javax.vecmath
Class Matrix3d

java.lang.Object
  javax.vecmath.Matrix3d

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable

Direct Known Subclasses:

TMatrix3d

public class Matrix3d
extends java.lang.Object
implements java.io.Serializable, java.lang.Cloneable

A double precision floating point 3 by 3 matrix. Primarily to support rotations

Author:

Kenji hiranabe

See Also:

Serialized Form

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

Matrix3d(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)
Constructs and initializes a Matrix3d from the specified nine values.

Matrix3d(Matrix3d m1)
Constructs a new matrix with the same values as the Matrix3d parameter.

Matrix3d(Matrix3f m1)
Constructs a new matrix with the same values as the Matrix3f parameter.

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.
java.lang.Object	clone()
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(Matrix3d m1) Returns true if all of the data members of Matrix3d m1 are equal to the corresponding data members in this Matrix3d.
boolean	equals(java.lang.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.
void	getColumn(int column, double[] v) Copies the matrix values in the specified column into the array parameter.
void	getColumn(int column, Vector3d v) Copies the matrix values in the specified column into the vector parameter.
double	getElement(int row, int column) Retrieves the value at the specified row and column of this matrix.
void	getRow(int row, double[] v) Copies the matrix values in the specified row into the array parameter.
void	getRow(int row, Vector3d v) Copies the matrix values in the specified row into the vector parameter.
double	getScale() Performs an SVD normalization of this matrix to calculate and return the uniform scale factor.
int	hashCode() Returns a hash 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(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(double scale) Sets the value of this matrix to a scale matrix with the passed scale amount.
void	set(double[] m) Sets the values in this Matrix3d equal to the row-major array parameter (ie, the first four elements of the array will be copied into the first row of this matrix, etc.).
void	set(Matrix3d m1) Sets the value of this matrix to the value of the Matrix3d argument.
void	set(Matrix3f m1) Sets the value of this matrix to the double value of the Matrix3f argument.
void	set(Quat4d q1) Sets the value of this matrix to the matrix conversion of the (double precision) quaternion argument.
void	set(Quat4f q1) Sets the value of this matrix to the matrix conversion of the single precision quaternion argument.
void	setColumn(int column, double[] v) Sets the specified column of this matrix3d to the four values provided.
void	setColumn(int column, double x, double y, double z) Sets the specified column of this matrix3d to the three values provided.
void	setColumn(int column, Vector3d v) Sets the specified column of this matrix3d to the vector provided.
void	setElement(int row, int column, double value) Sets the specified element of this matrix3d to the value provided.
void	setIdentity() Sets this Matrix3d to identity.
void	setRow(int row, double[] v) Sets the specified row of this matrix3d to the four values provided.
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	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.
java.lang.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

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

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 Detail

Matrix3d

public Matrix3d()

Constructs and initializes a Matrix3d to all zeros.

Matrix3d

public Matrix3d(double[] v)

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

Parameters:

v - the array of length 9 containing in order

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.

Method Detail

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

clone

public java.lang.Object clone()

Overrides:

clone in class java.lang.Object

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(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(java.lang.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.

Overrides:

equals in class java.lang.Object

Parameters:

o1 - the object with which the comparison is made.

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,
                            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

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,
                         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,
                         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

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.

Overrides:

hashCode in class java.lang.Object

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(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(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 four elements of the array will be copied into the first row of this matrix, etc.).

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

setColumn

public final void setColumn(int column,
                            double[] v)

Sets the specified column of this matrix3d to the four 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,
                            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

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[] v)

Sets the specified row of this matrix3d to the four 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 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

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 java.lang.String toString()

Returns a string that contains the values of this Matrix3d.

Overrides:

toString in class java.lang.Object

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:

vec - the double precision vector to be transformed

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