Package toxi.geom

Class Matrix3d

java.lang.Object
toxi.geom.Matrix3d
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:

  • 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.

  • 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.

  • Method Summary

    Modifier and Type
    Method
    Description
    final void
    add(double scalar)
    Adds a scalar to each component of this matrix.
    final void
    add(double scalar, Matrix3d m1)
    Adds a scalar to each component of the matrix m1 and places the result into this.
    final void
    add(Matrix3d m1)
    Sets the value of this matrix to the sum of itself and matrix m1.
    final 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.
    final 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.
    final double
    get(int row, int column)
    Retrieves the value at the specified row and column of the specified matrix.
    final void
    getColumn(int column, double[] v)
    Copies the matrix values in the specified column into the array parameter.
    final void
    getColumn(int column, Vec3D v)
    Copies the matrix values in the specified column into the vector parameter.
    final void
    getRow(int row, double[] v)
    Copies the matrix values in the specified row into the array parameter.
    final void
    getRow(int row, Vec3D v)
    Copies the matrix values in the specified row into the vector parameter.
    final 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.
    final void
    invert()
    Inverts this matrix in place.
    final void
    invert(Matrix3d m1)
    Sets the value of this matrix to the matrix inverse of the passed matrix m1.
    final void
    mul(double scalar)
    Multiplies each element of this matrix by a scalar.
    final void
    mul(double scalar, Matrix3d m1)
    Multiplies each element of matrix m1 by a scalar and places the result into this.
    final void
    mul(Matrix3d m1)
    Sets the value of this matrix to the result of multiplying itself with matrix m1.
    final void
    mul(Matrix3d m1, Matrix3d m2)
    Sets the value of this matrix to the result of multiplying the two argument matrices together.
    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).
    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).
    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.
    final void
    mulTransposeLeft(Matrix3d m1, Matrix3d m2)
    Multiplies the transpose of matrix m1 times matrix m2, and places the result into this.
    final void
    mulTransposeRight(Matrix3d m1, Matrix3d m2)
    Multiplies matrix m1 times the transpose of matrix m2, and places the result into this.
    final void
    negate()
    Negates the value of this matrix: this = -this.
    final void
    negate(Matrix3d m1)
    Sets the value of this matrix equal to the negation of of the Matrix3d parameter.
    final void
    normalize()
    Performs singular value decomposition normalization of this matrix.
    final void
    normalize(Matrix3d m1)
    Perform singular value decomposition normalization of matrix m1 and place the normalized values into this.
    final void
    normalizeCP()
    Perform cross product normalization of this matrix.
    final void
    normalizeCP(Matrix3d m1)
    Perform cross product normalization of matrix m1 and place the normalized values into this.
    final void
    rotX(double angle)
    Sets the value of this matrix to a counter clockwise rotation about the x axis.
    final void
    rotY(double angle)
    Sets the value of this matrix to a counter clockwise rotation about the y axis.
    final void
    rotZ(double angle)
    Sets the value of this matrix to a counter clockwise rotation about the z axis.
    final void
    set(double scale)
    Sets the value of this matrix to a scale matrix with the passed scale amount.
    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.).
    final void
    set(Matrix3d m1)
    Sets the value of this matrix to the value of the Matrix3d argument.
    final void
    set(Quaternion q1)
    Sets the value of this matrix to the matrix conversion of the single precision quaternion argument.
    final void
    setColumn(int column, double[] v)
    Sets the specified column of this matrix3d to the three values provided.
    final void
    setColumn(int column, double x, double y, double z)
    Sets the specified column of this matrix3d to the three values provided.
    final void
    setColumn(int column, Vec3D v)
    Sets the specified column of this matrix3d to the vector provided.
    final void
    setElement(int row, int column, double value)
    Sets the specified element of this matrix3f to the value provided.
    final void
    setIdentity()
    Sets this Matrix3d to identity.
    final void
    setM00(double m00)
    Set the first matrix element in the first row.
    final void
    setM01(double m01)
    Set the second matrix element in the first row.
    final void
    setM02(double m02)
    Set the third matrix element in the first row.
    final void
    setM10(double m10)
    Set first matrix element in the second row.
    final void
    setM11(double m11)
    Set the second matrix element in the second row.
    final void
    setM12(double m12)
    Set the third matrix element in the second row.
    final void
    setM20(double m20)
    Set the first matrix element in the third row.
    final void
    setM21(double m21)
    Set the second matrix element in the third row.
    final void
    setM22(double m22)
    Set the third matrix element in the third row.
    final void
    setRow(int row, double[] v)
    Sets the specified row of this matrix3d to the three values provided.
    final void
    setRow(int row, double x, double y, double z)
    Sets the specified row of this matrix3d to the 4 values provided.
    final void
    setRow(int row, Vec3D v)
    Sets the specified row of this matrix3d to the Vector provided.
    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.
    final void
    setZero()
    Sets this matrix to all zeros.
    final void
    sub(Matrix3d m1)
    Sets the value of this matrix to the matrix difference of itself and matrix m1 (this = this - m1).
    final 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.
    final void
    transform(Vec3D t)
    Multiply this matrix by the tuple t and place the result back into the tuple (t = this*t).
    final void
    transform(Vec3D t, Vec3D result)
    Multiply this matrix by the tuple t and and place the result into the tuple "result" (result = this*t).
    final void
    transpose()
    Sets the value of this matrix to its transpose.
    final void
    transpose(Matrix3d m1)
    Sets the value of this matrix to the transpose of the argument matrix.

    Methods inherited from class java.lang.Object

    getClass, notify, notifyAll, wait, wait, wait

  • Field Details

    • m00

      public double m00
      The first matrix element in the first row.

    • m01

      public double m01
      The second matrix element in the first row.

    • m02

      public double m02
      The third matrix element in the first row.

    • m10

      public double m10
      The first matrix element in the second row.

    • m11

      public double m11
      The second matrix element in the second row.

    • m12

      public double m12
      The third matrix element in the second row.

    • m20

      public double m20
      The first matrix element in the third row.

    • m21

      public double m21
      The second matrix element in the third row.

    • m22

      public double m22
      The third matrix element in 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(double[] v)
      Constructs and initializes a Matrix3d from the specified nine- element array.
      Parameters:
      v - the array of length 9 containing in order

    • Matrix3d

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

  • 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
      m1 - the original matrix values

    • 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

    • 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

    • clone

      public Object clone()
      Creates a new object of the same class as this object.
      Returns:
      a clone of this instance.
      Throws:
      OutOfMemoryError - if there is not enough memory.
      Since:
      vecmath 1.3
      See Also:

    • 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 ; j=0,1,2 ; 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(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

    • 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.
      Overrides:
      equals in class Object
      Parameters:
      t1 - the matrix with which the comparison is made
      Returns:
      true or false

    • get

      public final double get(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.

    • 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 column
      v - the array into which the matrix row values will be copied

    • getColumn

      public final void getColumn(int column, Vec3D 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

    • 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 row
      v - the array into which the matrix row values will be copied

    • getRow

      public final void getRow(int row, Vec3D 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

    • 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

    • 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.
      Overrides:
      hashCode in class Object
      Returns:
      the integer hash code value

    • invert

      public final void invert()
      Inverts this matrix in place.

    • 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 counter clockwise rotation about the x axis.
      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 counter clockwise rotation about the y axis.
      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 counter clockwise rotation about the z axis.
      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[] 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

    • 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

    • set

      public final void set(Quaternion q1)
      Sets the value of this matrix to the matrix conversion of the single precision quaternion argument.
      Parameters:
      q1 - the quaternion to be converted

    • 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

    • 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, Vec3D 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

    • 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

    • setIdentity

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

    • 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

    • 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

    • 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

    • 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

    • 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

    • 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

    • 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

    • 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

    • 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

    • 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

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

    • setRow

      public final void setRow(int row, Vec3D 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

    • 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

    • 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.
      Overrides:
      toString in class Object
      Returns:
      the String representation

    • transform

      public final void transform(Vec3D 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

    • transform

      public final void transform(Vec3D t, Vec3D 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 matrix
      result - the tuple into which the product is 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