- */
- public final double 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(double m01) {
- this.m01 = m01;
- }
-
- /**
- * Get the third matrix element in the first row.
- *
- * @return Returns the m02.
- *
- * @since vecmath 1.5
- */
- public final double 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(double m02) {
- this.m02 = m02;
- }
-
- /**
- * Get first matrix element in the second row.
- *
- * @return Returns the m10.
- *
- * @since vecmath 1.5
- */
- public final double 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(double m10) {
- this.m10 = m10;
- }
-
- /**
- * Get second matrix element in the second row.
- *
- * @return Returns the m11.
- *
- * @since vecmath 1.5
- */
- public final double 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(double m11) {
- this.m11 = m11;
- }
-
- /**
- * Get the third matrix element in the second row.
- *
- * @return Returns the m12.
- *
- * @since vecmath 1.5
- */
- public final double 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(double m12) {
- this.m12 = m12;
- }
-
- /**
- * Get the first matrix element in the third row.
- *
- * @return Returns the m20.
- *
- * @since vecmath 1.5
- */
- public final double 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(double m20) {
- this.m20 = m20;
- }
-
- /**
- * Get the second matrix element in the third row.
- *
- * @return Returns the m21.
- *
- * @since vecmath 1.5
- */
- public final double 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(double m21) {
- this.m21 = m21;
- }
-
- /**
- * Get the third matrix element in the third row .
- *
- * @return Returns the m22.
- *
- * @since vecmath 1.5
- */
- public final double 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(double m22) {
- this.m22 = m22;
- }
-
-}
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-11 12:50:56 +0000