javax.vecmath

Class Matrix3d

Implemented Interfaces:
Serializable

public class Matrix3d
extends java.lang.Object
implements Serializable

A double precision floating point 3 by 3 matrix. Primarily to support rotations
Version:
specification 1.1, implementation $Revision: 1.14 $, $Date: 1999/10/05 07:03:50 $
Author:
Kenji hiranabe

Field Summary

double
m00
The first element of the first row.
double
m01
The second element of the first row.
double
m02
third element of the first row.
double
m10
The first element of the second row.
double
m11
The second element of the second row.
double
m12
The third element of the second row.
double
m20
The first element of the third row.
double
m21
The second element of the third row.
double
m22
The third element of the third row.

Constructor Summary

Matrix3d()
Constructs and initializes a Matrix3d to all zeros.
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.
Matrix3d(v[] )
Constructs and initializes a Matrix3d from the specified 9 element array.

Method Summary

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 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.
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 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.
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, Vector3d v)
Copies the matrix values in the specified column into the vector parameter.
void
getColumn(int column, v[] )
Copies the matrix values in the specified column into the array parameter.
double
getElement(int row, int column)
Retrieves the value at the specified row and column of this matrix.
void
getRow(int row, Vector3d v)
Copies the matrix values in the specified row into the vector parameter.
void
getRow(int row, v[] )
Copies the matrix values in the specified row into the array parameter.
double
getScale()
Performs an SVD normalization of this matrix to calculate and return the uniform scale factor.
int
hashCode()
Returns a hash number based on the data values in this object.
void
invert()
Sets the value of this matrix to its inverse.
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 rotation matrix about the x axis by the passed angle.
void
rotY(double angle)
Sets the value of this matrix to a rotation matrix about the y axis by the passed angle.
void
rotZ(double angle)
Sets the value of this matrix to a rotation matrix about the z axis by the passed angle.
void
set(double scale)
Sets the value of this matrix to a scale matrix with the passed scale amount.
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
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.).
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
setColumn(int column, v[] )
Sets the specified column of this matrix3d to the four values provided.
void
setElement(int row, int column, double value)
Sets the specified element of this matrix3d to the value provided.
void
setIdentity()
Sets this Matrix3d to identity.
void
setRow(int row, double x, double y, double z)
Sets the specified row of this matrix3d to the three values provided.
void
setRow(int row, Vector3d v)
Sets the specified row of this matrix3d to the Vector provided.
void
setRow(int row, v[] )
Sets the specified row of this matrix3d to the four values provided.
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.
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)
Transform the vector vec using this Matrix3d and place the result back into vec.
void
transform(Tuple3d t, Tuple3d result)
Transform the vector vec using this Matrix3d and place the result into vecOut.
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

Field Details

m00

public double m00
The first element of the first row.

m01

public double m01
The second element of the first row.

m02

public double m02
third element of the first row.

m10

public double m10
The first element of the second row.

m11

public double m11
The second element of the second row.

m12

public double m12
The third element of the second row.

m20

public double m20
The first element of the third row.

m21

public double m21
The second element of the third row.

m22

public double m22
The third element of the third row.

Constructor Details

Matrix3d

public Matrix3d()
Constructs and initializes a Matrix3d to all zeros.

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] element
m01 - the [0][1] element
m02 - the [0][2] element
m10 - the [1][0] element
m11 - the [1][1] element
m12 - the [1][2] element
m20 - the [2][0] element
m21 - the [2][1] element
m22 - the [2][2] element

Matrix3d

public Matrix3d(Matrix3d m1)
Constructs a new matrix with the same values as the Matrix3d parameter.
Parameters:
m1 - The source matrix.

Matrix3d

public Matrix3d(Matrix3f m1)
Constructs a new matrix with the same values as the Matrix3f parameter.
Parameters:
m1 - The source matrix.

Matrix3d

public Matrix3d(v[] )
Constructs and initializes a Matrix3d from the specified 9 element array. this.m00 =v[0], this.m01=v[1], etc.
Parameters:

Method Details

add

public final void add(double scalar)
Adds a scalar to each component of this matrix.
Parameters:
scalar - The scalar adder.

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 adder.

add

public final void add(Matrix3d m1)
Sets the value of this matrix to sum of itself and matrix m1.
Parameters:
m1 - the other matrix

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 matrix
m2 - the second matrix

determinant

public final double determinant()
Computes the determinant of this matrix.
Returns:
the determinant of the matrix

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=0,1,2,3 ; j=0,1,2,3 ; abs(this.m(i,j) - m1.m(i,j)]
Parameters:
m1 - The matrix to be compared to this matrix
epsilon - the threshold value

equals

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.

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

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 column
v - The vector into which the matrix row values will be copied

getColumn

public final void getColumn(int column,
                            v[] )
Copies the matrix values in the specified column into the array parameter.
Parameters:
column - the matrix column

getElement

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

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 row
v - The vector into which the matrix row values will be copied

getRow

public final void getRow(int row,
                         v[] )
Copies the matrix values in the specified row into the array parameter.
Parameters:
row - the matrix row

getScale

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

hashCode

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

invert

public final void invert()
Sets the value of this matrix to its inverse.

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

mul

public final void mul(double scalar)
Multiplies each element of this matrix by a scalar.
Parameters:
scalar - The scalar multiplier.

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 multiplier.
m1 - The original matrix.

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

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 matrix
m2 - the second matrix

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

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 multiplication
m2 - the matrix on the right hand side of the multiplication

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 multiplication
m2 - The matrix on the right hand side of the multiplication

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 multiplication
m2 - The matrix on the right hand side of the multiplication

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 multiplication
m2 - The matrix on the right hand side of the multiplication

negate

public final void negate()
Negates the value of this matrix: this = -this.

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

normalize

public final void normalize()
Performs singular value decomposition normalization of this matrix.

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

normalizeCP

public final void normalizeCP()
Perform cross product normalization of this matrix.

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

rotX

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

rotY

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

rotZ

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

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

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

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

set

public final void set(Matrix3d m1)
Sets the value of this matrix to the value of the Matrix3d argument.

set

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

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

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

set

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.).

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 element
y - the second row element
z - the third row element

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

setColumn

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)

setElement

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

setIdentity

public final void setIdentity()
Sets this Matrix3d to identity.

setRow

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 element
y - the second column element
z - the third column element

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

setRow

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)

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) from the rotational component and multiplying by the new scale.
Parameters:
scale - the new scale amount

setZero

public final void setZero()
Sets this matrix to all zeros.

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

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 matrix
m2 - the second matrix

toString

public String toString()
Returns a string that contains the values of this Matrix3d.
Returns:
the String representation

transform

public final void transform(Tuple3d t)
Transform the vector vec using this Matrix3d and place the result back into vec.
Parameters:

transform

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

transpose

public final void transpose()
Sets the value of this matrix to its transpose.

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