javax.vecmath

Class Matrix4d

Implemented Interfaces:
Serializable

public class Matrix4d
extends java.lang.Object
implements Serializable

A double precision floating point 4 by 4 matrix.
Version:
specification 1.1, implementation $Revision: 1.15 $, $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
m03
The fourth 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
m13
The fourth 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.
double
m23
The fourth element of the third row.
double
m30
The first element of the fourth row.
double
m31
The second element of the fourth row.
double
m32
The third element of the fourth row.
double
m33
The fourth element of the fourth row.

Constructor Summary

Matrix4d()
Constructs and initializes a Matrix4d to all zeros.
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)
Constructs and initializes a Matrix4d from the specified 16 values.
Matrix4d(Matrix3d m1, Vector3d t1, double s)
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.
Matrix4d(Matrix3f m1, Vector3d t1, double s)
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.
Matrix4d(Matrix4d m1)
Constructs a new matrix with the same values as the Matrix4d parameter.
Matrix4d(Matrix4f m1)
Constructs a new matrix with the same values as the Matrix4f parameter.
Matrix4d(Quat4d q1, Vector3d t1, double s)
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.
Matrix4d(Quat4f q1, Vector3d t1, double s)
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.
Matrix4d(v[] )
Constructs and initializes a Matrix4d from the specified 16 element array.

Method Summary

void
add(double scalar)
Adds a scalar to each component of this matrix.
void
add(double scalar, Matrix4d m1)
Adds a scalar to each component of the matrix m1 and places the result into this.
void
add(Matrix4d m1)
Sets the value of this matrix to sum of itself and matrix m1.
void
add(Matrix4d m1, Matrix4d 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(Matrix4d 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
epsilonEquals(Matrix4d m1, float epsilon)
Deprecated. As of Java3D API1.1 Beta02
boolean
equals(Object o1)
Returns true if the Object o1 is of type Matrix4d and all of the data members of t1 are equal to the corresponding data members in this Matrix4d.
boolean
equals(Matrix4d m1)
Returns true if all of the data members of Matrix4d m1 are equal to the corresponding data members in this Matrix4d.
void
get(Matrix3d m1)
Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3d parameter.
double
get(Matrix3d m1, Vector3d t1)
Performs an SVD normalization of this matrix to calculate the rotation as a 3x3 matrix, the translation, and the scale.
void
get(Matrix3f m1)
Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3f parameter.
double
get(Matrix3f m1, Vector3d t1)
Performs an SVD normalization of this matrix to calculate the rotation as a 3x3 matrix, the translation, and the scale.
void
get(Quat4d q1)
Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Quat4f parameter.
void
get(Quat4f q1)
Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Quat4f parameter.
void
get(Vector3d trans)
Retrieves the translational components of this matrix.
void
getColumn(int column, Vector4d 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
getRotationScale(Matrix3d m1)
Gets the upper 3x3 values of this matrix and places them into the matrix m1.
void
getRotationScale(Matrix3f m1)
Gets the upper 3x3 values of this matrix and places them into the matrix m1.
void
getRow(int row, Vector4d 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(Matrix4d 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, Matrix4d m1)
Multiplies each element of matrix m1 by a scalar and places the result into this.
void
mul(Matrix4d m1)
Sets the value of this matrix to the result of multiplying itself with matrix m1.
void
mul(Matrix4d m1, Matrix4d m2)
Sets the value of this matrix to the result of multiplying the two argument matrices together.
void
mulTransposeBoth(Matrix4d m1, Matrix4d m2)
Multiplies the transpose of matrix m1 times the transpose of matrix m2, and places the result into this.
void
mulTransposeLeft(Matrix4d m1, Matrix4d m2)
Multiplies the transpose of matrix m1 times matrix m2, and places the result into this.
void
mulTransposeRight(Matrix4d m1, Matrix4d 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(Matrix4d m1)
Sets the value of this matrix equal to the negation of of the Matrix4d parameter.
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(double scale, Vector3d v1)
Sets the value of this matrix to a scale and translation matrix; scale is not applied to the translation and all of the matrix values are modified.
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 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 (ie, affine matrix with no translational component).
void
set(Matrix3d m1, Vector3d t1, double scale)
Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale s.
void
set(Matrix3f m1)
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 (ie, affine matrix with no translational component).
void
set(Matrix3f m1, Vector3f t1, float scale)
Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale s.
void
set(Matrix4d m1)
Sets the value of this matrix to a copy of the passed matrix m1.
void
set(Matrix4f m1)
Sets the value of this matrix to the double value of the passed matrix4f.
void
set(Quat4d q1)
Sets the value of this matrix to the matrix conversion of the (double precision) quaternion argument.
void
set(Quat4d q1, Vector3d t1, double s)
Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
void
set(Quat4f q1)
Sets the value of this matrix to the matrix conversion of the single precision quaternion argument.
void
set(Quat4f q1, Vector3d t1, double s)
Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
void
set(Quat4f q1, Vector3f t1, float s)
Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
void
set(Vector3d v1)
Sets the value of this matrix to a translate matrix by the passed translation value.
void
set(Vector3d v1, double scale)
Sets the value of this matrix to a scale and translation matrix; the translation is scaled by the scale factor and all of the matrix values are modified.
void
set(m[] )
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.).
void
setColumn(int column, double x, double y, double z, double w)
Sets the specified column of this matrix4d to the four values provided.
void
setColumn(int column, Vector4d v)
Sets the specified column of this matrix4d to the vector provided.
void
setColumn(int column, v[] )
Sets the specified column of this matrix4d to the four values provided.
void
setElement(int row, int column, double value)
Sets the specified element of this matrix4d to the value provided.
void
setIdentity()
Sets this Matrix4d to identity.
void
setRotation(AxisAngle4d a1)
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.
void
setRotation(Matrix3d m1)
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.
void
setRotation(Matrix3f m1)
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.
void
setRotation(Quat4d q1)
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.
void
setRotation(Quat4f q1)
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.
void
setRotationScale(Matrix3d m1)
Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.
void
setRotationScale(Matrix3f m1)
Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.
void
setRow(int row, double x, double y, double z, double w)
Sets the specified row of this matrix4d to the four values provided.
void
setRow(int row, Vector4d v)
Sets the specified row of this matrix4d to the Vector provided.
void
setRow(int row, v[] )
Sets the specified row of this matrix4d 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
setTranslation(Vector3d trans)
Modifies the translational components of this matrix to the values of the Vector3d argument; the other values of this matrix are not modified.
void
setZero()
Sets this matrix to all zeros.
void
sub(Matrix4d m1)
Sets the value of this matrix to the matrix difference of itself and matrix m1 (this = this - m1).
void
sub(Matrix4d m1, Matrix4d 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 Matrix4d.
void
transform(Point3d point)
Transforms the point parameter with this Matrix4d and places the result back into point.
void
transform(Point3d point, Point3d pointOut)
Transforms the point parameter with this Matrix4d and places the result into pointOut.
void
transform(Point3f point)
Transforms the point parameter with this Matrix4d and places the result back into point.
void
transform(Point3f point, Point3f pointOut)
Transforms the point parameter with this Matrix4d and places the result into pointOut.
void
transform(Tuple4d vec)
Transform the vector vec using this Matrix4d and place the result back into vec.
void
transform(Tuple4d vec, Tuple4d vecOut)
Transform the vector vec using this Matrix4d and place the result into vecOut.
void
transform(Tuple4f vec)
Transform the vector vec using this Matrix4d and place the result back into vec.
void
transform(Tuple4f vec, Tuple4f vecOut)
Transform the vector vec using this Matrix4d and place the result into vecOut.
void
transform(Vector3d normal)
Transforms the normal parameter by this transform and places the value back into normal.
void
transform(Vector3d normal, Vector3d normalOut)
Transforms the normal parameter by this Matrix4d and places the value into normalOut.
void
transform(Vector3f normal)
Transforms the normal parameter by this transform and places the value back into normal.
void
transform(Vector3f normal, Vector3f normalOut)
Transforms the normal parameter by this Matrix4d and places the value into normalOut.
void
transpose()
Sets the value of this matrix to its transpose.
void
transpose(Matrix4d 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.

m03

public double m03
The fourth 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.

m13

public double m13
The fourth 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.

m23

public double m23
The fourth element of the third row.

m30

public double m30
The first element of the fourth row.

m31

public double m31
The second element of the fourth row.

m32

public double m32
The third element of the fourth row.

m33

public double m33
The fourth element of the fourth row.

Constructor Details

Matrix4d

public Matrix4d()
Constructs and initializes a Matrix4d to all zeros.

Matrix4d

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)
Constructs and initializes a Matrix4d from the specified 16 values.
Parameters:
m00 - the [0][0] element
m01 - the [0][1] element
m02 - the [0][2] element
m03 - the [0][3] element
m10 - the [1][0] element
m11 - the [1][1] element
m12 - the [1][2] element
m13 - the [1][3] element
m20 - the [2][0] element
m21 - the [2][1] element
m22 - the [2][2] element
m23 - the [2][3] element
m30 - the [3][0] element
m31 - the [3][1] element
m32 - the [3][2] element
m33 - the [3][3] element

Matrix4d

public Matrix4d(Matrix3d m1,
                Vector3d t1,
                double s)
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.
Parameters:
m1 - The rotation matrix representing the rotational components
t1 - The translational components of the matrix
s - The scale value applied to the rotational components

Matrix4d

public Matrix4d(Matrix3f m1,
                Vector3d t1,
                double s)
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.
Parameters:
m1 - The rotation matrix representing the rotational components
t1 - The translational components of the matrix
s - The scale value applied to the rotational components

Matrix4d

public Matrix4d(Matrix4d m1)
Constructs a new matrix with the same values as the Matrix4d parameter.
Parameters:
m1 - The source matrix.

Matrix4d

public Matrix4d(Matrix4f m1)
Constructs a new matrix with the same values as the Matrix4f parameter.
Parameters:
m1 - The source matrix.

Matrix4d

public Matrix4d(Quat4d q1,
                Vector3d t1,
                double s)
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.
Parameters:
q1 - The quaternion value representing the rotational component
t1 - The translational component of the matrix
s - The scale value applied to the rotational components

Matrix4d

public Matrix4d(Quat4f q1,
                Vector3d t1,
                double s)
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.
Parameters:
q1 - The quaternion value representing the rotational component
t1 - The translational component of the matrix
s - The scale value applied to the rotational components

Matrix4d

public Matrix4d(v[] )
Constructs and initializes a Matrix4d from the specified 16 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,
                      Matrix4d 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(Matrix4d m1)
Sets the value of this matrix to sum of itself and matrix m1.
Parameters:
m1 - the other matrix

add

public final void add(Matrix4d m1,
                      Matrix4d 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(Matrix4d 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

epsilonEquals

public boolean epsilonEquals(Matrix4d m1,
                             float epsilon)

Deprecated. As of Java3D API1.1 Beta02

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 Matrix4d and all of the data members of t1 are equal to the corresponding data members in this Matrix4d.
Parameters:
o1 - the object with which the comparison is made.

equals

public boolean equals(Matrix4d m1)
Returns true if all of the data members of Matrix4d m1 are equal to the corresponding data members in this Matrix4d.
Parameters:
m1 - The matrix with which the comparison is made.
Returns:
true or false

get

public final void get(Matrix3d m1)
Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3d parameter.
Parameters:
m1 - matrix into which the rotational component is placed

get

public final double get(Matrix3d m1,
                        Vector3d t1)
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.
Parameters:
m1 - The normalized matrix representing the rotation
t1 - The translation component
Returns:
The scale component of this transform

get

public final void get(Matrix3f m1)
Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3f parameter.
Parameters:
m1 - matrix into which the rotational component is placed

get

public final double get(Matrix3f m1,
                        Vector3d t1)
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.
Parameters:
m1 - The normalized matrix representing the rotation
t1 - The translation component
Returns:
The scale component of this transform

get

public final void get(Quat4d q1)
Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Quat4f parameter.
Parameters:
q1 - quaternion into which the rotation component is placed

get

public final void get(Quat4f q1)
Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Quat4f parameter.
Parameters:
q1 - quaternion into which the rotation component is placed

get

public final void get(Vector3d trans)
Retrieves the translational components of this matrix.
Parameters:
trans - the vector that will receive the translational component

getColumn

public final void getColumn(int column,
                            Vector4d 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 column 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

getRotationScale

public final void getRotationScale(Matrix3d m1)
Gets the upper 3x3 values of this matrix and places them into the matrix m1.
Parameters:
m1 - The matrix that will hold the values

getRotationScale

public final void getRotationScale(Matrix3f m1)
Gets the upper 3x3 values of this matrix and places them into the matrix m1.
Parameters:
m1 - The matrix that will hold the values

getRow

public final void getRow(int row,
                         Vector4d 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 Matrix4d objects with identical data values (ie, returns true for equals(Matrix4d) ) 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(Matrix4d 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,
                      Matrix4d 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(Matrix4d 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(Matrix4d m1,
                      Matrix4d 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

mulTransposeBoth

public final void mulTransposeBoth(Matrix4d m1,
                                   Matrix4d 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(Matrix4d m1,
                                   Matrix4d 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(Matrix4d m1,
                                    Matrix4d 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(Matrix4d m1)
Sets the value of this matrix equal to the negation of of the Matrix4d parameter.
Parameters:
m1 - The source matrix

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(double scale,
                      Vector3d v1)
Sets the value of this matrix to a scale and translation matrix; scale is not applied to the translation and all of the matrix values are modified.
Parameters:
scale - the scale factor for the matrix
v1 - the translation amount

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 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 (ie, affine matrix with no translational component).
Parameters:
m1 - the 3x3 matrix

set

public final void set(Matrix3d m1,
                      Vector3d t1,
                      double scale)
Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale s. The translation is not modified by the scale.
Parameters:
m1 - The rotation component
t1 - The translation component
scale - The scale component

set

public final void set(Matrix3f m1)
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 (ie, affine matrix with no translational component).
Parameters:
m1 - the 3x3 matrix

set

public final void set(Matrix3f m1,
                      Vector3f t1,
                      float scale)
Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale s. The translation is not modified by the scale.
Parameters:
m1 - The rotation component
t1 - The translation component
scale - The scale component

set

public final void set(Matrix4d m1)
Sets the value of this matrix to a copy of the passed matrix m1.
Parameters:
m1 - the matrix to be copied

set

public final void set(Matrix4f m1)
Sets the value of this matrix to the double value of the passed matrix4f.
Parameters:
m1 - the matrix4f

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(Quat4d q1,
                      Vector3d t1,
                      double s)
Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
Parameters:
q1 - the rotation expressed as a quaternion
t1 - the translation
s - the scale value

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(Quat4f q1,
                      Vector3d t1,
                      double s)
Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
Parameters:
q1 - the rotation expressed as a quaternion
t1 - the translation
s - the scale value

set

public final void set(Quat4f q1,
                      Vector3f t1,
                      float s)
Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
Parameters:
q1 - the rotation expressed as a quaternion
t1 - the translation
s - the scale value

set

public final void set(Vector3d v1)
Sets the value of this matrix to a translate matrix by the passed translation value.
Parameters:
v1 - the translation amount

set

public final void set(Vector3d v1,
                      double scale)
Sets the value of this matrix to a scale and translation matrix; the translation is scaled by the scale factor and all of the matrix values are modified.
Parameters:
v1 - the translation amount
scale - the scale factor for the matrix

set

public final void set(m[] )
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.).

setColumn

public final void setColumn(int column,
                            double x,
                            double y,
                            double z,
                            double w)
Sets the specified column of this matrix4d to the four 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
w - the fourth row element

setColumn

public final void setColumn(int column,
                            Vector4d v)
Sets the specified column of this matrix4d 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 matrix4d 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 matrix4d 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 Matrix4d to identity.

setRotation

public final void setRotation(AxisAngle4d a1)
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.
Parameters:
a1 - the axis-angle to be converted (x, y, z, angle)

setRotation

public final void setRotation(Matrix3d m1)
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.
Parameters:
m1 - double precision 3x3 matrix

setRotation

public final void setRotation(Matrix3f m1)
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.
Parameters:
m1 - single precision 3x3 matrix

setRotation

public final void setRotation(Quat4d q1)
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.
Parameters:
q1 - the quaternion that specifies the rotation

setRotation

public final void setRotation(Quat4f q1)
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.
Parameters:
q1 - the quaternion that specifies the rotation

setRotationScale

public final void setRotationScale(Matrix3d m1)
Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.
Parameters:
m1 - The matrix that will be the new upper 3x3

setRotationScale

public final void setRotationScale(Matrix3f m1)
Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.
Parameters:
m1 - The matrix that will be the new upper 3x3

setRow

public final void setRow(int row,
                         double x,
                         double y,
                         double z,
                         double w)
Sets the specified row of this matrix4d to the four 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
w - the fourth column element

setRow

public final void setRow(int row,
                         Vector4d v)
Sets the specified row of this matrix4d 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 matrix4d 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

setTranslation

public final void setTranslation(Vector3d trans)
Modifies the translational components of this matrix to the values of the Vector3d argument; the other values of this matrix are not modified.
Parameters:
trans - the translational component

setZero

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

sub

public final void sub(Matrix4d 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(Matrix4d m1,
                      Matrix4d 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 Matrix4d.
Returns:
the String representation

transform

public final void transform(Point3d point)
Transforms the point parameter with this Matrix4d and places the result back into point. The fourth element of the point input paramter is assumed to be one.
Parameters:
point - the input point to be transformed.

transform

public final void transform(Point3d point,
                            Point3d pointOut)
Transforms the point parameter with this Matrix4d and places the result into pointOut. The fourth element of the point input paramter is assumed to be one.
Parameters:
point - the input point to be transformed.
pointOut - the transformed point

transform

public final void transform(Point3f point)
Transforms the point parameter with this Matrix4d and places the result back into point. The fourth element of the point input paramter is assumed to be one.
Parameters:
point - the input point to be transformed.

transform

public final void transform(Point3f point,
                            Point3f pointOut)
Transforms the point parameter with this Matrix4d and places the result into pointOut. The fourth element of the point input paramter is assumed to be one.
Parameters:
point - the input point to be transformed.
pointOut - the transformed point

transform

public final void transform(Tuple4d vec)
Transform the vector vec using this Matrix4d and place the result back into vec.
Parameters:
vec - the double precision vector to be transformed

transform

public final void transform(Tuple4d vec,
                            Tuple4d vecOut)
Transform the vector vec using this Matrix4d and place the result into vecOut.
Parameters:
vec - the double precision vector to be transformed
vecOut - the vector into which the transformed values are placed

transform

public final void transform(Tuple4f vec)
Transform the vector vec using this Matrix4d and place the result back into vec.
Parameters:
vec - the single precision vector to be transformed

transform

public final void transform(Tuple4f vec,
                            Tuple4f vecOut)
Transform the vector vec using this Matrix4d and place the result into vecOut.
Parameters:
vec - the single precision vector to be transformed
vecOut - the vector into which the transformed values are placed

transform

public final void transform(Vector3d normal)
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.
Parameters:
normal - the input normal to be transformed.

transform

public final void transform(Vector3d normal,
                            Vector3d normalOut)
Transforms the normal parameter by this Matrix4d and places the value into normalOut. The fourth element of the normal is assumed to be zero.
Parameters:
normal - the input normal to be transformed.
normalOut - the transformed normal

transform

public final void transform(Vector3f normal)
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.
Parameters:
normal - the input normal to be transformed.

transform

public final void transform(Vector3f normal,
                            Vector3f normalOut)
Transforms the normal parameter by this Matrix4d and places the value into normalOut. The fourth element of the normal is assumed to be zero.
Parameters:
normal - the input normal to be transformed.
normalOut - the transformed normal

transpose

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

transpose

public final void transpose(Matrix4d m1)
Sets the value of this matrix to the transpose of the argument matrix
Parameters:
m1 - the matrix to be transposed