Package javax.vecmath
Class Matrix3d
- java.lang.Object
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- javax.vecmath.Matrix3d
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- All Implemented Interfaces:
Serializable
,Cloneable
public class Matrix3d extends Object implements Serializable, Cloneable
A double precision floating point 3 by 3 matrix. Primarily to support 3D rotations.- See Also:
- Serialized Form
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Field Summary
Fields Modifier and Type Field Description double
m00
The first matrix element in the first row.double
m01
The second matrix element in the first row.double
m02
The third matrix element in the first row.double
m10
The first matrix element in the second row.double
m11
The second matrix element in the second row.double
m12
The third matrix element in the second row.double
m20
The first matrix element in the third row.double
m21
The second matrix element in the third row.double
m22
The third matrix element in the third row.
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Constructor Summary
Constructors Constructor Description Matrix3d()
Constructs and initializes a Matrix3d to all zeros.Matrix3d(double[] v)
Constructs and initializes a Matrix3d from the specified nine- element array.Matrix3d(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)
Constructs and initializes a Matrix3d from the specified nine values.Matrix3d(Matrix3d m1)
Constructs a new matrix with the same values as the Matrix3d parameter.Matrix3d(Matrix3f m1)
Constructs a new matrix with the same values as the Matrix3f parameter.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
add(double scalar)
Adds a scalar to each component of this matrix.void
add(double scalar, Matrix3d m1)
Adds a scalar to each component of the matrix m1 and places the result into this.void
add(Matrix3d m1)
Sets the value of this matrix to the sum of itself and matrix m1.void
add(Matrix3d m1, Matrix3d m2)
Sets the value of this matrix to the matrix sum of matrices m1 and m2.Object
clone()
Creates a new object of the same class as this object.double
determinant()
Computes the determinant of this matrix.boolean
epsilonEquals(Matrix3d 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.boolean
equals(Object t1)
Returns true if the Object t1 is of type Matrix3d and all of the data members of t1 are equal to the corresponding data members in this Matrix3d.boolean
equals(Matrix3d m1)
Returns true if all of the data members of Matrix3d m1 are equal to the corresponding data members in this Matrix3d.void
getColumn(int column, double[] v)
Copies the matrix values in the specified column into the array parameter.void
getColumn(int column, Vector3d v)
Copies the matrix values in the specified column into the vector parameter.double
getElement(int row, int column)
Retrieves the value at the specified row and column of the specified matrix.double
getM00()
Get the first matrix element in the first row.double
getM01()
Get the second matrix element in the first row.double
getM02()
Get the third matrix element in the first row.double
getM10()
Get first matrix element in the second row.double
getM11()
Get second matrix element in the second row.double
getM12()
Get the third matrix element in the second row.double
getM20()
Get the first matrix element in the third row.double
getM21()
Get the second matrix element in the third row.double
getM22()
Get the third matrix element in the third row .void
getRow(int row, double[] v)
Copies the matrix values in the specified row into the array parameter.void
getRow(int row, Vector3d v)
Copies the matrix values in the specified row into the vector parameter.double
getScale()
Performs an SVD normalization of this matrix to calculate and return the uniform scale factor.int
hashCode()
Returns a hash code value based on the data values in this object.void
invert()
Inverts this matrix in place.void
invert(Matrix3d m1)
Sets the value of this matrix to the matrix inverse of the passed matrix m1.void
mul(double scalar)
Multiplies each element of this matrix by a scalar.void
mul(double scalar, Matrix3d m1)
Multiplies each element of matrix m1 by a scalar and places the result into this.void
mul(Matrix3d m1)
Sets the value of this matrix to the result of multiplying itself with matrix m1.void
mul(Matrix3d m1, Matrix3d m2)
Sets the value of this matrix to the result of multiplying the two argument matrices together.void
mulNormalize(Matrix3d m1)
Multiplies this matrix by matrix m1, does an SVD normalization of the result, and places the result back into this matrix this = SVDnorm(this*m1).void
mulNormalize(Matrix3d m1, Matrix3d m2)
Multiplies matrix m1 by matrix m2, does an SVD normalization of the result, and places the result into this matrix this = SVDnorm(m1*m2).void
mulTransposeBoth(Matrix3d m1, Matrix3d m2)
Multiplies the transpose of matrix m1 times the transpose of matrix m2, and places the result into this.void
mulTransposeLeft(Matrix3d m1, Matrix3d m2)
Multiplies the transpose of matrix m1 times matrix m2, and places the result into this.void
mulTransposeRight(Matrix3d m1, Matrix3d m2)
Multiplies matrix m1 times the transpose of matrix m2, and places the result into this.void
negate()
Negates the value of this matrix: this = -this.void
negate(Matrix3d m1)
Sets the value of this matrix equal to the negation of of the Matrix3d parameter.void
normalize()
Performs singular value decomposition normalization of this matrix.void
normalize(Matrix3d m1)
Perform singular value decomposition normalization of matrix m1 and place the normalized values into this.void
normalizeCP()
Perform cross product normalization of this matrix.void
normalizeCP(Matrix3d m1)
Perform cross product normalization of matrix m1 and place the normalized values into this.void
rotX(double angle)
Sets the value of this matrix to a counter clockwise rotation about the x axis.void
rotY(double angle)
Sets the value of this matrix to a counter clockwise rotation about the y axis.void
rotZ(double angle)
Sets the value of this matrix to a counter clockwise rotation about the z axis.void
set(double scale)
Sets the value of this matrix to a scale matrix with the passed scale amount.void
set(double[] m)
Sets the values in this Matrix3d equal to the row-major array parameter (ie, the first three elements of the array will be copied into the first row of this matrix, etc.).void
set(AxisAngle4d a1)
Sets the value of this matrix to the matrix conversion of the double precision axis and angle argument.void
set(AxisAngle4f a1)
Sets the value of this matrix to the matrix conversion of the single precision axis and angle argument.void
set(Matrix3d m1)
Sets the value of this matrix to the value of the Matrix3d argument.void
set(Matrix3f m1)
Sets the value of this matrix to the double value of the Matrix3f argument.void
set(Quat4d q1)
Sets the value of this matrix to the matrix conversion of the double precision quaternion argument.void
set(Quat4f q1)
Sets the value of this matrix to the matrix conversion of the single precision quaternion argument.void
setColumn(int column, double[] v)
Sets the specified column of this matrix3d to the three values provided.void
setColumn(int column, double x, double y, double z)
Sets the specified column of this matrix3d to the three values provided.void
setColumn(int column, Vector3d v)
Sets the specified column of this matrix3d to the vector provided.void
setElement(int row, int column, double value)
Sets the specified element of this matrix3f to the value provided.void
setIdentity()
Sets this Matrix3d to identity.void
setM00(double m00)
Set the first matrix element in the first row.void
setM01(double m01)
Set the second matrix element in the first row.void
setM02(double m02)
Set the third matrix element in the first row.void
setM10(double m10)
Set first matrix element in the second row.void
setM11(double m11)
Set the second matrix element in the second row.void
setM12(double m12)
Set the third matrix element in the second row.void
setM20(double m20)
Set the first matrix element in the third row.void
setM21(double m21)
Set the second matrix element in the third row.void
setM22(double m22)
Set the third matrix element in the third row.void
setRow(int row, double[] v)
Sets the specified row of this matrix3d to the three values provided.void
setRow(int row, double x, double y, double z)
Sets the specified row of this matrix3d to the 4 values provided.void
setRow(int row, Vector3d v)
Sets the specified row of this matrix3d to the Vector provided.void
setScale(double scale)
Sets the scale component of the current matrix by factoring out the current scale (by doing an SVD) and multiplying by the new scale.void
setZero()
Sets this matrix to all zeros.void
sub(Matrix3d m1)
Sets the value of this matrix to the matrix difference of itself and matrix m1 (this = this - m1).void
sub(Matrix3d m1, Matrix3d m2)
Sets the value of this matrix to the matrix difference of matrices m1 and m2.String
toString()
Returns a string that contains the values of this Matrix3d.void
transform(Tuple3d t)
Multiply this matrix by the tuple t and place the result back into the tuple (t = this*t).void
transform(Tuple3d t, Tuple3d result)
Multiply this matrix by the tuple t and and place the result into the tuple "result" (result = this*t).void
transpose()
Sets the value of this matrix to its transpose.void
transpose(Matrix3d m1)
Sets the value of this matrix to the transpose of the argument matrix.
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Field Detail
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m00
public double m00
The first matrix element in the first row.
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m01
public double m01
The second matrix element in the first row.
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m02
public double m02
The third matrix element in the first row.
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m10
public double m10
The first matrix element in the second row.
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m11
public double m11
The second matrix element in the second row.
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m12
public double m12
The third matrix element in the second row.
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m20
public double m20
The first matrix element in the third row.
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m21
public double m21
The second matrix element in the third row.
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m22
public double m22
The third matrix element in the third row.
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Constructor Detail
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Matrix3d
public Matrix3d(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)
Constructs and initializes a Matrix3d from the specified nine values.- Parameters:
m00
- the [0][0] elementm01
- the [0][1] elementm02
- the [0][2] elementm10
- the [1][0] elementm11
- the [1][1] elementm12
- the [1][2] elementm20
- the [2][0] elementm21
- the [2][1] elementm22
- the [2][2] element
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Matrix3d
public Matrix3d(double[] v)
Constructs and initializes a Matrix3d from the specified nine- element array.- Parameters:
v
- the array of length 9 containing in order
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Matrix3d
public Matrix3d(Matrix3d m1)
Constructs a new matrix with the same values as the Matrix3d parameter.- Parameters:
m1
- the source matrix
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Matrix3d
public Matrix3d(Matrix3f m1)
Constructs a new matrix with the same values as the Matrix3f parameter.- Parameters:
m1
- the source matrix
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Matrix3d
public Matrix3d()
Constructs and initializes a Matrix3d to all zeros.
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Method Detail
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toString
public String toString()
Returns a string that contains the values of this Matrix3d.
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setIdentity
public final void setIdentity()
Sets this Matrix3d to identity.
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setScale
public final void setScale(double scale)
Sets the scale component of the current matrix by factoring out the current scale (by doing an SVD) and multiplying by the new scale.- Parameters:
scale
- the new scale amount
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setElement
public final void setElement(int row, int column, double value)
Sets the specified element of this matrix3f to the value provided.- Parameters:
row
- the row number to be modified (zero indexed)column
- the column number to be modified (zero indexed)value
- the new value
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getElement
public final double getElement(int row, int column)
Retrieves the value at the specified row and column of the specified matrix.- Parameters:
row
- the row number to be retrieved (zero indexed)column
- the column number to be retrieved (zero indexed)- Returns:
- the value at the indexed element.
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getRow
public final void getRow(int row, Vector3d v)
Copies the matrix values in the specified row into the vector parameter.- Parameters:
row
- the matrix rowv
- the vector into which the matrix row values will be copied
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getRow
public final void getRow(int row, double[] v)
Copies the matrix values in the specified row into the array parameter.- Parameters:
row
- the matrix rowv
- the array into which the matrix row values will be copied
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getColumn
public final void getColumn(int column, Vector3d v)
Copies the matrix values in the specified column into the vector parameter.- Parameters:
column
- the matrix columnv
- the vector into which the matrix row values will be copied
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getColumn
public final void getColumn(int column, double[] v)
Copies the matrix values in the specified column into the array parameter.- Parameters:
column
- the matrix columnv
- the array into which the matrix row values will be copied
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setRow
public final void setRow(int row, double x, double y, double z)
Sets the specified row of this matrix3d to the 4 values provided.- Parameters:
row
- the row number to be modified (zero indexed)x
- the first column elementy
- the second column elementz
- the third column element
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setRow
public final void setRow(int row, Vector3d v)
Sets the specified row of this matrix3d to the Vector provided.- Parameters:
row
- the row number to be modified (zero indexed)v
- the replacement row
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setRow
public final void setRow(int row, double[] v)
Sets the specified row of this matrix3d to the three values provided.- Parameters:
row
- the row number to be modified (zero indexed)v
- the replacement row
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setColumn
public final void setColumn(int column, double x, double y, double z)
Sets the specified column of this matrix3d to the three values provided.- Parameters:
column
- the column number to be modified (zero indexed)x
- the first row elementy
- the second row elementz
- the third row element
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setColumn
public final void setColumn(int column, Vector3d v)
Sets the specified column of this matrix3d to the vector provided.- Parameters:
column
- the column number to be modified (zero indexed)v
- the replacement column
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setColumn
public final void setColumn(int column, double[] v)
Sets the specified column of this matrix3d to the three values provided.- Parameters:
column
- the column number to be modified (zero indexed)v
- the replacement column
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getScale
public final double getScale()
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.- Returns:
- the scale factor of this matrix
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add
public final void add(double scalar)
Adds a scalar to each component of this matrix.- Parameters:
scalar
- the scalar adder
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add
public final void add(double scalar, Matrix3d m1)
Adds a scalar to each component of the matrix m1 and places the result into this. Matrix m1 is not modified.- Parameters:
scalar
- the scalar adderm1
- the original matrix values
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add
public final void add(Matrix3d m1, Matrix3d m2)
Sets the value of this matrix to the matrix sum of matrices m1 and m2.- Parameters:
m1
- the first matrixm2
- the second matrix
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add
public final void add(Matrix3d m1)
Sets the value of this matrix to the sum of itself and matrix m1.- Parameters:
m1
- the other matrix
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sub
public final void sub(Matrix3d m1, Matrix3d m2)
Sets the value of this matrix to the matrix difference of matrices m1 and m2.- Parameters:
m1
- the first matrixm2
- the second matrix
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sub
public final void sub(Matrix3d m1)
Sets the value of this matrix to the matrix difference of itself and matrix m1 (this = this - m1).- Parameters:
m1
- the other matrix
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transpose
public final void transpose()
Sets the value of this matrix to its transpose.
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transpose
public final void transpose(Matrix3d m1)
Sets the value of this matrix to the transpose of the argument matrix.- Parameters:
m1
- the matrix to be transposed
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set
public final void set(Quat4d q1)
Sets the value of this matrix to the matrix conversion of the double precision quaternion argument.- Parameters:
q1
- the quaternion to be converted
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set
public final void set(AxisAngle4d a1)
Sets the value of this matrix to the matrix conversion of the double precision axis and angle argument.- Parameters:
a1
- the axis and angle to be converted
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set
public final void set(Quat4f q1)
Sets the value of this matrix to the matrix conversion of the single precision quaternion argument.- Parameters:
q1
- the quaternion to be converted
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set
public final void set(AxisAngle4f a1)
Sets the value of this matrix to the matrix conversion of the single precision axis and angle argument.- Parameters:
a1
- the axis and angle to be converted
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set
public final void set(Matrix3f m1)
Sets the value of this matrix to the double value of the Matrix3f argument.- Parameters:
m1
- the matrix3d to be converted to double
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set
public final void set(Matrix3d m1)
Sets the value of this matrix to the value of the Matrix3d argument.- Parameters:
m1
- the source matrix3d
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set
public final void set(double[] m)
Sets the values in this Matrix3d equal to the row-major array parameter (ie, the first three elements of the array will be copied into the first row of this matrix, etc.).- Parameters:
m
- the double precision array of length 9
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invert
public final void invert(Matrix3d m1)
Sets the value of this matrix to the matrix inverse of the passed matrix m1.- Parameters:
m1
- the matrix to be inverted
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invert
public final void invert()
Inverts this matrix in place.
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determinant
public final double determinant()
Computes the determinant of this matrix.- Returns:
- the determinant of the matrix
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set
public final void set(double scale)
Sets the value of this matrix to a scale matrix with the passed scale amount.- Parameters:
scale
- the scale factor for the matrix
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rotX
public final void rotX(double angle)
Sets the value of this matrix to a counter clockwise rotation about the x axis.- Parameters:
angle
- the angle to rotate about the X axis in radians
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rotY
public final void rotY(double angle)
Sets the value of this matrix to a counter clockwise rotation about the y axis.- Parameters:
angle
- the angle to rotate about the Y axis in radians
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rotZ
public final void rotZ(double angle)
Sets the value of this matrix to a counter clockwise rotation about the z axis.- Parameters:
angle
- the angle to rotate about the Z axis in radians
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mul
public final void mul(double scalar)
Multiplies each element of this matrix by a scalar.- Parameters:
scalar
- The scalar multiplier.
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mul
public final void mul(double scalar, Matrix3d m1)
Multiplies each element of matrix m1 by a scalar and places the result into this. Matrix m1 is not modified.- Parameters:
scalar
- the scalar multiplierm1
- the original matrix
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mul
public final void mul(Matrix3d m1)
Sets the value of this matrix to the result of multiplying itself with matrix m1.- Parameters:
m1
- the other matrix
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mul
public final void mul(Matrix3d m1, Matrix3d m2)
Sets the value of this matrix to the result of multiplying the two argument matrices together.- Parameters:
m1
- the first matrixm2
- the second matrix
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mulNormalize
public final void mulNormalize(Matrix3d m1)
Multiplies this matrix by matrix m1, does an SVD normalization of the result, and places the result back into this matrix this = SVDnorm(this*m1).- Parameters:
m1
- the matrix on the right hand side of the multiplication
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mulNormalize
public final void mulNormalize(Matrix3d m1, Matrix3d m2)
Multiplies matrix m1 by matrix m2, does an SVD normalization of the result, and places the result into this matrix this = SVDnorm(m1*m2).- Parameters:
m1
- the matrix on the left hand side of the multiplicationm2
- the matrix on the right hand side of the multiplication
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mulTransposeBoth
public final void mulTransposeBoth(Matrix3d m1, Matrix3d m2)
Multiplies the transpose of matrix m1 times the transpose of matrix m2, and places the result into this.- Parameters:
m1
- the matrix on the left hand side of the multiplicationm2
- the matrix on the right hand side of the multiplication
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mulTransposeRight
public final void mulTransposeRight(Matrix3d m1, Matrix3d m2)
Multiplies matrix m1 times the transpose of matrix m2, and places the result into this.- Parameters:
m1
- the matrix on the left hand side of the multiplicationm2
- the matrix on the right hand side of the multiplication
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mulTransposeLeft
public final void mulTransposeLeft(Matrix3d m1, Matrix3d m2)
Multiplies the transpose of matrix m1 times matrix m2, and places the result into this.- Parameters:
m1
- the matrix on the left hand side of the multiplicationm2
- the matrix on the right hand side of the multiplication
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normalize
public final void normalize()
Performs singular value decomposition normalization of this matrix.
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normalize
public final void normalize(Matrix3d m1)
Perform singular value decomposition normalization of matrix m1 and place the normalized values into this.- Parameters:
m1
- Provides the matrix values to be normalized
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normalizeCP
public final void normalizeCP()
Perform cross product normalization of this matrix.
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normalizeCP
public final void normalizeCP(Matrix3d m1)
Perform cross product normalization of matrix m1 and place the normalized values into this.- Parameters:
m1
- Provides the matrix values to be normalized
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equals
public boolean equals(Matrix3d m1)
Returns true if all of the data members of Matrix3d m1 are equal to the corresponding data members in this Matrix3d.- Parameters:
m1
- the matrix with which the comparison is made- Returns:
- true or false
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equals
public boolean equals(Object t1)
Returns true if the Object t1 is of type Matrix3d and all of the data members of t1 are equal to the corresponding data members in this Matrix3d.
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epsilonEquals
public boolean epsilonEquals(Matrix3d 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 ; j=0,1,2 ; abs(this.m(i,j) - m1.m(i,j)]- Parameters:
m1
- the matrix to be compared to this matrixepsilon
- the threshold value
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hashCode
public int hashCode()
Returns a hash code value based on the data values in this object. Two different Matrix3d objects with identical data values (i.e., Matrix3d.equals returns true) will return the same hash code value. Two objects with different data members may return the same hash value, although this is not likely.
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setZero
public final void setZero()
Sets this matrix to all zeros.
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negate
public final void negate()
Negates the value of this matrix: this = -this.
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negate
public final void negate(Matrix3d m1)
Sets the value of this matrix equal to the negation of of the Matrix3d parameter.- Parameters:
m1
- the source matrix
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transform
public final void transform(Tuple3d t)
Multiply this matrix by the tuple t and place the result back into the tuple (t = this*t).- Parameters:
t
- the tuple to be multiplied by this matrix and then replaced
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transform
public final void transform(Tuple3d t, Tuple3d result)
Multiply this matrix by the tuple t and and place the result into the tuple "result" (result = this*t).- Parameters:
t
- the tuple to be multiplied by this matrixresult
- the tuple into which the product is placed
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clone
public Object clone()
Creates a new object of the same class as this object.- Overrides:
clone
in classObject
- Returns:
- a clone of this instance.
- Throws:
OutOfMemoryError
- if there is not enough memory.- Since:
- vecmath 1.3
- See Also:
Cloneable
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getM00
public final double getM00()
Get the first matrix element in the first row.- Returns:
- Returns the m00.
- Since:
- vecmath 1.5
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setM00
public final void setM00(double m00)
Set the first matrix element in the first row.- Parameters:
m00
- The m00 to set.- Since:
- vecmath 1.5
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getM01
public final double getM01()
Get the second matrix element in the first row.- Returns:
- Returns the m01.
- Since:
- vecmath 1.5
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setM01
public final void setM01(double m01)
Set the second matrix element in the first row.- Parameters:
m01
- The m01 to set.- Since:
- vecmath 1.5
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getM02
public final double getM02()
Get the third matrix element in the first row.- Returns:
- Returns the m02.
- Since:
- vecmath 1.5
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setM02
public final void setM02(double m02)
Set the third matrix element in the first row.- Parameters:
m02
- The m02 to set.- Since:
- vecmath 1.5
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getM10
public final double getM10()
Get first matrix element in the second row.- Returns:
- Returns the m10.
- Since:
- vecmath 1.5
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setM10
public final void setM10(double m10)
Set first matrix element in the second row.- Parameters:
m10
- The m10 to set.- Since:
- vecmath 1.5
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getM11
public final double getM11()
Get second matrix element in the second row.- Returns:
- Returns the m11.
- Since:
- vecmath 1.5
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setM11
public final void setM11(double m11)
Set the second matrix element in the second row.- Parameters:
m11
- The m11 to set.- Since:
- vecmath 1.5
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getM12
public final double getM12()
Get the third matrix element in the second row.- Returns:
- Returns the m12.
- Since:
- vecmath 1.5
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setM12
public final void setM12(double m12)
Set the third matrix element in the second row.- Parameters:
m12
- The m12 to set.- Since:
- vecmath 1.5
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getM20
public final double getM20()
Get the first matrix element in the third row.- Returns:
- Returns the m20.
- Since:
- vecmath 1.5
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setM20
public final void setM20(double m20)
Set the first matrix element in the third row.- Parameters:
m20
- The m20 to set.- Since:
- vecmath 1.5
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getM21
public final double getM21()
Get the second matrix element in the third row.- Returns:
- Returns the m21.
- Since:
- vecmath 1.5
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setM21
public final void setM21(double m21)
Set the second matrix element in the third row.- Parameters:
m21
- The m21 to set.- Since:
- vecmath 1.5
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getM22
public final double getM22()
Get the third matrix element in the third row .- Returns:
- Returns the m22.
- Since:
- vecmath 1.5
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setM22
public final void setM22(double m22)
Set the third matrix element in the third row.- Parameters:
m22
- The m22 to set.- Since:
- vecmath 1.5
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