diff options
Diffstat (limited to 'src/javax/vecmath/Matrix3f.java')
| -rw-r--r-- | src/javax/vecmath/Matrix3f.java | 584 |
1 files changed, 292 insertions, 292 deletions
diff --git a/src/javax/vecmath/Matrix3f.java b/src/javax/vecmath/Matrix3f.java index 76f65d3..8079b4c 100644 --- a/src/javax/vecmath/Matrix3f.java +++ b/src/javax/vecmath/Matrix3f.java @@ -43,47 +43,47 @@ public class Matrix3f implements java.io.Serializable, Cloneable { // Compatible with 1.1 static final long serialVersionUID = 329697160112089834L; - /** + /** * The first matrix element in the first row. */ public float m00; - /** + /** * The second matrix element in the first row. */ public float m01; - /** + /** * The third matrix element in the first row. */ public float m02; - /** + /** * The first matrix element in the second row. */ public float m10; - /** + /** * The second matrix element in the second row. */ public float m11; - /** + /** * The third matrix element in the second row. */ public float m12; - /** + /** * The first matrix element in the third row. */ public float m20; - /** + /** * The second matrix element in the third row. */ public float m21; - /** + /** * The third matrix element in the third row. */ public float m22; @@ -94,7 +94,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { */ private static final double EPS = 1.0E-8; - + /** * Constructs and initializes a Matrix3f from the specified nine values. @@ -127,7 +127,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Constructs and initializes a Matrix3f from the specified + * Constructs and initializes a Matrix3f from the specified * nine-element array. this.m00 =v[0], this.m01=v[1], etc. * @param v the array of length 9 containing in order */ @@ -147,49 +147,49 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } - /** - * Constructs a new matrix with the same values as the + /** + * Constructs a new matrix with the same values as the * Matrix3d parameter. * @param m1 the source matrix - */ - public Matrix3f(Matrix3d m1) - { + */ + public Matrix3f(Matrix3d m1) + { this.m00 = (float)m1.m00; this.m01 = (float)m1.m01; this.m02 = (float)m1.m02; - + this.m10 = (float)m1.m10; this.m11 = (float)m1.m11; this.m12 = (float)m1.m12; - + this.m20 = (float)m1.m20; this.m21 = (float)m1.m21; this.m22 = (float)m1.m22; - } - - + } + + /** * Constructs a new matrix with the same values as the * Matrix3f parameter. * @param m1 the source matrix - */ + */ public Matrix3f(Matrix3f m1) { this.m00 = m1.m00; this.m01 = m1.m01; this.m02 = m1.m02; - + this.m10 = m1.m10; this.m11 = m1.m11; this.m12 = m1.m12; - + this.m20 = m1.m20; this.m21 = m1.m21; this.m22 = m1.m22; } - + /** * Constructs and initializes a Matrix3f to all zeros. @@ -241,7 +241,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Sets the scale component of the current matrix by factoring - * out the current scale (by doing an SVD) and multiplying by + * out the current scale (by doing an SVD) and multiplying by * the new scale. * @param scale the new scale amount */ @@ -249,17 +249,17 @@ public class Matrix3f implements java.io.Serializable, Cloneable { { double[] tmp_rot = new double[9]; // scratch matrix double[] tmp_scale = new double[3]; // scratch matrix - + getScaleRotate( tmp_scale, tmp_rot ); - + this.m00 = (float)(tmp_rot[0] * scale); this.m01 = (float)(tmp_rot[1] * scale); this.m02 = (float)(tmp_rot[2] * scale); - + this.m10 = (float)(tmp_rot[3] * scale); this.m11 = (float)(tmp_rot[4] * scale); this.m12 = (float)(tmp_rot[5] * scale); - + this.m20 = (float)(tmp_rot[6] * scale); this.m21 = (float)(tmp_rot[7] * scale); this.m22 = (float)(tmp_rot[8] * scale); @@ -274,7 +274,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { */ public final void setElement(int row, int column, float value) { - switch (row) + switch (row) { case 0: switch(column) @@ -294,7 +294,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { break; case 1: - switch(column) + switch(column) { case 0: this.m10 = value; @@ -309,9 +309,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix3f0")); } break; - + case 2: - switch(column) + switch(column) { case 0: this.m20 = value; @@ -334,7 +334,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Copies the matrix values in the specified row into the vector parameter. + * 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 */ @@ -358,13 +358,13 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Copies the matrix values in the specified row into the array parameter. + * 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 - */ + * @param v the array into which the matrix row values will be copied + */ public final void getRow(int row, float v[]) { if( row == 0 ) { - v[0] = m00; + v[0] = m00; v[1] = m01; v[2] = m02; } else if(row == 1) { @@ -382,11 +382,11 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Copies the matrix values in the specified column into the vector + * Copies the matrix values in the specified column into the vector * parameter. * @param column the matrix column * @param v the vector into which the matrix row values will be copied - */ + */ public final void getColumn(int column, Vector3f v) { if( column == 0 ) { v.x = m00; @@ -406,12 +406,12 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } - /** - * Copies the matrix values in the specified column into the array + /** + * Copies the matrix values in the specified column into the array * parameter. * @param column the matrix column * @param v the array into which the matrix row values will be copied - */ + */ public final void getColumn(int column, float v[]) { if( column == 0 ) { v[0] = m00; @@ -439,7 +439,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { */ public final float getElement(int row, int column) { - switch (row) + switch (row) { case 0: switch(column) @@ -455,7 +455,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } break; case 1: - switch(column) + switch(column) { case 0: return(this.m10); @@ -467,9 +467,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { break; } break; - + case 2: - switch(column) + switch(column) { case 0: return(this.m20); @@ -481,7 +481,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { break; } break; - + default: break; } @@ -680,21 +680,21 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * 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 + * and return the uniform scale factor. If the matrix has non-uniform + * scale factors, the largest of the x, y, and z scale factors will * be returned. This matrix is not modified. * @return the scale factor of this matrix - */ + */ public final float getScale() { - + double[] tmp_rot = new double[9]; // scratch matrix double[] tmp_scale = new double[3]; // scratch matrix getScaleRotate(tmp_scale, tmp_rot); return( (float)Matrix3d.max3(tmp_scale )); - } + } /** * Adds a scalar to each component of this matrix. @@ -713,13 +713,13 @@ public class Matrix3f implements java.io.Serializable, Cloneable { m22 += scalar; } - /** + /** * Adds a scalar to each component of the matrix m1 and places * the result into this. Matrix m1 is not modified. * @param scalar the scalar adder. * @param m1 the original matrix values - */ - public final void add(float scalar, Matrix3f m1) + */ + public final void add(float scalar, Matrix3f m1) { this.m00 = m1.m00 + scalar; this.m01 = m1.m01 + scalar; @@ -730,7 +730,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { 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. @@ -753,24 +753,24 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Sets the value of this matrix to the matrix sum of itself and + * Sets the value of this matrix to the matrix sum of itself and * matrix m1. * @param m1 the other matrix */ public final void add(Matrix3f m1) - { + { this.m00 += m1.m00; this.m01 += m1.m01; this.m02 += m1.m02; - + this.m10 += m1.m10; this.m11 += m1.m11; this.m12 += m1.m12; - + this.m20 += m1.m20; this.m21 += m1.m21; this.m22 += m1.m22; - } + } /** * Sets the value of this matrix to the matrix difference @@ -793,21 +793,21 @@ public class Matrix3f implements java.io.Serializable, Cloneable { this.m22 = m1.m22 - m2.m22; } - /** + /** * Sets the value of this matrix to the matrix difference * of itself and matrix m1 (this = this - m1). * @param m1 the other matrix - */ + */ public final void sub(Matrix3f m1) - { + { this.m00 -= m1.m00; this.m01 -= m1.m01; this.m02 -= m1.m02; - + this.m10 -= m1.m10; this.m11 -= m1.m11; this.m12 -= m1.m12; - + this.m20 -= m1.m20; this.m21 -= m1.m21; this.m22 -= m1.m22; @@ -905,18 +905,18 @@ public class Matrix3f implements java.io.Serializable, Cloneable { float cosTheta = (float)Math.cos((float)a1.angle); float t = (float)1.0 - cosTheta; - float xz = ax * az; + float xz = ax * az; float xy = ax * ay; float yz = ay * az; m00 = t * ax * ax + cosTheta; m01 = t * xy - sinTheta * az; m02 = t * xz + sinTheta * ay; - + m10 = t * xy + sinTheta * az; m11 = t * ay * ay + cosTheta; m12 = t * yz - sinTheta * ax; - + m20 = t * xz - sinTheta * ay; m21 = t * yz + sinTheta * ax; m22 = t * az * az + cosTheta; @@ -954,18 +954,18 @@ public class Matrix3f implements java.io.Serializable, Cloneable { double cosTheta = Math.cos(a1.angle); double t = 1.0 - cosTheta; - double xz = ax * az; + double xz = ax * az; double xy = ax * ay; double yz = ay * az; m00 = (float)(t * ax * ax + cosTheta); m01 = (float)(t * xy - sinTheta * az); m02 = (float)(t * xz + sinTheta * ay); - + m10 = (float)(t * xy + sinTheta * az); m11 = (float)(t * ay * ay + cosTheta); m12 = (float)(t * yz - sinTheta * ax); - + m20 = (float)(t * xz - sinTheta * ay); m21 = (float)(t * yz + sinTheta * ax); m22 = (float)(t * az * az + cosTheta); @@ -993,34 +993,34 @@ public class Matrix3f implements java.io.Serializable, Cloneable { this.m22 = (float) (1.0 - 2.0*q1.x*q1.x - 2.0*q1.y*q1.y); } - /** - * Sets the values in this Matrix3f equal to the row-major - * array parameter (ie, the first three elements of the - * array will be copied into the first row of this matrix, etc.). - * @param m the single precision array of length 9 - */ - public final void set(float[] m) + /** + * Sets the values in this Matrix3f equal to the row-major + * array parameter (ie, the first three elements of the + * array will be copied into the first row of this matrix, etc.). + * @param m the single precision array of length 9 + */ + public final void set(float[] m) { m00 = m[0]; m01 = m[1]; m02 = m[2]; - + m10 = m[3]; m11 = m[4]; m12 = m[5]; - + m20 = m[6]; m21 = m[7]; m22 = m[8]; - - } + + } /** - * Sets the value of this matrix to the value of the Matrix3f - * argument. - * @param m1 the source matrix3f - */ + * Sets the value of this matrix to the value of the Matrix3f + * argument. + * @param m1 the source matrix3f + */ public final void set(Matrix3f m1) { this.m00 = m1.m00; @@ -1037,28 +1037,28 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } - + /** - * Sets the value of this matrix to the float value of the Matrix3d - * argument. - * @param m1 the source matrix3d - */ - public final void set(Matrix3d m1) { - - this.m00 = (float)m1.m00; - this.m01 = (float)m1.m01; - this.m02 = (float)m1.m02; - - this.m10 = (float)m1.m10; + * Sets the value of this matrix to the float value of the Matrix3d + * argument. + * @param m1 the source matrix3d + */ + public final void set(Matrix3d m1) { + + this.m00 = (float)m1.m00; + this.m01 = (float)m1.m01; + this.m02 = (float)m1.m02; + + this.m10 = (float)m1.m10; this.m11 = (float)m1.m11; this.m12 = (float)m1.m12; - + this.m20 = (float)m1.m20; - this.m21 = (float)m1.m21; + this.m21 = (float)m1.m21; this.m22 = (float)m1.m22; - + } - + /** * Sets the value of this matrix to the matrix inverse @@ -1095,27 +1095,27 @@ public class Matrix3f implements java.io.Serializable, Cloneable { // Use LU decomposition and backsubstitution code specifically // for floating-point 3x3 matrices. - // Copy source matrix to t1tmp + // Copy source matrix to t1tmp temp[0] = (double)m1.m00; temp[1] = (double)m1.m01; temp[2] = (double)m1.m02; - + temp[3] = (double)m1.m10; temp[4] = (double)m1.m11; temp[5] = (double)m1.m12; - + temp[6] = (double)m1.m20; temp[7] = (double)m1.m21; temp[8] = (double)m1.m22; - - // Calculate LU decomposition: Is the matrix singular? + + // Calculate LU decomposition: Is the matrix singular? if (!luDecomposition(temp, row_perm)) { - // Matrix has no inverse + // Matrix has no inverse throw new SingularMatrixException(VecMathI18N.getString("Matrix3f12")); } - // Perform back substitution on the identity matrix + // Perform back substitution on the identity matrix for(i=0;i<9;i++) result[i] = 0.0; result[0] = 1.0; result[4] = 1.0; result[8] = 1.0; luBacksubstitution(temp, row_perm, result); @@ -1127,7 +1127,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { this.m10 = (float)result[3]; this.m11 = (float)result[4]; this.m12 = (float)result[5]; - + this.m20 = (float)result[6]; this.m21 = (float)result[7]; this.m22 = (float)result[8]; @@ -1135,13 +1135,13 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * 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 + * 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 @@ -1150,8 +1150,8 @@ public class Matrix3f implements java.io.Serializable, Cloneable { * @return true if the matrix is nonsingular, or false otherwise. */ // - // Reference: Press, Flannery, Teukolsky, Vetterling, - // _Numerical_Recipes_in_C_, Cambridge University Press, + // Reference: Press, Flannery, Teukolsky, Vetterling, + // _Numerical_Recipes_in_C_, Cambridge University Press, // 1988, pp 40-45. // static boolean luDecomposition(double[] matrix0, @@ -1159,7 +1159,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { double row_scale[] = new double[3]; - // Determine implicit scaling information by looping over rows + // Determine implicit scaling information by looping over rows { int i, j; int ptr, rs; @@ -1168,12 +1168,12 @@ public class Matrix3f implements java.io.Serializable, Cloneable { ptr = 0; rs = 0; - // For each row ... + // For each row ... i = 3; while (i-- != 0) { big = 0.0; - // For each column, find the largest element in the row + // For each column, find the largest element in the row j = 3; while (j-- != 0) { temp = matrix0[ptr++]; @@ -1183,7 +1183,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } } - // Is the matrix singular? + // Is the matrix singular? if (big == 0.0) { return false; } @@ -1197,13 +1197,13 @@ public class Matrix3f implements java.io.Serializable, Cloneable { mtx = 0; - // For all columns, execute Crout's method + // 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 + // Determine elements of upper diagonal matrix U for (i = 0; i < j; i++) { target = mtx + (3*i) + j; sum = matrix0[target]; @@ -1235,7 +1235,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } matrix0[target] = sum; - // Is this the best pivot so far? + // Is this the best pivot so far? if ((temp = row_scale[i] * Math.abs(sum)) >= big) { big = temp; imax = i; @@ -1246,9 +1246,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { throw new RuntimeException(VecMathI18N.getString("Matrix3f13")); } - // Is a row exchange necessary? + // Is a row exchange necessary? if (j != imax) { - // Yes: exchange rows + // Yes: exchange rows k = 3; p1 = mtx + (3*imax); p2 = mtx + (3*j); @@ -1258,19 +1258,19 @@ public class Matrix3f implements java.io.Serializable, Cloneable { matrix0[p2++] = temp; } - // Record change in scale factor + // Record change in scale factor row_scale[imax] = row_scale[j]; } - // Record row permutation + // Record row permutation row_perm[j] = imax; - // Is the matrix singular + // Is the matrix singular if (matrix0[(mtx + (3*j) + j)] == 0.0) { return false; } - // Divide elements of lower diagonal matrix L by pivot + // 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; @@ -1300,8 +1300,8 @@ public class Matrix3f implements java.io.Serializable, Cloneable { * derived. */ // - // Reference: Press, Flannery, Teukolsky, Vetterling, - // _Numerical_Recipes_in_C_, Cambridge University Press, + // Reference: Press, Flannery, Teukolsky, Vetterling, + // _Numerical_Recipes_in_C_, Cambridge University Press, // 1988, pp 44-45. // static void luBacksubstitution(double[] matrix1, @@ -1311,17 +1311,17 @@ public class Matrix3f implements java.io.Serializable, Cloneable { int i, ii, ip, j, k; int rp; int cv, rv; - + // rp = row_perm; rp = 0; - // For each column vector of matrix2 ... + // For each column vector of matrix2 ... for (k = 0; k < 3; k++) { // cv = &(matrix2[0][k]); cv = k; ii = -1; - // Forward substitution + // Forward substitution for (i = 0; i < 3; i++) { double sum; @@ -1341,7 +1341,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { matrix2[cv+3*i] = sum; } - // Backsubstitution + // Backsubstitution // rv = &(matrix1[3][0]); rv = 2*3; matrix2[cv+3*2] /= matrix1[rv+2]; @@ -1366,7 +1366,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { float total; total = this.m00*(this.m11*this.m22 - this.m12*this.m21) + this.m01*(this.m12*this.m20 - this.m10*this.m22) - + this.m02*(this.m10*this.m21 - this.m11*this.m20); + + this.m02*(this.m10*this.m21 - this.m11*this.m20); return total; } @@ -1391,7 +1391,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Sets the value of this matrix to a counter clockwise rotation + * 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 */ @@ -1416,7 +1416,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Sets the value of this matrix to a counter clockwise rotation + * 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 */ @@ -1441,7 +1441,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Sets the value of this matrix to a counter clockwise rotation + * 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 */ @@ -1484,33 +1484,33 @@ public class Matrix3f implements java.io.Serializable, Cloneable { m22 *= scalar; } - /** + /** * Multiplies each element of matrix m1 by a scalar and places * the result into this. Matrix m1 is not modified. * @param scalar the scalar multiplier * @param m1 the original matrix - */ + */ public final void mul(float scalar, Matrix3f m1) - { + { this.m00 = scalar * m1.m00; this.m01 = scalar * m1.m01; this.m02 = scalar * m1.m02; - + this.m10 = scalar * m1.m10; this.m11 = scalar * m1.m11; this.m12 = scalar * m1.m12; - + this.m20 = scalar * m1.m20; this.m21 = scalar * m1.m21; this.m22 = scalar * m1.m22; - } + } /** * Sets the value of this matrix to the result of multiplying itself * with matrix m1. * @param m1 the other matrix - */ + */ public final void mul(Matrix3f m1) { float m00, m01, m02, @@ -1520,15 +1520,15 @@ public class Matrix3f implements java.io.Serializable, Cloneable { 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; @@ -1559,17 +1559,17 @@ public class Matrix3f implements java.io.Serializable, Cloneable { m10, m11, m12, m20, m21, m22; - m00 = m1.m00*m2.m00 + m1.m01*m2.m10 + m1.m02*m2.m20; - m01 = m1.m00*m2.m01 + m1.m01*m2.m11 + m1.m02*m2.m21; - m02 = m1.m00*m2.m02 + m1.m01*m2.m12 + m1.m02*m2.m22; - - m10 = m1.m10*m2.m00 + m1.m11*m2.m10 + m1.m12*m2.m20; - m11 = m1.m10*m2.m01 + m1.m11*m2.m11 + m1.m12*m2.m21; - m12 = m1.m10*m2.m02 + m1.m11*m2.m12 + m1.m12*m2.m22; - - m20 = m1.m20*m2.m00 + m1.m21*m2.m10 + m1.m22*m2.m20; - m21 = m1.m20*m2.m01 + m1.m21*m2.m11 + m1.m22*m2.m21; - m22 = m1.m20*m2.m02 + m1.m21*m2.m12 + m1.m22*m2.m22; + 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; @@ -1578,13 +1578,13 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Multiplies this matrix by matrix m1, does an SVD normalization + * Multiplies this matrix by matrix m1, does an SVD normalization * of the result, and places the result back into this matrix. * this = SVDnorm(this*m1). * @param m1 the matrix on the right hand side of the multiplication */ public final void mulNormalize(Matrix3f m1){ - + double[] tmp = new double[9]; // scratch matrix double[] tmp_rot = new double[9]; // scratch matrix double[] tmp_scale = new double[3]; // scratch matrix @@ -1618,41 +1618,41 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Multiplies matrix m1 by matrix m2, does an SVD normalization + * Multiplies matrix m1 by matrix m2, does an SVD normalization * of the result, and places the result into this matrix. * this = SVDnorm(m1*m2). * @param m1 the matrix on the left hand side of the multiplication * @param m2 the matrix on the right hand side of the multiplication - */ + */ public final void mulNormalize(Matrix3f m1, Matrix3f m2){ - + double[] tmp = new double[9]; // scratch matrix double[] tmp_rot = new double[9]; // scratch matrix double[] tmp_scale = new double[3]; // scratch matrix - + tmp[0] = m1.m00*m2.m00 + m1.m01*m2.m10 + m1.m02*m2.m20; tmp[1] = m1.m00*m2.m01 + m1.m01*m2.m11 + m1.m02*m2.m21; tmp[2] = m1.m00*m2.m02 + m1.m01*m2.m12 + m1.m02*m2.m22; - + tmp[3] = m1.m10*m2.m00 + m1.m11*m2.m10 + m1.m12*m2.m20; - tmp[4] = m1.m10*m2.m01 + m1.m11*m2.m11 + m1.m12*m2.m21; - tmp[5] = m1.m10*m2.m02 + m1.m11*m2.m12 + m1.m12*m2.m22; - + tmp[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; - + tmp[7] = m1.m20*m2.m01 + m1.m21*m2.m11 + m1.m22*m2.m21; + tmp[8] = m1.m20*m2.m02 + m1.m21*m2.m12 + m1.m22*m2.m22; + Matrix3d.compute_svd( tmp, tmp_scale, tmp_rot); - + this.m00 = (float)(tmp_rot[0]); this.m01 = (float)(tmp_rot[1]); this.m02 = (float)(tmp_rot[2]); - + this.m10 = (float)(tmp_rot[3]); this.m11 = (float)(tmp_rot[4]); this.m12 = (float)(tmp_rot[5]); - + this.m20 = (float)(tmp_rot[6]); this.m21 = (float)(tmp_rot[7]); this.m22 = (float)(tmp_rot[8]); @@ -1681,7 +1681,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } else { float m00, m01, m02, m10, m11, m12, - m20, m21, m22; // vars for temp result matrix + 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; @@ -1701,99 +1701,99 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } } - - /** + + /** * 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 m1 the matrix on the left hand side of the multiplication * @param m2 the matrix on the right hand side of the multiplication - */ - public final void mulTransposeRight(Matrix3f m1, Matrix3f m2) - { + */ + public final void mulTransposeRight(Matrix3f m1, Matrix3f m2) + { if (this != m1 && this != m2) { this.m00 = m1.m00*m2.m00 + m1.m01*m2.m01 + m1.m02*m2.m02; this.m01 = m1.m00*m2.m10 + m1.m01*m2.m11 + m1.m02*m2.m12; this.m02 = m1.m00*m2.m20 + m1.m01*m2.m21 + m1.m02*m2.m22; - + this.m10 = m1.m10*m2.m00 + m1.m11*m2.m01 + m1.m12*m2.m02; this.m11 = m1.m10*m2.m10 + m1.m11*m2.m11 + m1.m12*m2.m12; this.m12 = m1.m10*m2.m20 + m1.m11*m2.m21 + m1.m12*m2.m22; - + this.m20 = m1.m20*m2.m00 + m1.m21*m2.m01 + m1.m22*m2.m02; this.m21 = m1.m20*m2.m10 + m1.m21*m2.m11 + m1.m22*m2.m12; this.m22 = m1.m20*m2.m20 + m1.m21*m2.m21 + m1.m22*m2.m22; } else { float m00, m01, m02, m10, m11, m12, - m20, m21, m22; // vars for temp result matrix + 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; + 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; + m20 = m1.m20*m2.m00 + m1.m21*m2.m01 + m1.m22*m2.m02; m21 = m1.m20*m2.m10 + m1.m21*m2.m11 + m1.m22*m2.m12; m22 = m1.m20*m2.m20 + m1.m21*m2.m21 + m1.m22*m2.m22; - + this.m00 = m00; this.m01 = m01; this.m02 = m02; this.m10 = m10; this.m11 = m11; this.m12 = m12; this.m20 = m20; this.m21 = m21; this.m22 = m22; } - } + } - /** - * Multiplies the transpose of matrix m1 times matrix m2, and - * places the result into this. - * @param m1 the matrix on the left hand side of the multiplication - * @param m2 the matrix on the right hand side of the multiplication - */ - public final void mulTransposeLeft(Matrix3f m1, Matrix3f m2) - { + /** + * Multiplies the transpose of matrix m1 times matrix m2, and + * places the result into this. + * @param m1 the matrix on the left hand side of the multiplication + * @param m2 the matrix on the right hand side of the multiplication + */ + public final void mulTransposeLeft(Matrix3f m1, Matrix3f m2) + { if (this != m1 && this != m2) { this.m00 = m1.m00*m2.m00 + m1.m10*m2.m10 + m1.m20*m2.m20; this.m01 = m1.m00*m2.m01 + m1.m10*m2.m11 + m1.m20*m2.m21; this.m02 = m1.m00*m2.m02 + m1.m10*m2.m12 + m1.m20*m2.m22; - + this.m10 = m1.m01*m2.m00 + m1.m11*m2.m10 + m1.m21*m2.m20; this.m11 = m1.m01*m2.m01 + m1.m11*m2.m11 + m1.m21*m2.m21; this.m12 = m1.m01*m2.m02 + m1.m11*m2.m12 + m1.m21*m2.m22; - + this.m20 = m1.m02*m2.m00 + m1.m12*m2.m10 + m1.m22*m2.m20; this.m21 = m1.m02*m2.m01 + m1.m12*m2.m11 + m1.m22*m2.m21; this.m22 = m1.m02*m2.m02 + m1.m12*m2.m12 + m1.m22*m2.m22; } else { float m00, m01, m02, m10, m11, m12, - m20, m21, m22; // vars for temp result matrix + 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; + 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; + 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. + * 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 ); @@ -1812,11 +1812,11 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } - /** - * Perform singular value decomposition normalization of matrix m1 - * and place the normalized values into this. + /** + * Perform singular value decomposition normalization of matrix m1 + * and place the normalized values into this. * @param m1 the matrix values to be normalized - */ + */ public final void normalize(Matrix3f m1){ double[] tmp = new double[9]; // scratch matrix double[] tmp_rot = new double[9]; // scratch matrix @@ -1825,25 +1825,25 @@ public class Matrix3f implements java.io.Serializable, Cloneable { tmp[0] = m1.m00; tmp[1] = m1.m01; tmp[2] = m1.m02; - + tmp[3] = m1.m10; tmp[4] = m1.m11; tmp[5] = m1.m12; - + tmp[6] = m1.m20; tmp[7] = m1.m21; tmp[8] = m1.m22; - + Matrix3d.compute_svd( tmp, tmp_scale, tmp_rot ); - + this.m00 = (float)(tmp_rot[0]); this.m01 = (float)(tmp_rot[1]); this.m02 = (float)(tmp_rot[2]); - + this.m10 = (float)(tmp_rot[3]); this.m11 = (float)(tmp_rot[4]); this.m12 = (float)(tmp_rot[5]); - + this.m20 = (float)(tmp_rot[6]); this.m21 = (float)(tmp_rot[7]); this.m22 = (float)(tmp_rot[8]); @@ -1851,7 +1851,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Perform cross product normalization of this matrix. + * Perform cross product normalization of this matrix. */ public final void normalizeCP() { @@ -1872,8 +1872,8 @@ public class Matrix3f implements java.io.Serializable, Cloneable { } /** - * Perform cross product normalization of matrix m1 and place the - * normalized values into this. + * Perform cross product normalization of matrix m1 and place the + * normalized values into this. * @param m1 Provides the matrix values to be normalized */ public final void normalizeCP(Matrix3f m1) @@ -1899,7 +1899,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { * equal to the corresponding data members in this Matrix3f. * @param m1 the matrix with which the comparison is made * @return true or false - */ + */ public boolean equals(Matrix3f m1) { try { @@ -1907,7 +1907,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { 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; } } @@ -1918,28 +1918,28 @@ public class Matrix3f implements java.io.Serializable, Cloneable { * this Matrix3f. * @param o1 the object with which the comparison is made * @return true or false - */ + */ public boolean equals(Object o1) { - try { + try { Matrix3f m2 = (Matrix3f) o1; return(this.m00 == m2.m00 && this.m01 == m2.m01 && this.m02 == m2.m02 && this.m10 == m2.m10 && this.m11 == m2.m11 && this.m12 == m2.m12 && this.m20 == m2.m20 && this.m21 == m2.m21 && this.m22 == m2.m22); } - catch (ClassCastException e1) { return false; } + catch (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, + * 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 + * 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 + * @param epsilon the threshold value */ public boolean epsilonEquals(Matrix3f m1, float epsilon) { @@ -1969,7 +1969,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { * code value. Two objects with different data members may return the * same hash value, although this is not likely. * @return the integer hash code value - */ + */ public int hashCode() { long bits = 1L; bits = 31L * bits + (long)VecMathUtil.floatToIntBits(m00); @@ -1993,11 +1993,11 @@ public class Matrix3f implements java.io.Serializable, Cloneable { m00 = 0.0f; m01 = 0.0f; m02 = 0.0f; - + m10 = 0.0f; m11 = 0.0f; m12 = 0.0f; - + m20 = 0.0f; m21 = 0.0f; m22 = 0.0f; @@ -2006,17 +2006,17 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * 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; @@ -2027,17 +2027,17 @@ public class Matrix3f implements java.io.Serializable, Cloneable { * Sets the value of this matrix equal to the negation of * of the Matrix3f parameter. * @param m1 the source matrix - */ + */ public final void negate(Matrix3f m1) { this.m00 = -m1.m00; this.m01 = -m1.m01; this.m02 = -m1.m02; - + this.m10 = -m1.m10; this.m11 = -m1.m11; this.m12 = -m1.m12; - + this.m20 = -m1.m20; this.m21 = -m1.m21; this.m22 = -m1.m22; @@ -2051,32 +2051,32 @@ public class Matrix3f implements java.io.Serializable, Cloneable { */ public final void transform(Tuple3f t) { float x,y,z; - x = m00* t.x + m01*t.y + m02*t.z; - y = m10* t.x + m11*t.y + m12*t.z; - z = m20* t.x + m21*t.y + m22*t.z; + 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 + * Multiply this matrix by the tuple t and and place the result * into the tuple "result" (result = this*t). * @param t the tuple to be multiplied by this matrix * @param result the tuple into which the product is placed */ - public final void transform(Tuple3f t, Tuple3f result) { + public final void transform(Tuple3f t, Tuple3f result) { float x,y,z; - x = m00* t.x + m01*t.y + m02*t.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.z = m20* t.x + m21*t.y + m22*t.z; result.x = x; result.y = y; - } + } /** - * perform SVD (if necessary to get rotational component + * perform SVD (if necessary to get rotational component */ void getScaleRotate( double[] scales, double[] rot ) { - + double[] tmp = new double[9]; // scratch matrix tmp[0] = m00; tmp[1] = m01; @@ -2090,7 +2090,7 @@ public class Matrix3f implements java.io.Serializable, Cloneable { Matrix3d.compute_svd(tmp, scales, rot); return; - + } /** @@ -2112,12 +2112,12 @@ public class Matrix3f implements java.io.Serializable, Cloneable { return m1; } - + /** * Get the first matrix element in the first row. - * + * * @return Returns the m00. - * + * * @since vecmath 1.5 */ public final float getM00() { @@ -2126,9 +2126,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Set the first matrix element in the first row. - * + * * @param m00 The m00 to set. - * + * * @since vecmath 1.5 */ public final void setM00(float m00) { @@ -2137,10 +2137,10 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Get the second matrix element in the first row. - * + * * @return Returns the m01. - * - * + * + * * @since vecmath 1.5 */ public final float getM01() { @@ -2149,9 +2149,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Set the second matrix element in the first row. - * + * * @param m01 The m01 to set. - * + * * @since vecmath 1.5 */ public final void setM01(float m01) { @@ -2160,9 +2160,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Get the third matrix element in the first row. - * + * * @return Returns the m02. - * + * * @since vecmath 1.5 */ public final float getM02() { @@ -2171,9 +2171,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Set the third matrix element in the first row. - * + * * @param m02 The m02 to set. - * + * * @since vecmath 1.5 */ public final void setM02(float m02) { @@ -2182,9 +2182,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Get first matrix element in the second row. - * + * * @return Returns the m10. - * + * * @since vecmath 1.5 */ public final float getM10() { @@ -2193,9 +2193,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Set first matrix element in the second row. - * + * * @param m10 The m10 to set. - * + * * @since vecmath 1.5 */ public final void setM10(float m10) { @@ -2204,9 +2204,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Get second matrix element in the second row. - * + * * @return Returns the m11. - * + * * @since vecmath 1.5 */ public final float getM11() { @@ -2215,9 +2215,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Set the second matrix element in the second row. - * + * * @param m11 The m11 to set. - * + * * @since vecmath 1.5 */ public final void setM11(float m11) { @@ -2226,9 +2226,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Get the third matrix element in the second row. - * + * * @return Returns the m12. - * + * * @since vecmath 1.5 */ public final float getM12() { @@ -2246,9 +2246,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Get the first matrix element in the third row. - * + * * @return Returns the m20. - * + * * @since vecmath 1.5 */ public final float getM20() { @@ -2257,9 +2257,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Set the first matrix element in the third row. - * + * * @param m20 The m20 to set. - * + * * @since vecmath 1.5 */ public final void setM20(float m20) { @@ -2268,9 +2268,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Get the second matrix element in the third row. - * + * * @return Returns the m21. - * + * * @since vecmath 1.5 */ public final float getM21() { @@ -2279,10 +2279,10 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Set the second matrix element in the third row. - * + * * @param m21 The m21 to set. - * - * @since vecmath 1.5 + * + * @since vecmath 1.5 */ public final void setM21(float m21) { this.m21 = m21; @@ -2290,9 +2290,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Get the third matrix element in the third row . - * + * * @return Returns the m22. - * + * * @since vecmath 1.5 */ public final float getM22() { @@ -2301,9 +2301,9 @@ public class Matrix3f implements java.io.Serializable, Cloneable { /** * Set the third matrix element in the third row. - * + * * @param m22 The m22 to set. - * + * * @since vecmath 1.5 */ public final void setM22(float m22) { |