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Diffstat (limited to 'src/javax/vecmath/Matrix4d.java')
| -rw-r--r-- | src/javax/vecmath/Matrix4d.java | 3956 |
1 files changed, 0 insertions, 3956 deletions
diff --git a/src/javax/vecmath/Matrix4d.java b/src/javax/vecmath/Matrix4d.java deleted file mode 100644 index 1e191f8..0000000 --- a/src/javax/vecmath/Matrix4d.java +++ /dev/null @@ -1,3956 +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 4 by 4 matrix. - * Primarily to support 3D rotations. - * - */ -public class Matrix4d implements java.io.Serializable, Cloneable { - - // Compatible with 1.1 - static final long serialVersionUID = 8223903484171633710L; - - /** - * The first element of the first row. - */ - public double m00; - - /** - * The second element of the first row. - */ - public double m01; - - /** - * The third element of the first row. - */ - public double m02; - - /** - * The fourth element of the first row. - */ - public double m03; - - /** - * The first element of the second row. - */ - public double m10; - - /** - * The second element of the second row. - */ - public double m11; - - /** - * The third element of the second row. - */ - public double m12; - - /** - * The fourth element of the second row. - */ - public double m13; - - /** - * The first element of the third row. - */ - public double m20; - - /** - * The second element of the third row. - */ - public double m21; - - /** - * The third element of the third row. - */ - public double m22; - - /** - * The fourth element of the third row. - */ - public double m23; - - /** - * The first element of the fourth row. - */ - public double m30; - - /** - * The second element of the fourth row. - */ - public double m31; - - /** - * The third element of the fourth row. - */ - public double m32; - - /** - * The fourth element of the fourth row. - */ - public double m33; - /* - double[] tmp = new double[16]; - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - */ - private static final double EPS = 1.0E-10; - - - /** - * Constructs and initializes a Matrix4d from the specified 16 values. - * @param m00 the [0][0] element - * @param m01 the [0][1] element - * @param m02 the [0][2] element - * @param m03 the [0][3] element - * @param m10 the [1][0] element - * @param m11 the [1][1] element - * @param m12 the [1][2] element - * @param m13 the [1][3] element - * @param m20 the [2][0] element - * @param m21 the [2][1] element - * @param m22 the [2][2] element - * @param m23 the [2][3] element - * @param m30 the [3][0] element - * @param m31 the [3][1] element - * @param m32 the [3][2] element - * @param m33 the [3][3] element - */ - public Matrix4d(double m00, double m01, double m02, double m03, - double m10, double m11, double m12, double m13, - double m20, double m21, double m22, double m23, - double m30, double m31, double m32, double m33) - { - this.m00 = m00; - this.m01 = m01; - this.m02 = m02; - this.m03 = m03; - - this.m10 = m10; - this.m11 = m11; - this.m12 = m12; - this.m13 = m13; - - this.m20 = m20; - this.m21 = m21; - this.m22 = m22; - this.m23 = m23; - - this.m30 = m30; - this.m31 = m31; - this.m32 = m32; - this.m33 = m33; - - } - - /** - * Constructs and initializes a Matrix4d from the specified 16 - * element array. this.m00 =v[0], this.m01=v[1], etc. - * @param v the array of length 16 containing in order - */ - public Matrix4d(double[] v) - { - this.m00 = v[ 0]; - this.m01 = v[ 1]; - this.m02 = v[ 2]; - this.m03 = v[ 3]; - - this.m10 = v[ 4]; - this.m11 = v[ 5]; - this.m12 = v[ 6]; - this.m13 = v[ 7]; - - this.m20 = v[ 8]; - this.m21 = v[ 9]; - this.m22 = v[10]; - this.m23 = v[11]; - - this.m30 = v[12]; - this.m31 = v[13]; - this.m32 = v[14]; - this.m33 = v[15]; - - } - - /** - * Constructs and initializes a Matrix4d from the quaternion, - * translation, and scale values; the scale is applied only to the - * rotational components of the matrix (upper 3x3) and not to the - * translational components. - * @param q1 the quaternion value representing the rotational component - * @param t1 the translational component of the matrix - * @param s the scale value applied to the rotational components - */ - public Matrix4d(Quat4d q1, Vector3d t1, double s) - { - m00 = s*(1.0 - 2.0*q1.y*q1.y - 2.0*q1.z*q1.z); - m10 = s*(2.0*(q1.x*q1.y + q1.w*q1.z)); - m20 = s*(2.0*(q1.x*q1.z - q1.w*q1.y)); - - m01 = s*(2.0*(q1.x*q1.y - q1.w*q1.z)); - m11 = s*(1.0 - 2.0*q1.x*q1.x - 2.0*q1.z*q1.z); - m21 = s*(2.0*(q1.y*q1.z + q1.w*q1.x)); - - m02 = s*(2.0*(q1.x*q1.z + q1.w*q1.y)); - m12 = s*(2.0*(q1.y*q1.z - q1.w*q1.x)); - m22 = s*(1.0 - 2.0*q1.x*q1.x - 2.0*q1.y*q1.y); - - m03 = t1.x; - m13 = t1.y; - m23 = t1.z; - - m30 = 0.0; - m31 = 0.0; - m32 = 0.0; - m33 = 1.0; - - } - - /** - * Constructs and initializes a Matrix4d from the quaternion, - * translation, and scale values; the scale is applied only to the - * rotational components of the matrix (upper 3x3) and not to the - * translational components. - * @param q1 the quaternion value representing the rotational component - * @param t1 the translational component of the matrix - * @param s the scale value applied to the rotational components - */ - public Matrix4d(Quat4f q1, Vector3d t1, double s) - { - m00 = s*(1.0 - 2.0*q1.y*q1.y - 2.0*q1.z*q1.z); - m10 = s*(2.0*(q1.x*q1.y + q1.w*q1.z)); - m20 = s*(2.0*(q1.x*q1.z - q1.w*q1.y)); - - m01 = s*(2.0*(q1.x*q1.y - q1.w*q1.z)); - m11 = s*(1.0 - 2.0*q1.x*q1.x - 2.0*q1.z*q1.z); - m21 = s*(2.0*(q1.y*q1.z + q1.w*q1.x)); - - m02 = s*(2.0*(q1.x*q1.z + q1.w*q1.y)); - m12 = s*(2.0*(q1.y*q1.z - q1.w*q1.x)); - m22 = s*(1.0 - 2.0*q1.x*q1.x - 2.0*q1.y*q1.y); - - m03 = t1.x; - m13 = t1.y; - m23 = t1.z; - - m30 = 0.0; - m31 = 0.0; - m32 = 0.0; - m33 = 1.0; - - } - - /** - * Constructs a new matrix with the same values as the - * Matrix4d parameter. - * @param m1 the source matrix - */ - public Matrix4d(Matrix4d m1) - { - this.m00 = m1.m00; - this.m01 = m1.m01; - this.m02 = m1.m02; - this.m03 = m1.m03; - - this.m10 = m1.m10; - this.m11 = m1.m11; - this.m12 = m1.m12; - this.m13 = m1.m13; - - this.m20 = m1.m20; - this.m21 = m1.m21; - this.m22 = m1.m22; - this.m23 = m1.m23; - - this.m30 = m1.m30; - this.m31 = m1.m31; - this.m32 = m1.m32; - this.m33 = m1.m33; - - } - - /** - * Constructs a new matrix with the same values as the - * Matrix4f parameter. - * @param m1 the source matrix - */ - public Matrix4d(Matrix4f m1) - { - this.m00 = m1.m00; - this.m01 = m1.m01; - this.m02 = m1.m02; - this.m03 = m1.m03; - - this.m10 = m1.m10; - this.m11 = m1.m11; - this.m12 = m1.m12; - this.m13 = m1.m13; - - this.m20 = m1.m20; - this.m21 = m1.m21; - this.m22 = m1.m22; - this.m23 = m1.m23; - - this.m30 = m1.m30; - this.m31 = m1.m31; - this.m32 = m1.m32; - this.m33 = m1.m33; - - } - - /** - * Constructs and initializes a Matrix4d from the rotation matrix, - * translation, and scale values; the scale is applied only to the - * rotational components of the matrix (upper 3x3) and not to the - * translational components of the matrix. - * @param m1 the rotation matrix representing the rotational components - * @param t1 the translational components of the matrix - * @param s the scale value applied to the rotational components - */ - public Matrix4d(Matrix3f m1, Vector3d t1, double s) - { - this.m00 = m1.m00*s; - this.m01 = m1.m01*s; - this.m02 = m1.m02*s; - this.m03 = t1.x; - - this.m10 = m1.m10*s; - this.m11 = m1.m11*s; - this.m12 = m1.m12*s; - this.m13 = t1.y; - - this.m20 = m1.m20*s; - this.m21 = m1.m21*s; - this.m22 = m1.m22*s; - this.m23 = t1.z; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - - } - - /** - * Constructs and initializes a Matrix4f from the rotation matrix, - * translation, and scale values; the scale is applied only to the - * rotational components of the matrix (upper 3x3) and not to the - * translational components of the matrix. - * @param m1 the rotation matrix representing the rotational components - * @param t1 the translational components of the matrix - * @param s the scale value applied to the rotational components - */ - public Matrix4d(Matrix3d m1, Vector3d t1, double s) - { - this.m00 = m1.m00*s; - this.m01 = m1.m01*s; - this.m02 = m1.m02*s; - this.m03 = t1.x; - - this.m10 = m1.m10*s; - this.m11 = m1.m11*s; - this.m12 = m1.m12*s; - this.m13 = t1.y; - - this.m20 = m1.m20*s; - this.m21 = m1.m21*s; - this.m22 = m1.m22*s; - this.m23 = t1.z; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - - } - - /** - * Constructs and initializes a Matrix4d to all zeros. - */ - public Matrix4d() - { - this.m00 = 0.0; - this.m01 = 0.0; - this.m02 = 0.0; - this.m03 = 0.0; - - this.m10 = 0.0; - this.m11 = 0.0; - this.m12 = 0.0; - this.m13 = 0.0; - - this.m20 = 0.0; - this.m21 = 0.0; - this.m22 = 0.0; - this.m23 = 0.0; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 0.0; - - } - - /** - * Returns a string that contains the values of this Matrix4d. - * @return the String representation - */ - @Override - public String toString() { - return - this.m00 + ", " + this.m01 + ", " + this.m02 + ", " + this.m03 + "\n" + - this.m10 + ", " + this.m11 + ", " + this.m12 + ", " + this.m13 + "\n" + - this.m20 + ", " + this.m21 + ", " + this.m22 + ", " + this.m23 + "\n" + - this.m30 + ", " + this.m31 + ", " + this.m32 + ", " + this.m33 + "\n"; - } - - /** - * Sets this Matrix4d to identity. - */ - public final void setIdentity() - { - this.m00 = 1.0; - this.m01 = 0.0; - this.m02 = 0.0; - this.m03 = 0.0; - - this.m10 = 0.0; - this.m11 = 1.0; - this.m12 = 0.0; - this.m13 = 0.0; - - this.m20 = 0.0; - this.m21 = 0.0; - this.m22 = 1.0; - this.m23 = 0.0; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * Sets the specified element of this matrix4f 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; - case 3: - this.m03 = value; - break; - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d0")); - } - break; - - case 1: - switch(column) - { - case 0: - this.m10 = value; - break; - case 1: - this.m11 = value; - break; - case 2: - this.m12 = value; - break; - case 3: - this.m13 = value; - break; - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d0")); - } - break; - - case 2: - switch(column) - { - case 0: - this.m20 = value; - break; - case 1: - this.m21 = value; - break; - case 2: - this.m22 = value; - break; - case 3: - this.m23 = value; - break; - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d0")); - } - break; - - case 3: - switch(column) - { - case 0: - this.m30 = value; - break; - case 1: - this.m31 = value; - break; - case 2: - this.m32 = value; - break; - case 3: - this.m33 = value; - break; - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d0")); - } - break; - - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d0")); - } - } - - /** - * Retrieves the value at the specified row and column of this matrix. - * @param row the row number to be retrieved (zero indexed) - * @param column the column number to be retrieved (zero indexed) - * @return the value at the indexed element - */ - public final 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); - case 3: - return(this.m03); - default: - break; - } - break; - case 1: - switch(column) - { - case 0: - return(this.m10); - case 1: - return(this.m11); - case 2: - return(this.m12); - case 3: - return(this.m13); - default: - break; - } - break; - - case 2: - switch(column) - { - case 0: - return(this.m20); - case 1: - return(this.m21); - case 2: - return(this.m22); - case 3: - return(this.m23); - default: - break; - } - break; - - case 3: - switch(column) - { - case 0: - return(this.m30); - case 1: - return(this.m31); - case 2: - return(this.m32); - case 3: - return(this.m33); - default: - break; - } - break; - - default: - break; - } - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d1")); - } - - /** - * 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, Vector4d v) { - if( row == 0 ) { - v.x = m00; - v.y = m01; - v.z = m02; - v.w = m03; - } else if(row == 1) { - v.x = m10; - v.y = m11; - v.z = m12; - v.w = m13; - } else if(row == 2) { - v.x = m20; - v.y = m21; - v.z = m22; - v.w = m23; - } else if(row == 3) { - v.x = m30; - v.y = m31; - v.z = m32; - v.w = m33; - } else { - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d2")); - } - } - - - /** - * 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; - v[3] = m03; - } else if(row == 1) { - v[0] = m10; - v[1] = m11; - v[2] = m12; - v[3] = m13; - } else if(row == 2) { - v[0] = m20; - v[1] = m21; - v[2] = m22; - v[3] = m23; - } else if(row == 3) { - v[0] = m30; - v[1] = m31; - v[2] = m32; - v[3] = m33; - } else { - - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d2")); - } - } - - - - /** - * 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 column values will be copied - */ - public final void getColumn(int column, Vector4d v) { - if( column == 0 ) { - v.x = m00; - v.y = m10; - v.z = m20; - v.w = m30; - } else if(column == 1) { - v.x = m01; - v.y = m11; - v.z = m21; - v.w = m31; - } else if(column == 2) { - v.x = m02; - v.y = m12; - v.z = m22; - v.w = m32; - } else if(column == 3) { - v.x = m03; - v.y = m13; - v.z = m23; - v.w = m33; - } else { - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d3")); - - } - - } - - - - /** - * 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 column values will be copied - */ - public final void getColumn(int column, double v[]) { - if( column == 0 ) { - v[0] = m00; - v[1] = m10; - v[2] = m20; - v[3] = m30; - } else if(column == 1) { - v[0] = m01; - v[1] = m11; - v[2] = m21; - v[3] = m31; - } else if(column == 2) { - v[0] = m02; - v[1] = m12; - v[2] = m22; - v[3] = m32; - } else if(column == 3) { - v[0] = m03; - v[1] = m13; - v[2] = m23; - v[3] = m33; - } else { - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d3")); - - } - - } - - - /** - * Performs an SVD normalization of this matrix in order to acquire - * the normalized rotational component; the values are placed into - * the Matrix3d parameter. - * @param m1 the matrix into which the rotational component is placed - */ - public final void get(Matrix3d m1) - { - - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - getScaleRotate( tmp_scale, tmp_rot ); - - m1.m00 = tmp_rot[0]; - m1.m01 = tmp_rot[1]; - m1.m02 = tmp_rot[2]; - - m1.m10 = tmp_rot[3]; - m1.m11 = tmp_rot[4]; - m1.m12 = tmp_rot[5]; - - m1.m20 = tmp_rot[6]; - m1.m21 = tmp_rot[7]; - m1.m22 = tmp_rot[8]; - - } - - - /** - * Performs an SVD normalization of this matrix in order to acquire - * the normalized rotational component; the values are placed into - * the Matrix3f parameter. - * @param m1 the matrix into which the rotational component is placed - */ - public final void get(Matrix3f m1) - { - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - - getScaleRotate( tmp_scale, tmp_rot ); - - m1.m00 = (float)tmp_rot[0]; - m1.m01 = (float)tmp_rot[1]; - m1.m02 = (float)tmp_rot[2]; - - m1.m10 = (float)tmp_rot[3]; - m1.m11 = (float)tmp_rot[4]; - m1.m12 = (float)tmp_rot[5]; - - m1.m20 = (float)tmp_rot[6]; - m1.m21 = (float)tmp_rot[7]; - m1.m22 = (float)tmp_rot[8]; - } - - /** - * Performs an SVD normalization of this matrix to calculate - * the rotation as a 3x3 matrix, the translation, and the scale. - * None of the matrix values are modified. - * @param m1 the normalized matrix representing the rotation - * @param t1 the translation component - * @return the scale component of this transform - */ - public final double get(Matrix3d m1, Vector3d t1) - { - - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - getScaleRotate( tmp_scale, tmp_rot ); - - m1.m00 = tmp_rot[0]; - m1.m01 = tmp_rot[1]; - m1.m02 = tmp_rot[2]; - - m1.m10 = tmp_rot[3]; - m1.m11 = tmp_rot[4]; - m1.m12 = tmp_rot[5]; - - m1.m20 = tmp_rot[6]; - m1.m21 = tmp_rot[7]; - m1.m22 = tmp_rot[8]; - - t1.x = m03; - t1.y = m13; - t1.z = m23; - - return( Matrix3d.max3( tmp_scale )); - - } - - /** - * Performs an SVD normalization of this matrix to calculate - * the rotation as a 3x3 matrix, the translation, and the scale. - * None of the matrix values are modified. - * @param m1 the normalized matrix representing the rotation - * @param t1 the translation component - * @return the scale component of this transform - */ - public final double get(Matrix3f m1, Vector3d t1){ - - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - getScaleRotate( tmp_scale, tmp_rot ); - - m1.m00 = (float)tmp_rot[0]; - m1.m01 = (float)tmp_rot[1]; - m1.m02 = (float)tmp_rot[2]; - - m1.m10 = (float)tmp_rot[3]; - m1.m11 = (float)tmp_rot[4]; - m1.m12 = (float)tmp_rot[5]; - - m1.m20 = (float)tmp_rot[6]; - m1.m21 = (float)tmp_rot[7]; - m1.m22 = (float)tmp_rot[8]; - - t1.x = m03; - t1.y = m13; - t1.z = m23; - - return( Matrix3d.max3( tmp_scale )); - - } - - /** - * Performs an SVD normalization of this matrix in order to acquire - * the normalized rotational component; the values are placed into - * the Quat4f parameter. - * @param q1 quaternion into which the rotation component is placed - */ - public final void get(Quat4f q1) - { - - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - getScaleRotate( tmp_scale, tmp_rot ); - - double ww; - - ww = 0.25*(1.0 + tmp_rot[0] + tmp_rot[4] + tmp_rot[8]); - if(!((ww<0?-ww:ww) < 1.0e-30)) { - q1.w = (float)Math.sqrt(ww); - ww = 0.25/q1.w; - q1.x = (float)((tmp_rot[7] - tmp_rot[5])*ww); - q1.y = (float)((tmp_rot[2] - tmp_rot[6])*ww); - q1.z = (float)((tmp_rot[3] - tmp_rot[1])*ww); - return; - } - - q1.w = 0.0f; - ww = -0.5*(tmp_rot[4] + tmp_rot[8]); - if(!((ww<0?-ww:ww) < 1.0e-30)) { - q1.x = (float)Math.sqrt(ww); - ww = 0.5/q1.x; - q1.y = (float)(tmp_rot[3]*ww); - q1.z = (float)(tmp_rot[6]*ww); - return; - } - - q1.x = 0.0f; - ww = 0.5*(1.0 - tmp_rot[8]); - if(!((ww<0?-ww:ww) < 1.0e-30)) { - q1.y = (float)(Math.sqrt(ww)); - q1.z = (float)(tmp_rot[7]/(2.0*q1.y)); - return; - } - - q1.y = 0.0f; - q1.z = 1.0f; - - } - - /** - * Performs an SVD normalization of q1 matrix in order to acquire - * the normalized rotational component; the values are placed into - * the Quat4d parameter. - * @param q1 the quaternion into which the rotation component is placed - */ - public final void get(Quat4d q1) - { - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - - getScaleRotate( tmp_scale, tmp_rot ); - - double ww; - - ww = 0.25*(1.0 + tmp_rot[0] + tmp_rot[4] + tmp_rot[8]); - if(!((ww<0?-ww:ww) < 1.0e-30)) { - q1.w = Math.sqrt(ww); - ww = 0.25/q1.w; - q1.x = (tmp_rot[7] - tmp_rot[5])*ww; - q1.y = (tmp_rot[2] - tmp_rot[6])*ww; - q1.z = (tmp_rot[3] - tmp_rot[1])*ww; - return; - } - - q1.w = 0.0f; - ww = -0.5*(tmp_rot[4] + tmp_rot[8]); - if(!((ww<0?-ww:ww) < 1.0e-30)) { - q1.x = Math.sqrt(ww); - ww = 0.5/q1.x; - q1.y = tmp_rot[3]*ww; - q1.z = tmp_rot[6]*ww; - return; - } - - q1.x = 0.0; - ww = 0.5*(1.0 - tmp_rot[8]); - if(!((ww<0?-ww:ww) < 1.0e-30)) { - q1.y = Math.sqrt(ww); - q1.z = tmp_rot[7]/(2.0*q1.y); - return; - } - - q1.y = 0.0; - q1.z = 1.0; - } - - /** - * Retrieves the translational components of this matrix. - * @param trans the vector that will receive the translational component - */ - public final void get(Vector3d trans) - { - trans.x = m03; - trans.y = m13; - trans.z = m23; - } - - /** - * Gets the upper 3x3 values of this matrix and places them into - * the matrix m1. - * @param m1 the matrix that will hold the values - */ - public final void getRotationScale(Matrix3f m1) - { - m1.m00 = (float)m00; m1.m01 = (float)m01; m1.m02 = (float)m02; - m1.m10 = (float)m10; m1.m11 = (float)m11; m1.m12 = (float)m12; - m1.m20 = (float)m20; m1.m21 = (float)m21; m1.m22 = (float)m22; - } - - /** - * Gets the upper 3x3 values of this matrix and places them into - * the matrix m1. - * @param m1 the matrix that will hold the values - */ - public final void getRotationScale(Matrix3d m1) - { - m1.m00 = m00; m1.m01 = m01; m1.m02 = m02; - m1.m10 = m10; m1.m11 = m11; m1.m12 = m12; - m1.m20 = m20; m1.m21 = m21; m1.m22 = m22; - } - - /** - * 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_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - getScaleRotate( tmp_scale, tmp_rot ); - - return( Matrix3d.max3( tmp_scale )); - - } - - /** - * Replaces the upper 3x3 matrix values of this matrix with the - * values in the matrix m1. - * @param m1 the matrix that will be the new upper 3x3 - */ - public final void setRotationScale(Matrix3d m1) - { - m00 = m1.m00; m01 = m1.m01; m02 = m1.m02; - m10 = m1.m10; m11 = m1.m11; m12 = m1.m12; - m20 = m1.m20; m21 = m1.m21; m22 = m1.m22; - } - - /** - * Replaces the upper 3x3 matrix values of this matrix with the - * values in the matrix m1. - * @param m1 the matrix that will be the new upper 3x3 - */ - public final void setRotationScale(Matrix3f m1) - { - m00 = m1.m00; m01 = m1.m01; m02 = m1.m02; - m10 = m1.m10; m11 = m1.m11; m12 = m1.m12; - m20 = m1.m20; m21 = m1.m21; m22 = m1.m22; - } - - /** - * Sets the scale component of the current matrix by factoring - * out the current scale (by doing an SVD) from the rotational - * component 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 ); - - m00 = tmp_rot[0]*scale; - m01 = tmp_rot[1]*scale; - m02 = tmp_rot[2]*scale; - - m10 = tmp_rot[3]*scale; - m11 = tmp_rot[4]*scale; - m12 = tmp_rot[5]*scale; - - m20 = tmp_rot[6]*scale; - m21 = tmp_rot[7]*scale; - m22 = tmp_rot[8]*scale; - - } - - /** - * Sets the specified row of this matrix4d to the four 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 - * @param w the fourth column element - */ - public final void setRow(int row, double x, double y, double z, double w) - { - switch (row) { - case 0: - this.m00 = x; - this.m01 = y; - this.m02 = z; - this.m03 = w; - break; - - case 1: - this.m10 = x; - this.m11 = y; - this.m12 = z; - this.m13 = w; - break; - - case 2: - this.m20 = x; - this.m21 = y; - this.m22 = z; - this.m23 = w; - break; - - case 3: - this.m30 = x; - this.m31 = y; - this.m32 = z; - this.m33 = w; - break; - - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d4")); - - } - } - - /** - * Sets the specified row of this matrix4d 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, Vector4d v) - { - switch (row) { - case 0: - this.m00 = v.x; - this.m01 = v.y; - this.m02 = v.z; - this.m03 = v.w; - break; - - case 1: - this.m10 = v.x; - this.m11 = v.y; - this.m12 = v.z; - this.m13 = v.w; - break; - - case 2: - this.m20 = v.x; - this.m21 = v.y; - this.m22 = v.z; - this.m23 = v.w; - break; - - case 3: - this.m30 = v.x; - this.m31 = v.y; - this.m32 = v.z; - this.m33 = v.w; - break; - - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d4")); - } - } - - /** - * Sets the specified row of this matrix4d to the four 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]; - this.m03 = v[3]; - break; - - case 1: - this.m10 = v[0]; - this.m11 = v[1]; - this.m12 = v[2]; - this.m13 = v[3]; - break; - - case 2: - this.m20 = v[0]; - this.m21 = v[1]; - this.m22 = v[2]; - this.m23 = v[3]; - break; - - case 3: - this.m30 = v[0]; - this.m31 = v[1]; - this.m32 = v[2]; - this.m33 = v[3]; - break; - - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d4")); - } - } - - /** - * Sets the specified column of this matrix4d to the four 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 - * @param w the fourth row element - */ - public final void setColumn(int column, double x, double y, double z, double w) - { - switch (column) { - case 0: - this.m00 = x; - this.m10 = y; - this.m20 = z; - this.m30 = w; - break; - - case 1: - this.m01 = x; - this.m11 = y; - this.m21 = z; - this.m31 = w; - break; - - case 2: - this.m02 = x; - this.m12 = y; - this.m22 = z; - this.m32 = w; - break; - - case 3: - this.m03 = x; - this.m13 = y; - this.m23 = z; - this.m33 = w; - break; - - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d7")); - } - } - - /** - * Sets the specified column of this matrix4d 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, Vector4d v) - { - switch (column) { - case 0: - this.m00 = v.x; - this.m10 = v.y; - this.m20 = v.z; - this.m30 = v.w; - break; - - case 1: - this.m01 = v.x; - this.m11 = v.y; - this.m21 = v.z; - this.m31 = v.w; - break; - - case 2: - this.m02 = v.x; - this.m12 = v.y; - this.m22 = v.z; - this.m32 = v.w; - break; - - case 3: - this.m03 = v.x; - this.m13 = v.y; - this.m23 = v.z; - this.m33 = v.w; - break; - - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d7")); - } - } - - /** - * Sets the specified column of this matrix4d to the four 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]; - this.m30 = v[3]; - break; - - case 1: - this.m01 = v[0]; - this.m11 = v[1]; - this.m21 = v[2]; - this.m31 = v[3]; - break; - - case 2: - this.m02 = v[0]; - this.m12 = v[1]; - this.m22 = v[2]; - this.m32 = v[3]; - break; - - case 3: - this.m03 = v[0]; - this.m13 = v[1]; - this.m23 = v[2]; - this.m33 = v[3]; - break; - - default: - throw new ArrayIndexOutOfBoundsException(VecMathI18N.getString("Matrix4d7")); - } - } - - /** - * 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; - m03 += scalar; - m10 += scalar; - m11 += scalar; - m12 += scalar; - m13 += scalar; - m20 += scalar; - m21 += scalar; - m22 += scalar; - m23 += scalar; - m30 += scalar; - m31 += scalar; - m32 += scalar; - m33 += 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, Matrix4d m1) - { - this.m00 = m1.m00 + scalar; - this.m01 = m1.m01 + scalar; - this.m02 = m1.m02 + scalar; - this.m03 = m1.m03 + scalar; - this.m10 = m1.m10 + scalar; - this.m11 = m1.m11 + scalar; - this.m12 = m1.m12 + scalar; - this.m13 = m1.m13 + scalar; - this.m20 = m1.m20 + scalar; - this.m21 = m1.m21 + scalar; - this.m22 = m1.m22 + scalar; - this.m23 = m1.m23 + scalar; - this.m30 = m1.m30 + scalar; - this.m31 = m1.m31 + scalar; - this.m32 = m1.m32 + scalar; - this.m33 = m1.m33 + 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(Matrix4d m1, Matrix4d m2) - { - this.m00 = m1.m00 + m2.m00; - this.m01 = m1.m01 + m2.m01; - this.m02 = m1.m02 + m2.m02; - this.m03 = m1.m03 + m2.m03; - - this.m10 = m1.m10 + m2.m10; - this.m11 = m1.m11 + m2.m11; - this.m12 = m1.m12 + m2.m12; - this.m13 = m1.m13 + m2.m13; - - this.m20 = m1.m20 + m2.m20; - this.m21 = m1.m21 + m2.m21; - this.m22 = m1.m22 + m2.m22; - this.m23 = m1.m23 + m2.m23; - - this.m30 = m1.m30 + m2.m30; - this.m31 = m1.m31 + m2.m31; - this.m32 = m1.m32 + m2.m32; - this.m33 = m1.m33 + m2.m33; - } - - /** - * Sets the value of this matrix to sum of itself and matrix m1. - * @param m1 the other matrix - */ - public final void add(Matrix4d m1) - { - this.m00 += m1.m00; - this.m01 += m1.m01; - this.m02 += m1.m02; - this.m03 += m1.m03; - - this.m10 += m1.m10; - this.m11 += m1.m11; - this.m12 += m1.m12; - this.m13 += m1.m13; - - this.m20 += m1.m20; - this.m21 += m1.m21; - this.m22 += m1.m22; - this.m23 += m1.m23; - - this.m30 += m1.m30; - this.m31 += m1.m31; - this.m32 += m1.m32; - this.m33 += m1.m33; - } - - /** - * 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(Matrix4d m1, Matrix4d m2) - { - this.m00 = m1.m00 - m2.m00; - this.m01 = m1.m01 - m2.m01; - this.m02 = m1.m02 - m2.m02; - this.m03 = m1.m03 - m2.m03; - - this.m10 = m1.m10 - m2.m10; - this.m11 = m1.m11 - m2.m11; - this.m12 = m1.m12 - m2.m12; - this.m13 = m1.m13 - m2.m13; - - this.m20 = m1.m20 - m2.m20; - this.m21 = m1.m21 - m2.m21; - this.m22 = m1.m22 - m2.m22; - this.m23 = m1.m23 - m2.m23; - - this.m30 = m1.m30 - m2.m30; - this.m31 = m1.m31 - m2.m31; - this.m32 = m1.m32 - m2.m32; - this.m33 = m1.m33 - m2.m33; - } - - - /** - * 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(Matrix4d m1) - { - this.m00 -= m1.m00; - this.m01 -= m1.m01; - this.m02 -= m1.m02; - this.m03 -= m1.m03; - - this.m10 -= m1.m10; - this.m11 -= m1.m11; - this.m12 -= m1.m12; - this.m13 -= m1.m13; - - this.m20 -= m1.m20; - this.m21 -= m1.m21; - this.m22 -= m1.m22; - this.m23 -= m1.m23; - - this.m30 -= m1.m30; - this.m31 -= m1.m31; - this.m32 -= m1.m32; - this.m33 -= m1.m33; - } - - /** - * 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.m30; - this.m30 = this.m03; - this.m03 = temp; - - temp = this.m21; - this.m21 = this.m12; - this.m12 = temp; - - temp = this.m31; - this.m31 = this.m13; - this.m13 = temp; - - temp = this.m32; - this.m32 = this.m23; - this.m23 = 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(Matrix4d m1) - { - if (this != m1) { - this.m00 = m1.m00; - this.m01 = m1.m10; - this.m02 = m1.m20; - this.m03 = m1.m30; - - this.m10 = m1.m01; - this.m11 = m1.m11; - this.m12 = m1.m21; - this.m13 = m1.m31; - - this.m20 = m1.m02; - this.m21 = m1.m12; - this.m22 = m1.m22; - this.m23 = m1.m32; - - this.m30 = m1.m03; - this.m31 = m1.m13; - this.m32 = m1.m23; - this.m33 = m1.m33; - } else - this.transpose(); - } - - /** - * Sets the values in this Matrix4d equal to the row-major - * array parameter (ie, the first four elements of the - * array will be copied into the first row of this matrix, etc.). - * @param m the double precision array of length 16 - */ - public final void set(double[] m) - { - m00 = m[0]; - m01 = m[1]; - m02 = m[2]; - m03 = m[3]; - m10 = m[4]; - m11 = m[5]; - m12 = m[6]; - m13 = m[7]; - m20 = m[8]; - m21 = m[9]; - m22 = m[10]; - m23 = m[11]; - m30 = m[12]; - m31 = m[13]; - m32 = m[14]; - m33 = m[15]; - } - - /** - * Sets the rotational component (upper 3x3) of this matrix to the - * matrix values in the single precision Matrix3f argument; the other - * elements of this matrix are initialized as if this were an identity - * matrix (i.e., affine matrix with no translational component). - * @param m1 the double precision 3x3 matrix - */ - public final void set(Matrix3f m1) - { - m00 = m1.m00; m01 = m1.m01; m02 = m1.m02; m03 = 0.0; - m10 = m1.m10; m11 = m1.m11; m12 = m1.m12; m13 = 0.0; - m20 = m1.m20; m21 = m1.m21; m22 = m1.m22; m23 = 0.0; - m30 = 0.0; m31 = 0.0 ; m32 = 0.0 ; m33 = 1.0; - } - - /** - * Sets the rotational component (upper 3x3) of this matrix to the - * matrix values in the double precision Matrix3d argument; the other - * elements of this matrix are initialized as if this were an identity - * matrix (i.e., affine matrix with no translational component). - * @param m1 the double precision 3x3 matrix - */ - public final void set(Matrix3d m1) - { - m00 = m1.m00; m01 = m1.m01; m02 = m1.m02; m03 = 0.0; - m10 = m1.m10; m11 = m1.m11; m12 = m1.m12; m13 = 0.0; - m20 = m1.m20; m21 = m1.m21; m22 = m1.m22; m23 = 0.0; - m30 = 0.0; m31 = 0.0 ; m32 = 0.0 ; m33 = 1.0; - } - - /** - * 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); - - this.m03 = 0.0; - this.m13 = 0.0; - this.m23 = 0.0; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * 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; - } - - m03 = 0.0; - m13 = 0.0; - m23 = 0.0; - - m30 = 0.0; - m31 = 0.0; - m32 = 0.0; - m33 = 1.0; - } - - /** - * 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); - - this.m03 = 0.0; - this.m13 = 0.0; - this.m23 = 0.0; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * 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((double)a1.angle); - double cosTheta = Math.cos((double)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; - } - m03 = 0.0; - m13 = 0.0; - m23 = 0.0; - - m30 = 0.0; - m31 = 0.0; - m32 = 0.0; - m33 = 1.0; - } - - /** - * Sets the value of this matrix from the rotation expressed - * by the quaternion q1, the translation t1, and the scale s. - * @param q1 the rotation expressed as a quaternion - * @param t1 the translation - * @param s the scale value - */ - public final void set(Quat4d q1, Vector3d t1, double s) - { - this.m00 = s*(1.0 - 2.0*q1.y*q1.y - 2.0*q1.z*q1.z); - this.m10 = s*(2.0*(q1.x*q1.y + q1.w*q1.z)); - this.m20 = s*(2.0*(q1.x*q1.z - q1.w*q1.y)); - - this.m01 = s*(2.0*(q1.x*q1.y - q1.w*q1.z)); - this.m11 = s*(1.0 - 2.0*q1.x*q1.x - 2.0*q1.z*q1.z); - this.m21 = s*(2.0*(q1.y*q1.z + q1.w*q1.x)); - - this.m02 = s*(2.0*(q1.x*q1.z + q1.w*q1.y)); - this.m12 = s*(2.0*(q1.y*q1.z - q1.w*q1.x)); - this.m22 = s*(1.0 - 2.0*q1.x*q1.x - 2.0*q1.y*q1.y); - - this.m03 = t1.x; - this.m13 = t1.y; - this.m23 = t1.z; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * Sets the value of this matrix from the rotation expressed - * by the quaternion q1, the translation t1, and the scale s. - * @param q1 the rotation expressed as a quaternion - * @param t1 the translation - * @param s the scale value - */ - public final void set(Quat4f q1, Vector3d t1, double s) - { - this.m00 = s*(1.0 - 2.0*q1.y*q1.y - 2.0*q1.z*q1.z); - this.m10 = s*(2.0*(q1.x*q1.y + q1.w*q1.z)); - this.m20 = s*(2.0*(q1.x*q1.z - q1.w*q1.y)); - - this.m01 = s*(2.0*(q1.x*q1.y - q1.w*q1.z)); - this.m11 = s*(1.0 - 2.0*q1.x*q1.x - 2.0*q1.z*q1.z); - this.m21 = s*(2.0*(q1.y*q1.z + q1.w*q1.x)); - - this.m02 = s*(2.0*(q1.x*q1.z + q1.w*q1.y)); - this.m12 = s*(2.0*(q1.y*q1.z - q1.w*q1.x)); - this.m22 = s*(1.0 - 2.0*q1.x*q1.x - 2.0*q1.y*q1.y); - - this.m03 = t1.x; - this.m13 = t1.y; - this.m23 = t1.z; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * Sets the value of this matrix from the rotation expressed - * by the quaternion q1, the translation t1, and the scale s. - * @param q1 the rotation expressed as a quaternion - * @param t1 the translation - * @param s the scale value - */ - public final void set(Quat4f q1, Vector3f t1, float s) - { - this.m00 = s*(1.0 - 2.0*q1.y*q1.y - 2.0*q1.z*q1.z); - this.m10 = s*(2.0*(q1.x*q1.y + q1.w*q1.z)); - this.m20 = s*(2.0*(q1.x*q1.z - q1.w*q1.y)); - - this.m01 = s*(2.0*(q1.x*q1.y - q1.w*q1.z)); - this.m11 = s*(1.0 - 2.0*q1.x*q1.x - 2.0*q1.z*q1.z); - this.m21 = s*(2.0*(q1.y*q1.z + q1.w*q1.x)); - - this.m02 = s*(2.0*(q1.x*q1.z + q1.w*q1.y)); - this.m12 = s*(2.0*(q1.y*q1.z - q1.w*q1.x)); - this.m22 = s*(1.0 - 2.0*q1.x*q1.x - 2.0*q1.y*q1.y); - - this.m03 = t1.x; - this.m13 = t1.y; - this.m23 = t1.z; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * Sets the value of this matrix to a copy of the - * passed matrix m1. - * @param m1 the matrix4f - */ - public final void set(Matrix4f m1) - { - this.m00 = m1.m00; - this.m01 = m1.m01; - this.m02 = m1.m02; - this.m03 = m1.m03; - - this.m10 = m1.m10; - this.m11 = m1.m11; - this.m12 = m1.m12; - this.m13 = m1.m13; - - this.m20 = m1.m20; - this.m21 = m1.m21; - this.m22 = m1.m22; - this.m23 = m1.m23; - - this.m30 = m1.m30; - this.m31 = m1.m31; - this.m32 = m1.m32; - this.m33 = m1.m33; - } - - /** - * Sets the value of this matrix to a copy of the - * passed matrix m1. - * @param m1 the matrix to be copied - */ - public final void set(Matrix4d m1) - { - this.m00 = m1.m00; - this.m01 = m1.m01; - this.m02 = m1.m02; - this.m03 = m1.m03; - - this.m10 = m1.m10; - this.m11 = m1.m11; - this.m12 = m1.m12; - this.m13 = m1.m13; - - this.m20 = m1.m20; - this.m21 = m1.m21; - this.m22 = m1.m22; - this.m23 = m1.m23; - - this.m30 = m1.m30; - this.m31 = m1.m31; - this.m32 = m1.m32; - this.m33 = m1.m33; - } - - /** - * Sets the value of this matrix to the matrix inverse - * of the passed (user declared) matrix m1. - * @param m1 the matrix to be inverted - */ - public final void invert(Matrix4d 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. - */ - final void invertGeneral(Matrix4d m1) { - double result[] = new double[16]; - int row_perm[] = new int[4]; - int i, r, c; - - // Use LU decomposition and backsubstitution code specifically - // for floating-point 4x4 matrices. - double[] tmp = new double[16]; // scratch matrix - // Copy source matrix to t1tmp - tmp[0] = m1.m00; - tmp[1] = m1.m01; - tmp[2] = m1.m02; - tmp[3] = m1.m03; - - tmp[4] = m1.m10; - tmp[5] = m1.m11; - tmp[6] = m1.m12; - tmp[7] = m1.m13; - - tmp[8] = m1.m20; - tmp[9] = m1.m21; - tmp[10] = m1.m22; - tmp[11] = m1.m23; - - tmp[12] = m1.m30; - tmp[13] = m1.m31; - tmp[14] = m1.m32; - tmp[15] = m1.m33; - - // Calculate LU decomposition: Is the matrix singular? - if (!luDecomposition(tmp, row_perm)) { - // Matrix has no inverse - throw new SingularMatrixException(VecMathI18N.getString("Matrix4d10")); - } - - // Perform back substitution on the identity matrix - for(i=0;i<16;i++) result[i] = 0.0; - result[0] = 1.0; result[5] = 1.0; result[10] = 1.0; result[15] = 1.0; - luBacksubstitution(tmp, row_perm, result); - - this.m00 = result[0]; - this.m01 = result[1]; - this.m02 = result[2]; - this.m03 = result[3]; - - this.m10 = result[4]; - this.m11 = result[5]; - this.m12 = result[6]; - this.m13 = result[7]; - - this.m20 = result[8]; - this.m21 = result[9]; - this.m22 = result[10]; - this.m23 = result[11]; - - this.m30 = result[12]; - this.m31 = result[13]; - this.m32 = result[14]; - this.m33 = result[15]; - - } - - /** - * Given a 4x4 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[4]" 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 4x4 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[4]; - - // 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 = 4; - while (i-- != 0) { - big = 0.0; - - // For each column, find the largest element in the row - j = 4; - 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 < 4; 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 + (4*i) + j; - sum = matrix0[target]; - k = i; - p1 = mtx + (4*i); - p2 = mtx + j; - while (k-- != 0) { - sum -= matrix0[p1] * matrix0[p2]; - p1++; - p2 += 4; - } - 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 < 4; i++) { - target = mtx + (4*i) + j; - sum = matrix0[target]; - k = j; - p1 = mtx + (4*i); - p2 = mtx + j; - while (k-- != 0) { - sum -= matrix0[p1] * matrix0[p2]; - p1++; - p2 += 4; - } - 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("Matrix4d11")); - } - - // Is a row exchange necessary? - if (j != imax) { - // Yes: exchange rows - k = 4; - p1 = mtx + (4*imax); - p2 = mtx + (4*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 + (4*j) + j)] == 0.0) { - return false; - } - - // Divide elements of lower diagonal matrix L by pivot - if (j != (4-1)) { - temp = 1.0 / (matrix0[(mtx + (4*j) + j)]); - target = mtx + (4*(j+1)) + j; - i = 3 - j; - while (i-- != 0) { - matrix0[target] *= temp; - target += 4; - } - } - } - } - - return true; - } - - /** - * Solves a set of linear equations. The input parameters "matrix1", - * and "row_perm" come from luDecompostionD4x4 and do not change - * here. The parameter "matrix2" is a set of column vectors assembled - * into a 4x4 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 < 4; k++) { - // cv = &(matrix2[0][k]); - cv = k; - ii = -1; - - // Forward substitution - for (i = 0; i < 4; i++) { - double sum; - - ip = row_perm[rp+i]; - sum = matrix2[cv+4*ip]; - matrix2[cv+4*ip] = matrix2[cv+4*i]; - if (ii >= 0) { - // rv = &(matrix1[i][0]); - rv = i*4; - for (j = ii; j <= i-1; j++) { - sum -= matrix1[rv+j] * matrix2[cv+4*j]; - } - } - else if (sum != 0.0) { - ii = i; - } - matrix2[cv+4*i] = sum; - } - - // Backsubstitution - // rv = &(matrix1[3][0]); - rv = 3*4; - matrix2[cv+4*3] /= matrix1[rv+3]; - - rv -= 4; - matrix2[cv+4*2] = (matrix2[cv+4*2] - - matrix1[rv+3] * matrix2[cv+4*3]) / matrix1[rv+2]; - - rv -= 4; - matrix2[cv+4*1] = (matrix2[cv+4*1] - - matrix1[rv+2] * matrix2[cv+4*2] - - matrix1[rv+3] * matrix2[cv+4*3]) / matrix1[rv+1]; - - rv -= 4; - matrix2[cv+4*0] = (matrix2[cv+4*0] - - matrix1[rv+1] * matrix2[cv+4*1] - - matrix1[rv+2] * matrix2[cv+4*2] - - matrix1[rv+3] * matrix2[cv+4*3]) / matrix1[rv+0]; - } - } - - /** - * Computes the determinant of this matrix. - * @return the determinant of the matrix - */ - public final double determinant() - { - double det; - - // cofactor exapainsion along first row - - det = m00*(m11*m22*m33+ m12*m23*m31 + m13*m21*m32 - - m13*m22*m31 -m11*m23*m32 - m12*m21*m33); - det -= m01*(m10*m22*m33+ m12*m23*m30 + m13*m20*m32 - - m13*m22*m30 -m10*m23*m32 - m12*m20*m33); - det += m02*(m10*m21*m33+ m11*m23*m30 + m13*m20*m31 - - m13*m21*m30 -m10*m23*m31 - m11*m20*m33); - det -= m03*(m10*m21*m32+ m11*m22*m30 + m12*m20*m31 - - m12*m21*m30 -m10*m22*m31 - m11*m20*m32); - - return( det ); - } - - /** - * 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.m03 = 0.0; - - this.m10 = 0.0; - this.m11 = scale; - this.m12 = 0.0; - this.m13 = 0.0; - - this.m20 = 0.0; - this.m21 = 0.0; - this.m22 = scale; - this.m23 = 0.0; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * Sets the value of this matrix to a translate matrix by the - * passed translation value. - * @param v1 the translation amount - */ - public final void set(Vector3d v1) - { - this.m00 = 1.0; - this.m01 = 0.0; - this.m02 = 0.0; - this.m03 = v1.x; - - this.m10 = 0.0; - this.m11 = 1.0; - this.m12 = 0.0; - this.m13 = v1.y; - - this.m20 = 0.0; - this.m21 = 0.0; - this.m22 = 1.0; - this.m23 = v1.z; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * Sets the value of this transform to a scale and translation matrix; - * the scale is not applied to the translation and all of the matrix - * values are modified. - * @param scale the scale factor for the matrix - * @param v1 the translation amount - */ - public final void set(double scale, Vector3d v1) - { - this.m00 = scale; - this.m01 = 0.0; - this.m02 = 0.0; - this.m03 = v1.x; - - this.m10 = 0.0; - this.m11 = scale; - this.m12 = 0.0; - this.m13 = v1.y; - - this.m20 = 0.0; - this.m21 = 0.0; - this.m22 = scale; - this.m23 = v1.z; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * Sets the value of this transform to a scale and translation matrix; - * the translation is scaled by the scale factor and all of the matrix - * values are modified. - * @param v1 the translation amount - * @param scale the scale factor for the matrix - */ - public final void set(Vector3d v1, double scale) - { - this.m00 = scale; - this.m01 = 0.0; - this.m02 = 0.0; - this.m03 = scale*v1.x; - - this.m10 = 0.0; - this.m11 = scale; - this.m12 = 0.0; - this.m13 = scale*v1.y; - - this.m20 = 0.0; - this.m21 = 0.0; - this.m22 = scale; - this.m23 = scale*v1.z; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * Sets the value of this matrix from the rotation expressed by - * the rotation matrix m1, the translation t1, and the scale factor. - * The translation is not modified by the scale. - * @param m1 the rotation component - * @param t1 the translation component - * @param scale the scale component - */ - public final void set(Matrix3f m1, Vector3f t1, float scale) - { - this.m00 = m1.m00*scale; - this.m01 = m1.m01*scale; - this.m02 = m1.m02*scale; - this.m03 = t1.x; - - this.m10 = m1.m10*scale; - this.m11 = m1.m11*scale; - this.m12 = m1.m12*scale; - this.m13 = t1.y; - - this.m20 = m1.m20*scale; - this.m21 = m1.m21*scale; - this.m22 = m1.m22*scale; - this.m23 = t1.z; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - - /** - * Sets the value of this matrix from the rotation expressed by - * the rotation matrix m1, the translation t1, and the scale factor. - * The translation is not modified by the scale. - * @param m1 the rotation component - * @param t1 the translation component - * @param scale the scale component - */ - public final void set(Matrix3d m1, Vector3d t1, double scale) - { - this.m00 = m1.m00*scale; - this.m01 = m1.m01*scale; - this.m02 = m1.m02*scale; - this.m03 = t1.x; - - this.m10 = m1.m10*scale; - this.m11 = m1.m11*scale; - this.m12 = m1.m12*scale; - this.m13 = t1.y; - - this.m20 = m1.m20*scale; - this.m21 = m1.m21*scale; - this.m22 = m1.m22*scale; - this.m23 = t1.z; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * Modifies the translational components of this matrix to the values - * of the Vector3d argument; the other values of this matrix are not - * modified. - * @param trans the translational component - */ - public final void setTranslation(Vector3d trans) - { - m03 = trans.x; - m13 = trans.y; - m23 = trans.z; - } - - /** - * 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.m03 = 0.0; - - this.m10 = 0.0; - this.m11 = cosAngle; - this.m12 = -sinAngle; - this.m13 = 0.0; - - this.m20 = 0.0; - this.m21 = sinAngle; - this.m22 = cosAngle; - this.m23 = 0.0; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * 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.m03 = 0.0; - - this.m10 = 0.0; - this.m11 = 1.0; - this.m12 = 0.0; - this.m13 = 0.0; - - this.m20 = -sinAngle; - this.m21 = 0.0; - this.m22 = cosAngle; - this.m23 = 0.0; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 1.0; - } - - /** - * 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.m03 = 0.0; - - this.m10 = sinAngle; - this.m11 = cosAngle; - this.m12 = 0.0; - this.m13 = 0.0; - - this.m20 = 0.0; - this.m21 = 0.0; - this.m22 = 1.0; - this.m23 = 0.0; - - this.m30 = 0.0; - this.m31 = 0.0; - this.m32 = 0.0; - this.m33 = 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; - m03 *= scalar; - m10 *= scalar; - m11 *= scalar; - m12 *= scalar; - m13 *= scalar; - m20 *= scalar; - m21 *= scalar; - m22 *= scalar; - m23 *= scalar; - m30 *= scalar; - m31 *= scalar; - m32 *= scalar; - m33 *= 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, Matrix4d m1) - { - this.m00 = m1.m00 * scalar; - this.m01 = m1.m01 * scalar; - this.m02 = m1.m02 * scalar; - this.m03 = m1.m03 * scalar; - this.m10 = m1.m10 * scalar; - this.m11 = m1.m11 * scalar; - this.m12 = m1.m12 * scalar; - this.m13 = m1.m13 * scalar; - this.m20 = m1.m20 * scalar; - this.m21 = m1.m21 * scalar; - this.m22 = m1.m22 * scalar; - this.m23 = m1.m23 * scalar; - this.m30 = m1.m30 * scalar; - this.m31 = m1.m31 * scalar; - this.m32 = m1.m32 * scalar; - this.m33 = m1.m33 * scalar; - } - - /** - * Sets the value of this matrix to the result of multiplying itself - * with matrix m1. - * @param m1 the other matrix - */ - public final void mul(Matrix4d m1) - { - double m00, m01, m02, m03, - m10, m11, m12, m13, - m20, m21, m22, m23, - m30, m31, m32, m33; // vars for temp result matrix - - m00 = this.m00*m1.m00 + this.m01*m1.m10 + - this.m02*m1.m20 + this.m03*m1.m30; - m01 = this.m00*m1.m01 + this.m01*m1.m11 + - this.m02*m1.m21 + this.m03*m1.m31; - m02 = this.m00*m1.m02 + this.m01*m1.m12 + - this.m02*m1.m22 + this.m03*m1.m32; - m03 = this.m00*m1.m03 + this.m01*m1.m13 + - this.m02*m1.m23 + this.m03*m1.m33; - - m10 = this.m10*m1.m00 + this.m11*m1.m10 + - this.m12*m1.m20 + this.m13*m1.m30; - m11 = this.m10*m1.m01 + this.m11*m1.m11 + - this.m12*m1.m21 + this.m13*m1.m31; - m12 = this.m10*m1.m02 + this.m11*m1.m12 + - this.m12*m1.m22 + this.m13*m1.m32; - m13 = this.m10*m1.m03 + this.m11*m1.m13 + - this.m12*m1.m23 + this.m13*m1.m33; - - m20 = this.m20*m1.m00 + this.m21*m1.m10 + - this.m22*m1.m20 + this.m23*m1.m30; - m21 = this.m20*m1.m01 + this.m21*m1.m11 + - this.m22*m1.m21 + this.m23*m1.m31; - m22 = this.m20*m1.m02 + this.m21*m1.m12 + - this.m22*m1.m22 + this.m23*m1.m32; - m23 = this.m20*m1.m03 + this.m21*m1.m13 + - this.m22*m1.m23 + this.m23*m1.m33; - - m30 = this.m30*m1.m00 + this.m31*m1.m10 + - this.m32*m1.m20 + this.m33*m1.m30; - m31 = this.m30*m1.m01 + this.m31*m1.m11 + - this.m32*m1.m21 + this.m33*m1.m31; - m32 = this.m30*m1.m02 + this.m31*m1.m12 + - this.m32*m1.m22 + this.m33*m1.m32; - m33 = this.m30*m1.m03 + this.m31*m1.m13 + - this.m32*m1.m23 + this.m33*m1.m33; - - this.m00 = m00; this.m01 = m01; this.m02 = m02; this.m03 = m03; - this.m10 = m10; this.m11 = m11; this.m12 = m12; this.m13 = m13; - this.m20 = m20; this.m21 = m21; this.m22 = m22; this.m23 = m23; - this.m30 = m30; this.m31 = m31; this.m32 = m32; this.m33 = m33; - } - - /** - * 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(Matrix4d m1, Matrix4d m2) - { - if (this != m1 && this != m2) { - // code for mat mul - this.m00 = m1.m00*m2.m00 + m1.m01*m2.m10 + - m1.m02*m2.m20 + m1.m03*m2.m30; - this.m01 = m1.m00*m2.m01 + m1.m01*m2.m11 + - m1.m02*m2.m21 + m1.m03*m2.m31; - this.m02 = m1.m00*m2.m02 + m1.m01*m2.m12 + - m1.m02*m2.m22 + m1.m03*m2.m32; - this.m03 = m1.m00*m2.m03 + m1.m01*m2.m13 + - m1.m02*m2.m23 + m1.m03*m2.m33; - - this.m10 = m1.m10*m2.m00 + m1.m11*m2.m10 + - m1.m12*m2.m20 + m1.m13*m2.m30; - this.m11 = m1.m10*m2.m01 + m1.m11*m2.m11 + - m1.m12*m2.m21 + m1.m13*m2.m31; - this.m12 = m1.m10*m2.m02 + m1.m11*m2.m12 + - m1.m12*m2.m22 + m1.m13*m2.m32; - this.m13 = m1.m10*m2.m03 + m1.m11*m2.m13 + - m1.m12*m2.m23 + m1.m13*m2.m33; - - this.m20 = m1.m20*m2.m00 + m1.m21*m2.m10 + - m1.m22*m2.m20 + m1.m23*m2.m30; - this.m21 = m1.m20*m2.m01 + m1.m21*m2.m11 + - m1.m22*m2.m21 + m1.m23*m2.m31; - this.m22 = m1.m20*m2.m02 + m1.m21*m2.m12 + - m1.m22*m2.m22 + m1.m23*m2.m32; - this.m23 = m1.m20*m2.m03 + m1.m21*m2.m13 + - m1.m22*m2.m23 + m1.m23*m2.m33; - - this.m30 = m1.m30*m2.m00 + m1.m31*m2.m10 + - m1.m32*m2.m20 + m1.m33*m2.m30; - this.m31 = m1.m30*m2.m01 + m1.m31*m2.m11 + - m1.m32*m2.m21 + m1.m33*m2.m31; - this.m32 = m1.m30*m2.m02 + m1.m31*m2.m12 + - m1.m32*m2.m22 + m1.m33*m2.m32; - this.m33 = m1.m30*m2.m03 + m1.m31*m2.m13 + - m1.m32*m2.m23 + m1.m33*m2.m33; - } else { - double m00, m01, m02, m03, - m10, m11, m12, m13, - m20, m21, m22, m23, - m30, m31, m32, m33; // vars for temp result matrix - - // code for mat mul - m00 = m1.m00*m2.m00 + m1.m01*m2.m10 + m1.m02*m2.m20 + m1.m03*m2.m30; - m01 = m1.m00*m2.m01 + m1.m01*m2.m11 + m1.m02*m2.m21 + m1.m03*m2.m31; - m02 = m1.m00*m2.m02 + m1.m01*m2.m12 + m1.m02*m2.m22 + m1.m03*m2.m32; - m03 = m1.m00*m2.m03 + m1.m01*m2.m13 + m1.m02*m2.m23 + m1.m03*m2.m33; - - m10 = m1.m10*m2.m00 + m1.m11*m2.m10 + m1.m12*m2.m20 + m1.m13*m2.m30; - m11 = m1.m10*m2.m01 + m1.m11*m2.m11 + m1.m12*m2.m21 + m1.m13*m2.m31; - m12 = m1.m10*m2.m02 + m1.m11*m2.m12 + m1.m12*m2.m22 + m1.m13*m2.m32; - m13 = m1.m10*m2.m03 + m1.m11*m2.m13 + m1.m12*m2.m23 + m1.m13*m2.m33; - - m20 = m1.m20*m2.m00 + m1.m21*m2.m10 + m1.m22*m2.m20 + m1.m23*m2.m30; - m21 = m1.m20*m2.m01 + m1.m21*m2.m11 + m1.m22*m2.m21 + m1.m23*m2.m31; - m22 = m1.m20*m2.m02 + m1.m21*m2.m12 + m1.m22*m2.m22 + m1.m23*m2.m32; - m23 = m1.m20*m2.m03 + m1.m21*m2.m13 + m1.m22*m2.m23 + m1.m23*m2.m33; - - m30 = m1.m30*m2.m00 + m1.m31*m2.m10 + m1.m32*m2.m20 + m1.m33*m2.m30; - m31 = m1.m30*m2.m01 + m1.m31*m2.m11 + m1.m32*m2.m21 + m1.m33*m2.m31; - m32 = m1.m30*m2.m02 + m1.m31*m2.m12 + m1.m32*m2.m22 + m1.m33*m2.m32; - m33 = m1.m30*m2.m03 + m1.m31*m2.m13 + m1.m32*m2.m23 + m1.m33*m2.m33; - - this.m00 = m00; this.m01 = m01; this.m02 = m02; this.m03 = m03; - this.m10 = m10; this.m11 = m11; this.m12 = m12; this.m13 = m13; - this.m20 = m20; this.m21 = m21; this.m22 = m22; this.m23 = m23; - this.m30 = m30; this.m31 = m31; this.m32 = m32; this.m33 = m33; - - } - } - - /** - * 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(Matrix4d m1, Matrix4d m2) - { - if (this != m1 && this != m2) { - this.m00 = m1.m00*m2.m00 + m1.m10*m2.m01 + m1.m20*m2.m02 + m1.m30*m2.m03; - this.m01 = m1.m00*m2.m10 + m1.m10*m2.m11 + m1.m20*m2.m12 + m1.m30*m2.m13; - this.m02 = m1.m00*m2.m20 + m1.m10*m2.m21 + m1.m20*m2.m22 + m1.m30*m2.m23; - this.m03 = m1.m00*m2.m30 + m1.m10*m2.m31 + m1.m20*m2.m32 + m1.m30*m2.m33; - - this.m10 = m1.m01*m2.m00 + m1.m11*m2.m01 + m1.m21*m2.m02 + m1.m31*m2.m03; - this.m11 = m1.m01*m2.m10 + m1.m11*m2.m11 + m1.m21*m2.m12 + m1.m31*m2.m13; - this.m12 = m1.m01*m2.m20 + m1.m11*m2.m21 + m1.m21*m2.m22 + m1.m31*m2.m23; - this.m13 = m1.m01*m2.m30 + m1.m11*m2.m31 + m1.m21*m2.m32 + m1.m31*m2.m33; - - this.m20 = m1.m02*m2.m00 + m1.m12*m2.m01 + m1.m22*m2.m02 + m1.m32*m2.m03; - this.m21 = m1.m02*m2.m10 + m1.m12*m2.m11 + m1.m22*m2.m12 + m1.m32*m2.m13; - this.m22 = m1.m02*m2.m20 + m1.m12*m2.m21 + m1.m22*m2.m22 + m1.m32*m2.m23; - this.m23 = m1.m02*m2.m30 + m1.m12*m2.m31 + m1.m22*m2.m32 + m1.m32*m2.m33; - - this.m30 = m1.m03*m2.m00 + m1.m13*m2.m01 + m1.m23*m2.m02 + m1.m33*m2.m03; - this.m31 = m1.m03*m2.m10 + m1.m13*m2.m11 + m1.m23*m2.m12 + m1.m33*m2.m13; - this.m32 = m1.m03*m2.m20 + m1.m13*m2.m21 + m1.m23*m2.m22 + m1.m33*m2.m23; - this.m33 = m1.m03*m2.m30 + m1.m13*m2.m31 + m1.m23*m2.m32 + m1.m33*m2.m33; - } else { - double m00, m01, m02, m03, - m10, m11, m12, m13, - m20, m21, m22, m23, // vars for temp result matrix - m30, m31, m32, m33; - - m00 = m1.m00*m2.m00 + m1.m10*m2.m01 + m1.m20*m2.m02 + m1.m30*m2.m03; - m01 = m1.m00*m2.m10 + m1.m10*m2.m11 + m1.m20*m2.m12 + m1.m30*m2.m13; - m02 = m1.m00*m2.m20 + m1.m10*m2.m21 + m1.m20*m2.m22 + m1.m30*m2.m23; - m03 = m1.m00*m2.m30 + m1.m10*m2.m31 + m1.m20*m2.m32 + m1.m30*m2.m33; - - m10 = m1.m01*m2.m00 + m1.m11*m2.m01 + m1.m21*m2.m02 + m1.m31*m2.m03; - m11 = m1.m01*m2.m10 + m1.m11*m2.m11 + m1.m21*m2.m12 + m1.m31*m2.m13; - m12 = m1.m01*m2.m20 + m1.m11*m2.m21 + m1.m21*m2.m22 + m1.m31*m2.m23; - m13 = m1.m01*m2.m30 + m1.m11*m2.m31 + m1.m21*m2.m32 + m1.m31*m2.m33; - - m20 = m1.m02*m2.m00 + m1.m12*m2.m01 + m1.m22*m2.m02 + m1.m32*m2.m03; - m21 = m1.m02*m2.m10 + m1.m12*m2.m11 + m1.m22*m2.m12 + m1.m32*m2.m13; - m22 = m1.m02*m2.m20 + m1.m12*m2.m21 + m1.m22*m2.m22 + m1.m32*m2.m23; - m23 = m1.m02*m2.m30 + m1.m12*m2.m31 + m1.m22*m2.m32 + m1.m32*m2.m33; - - m30 = m1.m03*m2.m00 + m1.m13*m2.m01 + m1.m23*m2.m02 + m1.m33*m2.m03; - m31 = m1.m03*m2.m10 + m1.m13*m2.m11 + m1.m23*m2.m12 + m1.m33*m2.m13; - m32 = m1.m03*m2.m20 + m1.m13*m2.m21 + m1.m23*m2.m22 + m1.m33*m2.m23; - m33 = m1.m03*m2.m30 + m1.m13*m2.m31 + m1.m23*m2.m32 + m1.m33*m2.m33; - - this.m00 = m00; this.m01 = m01; this.m02 = m02; this.m03 = m03; - this.m10 = m10; this.m11 = m11; this.m12 = m12; this.m13 = m13; - this.m20 = m20; this.m21 = m21; this.m22 = m22; this.m23 = m23; - this.m30 = m30; this.m31 = m31; this.m32 = m32; this.m33 = m33; - } - - } - - - - /** - * 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(Matrix4d m1, Matrix4d m2) - { - if (this != m1 && this != m2) { - this.m00 = m1.m00*m2.m00 + m1.m01*m2.m01 + m1.m02*m2.m02 + m1.m03*m2.m03; - this.m01 = m1.m00*m2.m10 + m1.m01*m2.m11 + m1.m02*m2.m12 + m1.m03*m2.m13; - this.m02 = m1.m00*m2.m20 + m1.m01*m2.m21 + m1.m02*m2.m22 + m1.m03*m2.m23; - this.m03 = m1.m00*m2.m30 + m1.m01*m2.m31 + m1.m02*m2.m32 + m1.m03*m2.m33; - - this.m10 = m1.m10*m2.m00 + m1.m11*m2.m01 + m1.m12*m2.m02 + m1.m13*m2.m03; - this.m11 = m1.m10*m2.m10 + m1.m11*m2.m11 + m1.m12*m2.m12 + m1.m13*m2.m13; - this.m12 = m1.m10*m2.m20 + m1.m11*m2.m21 + m1.m12*m2.m22 + m1.m13*m2.m23; - this.m13 = m1.m10*m2.m30 + m1.m11*m2.m31 + m1.m12*m2.m32 + m1.m13*m2.m33; - - this.m20 = m1.m20*m2.m00 + m1.m21*m2.m01 + m1.m22*m2.m02 + m1.m23*m2.m03; - this.m21 = m1.m20*m2.m10 + m1.m21*m2.m11 + m1.m22*m2.m12 + m1.m23*m2.m13; - this.m22 = m1.m20*m2.m20 + m1.m21*m2.m21 + m1.m22*m2.m22 + m1.m23*m2.m23; - this.m23 = m1.m20*m2.m30 + m1.m21*m2.m31 + m1.m22*m2.m32 + m1.m23*m2.m33; - - this.m30 = m1.m30*m2.m00 + m1.m31*m2.m01 + m1.m32*m2.m02 + m1.m33*m2.m03; - this.m31 = m1.m30*m2.m10 + m1.m31*m2.m11 + m1.m32*m2.m12 + m1.m33*m2.m13; - this.m32 = m1.m30*m2.m20 + m1.m31*m2.m21 + m1.m32*m2.m22 + m1.m33*m2.m23; - this.m33 = m1.m30*m2.m30 + m1.m31*m2.m31 + m1.m32*m2.m32 + m1.m33*m2.m33; - } else { - double m00, m01, m02, m03, - m10, m11, m12, m13, - m20, m21, m22, m23, // vars for temp result matrix - m30, m31, m32, m33; - - m00 = m1.m00*m2.m00 + m1.m01*m2.m01 + m1.m02*m2.m02 + m1.m03*m2.m03; - m01 = m1.m00*m2.m10 + m1.m01*m2.m11 + m1.m02*m2.m12 + m1.m03*m2.m13; - m02 = m1.m00*m2.m20 + m1.m01*m2.m21 + m1.m02*m2.m22 + m1.m03*m2.m23; - m03 = m1.m00*m2.m30 + m1.m01*m2.m31 + m1.m02*m2.m32 + m1.m03*m2.m33; - - m10 = m1.m10*m2.m00 + m1.m11*m2.m01 + m1.m12*m2.m02 + m1.m13*m2.m03; - m11 = m1.m10*m2.m10 + m1.m11*m2.m11 + m1.m12*m2.m12 + m1.m13*m2.m13; - m12 = m1.m10*m2.m20 + m1.m11*m2.m21 + m1.m12*m2.m22 + m1.m13*m2.m23; - m13 = m1.m10*m2.m30 + m1.m11*m2.m31 + m1.m12*m2.m32 + m1.m13*m2.m33; - - m20 = m1.m20*m2.m00 + m1.m21*m2.m01 + m1.m22*m2.m02 + m1.m23*m2.m03; - m21 = m1.m20*m2.m10 + m1.m21*m2.m11 + m1.m22*m2.m12 + m1.m23*m2.m13; - m22 = m1.m20*m2.m20 + m1.m21*m2.m21 + m1.m22*m2.m22 + m1.m23*m2.m23; - m23 = m1.m20*m2.m30 + m1.m21*m2.m31 + m1.m22*m2.m32 + m1.m23*m2.m33; - - m30 = m1.m30*m2.m00 + m1.m31*m2.m01 + m1.m32*m2.m02 + m1.m33*m2.m03; - m31 = m1.m30*m2.m10 + m1.m31*m2.m11 + m1.m32*m2.m12 + m1.m33*m2.m13; - m32 = m1.m30*m2.m20 + m1.m31*m2.m21 + m1.m32*m2.m22 + m1.m33*m2.m23; - m33 = m1.m30*m2.m30 + m1.m31*m2.m31 + m1.m32*m2.m32 + m1.m33*m2.m33; - - this.m00 = m00; this.m01 = m01; this.m02 = m02; this.m03 = m03; - this.m10 = m10; this.m11 = m11; this.m12 = m12; this.m13 = m13; - this.m20 = m20; this.m21 = m21; this.m22 = m22; this.m23 = m23; - this.m30 = m30; this.m31 = m31; this.m32 = m32; this.m33 = m33; - } -} - - - /** - * 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(Matrix4d m1, Matrix4d m2) - { - if (this != m1 && this != m2) { - this.m00 = m1.m00*m2.m00 + m1.m10*m2.m10 + m1.m20*m2.m20 + m1.m30*m2.m30; - this.m01 = m1.m00*m2.m01 + m1.m10*m2.m11 + m1.m20*m2.m21 + m1.m30*m2.m31; - this.m02 = m1.m00*m2.m02 + m1.m10*m2.m12 + m1.m20*m2.m22 + m1.m30*m2.m32; - this.m03 = m1.m00*m2.m03 + m1.m10*m2.m13 + m1.m20*m2.m23 + m1.m30*m2.m33; - - this.m10 = m1.m01*m2.m00 + m1.m11*m2.m10 + m1.m21*m2.m20 + m1.m31*m2.m30; - this.m11 = m1.m01*m2.m01 + m1.m11*m2.m11 + m1.m21*m2.m21 + m1.m31*m2.m31; - this.m12 = m1.m01*m2.m02 + m1.m11*m2.m12 + m1.m21*m2.m22 + m1.m31*m2.m32; - this.m13 = m1.m01*m2.m03 + m1.m11*m2.m13 + m1.m21*m2.m23 + m1.m31*m2.m33; - - this.m20 = m1.m02*m2.m00 + m1.m12*m2.m10 + m1.m22*m2.m20 + m1.m32*m2.m30; - this.m21 = m1.m02*m2.m01 + m1.m12*m2.m11 + m1.m22*m2.m21 + m1.m32*m2.m31; - this.m22 = m1.m02*m2.m02 + m1.m12*m2.m12 + m1.m22*m2.m22 + m1.m32*m2.m32; - this.m23 = m1.m02*m2.m03 + m1.m12*m2.m13 + m1.m22*m2.m23 + m1.m32*m2.m33; - - this.m30 = m1.m03*m2.m00 + m1.m13*m2.m10 + m1.m23*m2.m20 + m1.m33*m2.m30; - this.m31 = m1.m03*m2.m01 + m1.m13*m2.m11 + m1.m23*m2.m21 + m1.m33*m2.m31; - this.m32 = m1.m03*m2.m02 + m1.m13*m2.m12 + m1.m23*m2.m22 + m1.m33*m2.m32; - this.m33 = m1.m03*m2.m03 + m1.m13*m2.m13 + m1.m23*m2.m23 + m1.m33*m2.m33; - } else { - double m00, m01, m02, m03, - m10, m11, m12, m13, - m20, m21, m22, m23, // vars for temp result matrix - m30, m31, m32, m33; - - - - m00 = m1.m00*m2.m00 + m1.m10*m2.m10 + m1.m20*m2.m20 + m1.m30*m2.m30; - m01 = m1.m00*m2.m01 + m1.m10*m2.m11 + m1.m20*m2.m21 + m1.m30*m2.m31; - m02 = m1.m00*m2.m02 + m1.m10*m2.m12 + m1.m20*m2.m22 + m1.m30*m2.m32; - m03 = m1.m00*m2.m03 + m1.m10*m2.m13 + m1.m20*m2.m23 + m1.m30*m2.m33; - - m10 = m1.m01*m2.m00 + m1.m11*m2.m10 + m1.m21*m2.m20 + m1.m31*m2.m30; - m11 = m1.m01*m2.m01 + m1.m11*m2.m11 + m1.m21*m2.m21 + m1.m31*m2.m31; - m12 = m1.m01*m2.m02 + m1.m11*m2.m12 + m1.m21*m2.m22 + m1.m31*m2.m32; - m13 = m1.m01*m2.m03 + m1.m11*m2.m13 + m1.m21*m2.m23 + m1.m31*m2.m33; - - m20 = m1.m02*m2.m00 + m1.m12*m2.m10 + m1.m22*m2.m20 + m1.m32*m2.m30; - m21 = m1.m02*m2.m01 + m1.m12*m2.m11 + m1.m22*m2.m21 + m1.m32*m2.m31; - m22 = m1.m02*m2.m02 + m1.m12*m2.m12 + m1.m22*m2.m22 + m1.m32*m2.m32; - m23 = m1.m02*m2.m03 + m1.m12*m2.m13 + m1.m22*m2.m23 + m1.m32*m2.m33; - - m30 = m1.m03*m2.m00 + m1.m13*m2.m10 + m1.m23*m2.m20 + m1.m33*m2.m30; - m31 = m1.m03*m2.m01 + m1.m13*m2.m11 + m1.m23*m2.m21 + m1.m33*m2.m31; - m32 = m1.m03*m2.m02 + m1.m13*m2.m12 + m1.m23*m2.m22 + m1.m33*m2.m32; - m33 = m1.m03*m2.m03 + m1.m13*m2.m13 + m1.m23*m2.m23 + m1.m33*m2.m33; - - this.m00 = m00; this.m01 = m01; this.m02 = m02; this.m03 = m03; - this.m10 = m10; this.m11 = m11; this.m12 = m12; this.m13 = m13; - this.m20 = m20; this.m21 = m21; this.m22 = m22; this.m23 = m23; - this.m30 = m30; this.m31 = m31; this.m32 = m32; this.m33 = m33; - } - - } - - - /** - * Returns true if all of the data members of Matrix4d m1 are - * equal to the corresponding data members in this Matrix4d. - * @param m1 the matrix with which the comparison is made - * @return true or false - */ - public boolean equals(Matrix4d m1) - { - try { - return(this.m00 == m1.m00 && this.m01 == m1.m01 && this.m02 == m1.m02 - && this.m03 == m1.m03 && this.m10 == m1.m10 && this.m11 == m1.m11 - && this.m12 == m1.m12 && this.m13 == m1.m13 && this.m20 == m1.m20 - && this.m21 == m1.m21 && this.m22 == m1.m22 && this.m23 == m1.m23 - && this.m30 == m1.m30 && this.m31 == m1.m31 && this.m32 == m1.m32 - && this.m33 == m1.m33); - } - catch (NullPointerException e2) { return false; } - - } - - /** - * Returns true if the Object t1 is of type Matrix4d and all of the - * data members of t1 are equal to the corresponding data members in - * this Matrix4d. - * @param t1 the matrix with which the comparison is made - * @return true or false - */ - @Override - public boolean equals(Object t1) - { - try { - Matrix4d m2 = (Matrix4d) t1; - return(this.m00 == m2.m00 && this.m01 == m2.m01 && this.m02 == m2.m02 - && this.m03 == m2.m03 && this.m10 == m2.m10 && this.m11 == m2.m11 - && this.m12 == m2.m12 && this.m13 == m2.m13 && this.m20 == m2.m20 - && this.m21 == m2.m21 && this.m22 == m2.m22 && this.m23 == m2.m23 - && this.m30 == m2.m30 && this.m31 == m2.m31 && this.m32 == m2.m32 - && this.m33 == m2.m33); - } - catch (ClassCastException e1) { return false; } - catch (NullPointerException e2) { return false; } - } - - /** - * @deprecated Use epsilonEquals(Matrix4d,double) instead - */ - public boolean epsilonEquals(Matrix4d m1, float epsilon) { - return epsilonEquals(m1, (double)epsilon); - } - - /** - * 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=0,1,2,3 ; j=0,1,2,3 ; 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(Matrix4d 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 = m03 - m1.m03; - 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 = m13 - m1.m13; - 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; - - diff = m23 - m1.m23; - if((diff<0?-diff:diff) > epsilon) return false; - - diff = m30 - m1.m30; - if((diff<0?-diff:diff) > epsilon) return false; - - diff = m31 - m1.m31; - if((diff<0?-diff:diff) > epsilon) return false; - - diff = m32 - m1.m32; - if((diff<0?-diff:diff) > epsilon) return false; - - diff = m33 - m1.m33; - 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 Matrix4d objects with identical data values - * (i.e., Matrix4d.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, m03); - bits = VecMathUtil.hashDoubleBits(bits, m10); - bits = VecMathUtil.hashDoubleBits(bits, m11); - bits = VecMathUtil.hashDoubleBits(bits, m12); - bits = VecMathUtil.hashDoubleBits(bits, m13); - bits = VecMathUtil.hashDoubleBits(bits, m20); - bits = VecMathUtil.hashDoubleBits(bits, m21); - bits = VecMathUtil.hashDoubleBits(bits, m22); - bits = VecMathUtil.hashDoubleBits(bits, m23); - bits = VecMathUtil.hashDoubleBits(bits, m30); - bits = VecMathUtil.hashDoubleBits(bits, m31); - bits = VecMathUtil.hashDoubleBits(bits, m32); - bits = VecMathUtil.hashDoubleBits(bits, m33); - return VecMathUtil.hashFinish(bits); - } - - - /** - * Transform the vector vec using this Matrix4d and place the - * result into vecOut. - * @param vec the double precision vector to be transformed - * @param vecOut the vector into which the transformed values are placed - */ - public final void transform(Tuple4d vec, Tuple4d vecOut) - { - double x,y,z,w; - x = (m00*vec.x + m01*vec.y - + m02*vec.z + m03*vec.w); - y = (m10*vec.x + m11*vec.y - + m12*vec.z + m13*vec.w); - z = (m20*vec.x + m21*vec.y - + m22*vec.z + m23*vec.w); - vecOut.w = (m30*vec.x + m31*vec.y - + m32*vec.z + m33*vec.w); - vecOut.x = x; - vecOut.y = y; - vecOut.z = z; - } - - /** - * Transform the vector vec using this Matrix4d and place the - * result back into vec. - * @param vec the double precision vector to be transformed - */ - public final void transform(Tuple4d vec) - { - double x,y,z; - - x = (m00*vec.x + m01*vec.y - + m02*vec.z + m03*vec.w); - y = (m10*vec.x + m11*vec.y - + m12*vec.z + m13*vec.w); - z = (m20*vec.x + m21*vec.y - + m22*vec.z + m23*vec.w); - vec.w = (m30*vec.x + m31*vec.y - + m32*vec.z + m33*vec.w); - vec.x = x; - vec.y = y; - vec.z = z; - } - - /** - * Transform the vector vec using this Matrix4d and place the - * result into vecOut. - * @param vec the single precision vector to be transformed - * @param vecOut the vector into which the transformed values are placed - */ - public final void transform(Tuple4f vec, Tuple4f vecOut) - { - float x,y,z; - x = (float) (m00*vec.x + m01*vec.y - + m02*vec.z + m03*vec.w); - y = (float) (m10*vec.x + m11*vec.y - + m12*vec.z + m13*vec.w); - z = (float) (m20*vec.x + m21*vec.y - + m22*vec.z + m23*vec.w); - vecOut.w = (float) (m30*vec.x + m31*vec.y - + m32*vec.z + m33*vec.w); - vecOut.x = x; - vecOut.y = y; - vecOut.z = z; - } - - /** - * Transform the vector vec using this Transform and place the - * result back into vec. - * @param vec the single precision vector to be transformed - */ - public final void transform(Tuple4f vec) - { - float x,y,z; - - x = (float) (m00*vec.x + m01*vec.y - + m02*vec.z + m03*vec.w); - y = (float) (m10*vec.x + m11*vec.y - + m12*vec.z + m13*vec.w); - z = (float) (m20*vec.x + m21*vec.y - + m22*vec.z + m23*vec.w); - vec.w = (float) (m30*vec.x + m31*vec.y - + m32*vec.z + m33*vec.w); - vec.x = x; - vec.y = y; - vec.z = z; - } - - - /** - * Transforms the point parameter with this Matrix4d and - * places the result into pointOut. The fourth element of the - * point input parameter is assumed to be one. - * @param point the input point to be transformed. - * @param pointOut the transformed point - */ - public final void transform(Point3d point, Point3d pointOut) - { - double x,y; - x = m00*point.x + m01*point.y + m02*point.z + m03; - y = m10*point.x + m11*point.y + m12*point.z + m13; - pointOut.z = m20*point.x + m21*point.y + m22*point.z + m23; - pointOut.x = x; - pointOut.y = y; - - } - - - /** - * Transforms the point parameter with this Matrix4d and - * places the result back into point. The fourth element of the - * point input parameter is assumed to be one. - * @param point the input point to be transformed. - */ - public final void transform(Point3d point) - { - double x, y; - x = m00*point.x + m01*point.y + m02*point.z + m03; - y = m10*point.x + m11*point.y + m12*point.z + m13; - point.z = m20*point.x + m21*point.y + m22*point.z + m23; - point.x = x; - point.y = y; - } - - - /** - * Transforms the point parameter with this Matrix4d and - * places the result into pointOut. The fourth element of the - * point input parameter is assumed to be one. - * @param point the input point to be transformed. - * @param pointOut the transformed point - */ - public final void transform(Point3f point, Point3f pointOut) - { - float x,y; - - x = (float) (m00*point.x + m01*point.y + m02*point.z + m03); - y = (float) (m10*point.x + m11*point.y + m12*point.z + m13); - pointOut.z = (float) (m20*point.x + m21*point.y + m22*point.z + m23); - pointOut.x = x; - pointOut.y = y; - } - - - /** - * Transforms the point parameter with this Matrix4d and - * places the result back into point. The fourth element of the - * point input parameter is assumed to be one. - * @param point the input point to be transformed. - */ - public final void transform(Point3f point) - { - float x, y; - x = (float) (m00*point.x + m01*point.y + m02*point.z + m03); - y = (float) (m10*point.x + m11*point.y + m12*point.z + m13); - point.z = (float) (m20*point.x + m21*point.y + m22*point.z + m23); - point.x = x; - point.y = y; - } - - - /** - * Transforms the normal parameter by this Matrix4d and places the value - * into normalOut. The fourth element of the normal is assumed to be zero. - * @param normal the input normal to be transformed. - * @param normalOut the transformed normal - */ - public final void transform(Vector3d normal, Vector3d normalOut) - { - double x,y; - x = m00*normal.x + m01*normal.y + m02*normal.z; - y = m10*normal.x + m11*normal.y + m12*normal.z; - normalOut.z = m20*normal.x + m21*normal.y + m22*normal.z; - normalOut.x = x; - normalOut.y = y; - } - - - /** - * Transforms the normal parameter by this transform and places the value - * back into normal. The fourth element of the normal is assumed to be zero. - * @param normal the input normal to be transformed. - */ - public final void transform(Vector3d normal) - { - double x, y; - - x = m00*normal.x + m01*normal.y + m02*normal.z; - y = m10*normal.x + m11*normal.y + m12*normal.z; - normal.z = m20*normal.x + m21*normal.y + m22*normal.z; - normal.x = x; - normal.y = y; - } - - - /** - * Transforms the normal parameter by this Matrix4d and places the value - * into normalOut. The fourth element of the normal is assumed to be zero. - * @param normal the input normal to be transformed. - * @param normalOut the transformed normal - */ - public final void transform(Vector3f normal, Vector3f normalOut) - { - float x,y; - x = (float) (m00*normal.x + m01*normal.y + m02*normal.z); - y = (float) (m10*normal.x + m11*normal.y + m12*normal.z); - normalOut.z = (float) (m20*normal.x + m21*normal.y + m22*normal.z); - normalOut.x = x; - normalOut.y = y; - } - - - /** - * Transforms the normal parameter by this transform and places the value - * back into normal. The fourth element of the normal is assumed to be zero. - * @param normal the input normal to be transformed. - */ - public final void transform(Vector3f normal) - { - float x, y; - - x = (float) (m00*normal.x + m01*normal.y + m02*normal.z); - y = (float) (m10*normal.x + m11*normal.y + m12*normal.z); - normal.z = (float) (m20*normal.x + m21*normal.y + m22*normal.z); - normal.x = x; - normal.y = y; - } - - /** - * Sets the rotational component (upper 3x3) of this matrix to the - * matrix values in the double precision Matrix3d argument; the other - * elements of this matrix are unchanged; a singular value - * decomposition is performed on this object's upper 3x3 matrix to - * factor out the scale, then this object's upper 3x3 matrix components - * are replaced by the passed rotation components, - * and then the scale is reapplied to the rotational components. - * @param m1 double precision 3x3 matrix - */ - public final void setRotation( Matrix3d m1){ - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - - getScaleRotate( tmp_scale, tmp_rot ); - - m00 = m1.m00*tmp_scale[0]; - m01 = m1.m01*tmp_scale[1]; - m02 = m1.m02*tmp_scale[2]; - - m10 = m1.m10*tmp_scale[0]; - m11 = m1.m11*tmp_scale[1]; - m12 = m1.m12*tmp_scale[2]; - - m20 = m1.m20*tmp_scale[0]; - m21 = m1.m21*tmp_scale[1]; - m22 = m1.m22*tmp_scale[2]; - - } - - - /** - * Sets the rotational component (upper 3x3) of this matrix to the - * matrix values in the single precision Matrix3f argument; the other - * elements of this matrix are unchanged; a singular value - * decomposition is performed on this object's upper 3x3 matrix to - * factor out the scale, then this object's upper 3x3 matrix components - * are replaced by the passed rotation components, - * and then the scale is reapplied to the rotational components. - * @param m1 single precision 3x3 matrix - */ - public final void setRotation( Matrix3f m1) - { - - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - getScaleRotate( tmp_scale, tmp_rot ); - - m00 = m1.m00*tmp_scale[0]; - m01 = m1.m01*tmp_scale[1]; - m02 = m1.m02*tmp_scale[2]; - - m10 = m1.m10*tmp_scale[0]; - m11 = m1.m11*tmp_scale[1]; - m12 = m1.m12*tmp_scale[2]; - - m20 = m1.m20*tmp_scale[0]; - m21 = m1.m21*tmp_scale[1]; - m22 = m1.m22*tmp_scale[2]; - } - - /** - * Sets the rotational component (upper 3x3) of this matrix to the - * matrix equivalent values of the quaternion argument; the other - * elements of this matrix are unchanged; a singular value - * decomposition is performed on this object's upper 3x3 matrix to - * factor out the scale, then this object's upper 3x3 matrix components - * are replaced by the matrix equivalent of the quaternion, - * and then the scale is reapplied to the rotational components. - * @param q1 the quaternion that specifies the rotation - */ - public final void setRotation(Quat4f q1){ - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - getScaleRotate( tmp_scale, tmp_rot ); - - m00 = (1.0 - 2.0f*q1.y*q1.y - 2.0f*q1.z*q1.z)*tmp_scale[0]; - m10 = (2.0*(q1.x*q1.y + q1.w*q1.z))*tmp_scale[0]; - m20 = (2.0*(q1.x*q1.z - q1.w*q1.y))*tmp_scale[0]; - - m01 = (2.0*(q1.x*q1.y - q1.w*q1.z))*tmp_scale[1]; - m11 = (1.0 - 2.0f*q1.x*q1.x - 2.0f*q1.z*q1.z)*tmp_scale[1]; - m21 = (2.0*(q1.y*q1.z + q1.w*q1.x))*tmp_scale[1]; - - m02 = (2.0*(q1.x*q1.z + q1.w*q1.y))*tmp_scale[2]; - m12 = (2.0*(q1.y*q1.z - q1.w*q1.x))*tmp_scale[2]; - m22 = (1.0 - 2.0f*q1.x*q1.x - 2.0f*q1.y*q1.y)*tmp_scale[2]; - - } - - - /** - * Sets the rotational component (upper 3x3) of this matrix to the - * matrix equivalent values of the quaternion argument; the other - * elements of this matrix are unchanged; a singular value - * decomposition is performed on this object's upper 3x3 matrix to - * factor out the scale, then this object's upper 3x3 matrix components - * are replaced by the matrix equivalent of the quaternion, - * and then the scale is reapplied to the rotational components. - * @param q1 the quaternion that specifies the rotation - */ - public final void setRotation(Quat4d q1){ - - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - getScaleRotate( tmp_scale, tmp_rot ); - - m00 = (1.0 - 2.0f*q1.y*q1.y - 2.0f*q1.z*q1.z)*tmp_scale[0]; - m10 = (2.0*(q1.x*q1.y + q1.w*q1.z))*tmp_scale[0]; - m20 = (2.0*(q1.x*q1.z - q1.w*q1.y))*tmp_scale[0]; - - m01 = (2.0*(q1.x*q1.y - q1.w*q1.z))*tmp_scale[1]; - m11 = (1.0 - 2.0f*q1.x*q1.x - 2.0f*q1.z*q1.z)*tmp_scale[1]; - m21 = (2.0*(q1.y*q1.z + q1.w*q1.x))*tmp_scale[1]; - - m02 = (2.0*(q1.x*q1.z + q1.w*q1.y))*tmp_scale[2]; - m12 = (2.0*(q1.y*q1.z - q1.w*q1.x))*tmp_scale[2]; - m22 = (1.0 - 2.0f*q1.x*q1.x - 2.0f*q1.y*q1.y)*tmp_scale[2]; - - } - - /** - * Sets the rotational component (upper 3x3) of this matrix to the - * matrix equivalent values of the axis-angle argument; the other - * elements of this matrix are unchanged; a singular value - * decomposition is performed on this object's upper 3x3 matrix to - * factor out the scale, then this object's upper 3x3 matrix components - * are replaced by the matrix equivalent of the axis-angle, - * and then the scale is reapplied to the rotational components. - * @param a1 the axis-angle to be converted (x, y, z, angle) - */ - public final void setRotation(AxisAngle4d a1) - { - double[] tmp_rot = new double[9]; // scratch matrix - double[] tmp_scale = new double[3]; // scratch matrix - - getScaleRotate( tmp_scale, tmp_rot ); - - double mag = 1.0/Math.sqrt( a1.x*a1.x + a1.y*a1.y + a1.z*a1.z); - 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 = a1.x * a1.z; - double xy = a1.x * a1.y; - double yz = a1.y * a1.z; - - m00 = (t * ax * ax + cosTheta)*tmp_scale[0]; - m01 = (t * xy - sinTheta * az)*tmp_scale[1]; - m02 = (t * xz + sinTheta * ay)*tmp_scale[2]; - - m10 = (t * xy + sinTheta * az)*tmp_scale[0]; - m11 = (t * ay * ay + cosTheta)*tmp_scale[1]; - m12 = (t * yz - sinTheta * ax)*tmp_scale[2]; - - m20 = (t * xz - sinTheta * ay)*tmp_scale[0]; - m21 = (t * yz + sinTheta * ax)*tmp_scale[1]; - m22 = (t * az * az + cosTheta)*tmp_scale[2]; - - } - - /** - * Sets this matrix to all zeros. - */ - public final void setZero() - { - m00 = 0.0; - m01 = 0.0; - m02 = 0.0; - m03 = 0.0; - m10 = 0.0; - m11 = 0.0; - m12 = 0.0; - m13 = 0.0; - m20 = 0.0; - m21 = 0.0; - m22 = 0.0; - m23 = 0.0; - m30 = 0.0; - m31 = 0.0; - m32 = 0.0; - m33 = 0.0; - } - - /** - * Negates the value of this matrix: this = -this. - */ - public final void negate() - { - m00 = -m00; - m01 = -m01; - m02 = -m02; - m03 = -m03; - m10 = -m10; - m11 = -m11; - m12 = -m12; - m13 = -m13; - m20 = -m20; - m21 = -m21; - m22 = -m22; - m23 = -m23; - m30 = -m30; - m31 = -m31; - m32 = -m32; - m33 = -m33; - } - - /** - * Sets the value of this matrix equal to the negation of - * of the Matrix4d parameter. - * @param m1 the source matrix - */ - public final void negate(Matrix4d m1) - { - this.m00 = -m1.m00; - this.m01 = -m1.m01; - this.m02 = -m1.m02; - this.m03 = -m1.m03; - this.m10 = -m1.m10; - this.m11 = -m1.m11; - this.m12 = -m1.m12; - this.m13 = -m1.m13; - this.m20 = -m1.m20; - this.m21 = -m1.m21; - this.m22 = -m1.m22; - this.m23 = -m1.m23; - this.m30 = -m1.m30; - this.m31 = -m1.m31; - this.m32 = -m1.m32; - this.m33 = -m1.m33; - } - private 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; - - Matrix3d.compute_svd( tmp, scales, rots); - - return; - } - - /** - * 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() { - Matrix4d m1 = null; - try { - m1 = (Matrix4d)super.clone(); - } catch (CloneNotSupportedException e) { - // this shouldn't happen, since we are Cloneable - throw new InternalError(); - } - - 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; - } - - /** - * Get the fourth element of the first row. - * - * @return Returns the m03. - * - * @since vecmath 1.5 - */ - public final double getM03() { - return m03; - } - - /** - * Set the fourth element of the first row. - * - * @param m03 The m03 to set. - * - * @since vecmath 1.5 - */ - public final void setM03(double m03) { - this.m03 = m03; - } - - /** - * Get the fourth element of the second row. - * - * @return Returns the m13. - * - * @since vecmath 1.5 - */ - public final double getM13() { - return m13; - } - - /** - * Set the fourth element of the second row. - * - * @param m13 The m13 to set. - * - * @since vecmath 1.5 - */ - public final void setM13(double m13) { - this.m13 = m13; - } - - /** - * Get the fourth element of the third row. - * - * @return Returns the m23. - * - * @since vecmath 1.5 - */ - public final double getM23() { - return m23; - } - - /** - * Set the fourth element of the third row. - * - * @param m23 The m23 to set. - * - * @since vecmath 1.5 - */ - public final void setM23(double m23) { - this.m23 = m23; - } - - /** - * Get the first element of the fourth row. - * - * @return Returns the m30. - * - * @since vecmath 1.5 - */ - public final double getM30() { - return m30; - } - - /** - * Set the first element of the fourth row. - * - * @param m30 The m30 to set. - * - * @since vecmath 1.5 - */ - public final void setM30(double m30) { - this.m30 = m30; - } - - /** - * Get the second element of the fourth row. - * - * @return Returns the m31. - * - * @since vecmath 1.5 - */ - public final double getM31() { - return m31; - } - - /** - * Set the second element of the fourth row. - * - * @param m31 The m31 to set. - * - * @since vecmath 1.5 - */ - public final void setM31(double m31) { - this.m31 = m31; - } - - /** - * Get the third element of the fourth row. - * - * @return Returns the m32. - * - * - * @since vecmath 1.5 - */ - public final double getM32() { - return m32; - } - - /** - * Set the third element of the fourth row. - * - * @param m32 The m32 to set. - * - * @since vecmath 1.5 - */ - public final void setM32(double m32) { - this.m32 = m32; - } - - /** - * Get the fourth element of the fourth row. - * - * @return Returns the m33. - * - * @since vecmath 1.5 - */ - public final double getM33() { - return m33; - } - - /** - * Set the fourth element of the fourth row. - * - * @param m33 The m33 to set. - * - * @since vecmath 1.5 - */ - public final void setM33(double m33) { - this.m33 = m33; - } -} |