|
|||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | ||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectjavax.vecmath.Matrix3d
public class Matrix3d
A double precision floating point 3 by 3 matrix. Primarily to support 3D rotations.
Field Summary | |
---|---|
private static double |
EPS
|
private static double |
ERR_EPS
|
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. |
(package private) static long |
serialVersionUID
|
private static double |
xin
|
private static double |
xout
|
private static double |
yin
|
private static double |
yout
|
private static double |
zin
|
private static double |
zout
|
Constructor Summary | |
---|---|
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. |
|
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 the 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. |
private static boolean |
almostEqual(double a,
double b)
|
java.lang.Object |
clone()
Creates a new object of the same class as this object. |
(package private) static int |
compute_2X2(double f,
double g,
double h,
double[] single_values,
double[] snl,
double[] csl,
double[] snr,
double[] csr,
int index)
|
(package private) static int |
compute_qr(double[] s,
double[] e,
double[] u,
double[] v)
|
(package private) static double |
compute_rot(double f,
double g,
double[] sin,
double[] cos,
int index,
int first)
|
(package private) static double |
compute_shift(double f,
double g,
double h)
|
(package private) static void |
compute_svd(double[] m,
double[] outScale,
double[] outRot)
|
(package private) static double |
d_sign(double a,
double b)
|
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 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. |
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 the specified matrix. |
double |
getM00()
Get the first matrix element in the first row. |
double |
getM01()
Get the second matrix element in the first row. |
double |
getM02()
Get the third matrix element in the first row. |
double |
getM10()
Get first matrix element in the second row. |
double |
getM11()
Get second matrix element in the second row. |
double |
getM12()
Get the third matrix element in the second row. |
double |
getM20()
Get the first matrix element in the third row. |
double |
getM21()
Get the second matrix element in the third row. |
double |
getM22()
Get the third matrix element in the third row . |
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. |
(package private) void |
getScaleRotate(double[] scales,
double[] rots)
perform SVD (if necessary to get rotational component |
int |
hashCode()
Returns a hash code value based on the data values in this object. |
void |
invert()
Inverts this matrix in place. |
void |
invert(Matrix3d m1)
Sets the value of this matrix to the matrix inverse of the passed matrix m1. |
private void |
invertGeneral(Matrix3d m1)
General invert routine. |
(package private) static void |
luBacksubstitution(double[] matrix1,
int[] row_perm,
double[] matrix2)
Solves a set of linear equations. |
(package private) static boolean |
luDecomposition(double[] matrix0,
int[] row_perm)
Given a 3x3 array "matrix0", this function replaces it with the LU decomposition of a row-wise permutation of itself. |
(package private) static void |
mat_mul(double[] m1,
double[] m2,
double[] m3)
|
(package private) static double |
max(double a,
double b)
|
(package private) static double |
max3(double[] values)
|
(package private) static double |
min(double a,
double b)
|
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. |
(package private) static void |
print_det(double[] mat)
|
(package private) static void |
print_mat(double[] mat)
|
void |
rotX(double angle)
Sets the value of this matrix to a counter clockwise rotation about the x axis. |
void |
rotY(double angle)
Sets the value of this matrix to a counter clockwise rotation about the y axis. |
void |
rotZ(double angle)
Sets the value of this matrix to a counter clockwise rotation about the z axis. |
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 three 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 three 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 matrix3f to the value provided. |
void |
setIdentity()
Sets this Matrix3d to identity. |
void |
setM00(double m00)
Set the first matrix element in the first row. |
void |
setM01(double m01)
Set the second matrix element in the first row. |
void |
setM02(double m02)
Set the third matrix element in the first row. |
void |
setM10(double m10)
Set first matrix element in the second row. |
void |
setM11(double m11)
Set the second matrix element in the second row. |
void |
setM12(double m12)
Set the third matrix element in the second row. |
void |
setM20(double m20)
Set the first matrix element in the third row. |
void |
setM21(double m21)
Set the second matrix element in the third row. |
void |
setM22(double m22)
Set the third matrix element in the third row. |
void |
setRow(int row,
double[] v)
Sets the specified row of this matrix3d to the three values provided. |
void |
setRow(int row,
double x,
double y,
double z)
Sets the specified row of this matrix3d to the 4 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) 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. |
(package private) static void |
svdReorder(double[] m,
double[] t1,
double[] t2,
double[] scales,
double[] outRot,
double[] outScale)
|
java.lang.String |
toString()
Returns a string that contains the values of this Matrix3d. |
void |
transform(Tuple3d t)
Multiply this matrix by the tuple t and place the result back into the tuple (t = this*t). |
void |
transform(Tuple3d t,
Tuple3d result)
Multiply this matrix by the tuple t and and place the result into the tuple "result" (result = this*t). |
(package private) static void |
transpose_mat(double[] in,
double[] out)
|
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 |
---|
static final long serialVersionUID
public double m00
public double m01
public double m02
public double m10
public double m11
public double m12
public double m20
public double m21
public double m22
private static final double EPS
private static final double ERR_EPS
private static double xin
private static double yin
private static double zin
private static double xout
private static double yout
private static double zout
Constructor Detail |
---|
public Matrix3d(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)
m00
- the [0][0] elementm01
- the [0][1] elementm02
- the [0][2] elementm10
- the [1][0] elementm11
- the [1][1] elementm12
- the [1][2] elementm20
- the [2][0] elementm21
- the [2][1] elementm22
- the [2][2] elementpublic Matrix3d(double[] v)
v
- the array of length 9 containing in orderpublic Matrix3d(Matrix3d m1)
m1
- the source matrixpublic Matrix3d(Matrix3f m1)
m1
- the source matrixpublic Matrix3d()
Method Detail |
---|
public java.lang.String toString()
toString
in class java.lang.Object
public final void setIdentity()
public final void setScale(double scale)
scale
- the new scale amountpublic final void setElement(int row, int column, double value)
row
- the row number to be modified (zero indexed)column
- the column number to be modified (zero indexed)value
- the new valuepublic final double getElement(int row, int column)
row
- the row number to be retrieved (zero indexed)column
- the column number to be retrieved (zero indexed)
public final void getRow(int row, Vector3d v)
row
- the matrix rowv
- the vector into which the matrix row values will be copiedpublic final void getRow(int row, double[] v)
row
- the matrix rowv
- the array into which the matrix row values will be copiedpublic final void getColumn(int column, Vector3d v)
column
- the matrix columnv
- the vector into which the matrix row values will be copiedpublic final void getColumn(int column, double[] v)
column
- the matrix columnv
- the array into which the matrix row values will be copiedpublic final void setRow(int row, double x, double y, double z)
row
- the row number to be modified (zero indexed)x
- the first column elementy
- the second column elementz
- the third column elementpublic final void setRow(int row, Vector3d v)
row
- the row number to be modified (zero indexed)v
- the replacement rowpublic final void setRow(int row, double[] v)
row
- the row number to be modified (zero indexed)v
- the replacement rowpublic final void setColumn(int column, double x, double y, double z)
column
- the column number to be modified (zero indexed)x
- the first row elementy
- the second row elementz
- the third row elementpublic final void setColumn(int column, Vector3d v)
column
- the column number to be modified (zero indexed)v
- the replacement columnpublic final void setColumn(int column, double[] v)
column
- the column number to be modified (zero indexed)v
- the replacement columnpublic final double getScale()
public final void add(double scalar)
scalar
- the scalar adderpublic final void add(double scalar, Matrix3d m1)
scalar
- the scalar adderm1
- the original matrix valuespublic final void add(Matrix3d m1, Matrix3d m2)
m1
- the first matrixm2
- the second matrixpublic final void add(Matrix3d m1)
m1
- the other matrixpublic final void sub(Matrix3d m1, Matrix3d m2)
m1
- the first matrixm2
- the second matrixpublic final void sub(Matrix3d m1)
m1
- the other matrixpublic final void transpose()
public final void transpose(Matrix3d m1)
m1
- the matrix to be transposedpublic final void set(Quat4d q1)
q1
- the quaternion to be convertedpublic final void set(AxisAngle4d a1)
a1
- the axis and angle to be convertedpublic final void set(Quat4f q1)
q1
- the quaternion to be convertedpublic final void set(AxisAngle4f a1)
a1
- the axis and angle to be convertedpublic final void set(Matrix3f m1)
m1
- the matrix3d to be converted to doublepublic final void set(Matrix3d m1)
m1
- the source matrix3dpublic final void set(double[] m)
m
- the double precision array of length 9public final void invert(Matrix3d m1)
m1
- the matrix to be invertedpublic final void invert()
private final void invertGeneral(Matrix3d m1)
static boolean luDecomposition(double[] matrix0, int[] row_perm)
static void luBacksubstitution(double[] matrix1, int[] row_perm, double[] matrix2)
public final double determinant()
public final void set(double scale)
scale
- the scale factor for the matrixpublic final void rotX(double angle)
angle
- the angle to rotate about the X axis in radianspublic final void rotY(double angle)
angle
- the angle to rotate about the Y axis in radianspublic final void rotZ(double angle)
angle
- the angle to rotate about the Z axis in radianspublic final void mul(double scalar)
scalar
- The scalar multiplier.public final void mul(double scalar, Matrix3d m1)
scalar
- the scalar multiplierm1
- the original matrixpublic final void mul(Matrix3d m1)
m1
- the other matrixpublic final void mul(Matrix3d m1, Matrix3d m2)
m1
- the first matrixm2
- the second matrixpublic final void mulNormalize(Matrix3d m1)
m1
- the matrix on the right hand side of the multiplicationpublic final void mulNormalize(Matrix3d m1, Matrix3d m2)
m1
- the matrix on the left hand side of the multiplicationm2
- the matrix on the right hand side of the multiplicationpublic final void mulTransposeBoth(Matrix3d m1, Matrix3d m2)
m1
- the matrix on the left hand side of the multiplicationm2
- the matrix on the right hand side of the multiplicationpublic final void mulTransposeRight(Matrix3d m1, Matrix3d m2)
m1
- the matrix on the left hand side of the multiplicationm2
- the matrix on the right hand side of the multiplicationpublic final void mulTransposeLeft(Matrix3d m1, Matrix3d m2)
m1
- the matrix on the left hand side of the multiplicationm2
- the matrix on the right hand side of the multiplicationpublic final void normalize()
public final void normalize(Matrix3d m1)
m1
- Provides the matrix values to be normalizedpublic final void normalizeCP()
public final void normalizeCP(Matrix3d m1)
m1
- Provides the matrix values to be normalizedpublic boolean equals(Matrix3d m1)
m1
- the matrix with which the comparison is made
public boolean equals(java.lang.Object t1)
equals
in class java.lang.Object
t1
- the matrix with which the comparison is made
public boolean epsilonEquals(Matrix3d m1, double epsilon)
m1
- the matrix to be compared to this matrixepsilon
- the threshold valuepublic int hashCode()
hashCode
in class java.lang.Object
public final void setZero()
public final void negate()
public final void negate(Matrix3d m1)
m1
- the source matrixpublic final void transform(Tuple3d t)
t
- the tuple to be multiplied by this matrix and then replacedpublic final void transform(Tuple3d t, Tuple3d result)
t
- the tuple to be multiplied by this matrixresult
- the tuple into which the product is placedfinal void getScaleRotate(double[] scales, double[] rots)
static void compute_svd(double[] m, double[] outScale, double[] outRot)
static void svdReorder(double[] m, double[] t1, double[] t2, double[] scales, double[] outRot, double[] outScale)
static int compute_qr(double[] s, double[] e, double[] u, double[] v)
static double max(double a, double b)
static double min(double a, double b)
static double d_sign(double a, double b)
static double compute_shift(double f, double g, double h)
static int compute_2X2(double f, double g, double h, double[] single_values, double[] snl, double[] csl, double[] snr, double[] csr, int index)
static double compute_rot(double f, double g, double[] sin, double[] cos, int index, int first)
static void print_mat(double[] mat)
static void print_det(double[] mat)
static void mat_mul(double[] m1, double[] m2, double[] m3)
static void transpose_mat(double[] in, double[] out)
static double max3(double[] values)
private static final boolean almostEqual(double a, double b)
public java.lang.Object clone()
clone
in class java.lang.Object
java.lang.OutOfMemoryError
- if there is not enough memory.Cloneable
public final double getM00()
public final void setM00(double m00)
m00
- The m00 to set.public final double getM01()
public final void setM01(double m01)
m01
- The m01 to set.public final double getM02()
public final void setM02(double m02)
m02
- The m02 to set.public final double getM10()
public final void setM10(double m10)
m10
- The m10 to set.public final double getM11()
public final void setM11(double m11)
m11
- The m11 to set.public final double getM12()
public final void setM12(double m12)
m12
- The m12 to set.public final double getM20()
public final void setM20(double m20)
m20
- The m20 to set.public final double getM21()
public final void setM21(double m21)
m21
- The m21 to set.public final double getM22()
public final void setM22(double m22)
m22
- The m22 to set.
|
|||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | ||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |