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java.lang.Object
javax.vecmath.Matrix3d
public class Matrix3d
extends java.lang.Object
implements Serializable
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public double m00
The first element of the first row.
public double m01
The second element of the first row.
public double m02
third element of the first row.
public double m10
The first element of the second row.
public double m11
The second element of the second row.
public double m12
The third element of the second row.
public double m20
The first element of the third row.
public double m21
The second element of the third row.
public double m22
The third element of the third row.
public Matrix3d()
Constructs and initializes a Matrix3d to all zeros.
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
public Matrix3d(Matrix3d m1)
Constructs a new matrix with the same values as the Matrix3d parameter.
- Parameters:
m1
- The source matrix.
public Matrix3d(Matrix3f m1)
Constructs a new matrix with the same values as the Matrix3f parameter.
- Parameters:
m1
- The source matrix.
public Matrix3d(v[] )
Constructs and initializes a Matrix3d from the specified 9 element array. this.m00 =v[0], this.m01=v[1], etc.
- Parameters:
public final void add(double scalar)
Adds a scalar to each component of this matrix.
- Parameters:
scalar
- The scalar adder.
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 adder.
public final void add(Matrix3d m1)
Sets the value of this matrix to sum of itself and matrix m1.
- Parameters:
m1
- the other matrix
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
public final double determinant()
Computes the determinant of this matrix.
- Returns:
- the determinant of the matrix
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=0,1,2,3 ; j=0,1,2,3 ; abs(this.m(i,j) - m1.m(i,j)]
- Parameters:
m1
- The matrix to be compared to this matrixepsilon
- the threshold value
public boolean equals(Object o1)
Returns true if the Object o1 is of type Matrix3d and all of the data members of t1 are equal to the corresponding data members in this Matrix3d.
- Parameters:
o1
- the object with which the comparison is made.
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
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
public final void getColumn(int column, v[] )
Copies the matrix values in the specified column into the array parameter.
- Parameters:
column
- the matrix column
public final double getElement(int row, int column)
Retrieves the value at the specified row and column of this 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
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
public final void getRow(int row, v[] )
Copies the matrix values in the specified row into the array parameter.
- Parameters:
row
- the matrix row
public final double getScale()
Performs an SVD normalization of this matrix to calculate and return the uniform scale factor. This matrix is not modified.
- Returns:
- the scale factor of this matrix
public int hashCode()
Returns a hash number based on the data values in this object. Two different Matrix3d objects with identical data values (ie, returns true for equals(Matrix3d) ) will return the same hash number. Two objects with different data members may return the same hash value, although this is not likely.
- Returns:
- the integer hash value
public final void invert()
Sets the value of this matrix to its inverse.
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
public final void mul(double scalar)
Multiplies each element of this matrix by a scalar.
- Parameters:
scalar
- The scalar multiplier.
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 multiplier.m1
- The original matrix.
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
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
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
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
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
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
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
public final void negate()
Negates the value of this matrix: this = -this.
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
public final void normalize()
Performs singular value decomposition normalization of this matrix.
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
public final void normalizeCP()
Perform cross product normalization of this matrix.
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
public final void rotX(double angle)
Sets the value of this matrix to a rotation matrix about the x axis by the passed angle.
- Parameters:
angle
- the angle to rotate about the X axis in radians
public final void rotY(double angle)
Sets the value of this matrix to a rotation matrix about the y axis by the passed angle.
- Parameters:
angle
- the angle to rotate about the Y axis in radians
public final void rotZ(double angle)
Sets the value of this matrix to a rotation matrix about the z axis by the passed angle.
- Parameters:
angle
- the angle to rotate about the Z axis in radians
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
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
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
public final void set(Matrix3d m1)
Sets the value of this matrix to the value of the Matrix3d argument.
public final void set(Matrix3f m1)
Sets the value of this matrix to the double value of the Matrix3f argument.
- Parameters:
m1
- the matrix3f to be converted to double
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
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
public final void set(m[] )
Sets the values in this Matrix3d 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.).
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
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
public final void setColumn(int column, v[] )
Sets the specified column of this matrix3d to the four values provided.
- Parameters:
column
- the column number to be modified (zero indexed)
public final void setElement(int row, int column, double value)
Sets the specified element of this matrix3d 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
public final void setIdentity()
Sets this Matrix3d to identity.
public final void setRow(int row, double x, double y, double z)
Sets the specified row of this matrix3d to the three 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
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
public final void setRow(int row, v[] )
Sets the specified row of this matrix3d to the four values provided.
- Parameters:
row
- the row number to be modified (zero indexed)
public final void setScale(double scale)
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.
- Parameters:
scale
- the new scale amount
public final void setZero()
Sets this matrix to all zeros.
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
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
public String toString()
Returns a string that contains the values of this Matrix3d.
- Returns:
- the String representation
public final void transform(Tuple3d t)
Transform the vector vec using this Matrix3d and place the result back into vec.
- Parameters:
public final void transform(Tuple3d t, Tuple3d result)
Transform the vector vec using this Matrix3d and place the result into vecOut.
- Parameters:
result
- the vector into which the transformed values are placed
public final void transpose()
Sets the value of this matrix to its 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