* m00 m10 m20
* m01 m11 m21
*
* @author Kai Burjack
*/
public class Matrix3x2d implements Matrix3x2dc, Cloneable, Externalizable {
private static final long serialVersionUID = 1L;
public double m00, m01;
public double m10, m11;
public double m20, m21;
/**
* Create a new {@link Matrix3x2d} and set it to {@link #identity() identity}.
*/
public Matrix3x2d() {
this.m00 = 1.0;
this.m11 = 1.0;
}
/**
* Create a new {@link Matrix3x2d} by setting its left 2x2 submatrix to the values of the given {@link Matrix2dc}
* and the rest to identity.
*
* @param mat
* the {@link Matrix2dc}
*/
public Matrix3x2d(Matrix2dc mat) {
if (mat instanceof Matrix2d) {
MemUtil.INSTANCE.copy((Matrix2d) mat, this);
} else {
setMatrix2dc(mat);
}
}
/**
* Create a new {@link Matrix3x2d} by setting its left 2x2 submatrix to the values of the given {@link Matrix2fc}
* and the rest to identity.
*
* @param mat
* the {@link Matrix2fc}
*/
public Matrix3x2d(Matrix2fc mat) {
m00 = mat.m00();
m01 = mat.m01();
m10 = mat.m10();
m11 = mat.m11();
}
/**
* Create a new {@link Matrix3x2d} and make it a copy of the given matrix.
*
* @param mat
* the {@link Matrix3x2dc} to copy the values from
*/
public Matrix3x2d(Matrix3x2dc mat) {
if (mat instanceof Matrix3x2d) {
MemUtil.INSTANCE.copy((Matrix3x2d) mat, this);
} else {
setMatrix3x2dc(mat);
}
}
/**
* Create a new 3x2 matrix using the supplied double values. The order of the parameter is column-major,
* so the first two parameters specify the two elements of the first column.
*
* @param m00
* the value of m00
* @param m01
* the value of m01
* @param m10
* the value of m10
* @param m11
* the value of m11
* @param m20
* the value of m20
* @param m21
* the value of m21
*/
public Matrix3x2d(double m00, double m01,
double m10, double m11,
double m20, double m21) {
this.m00 = m00;
this.m01 = m01;
this.m10 = m10;
this.m11 = m11;
this.m20 = m20;
this.m21 = m21;
}
/**
* Create a new {@link Matrix3x2d} by reading its 6 double components from the given {@link DoubleBuffer}
* at the buffer's current position.
*
* That DoubleBuffer is expected to hold the values in column-major order. *
* The buffer's position will not be changed by this method.
*
* @param buffer
* the {@link DoubleBuffer} to read the matrix values from
*/
public Matrix3x2d(DoubleBuffer buffer) {
MemUtil.INSTANCE.get(this, buffer.position(), buffer);
}
public double m00() {
return m00;
}
public double m01() {
return m01;
}
public double m10() {
return m10;
}
public double m11() {
return m11;
}
public double m20() {
return m20;
}
public double m21() {
return m21;
}
/**
* Set the value of the matrix element at column 0 and row 0.
*
* @param m00
* the new value
* @return this
*/
Matrix3x2d _m00(double m00) {
this.m00 = m00;
return this;
}
/**
* Set the value of the matrix element at column 0 and row 1.
*
* @param m01
* the new value
* @return this
*/
Matrix3x2d _m01(double m01) {
this.m01 = m01;
return this;
}
/**
* Set the value of the matrix element at column 1 and row 0.
*
* @param m10
* the new value
* @return this
*/
Matrix3x2d _m10(double m10) {
this.m10 = m10;
return this;
}
/**
* Set the value of the matrix element at column 1 and row 1.
*
* @param m11
* the new value
* @return this
*/
Matrix3x2d _m11(double m11) {
this.m11 = m11;
return this;
}
/**
* Set the value of the matrix element at column 2 and row 0.
*
* @param m20
* the new value
* @return this
*/
Matrix3x2d _m20(double m20) {
this.m20 = m20;
return this;
}
/**
* Set the value of the matrix element at column 2 and row 1.
*
* @param m21
* the new value
* @return this
*/
Matrix3x2d _m21(double m21) {
this.m21 = m21;
return this;
}
/**
* Set the elements of this matrix to the ones in m.
*
* @param m
* the matrix to copy the elements from
* @return this
*/
public Matrix3x2d set(Matrix3x2dc m) {
if (m instanceof Matrix3x2d) {
MemUtil.INSTANCE.copy((Matrix3x2d) m, this);
} else {
setMatrix3x2dc(m);
}
return this;
}
private void setMatrix3x2dc(Matrix3x2dc mat) {
m00 = mat.m00();
m01 = mat.m01();
m10 = mat.m10();
m11 = mat.m11();
m20 = mat.m20();
m21 = mat.m21();
}
/**
* Set the left 2x2 submatrix of this {@link Matrix3x2d} to the given {@link Matrix2dc} and don't change the other elements.
*
* @param m
* the 2x2 matrix
* @return this
*/
public Matrix3x2d set(Matrix2dc m) {
if (m instanceof Matrix2d) {
MemUtil.INSTANCE.copy((Matrix2d) m, this);
} else {
setMatrix2dc(m);
}
return this;
}
private void setMatrix2dc(Matrix2dc mat) {
m00 = mat.m00();
m01 = mat.m01();
m10 = mat.m10();
m11 = mat.m11();
}
/**
* Set the left 2x2 submatrix of this {@link Matrix3x2d} to the given {@link Matrix2fc} and don't change the other elements.
*
* @param m
* the 2x2 matrix
* @return this
*/
public Matrix3x2d set(Matrix2fc m) {
m00 = m.m00();
m01 = m.m01();
m10 = m.m10();
m11 = m.m11();
return this;
}
/**
* Multiply this matrix by the supplied right matrix by assuming a third row in
* both matrices of (0, 0, 1).
*
* If M is this matrix and R the right matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* transformation of the right matrix will be applied first!
*
* @param right
* the right operand of the matrix multiplication
* @return this
*/
public Matrix3x2d mul(Matrix3x2dc right) {
return mul(right, this);
}
/**
* Multiply this matrix by the supplied right matrix by assuming a third row in
* both matrices of (0, 0, 1) and store the result in dest.
*
* If M is this matrix and R the right matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* transformation of the right matrix will be applied first!
*
* @param right
* the right operand of the matrix multiplication
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d mul(Matrix3x2dc right, Matrix3x2d dest) {
double nm00 = m00 * right.m00() + m10 * right.m01();
double nm01 = m01 * right.m00() + m11 * right.m01();
double nm10 = m00 * right.m10() + m10 * right.m11();
double nm11 = m01 * right.m10() + m11 * right.m11();
double nm20 = m00 * right.m20() + m10 * right.m21() + m20;
double nm21 = m01 * right.m20() + m11 * right.m21() + m21;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m20 = nm20;
dest.m21 = nm21;
return dest;
}
/**
* Pre-multiply this matrix by the supplied left matrix and store the result in this.
*
* If M is this matrix and L the left matrix,
* then the new matrix will be L * M. So when transforming a
* vector v with the new matrix by using L * M * v, the
* transformation of this matrix will be applied first!
*
* @param left
* the left operand of the matrix multiplication
* @return this
*/
public Matrix3x2d mulLocal(Matrix3x2dc left) {
return mulLocal(left, this);
}
public Matrix3x2d mulLocal(Matrix3x2dc left, Matrix3x2d dest) {
double nm00 = left.m00() * m00 + left.m10() * m01;
double nm01 = left.m01() * m00 + left.m11() * m01;
double nm10 = left.m00() * m10 + left.m10() * m11;
double nm11 = left.m01() * m10 + left.m11() * m11;
double nm20 = left.m00() * m20 + left.m10() * m21 + left.m20();
double nm21 = left.m01() * m20 + left.m11() * m21 + left.m21();
dest.m00 = nm00;
dest.m01 = nm01;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m20 = nm20;
dest.m21 = nm21;
return dest;
}
/**
* Set the values within this matrix to the supplied double values. The result looks like this:
*
* m00, m10, m20
* m01, m11, m21
*
* @param m00
* the new value of m00
* @param m01
* the new value of m01
* @param m10
* the new value of m10
* @param m11
* the new value of m11
* @param m20
* the new value of m20
* @param m21
* the new value of m21
* @return this
*/
public Matrix3x2d set(double m00, double m01,
double m10, double m11,
double m20, double m21) {
this.m00 = m00;
this.m01 = m01;
this.m10 = m10;
this.m11 = m11;
this.m20 = m20;
this.m21 = m21;
return this;
}
/**
* Set the values in this matrix based on the supplied double array. The result looks like this:
*
* 0, 2, 4
* 1, 3, 5
*
* This method only uses the first 6 values, all others are ignored.
*
* @param m
* the array to read the matrix values from
* @return this
*/
public Matrix3x2d set(double m[]) {
MemUtil.INSTANCE.copy(m, 0, this);
return this;
}
/**
* Return the determinant of this matrix.
*
* @return the determinant
*/
public double determinant() {
return m00 * m11 - m01 * m10;
}
/**
* Invert this matrix by assuming a third row in this matrix of (0, 0, 1).
*
* @return this
*/
public Matrix3x2d invert() {
return invert(this);
}
/**
* Invert the this matrix by assuming a third row in this matrix of (0, 0, 1)
* and store the result in dest.
*
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d invert(Matrix3x2d dest) {
// client must make sure that matrix is invertible
double s = 1.0 / (m00 * m11 - m01 * m10);
double nm00 = m11 * s;
double nm01 = -m01 * s;
double nm10 = -m10 * s;
double nm11 = m00 * s;
double nm20 = (m10 * m21 - m20 * m11) * s;
double nm21 = (m20 * m01 - m00 * m21) * s;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m10 = nm10;
dest.m11 = nm11;
dest.m20 = nm20;
dest.m21 = nm21;
return dest;
}
/**
* Set this matrix to be a simple translation matrix in a two-dimensional coordinate system.
*
* The resulting matrix can be multiplied against another transformation * matrix to obtain an additional translation. *
* In order to apply a translation via to an already existing transformation * matrix, use {@link #translate(double, double) translate()} instead. * * @see #translate(double, double) * * @param x * the units to translate in x * @param y * the units to translate in y * @return this */ public Matrix3x2d translation(double x, double y) { m00 = 1.0; m01 = 0.0; m10 = 0.0; m11 = 1.0; m20 = x; m21 = y; return this; } /** * Set this matrix to be a simple translation matrix in a two-dimensional coordinate system. *
* The resulting matrix can be multiplied against another transformation * matrix to obtain an additional translation. *
* In order to apply a translation via to an already existing transformation
* matrix, use {@link #translate(Vector2dc) translate()} instead.
*
* @see #translate(Vector2dc)
*
* @param offset
* the translation
* @return this
*/
public Matrix3x2d translation(Vector2dc offset) {
return translation(offset.x(), offset.y());
}
/**
* Set only the translation components of this matrix (m20, m21) to the given values (x, y).
*
* To build a translation matrix instead, use {@link #translation(double, double)}.
* To apply a translation to another matrix, use {@link #translate(double, double)}.
*
* @see #translation(double, double)
* @see #translate(double, double)
*
* @param x
* the offset to translate in x
* @param y
* the offset to translate in y
* @return this
*/
public Matrix3x2d setTranslation(double x, double y) {
m20 = x;
m21 = y;
return this;
}
/**
* Set only the translation components of this matrix (m20, m21) to the given values (offset.x, offset.y).
*
* To build a translation matrix instead, use {@link #translation(Vector2dc)}.
* To apply a translation to another matrix, use {@link #translate(Vector2dc)}.
*
* @see #translation(Vector2dc)
* @see #translate(Vector2dc)
*
* @param offset
* the new translation to set
* @return this
*/
public Matrix3x2d setTranslation(Vector2dc offset) {
return setTranslation(offset.x(), offset.y());
}
/**
* Apply a translation to this matrix by translating by the given number of units in x and y and store the result
* in dest.
*
* If M is this matrix and T the translation
* matrix, then the new matrix will be M * T. So when
* transforming a vector v with the new matrix by using
* M * T * v, the translation will be applied first!
*
* In order to set the matrix to a translation transformation without post-multiplying * it, use {@link #translation(double, double)}. * * @see #translation(double, double) * * @param x * the offset to translate in x * @param y * the offset to translate in y * @param dest * will hold the result * @return dest */ public Matrix3x2d translate(double x, double y, Matrix3x2d dest) { double rm20 = x; double rm21 = y; dest.m20 = m00 * rm20 + m10 * rm21 + m20; dest.m21 = m01 * rm20 + m11 * rm21 + m21; dest.m00 = m00; dest.m01 = m01; dest.m10 = m10; dest.m11 = m11; return dest; } /** * Apply a translation to this matrix by translating by the given number of units in x and y. *
* If M is this matrix and T the translation
* matrix, then the new matrix will be M * T. So when
* transforming a vector v with the new matrix by using
* M * T * v, the translation will be applied first!
*
* In order to set the matrix to a translation transformation without post-multiplying
* it, use {@link #translation(double, double)}.
*
* @see #translation(double, double)
*
* @param x
* the offset to translate in x
* @param y
* the offset to translate in y
* @return this
*/
public Matrix3x2d translate(double x, double y) {
return translate(x, y, this);
}
/**
* Apply a translation to this matrix by translating by the given number of units in x and y, and
* store the result in dest.
*
* If M is this matrix and T the translation
* matrix, then the new matrix will be M * T. So when
* transforming a vector v with the new matrix by using
* M * T * v, the translation will be applied first!
*
* In order to set the matrix to a translation transformation without post-multiplying * it, use {@link #translation(Vector2dc)}. * * @see #translation(Vector2dc) * * @param offset * the offset to translate * @param dest * will hold the result * @return dest */ public Matrix3x2d translate(Vector2dc offset, Matrix3x2d dest) { return translate(offset.x(), offset.y(), dest); } /** * Apply a translation to this matrix by translating by the given number of units in x and y. *
* If M is this matrix and T the translation
* matrix, then the new matrix will be M * T. So when
* transforming a vector v with the new matrix by using
* M * T * v, the translation will be applied first!
*
* In order to set the matrix to a translation transformation without post-multiplying * it, use {@link #translation(Vector2dc)}. * * @see #translation(Vector2dc) * * @param offset * the offset to translate * @return this */ public Matrix3x2d translate(Vector2dc offset) { return translate(offset.x(), offset.y(), this); } /** * Pre-multiply a translation to this matrix by translating by the given number of * units in x and y. *
* If M is this matrix and T the translation
* matrix, then the new matrix will be T * M. So when
* transforming a vector v with the new matrix by using
* T * M * v, the translation will be applied last!
*
* In order to set the matrix to a translation transformation without pre-multiplying
* it, use {@link #translation(Vector2dc)}.
*
* @see #translation(Vector2dc)
*
* @param offset
* the number of units in x and y by which to translate
* @return this
*/
public Matrix3x2d translateLocal(Vector2dc offset) {
return translateLocal(offset.x(), offset.y());
}
/**
* Pre-multiply a translation to this matrix by translating by the given number of
* units in x and y and store the result in dest.
*
* If M is this matrix and T the translation
* matrix, then the new matrix will be T * M. So when
* transforming a vector v with the new matrix by using
* T * M * v, the translation will be applied last!
*
* In order to set the matrix to a translation transformation without pre-multiplying
* it, use {@link #translation(Vector2dc)}.
*
* @see #translation(Vector2dc)
*
* @param offset
* the number of units in x and y by which to translate
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d translateLocal(Vector2dc offset, Matrix3x2d dest) {
return translateLocal(offset.x(), offset.y(), dest);
}
/**
* Pre-multiply a translation to this matrix by translating by the given number of
* units in x and y and store the result in dest.
*
* If M is this matrix and T the translation
* matrix, then the new matrix will be T * M. So when
* transforming a vector v with the new matrix by using
* T * M * v, the translation will be applied last!
*
* In order to set the matrix to a translation transformation without pre-multiplying * it, use {@link #translation(double, double)}. * * @see #translation(double, double) * * @param x * the offset to translate in x * @param y * the offset to translate in y * @param dest * will hold the result * @return dest */ public Matrix3x2d translateLocal(double x, double y, Matrix3x2d dest) { dest.m00 = m00; dest.m01 = m01; dest.m10 = m10; dest.m11 = m11; dest.m20 = m20 + x; dest.m21 = m21 + y; return dest; } /** * Pre-multiply a translation to this matrix by translating by the given number of * units in x and y. *
* If M is this matrix and T the translation
* matrix, then the new matrix will be T * M. So when
* transforming a vector v with the new matrix by using
* T * M * v, the translation will be applied last!
*
* In order to set the matrix to a translation transformation without pre-multiplying * it, use {@link #translation(double, double)}. * * @see #translation(double, double) * * @param x * the offset to translate in x * @param y * the offset to translate in y * @return this */ public Matrix3x2d translateLocal(double x, double y) { return translateLocal(x, y, this); } /** * Return a string representation of this matrix. *
* This method creates a new {@link DecimalFormat} on every invocation with the format string "0.000E0;-".
*
* @return the string representation
*/
public String toString() {
String str = toString(Options.NUMBER_FORMAT);
StringBuffer res = new StringBuffer();
int eIndex = Integer.MIN_VALUE;
for (int i = 0; i < str.length(); i++) {
char c = str.charAt(i);
if (c == 'E') {
eIndex = i;
} else if (c == ' ' && eIndex == i - 1) {
// workaround Java 1.4 DecimalFormat bug
res.append('+');
continue;
} else if (Character.isDigit(c) && eIndex == i - 1) {
res.append('+');
}
res.append(c);
}
return res.toString();
}
/**
* Return a string representation of this matrix by formatting the matrix elements with the given {@link NumberFormat}.
*
* @param formatter
* the {@link NumberFormat} used to format the matrix values with
* @return the string representation
*/
public String toString(NumberFormat formatter) {
return Runtime.format(m00, formatter) + " " + Runtime.format(m10, formatter) + " " + Runtime.format(m20, formatter) + "\n"
+ Runtime.format(m01, formatter) + " " + Runtime.format(m11, formatter) + " " + Runtime.format(m21, formatter) + "\n";
}
/**
* Get the current values of this matrix and store them into
* dest.
*
* This is the reverse method of {@link #set(Matrix3x2dc)} and allows to obtain * intermediate calculation results when chaining multiple transformations. * * @see #set(Matrix3x2dc) * * @param dest * the destination matrix * @return dest */ public Matrix3x2d get(Matrix3x2d dest) { return dest.set(this); } /** * Store this matrix in column-major order into the supplied {@link DoubleBuffer} at the current * buffer {@link DoubleBuffer#position() position}. *
* This method will not increment the position of the given DoubleBuffer. *
* In order to specify the offset into the DoubleBuffer at which * the matrix is stored, use {@link #get(int, DoubleBuffer)}, taking * the absolute position as parameter. * * @see #get(int, DoubleBuffer) * * @param buffer * will receive the values of this matrix in column-major order at its current position * @return the passed in buffer */ public DoubleBuffer get(DoubleBuffer buffer) { return get(buffer.position(), buffer); } /** * Store this matrix in column-major order into the supplied {@link DoubleBuffer} starting at the specified * absolute buffer position/index. *
* This method will not increment the position of the given DoubleBuffer. * * @param index * the absolute position into the DoubleBuffer * @param buffer * will receive the values of this matrix in column-major order * @return the passed in buffer */ public DoubleBuffer get(int index, DoubleBuffer buffer) { MemUtil.INSTANCE.put(this, index, buffer); return buffer; } /** * Store this matrix in column-major order into the supplied {@link ByteBuffer} at the current * buffer {@link ByteBuffer#position() position}. *
* This method will not increment the position of the given ByteBuffer. *
* In order to specify the offset into the ByteBuffer at which * the matrix is stored, use {@link #get(int, ByteBuffer)}, taking * the absolute position as parameter. * * @see #get(int, ByteBuffer) * * @param buffer * will receive the values of this matrix in column-major order at its current position * @return the passed in buffer */ public ByteBuffer get(ByteBuffer buffer) { return get(buffer.position(), buffer); } /** * Store this matrix in column-major order into the supplied {@link ByteBuffer} starting at the specified * absolute buffer position/index. *
* This method will not increment the position of the given ByteBuffer. * * @param index * the absolute position into the ByteBuffer * @param buffer * will receive the values of this matrix in column-major order * @return the passed in buffer */ public ByteBuffer get(int index, ByteBuffer buffer) { MemUtil.INSTANCE.put(this, index, buffer); return buffer; } /** * Store this matrix as an equivalent 4x4 matrix in column-major order into the supplied {@link DoubleBuffer} at the current * buffer {@link DoubleBuffer#position() position}. *
* This method will not increment the position of the given DoubleBuffer. *
* In order to specify the offset into the DoubleBuffer at which * the matrix is stored, use {@link #get3x3(int, DoubleBuffer)}, taking * the absolute position as parameter. * * @see #get3x3(int, DoubleBuffer) * * @param buffer * will receive the values of this matrix in column-major order at its current position * @return the passed in buffer */ public DoubleBuffer get3x3(DoubleBuffer buffer) { MemUtil.INSTANCE.put3x3(this, 0, buffer); return buffer; } /** * Store this matrix as an equivalent 3x3 matrix in column-major order into the supplied {@link DoubleBuffer} starting at the specified * absolute buffer position/index. *
* This method will not increment the position of the given DoubleBuffer. * * @param index * the absolute position into the DoubleBuffer * @param buffer * will receive the values of this matrix in column-major order * @return the passed in buffer */ public DoubleBuffer get3x3(int index, DoubleBuffer buffer) { MemUtil.INSTANCE.put3x3(this, index, buffer); return buffer; } /** * Store this matrix as an equivalent 3x3 matrix in column-major order into the supplied {@link ByteBuffer} at the current * buffer {@link ByteBuffer#position() position}. *
* This method will not increment the position of the given ByteBuffer. *
* In order to specify the offset into the ByteBuffer at which * the matrix is stored, use {@link #get3x3(int, ByteBuffer)}, taking * the absolute position as parameter. * * @see #get3x3(int, ByteBuffer) * * @param buffer * will receive the values of this matrix in column-major order at its current position * @return the passed in buffer */ public ByteBuffer get3x3(ByteBuffer buffer) { MemUtil.INSTANCE.put3x3(this, 0, buffer); return buffer; } /** * Store this matrix as an equivalent 3x3 matrix in column-major order into the supplied {@link ByteBuffer} starting at the specified * absolute buffer position/index. *
* This method will not increment the position of the given ByteBuffer. * * @param index * the absolute position into the ByteBuffer * @param buffer * will receive the values of this matrix in column-major order * @return the passed in buffer */ public ByteBuffer get3x3(int index, ByteBuffer buffer) { MemUtil.INSTANCE.put3x3(this, index, buffer); return buffer; } /** * Store this matrix as an equivalent 4x4 matrix in column-major order into the supplied {@link DoubleBuffer} at the current * buffer {@link DoubleBuffer#position() position}. *
* This method will not increment the position of the given DoubleBuffer. *
* In order to specify the offset into the DoubleBuffer at which * the matrix is stored, use {@link #get4x4(int, DoubleBuffer)}, taking * the absolute position as parameter. * * @see #get4x4(int, DoubleBuffer) * * @param buffer * will receive the values of this matrix in column-major order at its current position * @return the passed in buffer */ public DoubleBuffer get4x4(DoubleBuffer buffer) { MemUtil.INSTANCE.put4x4(this, 0, buffer); return buffer; } /** * Store this matrix as an equivalent 4x4 matrix in column-major order into the supplied {@link DoubleBuffer} starting at the specified * absolute buffer position/index. *
* This method will not increment the position of the given DoubleBuffer. * * @param index * the absolute position into the DoubleBuffer * @param buffer * will receive the values of this matrix in column-major order * @return the passed in buffer */ public DoubleBuffer get4x4(int index, DoubleBuffer buffer) { MemUtil.INSTANCE.put4x4(this, index, buffer); return buffer; } /** * Store this matrix as an equivalent 4x4 matrix in column-major order into the supplied {@link ByteBuffer} at the current * buffer {@link ByteBuffer#position() position}. *
* This method will not increment the position of the given ByteBuffer. *
* In order to specify the offset into the ByteBuffer at which * the matrix is stored, use {@link #get4x4(int, ByteBuffer)}, taking * the absolute position as parameter. * * @see #get4x4(int, ByteBuffer) * * @param buffer * will receive the values of this matrix in column-major order at its current position * @return the passed in buffer */ public ByteBuffer get4x4(ByteBuffer buffer) { MemUtil.INSTANCE.put4x4(this, 0, buffer); return buffer; } /** * Store this matrix as an equivalent 4x4 matrix in column-major order into the supplied {@link ByteBuffer} starting at the specified * absolute buffer position/index. *
* This method will not increment the position of the given ByteBuffer. * * @param index * the absolute position into the ByteBuffer * @param buffer * will receive the values of this matrix in column-major order * @return the passed in buffer */ public ByteBuffer get4x4(int index, ByteBuffer buffer) { MemUtil.INSTANCE.put4x4(this, index, buffer); return buffer; } public Matrix3x2dc getToAddress(long address) { if (Options.NO_UNSAFE) throw new UnsupportedOperationException("Not supported when using joml.nounsafe"); MemUtil.MemUtilUnsafe.put(this, address); return this; } /** * Store this matrix into the supplied double array in column-major order at the given offset. * * @param arr * the array to write the matrix values into * @param offset * the offset into the array * @return the passed in array */ public double[] get(double[] arr, int offset) { MemUtil.INSTANCE.copy(this, arr, offset); return arr; } /** * Store this matrix into the supplied double array in column-major order. *
* In order to specify an explicit offset into the array, use the method {@link #get(double[], int)}. * * @see #get(double[], int) * * @param arr * the array to write the matrix values into * @return the passed in array */ public double[] get(double[] arr) { return get(arr, 0); } /** * Store this matrix as an equivalent 3x3 matrix in column-major order into the supplied float array at the given offset. * * @param arr * the array to write the matrix values into * @param offset * the offset into the array * @return the passed in array */ public double[] get3x3(double[] arr, int offset) { MemUtil.INSTANCE.copy3x3(this, arr, offset); return arr; } /** * Store this matrix as an equivalent 3x3 matrix in column-major order into the supplied float array. *
* In order to specify an explicit offset into the array, use the method {@link #get3x3(double[], int)}. * * @see #get3x3(double[], int) * * @param arr * the array to write the matrix values into * @return the passed in array */ public double[] get3x3(double[] arr) { return get3x3(arr, 0); } /** * Store this matrix as an equivalent 4x4 matrix in column-major order into the supplied float array at the given offset. * * @param arr * the array to write the matrix values into * @param offset * the offset into the array * @return the passed in array */ public double[] get4x4(double[] arr, int offset) { MemUtil.INSTANCE.copy4x4(this, arr, offset); return arr; } /** * Store this matrix as an equivalent 4x4 matrix in column-major order into the supplied float array. *
* In order to specify an explicit offset into the array, use the method {@link #get4x4(double[], int)}. * * @see #get4x4(double[], int) * * @param arr * the array to write the matrix values into * @return the passed in array */ public double[] get4x4(double[] arr) { return get4x4(arr, 0); } /** * Set the values of this matrix by reading 6 double values from the given {@link DoubleBuffer} in column-major order, * starting at its current position. *
* The DoubleBuffer is expected to contain the values in column-major order. *
* The position of the DoubleBuffer will not be changed by this method. * * @param buffer * the DoubleBuffer to read the matrix values from in column-major order * @return this */ public Matrix3x2d set(DoubleBuffer buffer) { int pos = buffer.position(); MemUtil.INSTANCE.get(this, pos, buffer); return this; } /** * Set the values of this matrix by reading 6 double values from the given {@link ByteBuffer} in column-major order, * starting at its current position. *
* The ByteBuffer is expected to contain the values in column-major order. *
* The position of the ByteBuffer will not be changed by this method. * * @param buffer * the ByteBuffer to read the matrix values from in column-major order * @return this */ public Matrix3x2d set(ByteBuffer buffer) { int pos = buffer.position(); MemUtil.INSTANCE.get(this, pos, buffer); return this; } /** * Set the values of this matrix by reading 6 double values from the given {@link DoubleBuffer} in column-major order, * starting at the specified absolute buffer position/index. *
* The DoubleBuffer is expected to contain the values in column-major order. *
* The position of the DoubleBuffer will not be changed by this method. * * @param index * the absolute position into the DoubleBuffer * @param buffer * the DoubleBuffer to read the matrix values from in column-major order * @return this */ public Matrix3x2d set(int index, DoubleBuffer buffer) { MemUtil.INSTANCE.get(this, index, buffer); return this; } /** * Set the values of this matrix by reading 6 double values from the given {@link ByteBuffer} in column-major order, * starting at the specified absolute buffer position/index. *
* The ByteBuffer is expected to contain the values in column-major order. *
* The position of the ByteBuffer will not be changed by this method. * * @param index * the absolute position into the ByteBuffer * @param buffer * the ByteBuffer to read the matrix values from in column-major order * @return this */ public Matrix3x2d set(int index, ByteBuffer buffer) { MemUtil.INSTANCE.get(this, index, buffer); return this; } /** * Set the values of this matrix by reading 6 double values from off-heap memory in column-major order, * starting at the given address. *
* This method will throw an {@link UnsupportedOperationException} when JOML is used with `-Djoml.nounsafe`. *
* This method is unsafe as it can result in a crash of the JVM process when the specified address range does not belong to this process.
*
* @param address
* the off-heap memory address to read the matrix values from in column-major order
* @return this
*/
public Matrix3x2d setFromAddress(long address) {
if (Options.NO_UNSAFE)
throw new UnsupportedOperationException("Not supported when using joml.nounsafe");
MemUtil.MemUtilUnsafe.get(this, address);
return this;
}
/**
* Set all values within this matrix to zero.
*
* @return this
*/
public Matrix3x2d zero() {
MemUtil.INSTANCE.zero(this);
return this;
}
/**
* Set this matrix to the identity.
*
* @return this
*/
public Matrix3x2d identity() {
MemUtil.INSTANCE.identity(this);
return this;
}
/**
* Apply scaling to this matrix by scaling the unit axes by the given x and y and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the scaling will be applied first!
*
* @param x
* the factor of the x component
* @param y
* the factor of the y component
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d scale(double x, double y, Matrix3x2d dest) {
dest.m00 = m00 * x;
dest.m01 = m01 * x;
dest.m10 = m10 * y;
dest.m11 = m11 * y;
dest.m20 = m20;
dest.m21 = m21;
return dest;
}
/**
* Apply scaling to this matrix by scaling the base axes by the given x and y factors.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the scaling will be applied first!
*
* @param x
* the factor of the x component
* @param y
* the factor of the y component
* @return this
*/
public Matrix3x2d scale(double x, double y) {
return scale(x, y, this);
}
/**
* Apply scaling to this matrix by scaling the base axes by the given xy factors.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the scaling will be applied first!
*
* @param xy
* the factors of the x and y component, respectively
* @return this
*/
public Matrix3x2d scale(Vector2dc xy) {
return scale(xy.x(), xy.y(), this);
}
/**
* Apply scaling to this matrix by scaling the base axes by the given xy factors
* and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the scaling will be applied first!
*
* @param xy
* the factors of the x and y component, respectively
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d scale(Vector2dc xy, Matrix3x2d dest) {
return scale(xy.x(), xy.y(), dest);
}
/**
* Apply scaling to this matrix by scaling the base axes by the given xy factors.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the scaling will be applied first!
*
* @param xy
* the factors of the x and y component, respectively
* @return this
*/
public Matrix3x2d scale(Vector2fc xy) {
return scale(xy.x(), xy.y(), this);
}
/**
* Apply scaling to this matrix by scaling the base axes by the given xy factors
* and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the scaling will be applied first!
*
* @param xy
* the factors of the x and y component, respectively
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d scale(Vector2fc xy, Matrix3x2d dest) {
return scale(xy.x(), xy.y(), dest);
}
/**
* Apply scaling to this matrix by uniformly scaling the two base axes by the given xy factor
* and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the scaling will be applied first!
*
* @see #scale(double, double, Matrix3x2d)
*
* @param xy
* the factor for the two components
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d scale(double xy, Matrix3x2d dest) {
return scale(xy, xy, dest);
}
/**
* Apply scaling to this matrix by uniformly scaling the two base axes by the given xyz factor.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the scaling will be applied first!
*
* @see #scale(double, double)
*
* @param xy
* the factor for the two components
* @return this
*/
public Matrix3x2d scale(double xy) {
return scale(xy, xy);
}
public Matrix3x2d scaleLocal(double x, double y, Matrix3x2d dest) {
dest.m00 = x * m00;
dest.m01 = y * m01;
dest.m10 = x * m10;
dest.m11 = y * m11;
dest.m20 = x * m20;
dest.m21 = y * m21;
return dest;
}
/**
* Pre-multiply scaling to this matrix by scaling the base axes by the given x and y factors.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be S * M. So when transforming a
* vector v with the new matrix by using S * M * v, the
* scaling will be applied last!
*
* @param x
* the factor of the x component
* @param y
* the factor of the y component
* @return this
*/
public Matrix3x2d scaleLocal(double x, double y) {
return scaleLocal(x, y, this);
}
public Matrix3x2d scaleLocal(double xy, Matrix3x2d dest) {
return scaleLocal(xy, xy, dest);
}
/**
* Pre-multiply scaling to this matrix by scaling the base axes by the given xy factor.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be S * M. So when transforming a
* vector v with the new matrix by using S * M * v, the
* scaling will be applied last!
*
* @param xy
* the factor of the x and y component
* @return this
*/
public Matrix3x2d scaleLocal(double xy) {
return scaleLocal(xy, xy, this);
}
/**
* Apply scaling to this matrix by scaling the base axes by the given sx and
* sy factors while using (ox, oy) as the scaling origin, and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v
* , the scaling will be applied first!
*
* This method is equivalent to calling: translate(ox, oy, dest).scale(sx, sy).translate(-ox, -oy)
*
* @param sx
* the scaling factor of the x component
* @param sy
* the scaling factor of the y component
* @param ox
* the x coordinate of the scaling origin
* @param oy
* the y coordinate of the scaling origin
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d scaleAround(double sx, double sy, double ox, double oy, Matrix3x2d dest) {
double nm20 = m00 * ox + m10 * oy + m20;
double nm21 = m01 * ox + m11 * oy + m21;
dest.m00 = m00 * sx;
dest.m01 = m01 * sx;
dest.m10 = m10 * sy;
dest.m11 = m11 * sy;
dest.m20 = dest.m00 * -ox + dest.m10 * -oy + nm20;
dest.m21 = dest.m01 * -ox + dest.m11 * -oy + nm21;
return dest;
}
/**
* Apply scaling to this matrix by scaling the base axes by the given sx and
* sy factors while using (ox, oy) as the scaling origin.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the
* scaling will be applied first!
*
* This method is equivalent to calling: translate(ox, oy).scale(sx, sy).translate(-ox, -oy)
*
* @param sx
* the scaling factor of the x component
* @param sy
* the scaling factor of the y component
* @param ox
* the x coordinate of the scaling origin
* @param oy
* the y coordinate of the scaling origin
* @return this
*/
public Matrix3x2d scaleAround(double sx, double sy, double ox, double oy) {
return scaleAround(sx, sy, ox, oy, this);
}
/**
* Apply scaling to this matrix by scaling the base axes by the given factor
* while using (ox, oy) as the scaling origin,
* and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the
* scaling will be applied first!
*
* This method is equivalent to calling: translate(ox, oy, dest).scale(factor).translate(-ox, -oy)
*
* @param factor
* the scaling factor for all three axes
* @param ox
* the x coordinate of the scaling origin
* @param oy
* the y coordinate of the scaling origin
* @param dest
* will hold the result
* @return this
*/
public Matrix3x2d scaleAround(double factor, double ox, double oy, Matrix3x2d dest) {
return scaleAround(factor, factor, ox, oy, this);
}
/**
* Apply scaling to this matrix by scaling the base axes by the given factor
* while using (ox, oy) as the scaling origin.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the
* scaling will be applied first!
*
* This method is equivalent to calling: translate(ox, oy).scale(factor).translate(-ox, -oy)
*
* @param factor
* the scaling factor for all axes
* @param ox
* the x coordinate of the scaling origin
* @param oy
* the y coordinate of the scaling origin
* @return this
*/
public Matrix3x2d scaleAround(double factor, double ox, double oy) {
return scaleAround(factor, factor, ox, oy, this);
}
public Matrix3x2d scaleAroundLocal(double sx, double sy, double ox, double oy, Matrix3x2d dest) {
dest.m00 = sx * m00;
dest.m01 = sy * m01;
dest.m10 = sx * m10;
dest.m11 = sy * m11;
dest.m20 = sx * m20 - sx * ox + ox;
dest.m21 = sy * m21 - sy * oy + oy;
return dest;
}
public Matrix3x2d scaleAroundLocal(double factor, double ox, double oy, Matrix3x2d dest) {
return scaleAroundLocal(factor, factor, ox, oy, dest);
}
/**
* Pre-multiply scaling to this matrix by scaling the base axes by the given sx and
* sy factors while using (ox, oy) as the scaling origin.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be S * M. So when transforming a
* vector v with the new matrix by using S * M * v, the
* scaling will be applied last!
*
* This method is equivalent to calling: new Matrix3x2d().translate(ox, oy).scale(sx, sy).translate(-ox, -oy).mul(this, this)
*
* @param sx
* the scaling factor of the x component
* @param sy
* the scaling factor of the y component
* @param sz
* the scaling factor of the z component
* @param ox
* the x coordinate of the scaling origin
* @param oy
* the y coordinate of the scaling origin
* @param oz
* the z coordinate of the scaling origin
* @return this
*/
public Matrix3x2d scaleAroundLocal(double sx, double sy, double sz, double ox, double oy, double oz) {
return scaleAroundLocal(sx, sy, ox, oy, this);
}
/**
* Pre-multiply scaling to this matrix by scaling the base axes by the given factor
* while using (ox, oy) as the scaling origin.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be S * M. So when transforming a
* vector v with the new matrix by using S * M * v, the
* scaling will be applied last!
*
* This method is equivalent to calling: new Matrix3x2d().translate(ox, oy).scale(factor).translate(-ox, -oy).mul(this, this)
*
* @param factor
* the scaling factor for all three axes
* @param ox
* the x coordinate of the scaling origin
* @param oy
* the y coordinate of the scaling origin
* @return this
*/
public Matrix3x2d scaleAroundLocal(double factor, double ox, double oy) {
return scaleAroundLocal(factor, factor, ox, oy, this);
}
/**
* Set this matrix to be a simple scale matrix, which scales the two base axes uniformly by the given factor.
*
* The resulting matrix can be multiplied against another transformation * matrix to obtain an additional scaling. *
* In order to post-multiply a scaling transformation directly to a matrix, use {@link #scale(double) scale()} instead. * * @see #scale(double) * * @param factor * the scale factor in x and y * @return this */ public Matrix3x2d scaling(double factor) { return scaling(factor, factor); } /** * Set this matrix to be a simple scale matrix. * * @param x * the scale in x * @param y * the scale in y * @return this */ public Matrix3x2d scaling(double x, double y) { m00 = x; m01 = 0.0; m10 = 0.0; m11 = y; m20 = 0.0; m21 = 0.0; return this; } /** * Set this matrix to a rotation matrix which rotates the given radians. *
* The resulting matrix can be multiplied against another transformation * matrix to obtain an additional rotation. *
* In order to apply the rotation transformation to an existing transformation,
* use {@link #rotate(double) rotate()} instead.
*
* @see #rotate(double)
*
* @param angle
* the angle in radians
* @return this
*/
public Matrix3x2d rotation(double angle) {
double cos = Math.cos(angle);
double sin = Math.sin(angle);
m00 = cos;
m10 = -sin;
m20 = 0.0;
m01 = sin;
m11 = cos;
m21 = 0.0;
return this;
}
/**
* Transform/multiply the given vector by this matrix by assuming a third row in this matrix of (0, 0, 1)
* and store the result in that vector.
*
* @see Vector3d#mul(Matrix3x2dc)
*
* @param v
* the vector to transform and to hold the final result
* @return v
*/
public Vector3d transform(Vector3d v) {
return v.mul(this);
}
/**
* Transform/multiply the given vector by this matrix by assuming a third row in this matrix of (0, 0, 1)
* and store the result in dest.
*
* @see Vector3d#mul(Matrix3x2dc, Vector3d)
*
* @param v
* the vector to transform
* @param dest
* will contain the result
* @return dest
*/
public Vector3d transform(Vector3dc v, Vector3d dest) {
return v.mul(this, dest);
}
/**
* Transform/multiply the given vector (x, y, z) by this matrix and store the result in dest.
*
* @param x
* the x component of the vector to transform
* @param y
* the y component of the vector to transform
* @param z
* the z component of the vector to transform
* @param dest
* will contain the result
* @return dest
*/
public Vector3d transform(double x, double y, double z, Vector3d dest) {
return dest.set(m00 * x + m10 * y + m20 * z, m01 * x + m11 * y + m21 * z, z);
}
/**
* Transform/multiply the given 2D-vector, as if it was a 3D-vector with z=1, by
* this matrix and store the result in that vector.
*
* The given 2D-vector is treated as a 3D-vector with its z-component being 1.0, so it * will represent a position/location in 2D-space rather than a direction. *
* In order to store the result in another vector, use {@link #transformPosition(Vector2dc, Vector2d)}.
*
* @see #transformPosition(Vector2dc, Vector2d)
* @see #transform(Vector3d)
*
* @param v
* the vector to transform and to hold the final result
* @return v
*/
public Vector2d transformPosition(Vector2d v) {
v.set(m00 * v.x + m10 * v.y + m20,
m01 * v.x + m11 * v.y + m21);
return v;
}
/**
* Transform/multiply the given 2D-vector, as if it was a 3D-vector with z=1, by
* this matrix and store the result in dest.
*
* The given 2D-vector is treated as a 3D-vector with its z-component being 1.0, so it * will represent a position/location in 2D-space rather than a direction. *
* In order to store the result in the same vector, use {@link #transformPosition(Vector2d)}.
*
* @see #transformPosition(Vector2d)
* @see #transform(Vector3dc, Vector3d)
*
* @param v
* the vector to transform
* @param dest
* will hold the result
* @return dest
*/
public Vector2d transformPosition(Vector2dc v, Vector2d dest) {
dest.set(m00 * v.x() + m10 * v.y() + m20,
m01 * v.x() + m11 * v.y() + m21);
return dest;
}
/**
* Transform/multiply the given 2D-vector (x, y), as if it was a 3D-vector with z=1, by
* this matrix and store the result in dest.
*
* The given 2D-vector is treated as a 3D-vector with its z-component being 1.0, so it * will represent a position/location in 2D-space rather than a direction. *
* In order to store the result in the same vector, use {@link #transformPosition(Vector2d)}. * * @see #transformPosition(Vector2d) * @see #transform(Vector3dc, Vector3d) * * @param x * the x component of the vector to transform * @param y * the y component of the vector to transform * @param dest * will hold the result * @return dest */ public Vector2d transformPosition(double x, double y, Vector2d dest) { return dest.set(m00 * x + m10 * y + m20, m01 * x + m11 * y + m21); } /** * Transform/multiply the given 2D-vector, as if it was a 3D-vector with z=0, by * this matrix and store the result in that vector. *
* The given 2D-vector is treated as a 3D-vector with its z-component being 0.0, so it
* will represent a direction in 2D-space rather than a position. This method will therefore
* not take the translation part of the matrix into account.
*
* In order to store the result in another vector, use {@link #transformDirection(Vector2dc, Vector2d)}.
*
* @see #transformDirection(Vector2dc, Vector2d)
*
* @param v
* the vector to transform and to hold the final result
* @return v
*/
public Vector2d transformDirection(Vector2d v) {
v.set(m00 * v.x + m10 * v.y,
m01 * v.x + m11 * v.y);
return v;
}
/**
* Transform/multiply the given 2D-vector, as if it was a 3D-vector with z=0, by
* this matrix and store the result in dest.
*
* The given 2D-vector is treated as a 3D-vector with its z-component being 0.0, so it
* will represent a direction in 2D-space rather than a position. This method will therefore
* not take the translation part of the matrix into account.
*
* In order to store the result in the same vector, use {@link #transformDirection(Vector2d)}.
*
* @see #transformDirection(Vector2d)
*
* @param v
* the vector to transform and to hold the final result
* @param dest
* will hold the result
* @return dest
*/
public Vector2d transformDirection(Vector2dc v, Vector2d dest) {
dest.set(m00 * v.x() + m10 * v.y(),
m01 * v.x() + m11 * v.y());
return dest;
}
/**
* Transform/multiply the given 2D-vector (x, y), as if it was a 3D-vector with z=0, by
* this matrix and store the result in dest.
*
* The given 2D-vector is treated as a 3D-vector with its z-component being 0.0, so it
* will represent a direction in 2D-space rather than a position. This method will therefore
* not take the translation part of the matrix into account.
*
* In order to store the result in the same vector, use {@link #transformDirection(Vector2d)}. * * @see #transformDirection(Vector2d) * * @param x * the x component of the vector to transform * @param y * the y component of the vector to transform * @param dest * will hold the result * @return dest */ public Vector2d transformDirection(double x, double y, Vector2d dest) { return dest.set(m00 * x + m10 * y, m01 * x + m11 * y); } public void writeExternal(ObjectOutput out) throws IOException { out.writeDouble(m00); out.writeDouble(m01); out.writeDouble(m10); out.writeDouble(m11); out.writeDouble(m20); out.writeDouble(m21); } public void readExternal(ObjectInput in) throws IOException { m00 = in.readDouble(); m01 = in.readDouble(); m10 = in.readDouble(); m11 = in.readDouble(); m20 = in.readDouble(); m21 = in.readDouble(); } /** * Apply a rotation transformation to this matrix by rotating the given amount of radians. *
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v
* , the rotation will be applied first!
*
* @param ang
* the angle in radians
* @return this
*/
public Matrix3x2d rotate(double ang) {
return rotate(ang, this);
}
/**
* Apply a rotation transformation to this matrix by rotating the given amount of radians and store the result in dest.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the rotation will be applied first!
*
* @param ang
* the angle in radians
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d rotate(double ang, Matrix3x2d dest) {
double cos = Math.cos(ang);
double sin = Math.sin(ang);
double rm00 = cos;
double rm01 = sin;
double rm10 = -sin;
double rm11 = cos;
double nm00 = m00 * rm00 + m10 * rm01;
double nm01 = m01 * rm00 + m11 * rm01;
dest.m10 = m00 * rm10 + m10 * rm11;
dest.m11 = m01 * rm10 + m11 * rm11;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m20 = m20;
dest.m21 = m21;
return dest;
}
/**
* Pre-multiply a rotation to this matrix by rotating the given amount of radians and store the result in dest.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be R * M. So when transforming a
* vector v with the new matrix by using R * M * v, the
* rotation will be applied last!
*
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation * transformation, use {@link #rotation(double) rotation()}. *
* Reference: http://en.wikipedia.org * * @see #rotation(double) * * @param ang * the angle in radians to rotate * @param dest * will hold the result * @return dest */ public Matrix3x2d rotateLocal(double ang, Matrix3x2d dest) { double sin = Math.sin(ang); double cos = Math.cosFromSin(sin, ang); double nm00 = cos * m00 - sin * m01; double nm01 = sin * m00 + cos * m01; double nm10 = cos * m10 - sin * m11; double nm11 = sin * m10 + cos * m11; double nm20 = cos * m20 - sin * m21; double nm21 = sin * m20 + cos * m21; dest.m00 = nm00; dest.m01 = nm01; dest.m10 = nm10; dest.m11 = nm11; dest.m20 = nm20; dest.m21 = nm21; return dest; } /** * Pre-multiply a rotation to this matrix by rotating the given amount of radians. *
* If M is this matrix and R the rotation matrix,
* then the new matrix will be R * M. So when transforming a
* vector v with the new matrix by using R * M * v, the
* rotation will be applied last!
*
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation * transformation, use {@link #rotation(double) rotation()}. *
* Reference: http://en.wikipedia.org
*
* @see #rotation(double)
*
* @param ang
* the angle in radians to rotate
* @return this
*/
public Matrix3x2d rotateLocal(double ang) {
return rotateLocal(ang, this);
}
/**
* Apply a rotation transformation to this matrix by rotating the given amount of radians about
* the specified rotation center (x, y).
*
* This method is equivalent to calling: translate(x, y).rotate(ang).translate(-x, -y)
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the rotation will be applied first!
*
* @see #translate(double, double)
* @see #rotate(double)
*
* @param ang
* the angle in radians
* @param x
* the x component of the rotation center
* @param y
* the y component of the rotation center
* @return this
*/
public Matrix3x2d rotateAbout(double ang, double x, double y) {
return rotateAbout(ang, x, y, this);
}
/**
* Apply a rotation transformation to this matrix by rotating the given amount of radians about
* the specified rotation center (x, y) and store the result in dest.
*
* This method is equivalent to calling: translate(x, y, dest).rotate(ang).translate(-x, -y)
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the rotation will be applied first!
*
* @see #translate(double, double, Matrix3x2d)
* @see #rotate(double, Matrix3x2d)
*
* @param ang
* the angle in radians
* @param x
* the x component of the rotation center
* @param y
* the y component of the rotation center
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d rotateAbout(double ang, double x, double y, Matrix3x2d dest) {
double tm20 = m00 * x + m10 * y + m20;
double tm21 = m01 * x + m11 * y + m21;
double cos = Math.cos(ang);
double sin = Math.sin(ang);
double nm00 = m00 * cos + m10 * sin;
double nm01 = m01 * cos + m11 * sin;
dest.m10 = m00 * -sin + m10 * cos;
dest.m11 = m01 * -sin + m11 * cos;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m20 = dest.m00 * -x + dest.m10 * -y + tm20;
dest.m21 = dest.m01 * -x + dest.m11 * -y + tm21;
return dest;
}
/**
* Apply a rotation transformation to this matrix that rotates the given normalized fromDir direction vector
* to point along the normalized toDir, and store the result in dest.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the rotation will be applied first!
*
* @param fromDir
* the normalized direction which should be rotate to point along toDir
* @param toDir
* the normalized destination direction
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d rotateTo(Vector2dc fromDir, Vector2dc toDir, Matrix3x2d dest) {
double dot = fromDir.x() * toDir.x() + fromDir.y() * toDir.y();
double det = fromDir.x() * toDir.y() - fromDir.y() * toDir.x();
double rm00 = dot;
double rm01 = det;
double rm10 = -det;
double rm11 = dot;
double nm00 = m00 * rm00 + m10 * rm01;
double nm01 = m01 * rm00 + m11 * rm01;
dest.m10 = m00 * rm10 + m10 * rm11;
dest.m11 = m01 * rm10 + m11 * rm11;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m20 = m20;
dest.m21 = m21;
return dest;
}
/**
* Apply a rotation transformation to this matrix that rotates the given normalized fromDir direction vector
* to point along the normalized toDir.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the rotation will be applied first!
*
* @param fromDir
* the normalized direction which should be rotate to point along toDir
* @param toDir
* the normalized destination direction
* @return this
*/
public Matrix3x2d rotateTo(Vector2dc fromDir, Vector2dc toDir) {
return rotateTo(fromDir, toDir, this);
}
/**
* Apply a "view" transformation to this matrix that maps the given (left, bottom) and
* (right, top) corners to (-1, -1) and (1, 1) respectively and store the result in dest.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* @see #setView(double, double, double, double)
*
* @param left
* the distance from the center to the left view edge
* @param right
* the distance from the center to the right view edge
* @param bottom
* the distance from the center to the bottom view edge
* @param top
* the distance from the center to the top view edge
* @param dest
* will hold the result
* @return dest
*/
public Matrix3x2d view(double left, double right, double bottom, double top, Matrix3x2d dest) {
double rm00 = 2.0 / (right - left);
double rm11 = 2.0 / (top - bottom);
double rm20 = (left + right) / (left - right);
double rm21 = (bottom + top) / (bottom - top);
dest.m20 = m00 * rm20 + m10 * rm21 + m20;
dest.m21 = m01 * rm20 + m11 * rm21 + m21;
dest.m00 = m00 * rm00;
dest.m01 = m01 * rm00;
dest.m10 = m10 * rm11;
dest.m11 = m11 * rm11;
return dest;
}
/**
* Apply a "view" transformation to this matrix that maps the given (left, bottom) and
* (right, top) corners to (-1, -1) and (1, 1) respectively.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* @see #setView(double, double, double, double)
*
* @param left
* the distance from the center to the left view edge
* @param right
* the distance from the center to the right view edge
* @param bottom
* the distance from the center to the bottom view edge
* @param top
* the distance from the center to the top view edge
* @return this
*/
public Matrix3x2d view(double left, double right, double bottom, double top) {
return view(left, right, bottom, top, this);
}
/**
* Set this matrix to define a "view" transformation that maps the given (left, bottom) and
* (right, top) corners to (-1, -1) and (1, 1) respectively.
*
* @see #view(double, double, double, double)
*
* @param left
* the distance from the center to the left view edge
* @param right
* the distance from the center to the right view edge
* @param bottom
* the distance from the center to the bottom view edge
* @param top
* the distance from the center to the top view edge
* @return this
*/
public Matrix3x2d setView(double left, double right, double bottom, double top) {
m00 = 2.0 / (right - left);
m01 = 0.0;
m10 = 0.0;
m11 = 2.0 / (top - bottom);
m20 = (left + right) / (left - right);
m21 = (bottom + top) / (bottom - top);
return this;
}
/**
* Obtain the position that gets transformed to the origin by this matrix.
* This can be used to get the position of the "camera" from a given view transformation matrix.
*
* This method is equivalent to the following code: *
* Matrix3x2d inv = new Matrix3x2d(this).invert();
* inv.transform(origin.set(0, 0));
*
*
* @param origin
* will hold the position transformed to the origin
* @return origin
*/
public Vector2d origin(Vector2d origin) {
double s = 1.0 / (m00 * m11 - m01 * m10);
origin.x = (m10 * m21 - m20 * m11) * s;
origin.y = (m20 * m01 - m00 * m21) * s;
return origin;
}
/**
* Obtain the extents of the view transformation of this matrix and store it in area.
* This can be used to determine which region of the screen (i.e. the NDC space) is covered by the view.
*
* @param area
* will hold the view area as [minX, minY, maxX, maxY]
* @return area
*/
public double[] viewArea(double[] area) {
double s = 1.0 / (m00 * m11 - m01 * m10);
double rm00 = m11 * s;
double rm01 = -m01 * s;
double rm10 = -m10 * s;
double rm11 = m00 * s;
double rm20 = (m10 * m21 - m20 * m11) * s;
double rm21 = (m20 * m01 - m00 * m21) * s;
double nxnyX = -rm00 - rm10;
double nxnyY = -rm01 - rm11;
double pxnyX = rm00 - rm10;
double pxnyY = rm01 - rm11;
double nxpyX = -rm00 + rm10;
double nxpyY = -rm01 + rm11;
double pxpyX = rm00 + rm10;
double pxpyY = rm01 + rm11;
double minX = nxnyX;
minX = minX < nxpyX ? minX : nxpyX;
minX = minX < pxnyX ? minX : pxnyX;
minX = minX < pxpyX ? minX : pxpyX;
double minY = nxnyY;
minY = minY < nxpyY ? minY : nxpyY;
minY = minY < pxnyY ? minY : pxnyY;
minY = minY < pxpyY ? minY : pxpyY;
double maxX = nxnyX;
maxX = maxX > nxpyX ? maxX : nxpyX;
maxX = maxX > pxnyX ? maxX : pxnyX;
maxX = maxX > pxpyX ? maxX : pxpyX;
double maxY = nxnyY;
maxY = maxY > nxpyY ? maxY : nxpyY;
maxY = maxY > pxnyY ? maxY : pxnyY;
maxY = maxY > pxpyY ? maxY : pxpyY;
area[0] = minX + rm20;
area[1] = minY + rm21;
area[2] = maxX + rm20;
area[3] = maxY + rm21;
return area;
}
public Vector2d positiveX(Vector2d dir) {
double s = m00 * m11 - m01 * m10;
s = 1.0 / s;
dir.x = m11 * s;
dir.y = -m01 * s;
return dir.normalize(dir);
}
public Vector2d normalizedPositiveX(Vector2d dir) {
dir.x = m11;
dir.y = -m01;
return dir;
}
public Vector2d positiveY(Vector2d dir) {
double s = m00 * m11 - m01 * m10;
s = 1.0 / s;
dir.x = -m10 * s;
dir.y = m00 * s;
return dir.normalize(dir);
}
public Vector2d normalizedPositiveY(Vector2d dir) {
dir.x = -m10;
dir.y = m00;
return dir;
}
/**
* Unproject the given window coordinates (winX, winY) by this matrix using the specified viewport.
*
* This method first converts the given window coordinates to normalized device coordinates in the range [-1..1]
* and then transforms those NDC coordinates by the inverse of this matrix.
*
* As a necessary computation step for unprojecting, this method computes the inverse of this matrix.
* In order to avoid computing the matrix inverse with every invocation, the inverse of this matrix can be built
* once outside using {@link #invert(Matrix3x2d)} and then the method {@link #unprojectInv(double, double, int[], Vector2d) unprojectInv()} can be invoked on it.
*
* @see #unprojectInv(double, double, int[], Vector2d)
* @see #invert(Matrix3x2d)
*
* @param winX
* the x-coordinate in window coordinates (pixels)
* @param winY
* the y-coordinate in window coordinates (pixels)
* @param viewport
* the viewport described by [x, y, width, height]
* @param dest
* will hold the unprojected position
* @return dest
*/
public Vector2d unproject(double winX, double winY, int[] viewport, Vector2d dest) {
double s = 1.0 / (m00 * m11 - m01 * m10);
double im00 = m11 * s;
double im01 = -m01 * s;
double im10 = -m10 * s;
double im11 = m00 * s;
double im20 = (m10 * m21 - m20 * m11) * s;
double im21 = (m20 * m01 - m00 * m21) * s;
double ndcX = (winX-viewport[0])/viewport[2]*2.0-1.0;
double ndcY = (winY-viewport[1])/viewport[3]*2.0-1.0;
dest.x = im00 * ndcX + im10 * ndcY + im20;
dest.y = im01 * ndcX + im11 * ndcY + im21;
return dest;
}
/**
* Unproject the given window coordinates (winX, winY) by this matrix using the specified viewport.
*
* This method differs from {@link #unproject(double, double, int[], Vector2d) unproject()}
* in that it assumes that this is already the inverse matrix of the original projection matrix.
* It exists to avoid recomputing the matrix inverse with every invocation.
*
* @see #unproject(double, double, int[], Vector2d)
*
* @param winX
* the x-coordinate in window coordinates (pixels)
* @param winY
* the y-coordinate in window coordinates (pixels)
* @param viewport
* the viewport described by [x, y, width, height]
* @param dest
* will hold the unprojected position
* @return dest
*/
public Vector2d unprojectInv(double winX, double winY, int[] viewport, Vector2d dest) {
double ndcX = (winX-viewport[0])/viewport[2]*2.0-1.0;
double ndcY = (winY-viewport[1])/viewport[3]*2.0-1.0;
dest.x = m00 * ndcX + m10 * ndcY + m20;
dest.y = m01 * ndcX + m11 * ndcY + m21;
return dest;
}
/**
* Compute the extents of the coordinate system before this transformation was applied and store the resulting
* corner coordinates in corner and the span vectors in xDir and yDir.
*
* That means, given the maximum extents of the coordinate system between [-1..+1] in all dimensions,
* this method returns one corner and the length and direction of the two base axis vectors in the coordinate
* system before this transformation is applied, which transforms into the corner coordinates [-1, +1].
*
* @param corner
* will hold one corner of the span
* @param xDir
* will hold the direction and length of the span along the positive X axis
* @param yDir
* will hold the direction and length of the span along the positive Y axis
* @return this
*/
public Matrix3x2d span(Vector2d corner, Vector2d xDir, Vector2d yDir) {
double s = 1.0 / (m00 * m11 - m01 * m10);
double nm00 = m11 * s, nm01 = -m01 * s, nm10 = -m10 * s, nm11 = m00 * s;
corner.x = -nm00 - nm10 + (m10 * m21 - m20 * m11) * s;
corner.y = -nm01 - nm11 + (m20 * m01 - m00 * m21) * s;
xDir.x = 2.0 * nm00; xDir.y = 2.0 * nm01;
yDir.x = 2.0 * nm10; yDir.y = 2.0 * nm11;
return this;
}
public boolean testPoint(double x, double y) {
double nxX = +m00, nxY = +m10, nxW = 1.0f + m20;
double pxX = -m00, pxY = -m10, pxW = 1.0f - m20;
double nyX = +m01, nyY = +m11, nyW = 1.0f + m21;
double pyX = -m01, pyY = -m11, pyW = 1.0f - m21;
return nxX * x + nxY * y + nxW >= 0 && pxX * x + pxY * y + pxW >= 0 &&
nyX * x + nyY * y + nyW >= 0 && pyX * x + pyY * y + pyW >= 0;
}
public boolean testCircle(double x, double y, double r) {
double invl;
double nxX = +m00, nxY = +m10, nxW = 1.0f + m20;
invl = Math.invsqrt(nxX * nxX + nxY * nxY);
nxX *= invl; nxY *= invl; nxW *= invl;
double pxX = -m00, pxY = -m10, pxW = 1.0f - m20;
invl = Math.invsqrt(pxX * pxX + pxY * pxY);
pxX *= invl; pxY *= invl; pxW *= invl;
double nyX = +m01, nyY = +m11, nyW = 1.0f + m21;
invl = Math.invsqrt(nyX * nyX + nyY * nyY);
nyX *= invl; nyY *= invl; nyW *= invl;
double pyX = -m01, pyY = -m11, pyW = 1.0f - m21;
invl = Math.invsqrt(pyX * pyX + pyY * pyY);
pyX *= invl; pyY *= invl; pyW *= invl;
return nxX * x + nxY * y + nxW >= -r && pxX * x + pxY * y + pxW >= -r &&
nyX * x + nyY * y + nyW >= -r && pyX * x + pyY * y + pyW >= -r;
}
public boolean testAar(double minX, double minY, double maxX, double maxY) {
double nxX = +m00, nxY = +m10, nxW = 1.0f + m20;
double pxX = -m00, pxY = -m10, pxW = 1.0f - m20;
double nyX = +m01, nyY = +m11, nyW = 1.0f + m21;
double pyX = -m01, pyY = -m11, pyW = 1.0f - m21;
/*
* This is an implementation of the "2.4 Basic intersection test" of the mentioned site.
* It does not distinguish between partially inside and fully inside, though, so the test with the 'p' vertex is omitted.
*/
return nxX * (nxX < 0 ? minX : maxX) + nxY * (nxY < 0 ? minY : maxY) >= -nxW &&
pxX * (pxX < 0 ? minX : maxX) + pxY * (pxY < 0 ? minY : maxY) >= -pxW &&
nyX * (nyX < 0 ? minX : maxX) + nyY * (nyY < 0 ? minY : maxY) >= -nyW &&
pyX * (pyX < 0 ? minX : maxX) + pyY * (pyY < 0 ? minY : maxY) >= -pyW;
}
public int hashCode() {
final int prime = 31;
int result = 1;
long temp;
temp = Double.doubleToLongBits(m00);
result = prime * result + (int) (temp ^ (temp >>> 32));
temp = Double.doubleToLongBits(m01);
result = prime * result + (int) (temp ^ (temp >>> 32));
temp = Double.doubleToLongBits(m10);
result = prime * result + (int) (temp ^ (temp >>> 32));
temp = Double.doubleToLongBits(m11);
result = prime * result + (int) (temp ^ (temp >>> 32));
temp = Double.doubleToLongBits(m20);
result = prime * result + (int) (temp ^ (temp >>> 32));
temp = Double.doubleToLongBits(m21);
result = prime * result + (int) (temp ^ (temp >>> 32));
return result;
}
public boolean equals(Object obj) {
if (this == obj)
return true;
if (obj == null)
return false;
if (getClass() != obj.getClass())
return false;
Matrix3x2d other = (Matrix3x2d) obj;
if (Double.doubleToLongBits(m00) != Double.doubleToLongBits(other.m00))
return false;
if (Double.doubleToLongBits(m01) != Double.doubleToLongBits(other.m01))
return false;
if (Double.doubleToLongBits(m10) != Double.doubleToLongBits(other.m10))
return false;
if (Double.doubleToLongBits(m11) != Double.doubleToLongBits(other.m11))
return false;
if (Double.doubleToLongBits(m20) != Double.doubleToLongBits(other.m20))
return false;
if (Double.doubleToLongBits(m21) != Double.doubleToLongBits(other.m21))
return false;
return true;
}
public boolean equals(Matrix3x2dc m, double delta) {
if (this == m)
return true;
if (m == null)
return false;
if (!(m instanceof Matrix3x2d))
return false;
if (!Runtime.equals(m00, m.m00(), delta))
return false;
if (!Runtime.equals(m01, m.m01(), delta))
return false;
if (!Runtime.equals(m10, m.m10(), delta))
return false;
if (!Runtime.equals(m11, m.m11(), delta))
return false;
if (!Runtime.equals(m20, m.m20(), delta))
return false;
if (!Runtime.equals(m21, m.m21(), delta))
return false;
return true;
}
public boolean isFinite() {
return Math.isFinite(m00) && Math.isFinite(m01) &&
Math.isFinite(m10) && Math.isFinite(m11) &&
Math.isFinite(m20) && Math.isFinite(m21);
}
public Object clone() throws CloneNotSupportedException {
return super.clone();
}
}