* m00 m10
* m01 m11
*
* @author Joseph Burton
*/
public class Matrix2d implements Externalizable, Cloneable, Matrix2dc {
private static final long serialVersionUID = 1L;
public double m00, m01;
public double m10, m11;
/**
* Create a new {@link Matrix2d} and set it to {@link #identity() identity}.
*/
public Matrix2d() {
m00 = 1.0;
m11 = 1.0;
}
/**
* Create a new {@link Matrix2d} and make it a copy of the given matrix.
*
* @param mat
* the {@link Matrix2dc} to copy the values from
*/
public Matrix2d(Matrix2dc mat) {
if (mat instanceof Matrix2d) {
MemUtil.INSTANCE.copy((Matrix2d) mat, this);
} else {
setMatrix2dc(mat);
}
}
/**
* Create a new {@link Matrix2d} and initialize it with the values from the given matrix.
*
* @param mat
* the matrix to initialize this matrix with
*/
public Matrix2d(Matrix2fc mat) {
m00 = mat.m00();
m01 = mat.m01();
m10 = mat.m10();
m11 = mat.m11();
}
/**
* Create a new {@link Matrix2d} and make it a copy of the upper left 2x2 of the given {@link Matrix3dc}.
*
* @param mat
* the {@link Matrix3dc} to copy the values from
*/
public Matrix2d(Matrix3dc mat) {
if (mat instanceof Matrix3d) {
MemUtil.INSTANCE.copy((Matrix3d) mat, this);
} else {
setMatrix3dc(mat);
}
}
/**
* Create a new {@link Matrix2d} and make it a copy of the upper left 2x2 of the given {@link Matrix3fc}.
*
* @param mat
* the {@link Matrix3fc} to copy the values from
*/
public Matrix2d(Matrix3fc mat) {
m00 = mat.m00();
m01 = mat.m01();
m10 = mat.m10();
m11 = mat.m11();
}
/**
* Create a new 2x2 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
*/
public Matrix2d(double m00, double m01,
double m10, double m11) {
this.m00 = m00;
this.m01 = m01;
this.m10 = m10;
this.m11 = m11;
}
/**
* Create a new {@link Matrix2d} by reading its 4 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 Matrix2d(DoubleBuffer buffer) {
MemUtil.INSTANCE.get(this, buffer.position(), buffer);
}
/**
* Create a new {@link Matrix2d} and initialize its two columns using the supplied vectors.
*
* @param col0
* the first column
* @param col1
* the second column
*/
public Matrix2d(Vector2dc col0, Vector2dc col1) {
m00 = col0.x();
m01 = col0.y();
m10 = col1.x();
m11 = col1.y();
}
public double m00() {
return m00;
}
public double m01() {
return m01;
}
public double m10() {
return m10;
}
public double m11() {
return m11;
}
/**
* Set the value of the matrix element at column 0 and row 0.
*
* @param m00
* the new value
* @return this
*/
public Matrix2d 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
*/
public Matrix2d 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
*/
public Matrix2d 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
*/
public Matrix2d m11(double m11) {
this.m11 = m11;
return this;
}
/**
* Set the value of the matrix element at column 0 and row 0.
*
* @param m00
* the new value
* @return this
*/
Matrix2d _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
*/
Matrix2d _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
*/
Matrix2d _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
*/
Matrix2d _m11(double m11) {
this.m11 = m11;
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 Matrix2d 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 elements of this matrix to the ones in m.
*
* @param m
* the matrix to copy the elements from
* @return this
*/
public Matrix2d set(Matrix2fc m) {
m00 = m.m00();
m01 = m.m01();
m10 = m.m10();
m11 = m.m11();
return this;
}
/**
* Set the elements of this matrix to the left 2x2 submatrix of m.
*
* @param m
* the matrix to copy the elements from
* @return this
*/
public Matrix2d 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();
}
/**
* Set the elements of this matrix to the left 2x2 submatrix of m.
*
* @param m
* the matrix to copy the elements from
* @return this
*/
public Matrix2d set(Matrix3x2fc m) {
m00 = m.m00();
m01 = m.m01();
m10 = m.m10();
m11 = m.m11();
return this;
}
/**
* Set the elements of this matrix to the upper left 2x2 of the given {@link Matrix3dc}.
*
* @param m
* the {@link Matrix3dc} to copy the values from
* @return this
*/
public Matrix2d set(Matrix3dc m) {
if (m instanceof Matrix3d) {
MemUtil.INSTANCE.copy((Matrix3d) m, this);
} else {
setMatrix3dc(m);
}
return this;
}
private void setMatrix3dc(Matrix3dc mat) {
m00 = mat.m00();
m01 = mat.m01();
m10 = mat.m10();
m11 = mat.m11();
}
/**
* Set the elements of this matrix to the upper left 2x2 of the given {@link Matrix3dc}.
*
* @param m
* the {@link Matrix3fc} to copy the values from
* @return this
*/
public Matrix2d set(Matrix3fc m) {
m00 = m.m00();
m01 = m.m01();
m10 = m.m10();
m11 = m.m11();
return this;
}
/**
* Multiply this matrix by the supplied right matrix.
*
* 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 Matrix2d mul(Matrix2dc right) {
return mul(right, this);
}
public Matrix2d mul(Matrix2dc right, Matrix2d 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();
dest.m00 = nm00;
dest.m01 = nm01;
dest.m10 = nm10;
dest.m11 = nm11;
return dest;
}
/**
* Multiply this matrix by the supplied right matrix.
*
* 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 Matrix2d mul(Matrix2fc right) {
return mul(right, this);
}
public Matrix2d mul(Matrix2fc right, Matrix2d 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();
dest.m00 = nm00;
dest.m01 = nm01;
dest.m10 = nm10;
dest.m11 = nm11;
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 Matrix2d mulLocal(Matrix2dc left) {
return mulLocal(left, this);
}
public Matrix2d mulLocal(Matrix2dc left, Matrix2d 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;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m10 = nm10;
dest.m11 = nm11;
return dest;
}
/**
* Set the values within this matrix to the supplied double values. The result looks like this:
*
* m00, m10
* m01, m11
*
* @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
* @return this
*/
public Matrix2d set(double m00, double m01,
double m10, double m11) {
this.m00 = m00;
this.m01 = m01;
this.m10 = m10;
this.m11 = m11;
return this;
}
/**
* Set the values in this matrix based on the supplied double array. The result looks like this:
*
* 0, 2
* 1, 3
*
* This method only uses the first 4 values, all others are ignored.
*
* @param m
* the array to read the matrix values from
* @return this
*/
public Matrix2d set(double m[]) {
MemUtil.INSTANCE.copy(m, 0, this);
return this;
}
/**
* Set the two columns of this matrix to the supplied vectors, respectively.
*
* @param col0
* the first column
* @param col1
* the second column
* @return this
*/
public Matrix2d set(Vector2dc col0, Vector2dc col1) {
m00 = col0.x();
m01 = col0.y();
m10 = col1.x();
m11 = col1.y();
return this;
}
public double determinant() {
return m00 * m11 - m10 * m01;
}
/**
* Invert this matrix.
*
* @return this
*/
public Matrix2d invert() {
return invert(this);
}
public Matrix2d invert(Matrix2d dest) {
double s = 1.0 / determinant();
double nm00 = m11 * s;
double nm01 = -m01 * s;
double nm10 = -m10 * s;
double nm11 = m00 * s;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m10 = nm10;
dest.m11 = nm11;
return dest;
}
/**
* Transpose this matrix.
*
* @return this
*/
public Matrix2d transpose() {
return transpose(this);
}
public Matrix2d transpose(Matrix2d dest) {
dest.set(m00, m10,
m01, m11);
return dest;
}
/**
* 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) + "\n"
+ Runtime.format(m01, formatter) + " " + Runtime.format(m11, formatter) + "\n";
}
/**
* Get the current values of this matrix and store them into
* dest.
*
* This is the reverse method of {@link #set(Matrix2dc)} and allows to obtain * intermediate calculation results when chaining multiple transformations. * * @see #set(Matrix2dc) * * @param dest * the destination matrix * @return the passed in destination */ public Matrix2d get(Matrix2d dest) { return dest.set(this); } public Matrix3x2d get(Matrix3x2d dest) { return dest.set(this); } public Matrix3d get(Matrix3d dest) { return dest.set(this); } public double getRotation() { return (double) Math.atan2(m01, m11); } public DoubleBuffer get(DoubleBuffer buffer) { return get(buffer.position(), buffer); } public DoubleBuffer get(int index, DoubleBuffer buffer) { MemUtil.INSTANCE.put(this, index, buffer); return buffer; } public ByteBuffer get(ByteBuffer buffer) { return get(buffer.position(), buffer); } public ByteBuffer get(int index, ByteBuffer buffer) { MemUtil.INSTANCE.put(this, index, buffer); return buffer; } public DoubleBuffer getTransposed(DoubleBuffer buffer) { return get(buffer.position(), buffer); } public DoubleBuffer getTransposed(int index, DoubleBuffer buffer) { MemUtil.INSTANCE.putTransposed(this, index, buffer); return buffer; } public ByteBuffer getTransposed(ByteBuffer buffer) { return get(buffer.position(), buffer); } public ByteBuffer getTransposed(int index, ByteBuffer buffer) { MemUtil.INSTANCE.putTransposed(this, index, buffer); return buffer; } public Matrix2dc getToAddress(long address) { if (Options.NO_UNSAFE) throw new UnsupportedOperationException("Not supported when using joml.nounsafe"); MemUtil.MemUtilUnsafe.put(this, address); return this; } public double[] get(double[] arr, int offset) { MemUtil.INSTANCE.copy(this, arr, offset); return arr; } public double[] get(double[] arr) { return get(arr, 0); } /** * Set the values of this matrix by reading 4 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 Matrix2d set(DoubleBuffer buffer) { MemUtil.INSTANCE.get(this, buffer.position(), buffer); return this; } /** * Set the values of this matrix by reading 4 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 Matrix2d set(ByteBuffer buffer) { MemUtil.INSTANCE.get(this, buffer.position(), buffer); return this; } /** * Set the values of this matrix by reading 4 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 Matrix2d set(int index, DoubleBuffer buffer) { MemUtil.INSTANCE.get(this, index, buffer); return this; } /** * Set the values of this matrix by reading 4 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 Matrix2d set(int index, ByteBuffer buffer) { MemUtil.INSTANCE.get(this, index, buffer); return this; } /** * Set the values of this matrix by reading 4 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 Matrix2d 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 Matrix2d zero() {
MemUtil.INSTANCE.zero(this);
return this;
}
/**
* Set this matrix to the identity.
*
* @return this
*/
public Matrix2d identity() {
m00 = 1.0;
m01 = 0.0;
m10 = 0.0;
m11 = 1.0;
return this;
}
public Matrix2d scale(Vector2dc xy, Matrix2d dest) {
return scale(xy.x(), xy.y(), dest);
}
/**
* Apply scaling to this matrix by scaling the base axes by the given xy.x and
* xy.y factors, respectively.
*
* 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 Matrix2d scale(Vector2dc xy) {
return scale(xy.x(), xy.y(), this);
}
public Matrix2d scale(double x, double y, Matrix2d dest) {
// scale matrix elements:
// m00 = x, m11 = y
// all others = 0
dest.m00 = m00 * x;
dest.m01 = m01 * x;
dest.m10 = m10 * y;
dest.m11 = m11 * y;
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 Matrix2d scale(double x, double y) {
return scale(x, y, this);
}
public Matrix2d scale(double xy, Matrix2d dest) {
return scale(xy, xy, dest);
}
/**
* Apply scaling to this matrix by uniformly scaling all base axes by the given xy 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 all components
* @return this
*/
public Matrix2d scale(double xy) {
return scale(xy, xy);
}
public Matrix2d scaleLocal(double x, double y, Matrix2d dest) {
dest.m00 = x * m00;
dest.m01 = y * m01;
dest.m10 = x * m10;
dest.m11 = y * m11;
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 Matrix2d scaleLocal(double x, double y) {
return scaleLocal(x, y, this);
}
/**
* Set this matrix to be a simple scale matrix, which scales all 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 Matrix2d scaling(double factor) {
MemUtil.INSTANCE.zero(this);
m00 = factor;
m11 = factor;
return this;
}
/**
* Set this matrix to be a simple scale matrix.
*
* @param x
* the scale in x
* @param y
* the scale in y
* @return this
*/
public Matrix2d scaling(double x, double y) {
MemUtil.INSTANCE.zero(this);
m00 = x;
m11 = y;
return this;
}
/**
* Set this matrix to be a simple scale matrix which scales the base axes by xy.x and xy.y respectively.
*
* 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(Vector2dc) scale()} instead. * * @see #scale(Vector2dc) * * @param xy * the scale in x and y respectively * @return this */ public Matrix2d scaling(Vector2dc xy) { return scaling(xy.x(), xy.y()); } /** * Set this matrix to a rotation matrix which rotates the given radians about the origin. *
* The produced rotation will rotate a vector counter-clockwise around the origin. *
* The resulting matrix can be multiplied against another transformation * matrix to obtain an additional rotation. *
* In order to post-multiply a rotation transformation directly to a * matrix, use {@link #rotate(double) rotate()} instead. * * @see #rotate(double) * * @param angle * the angle in radians * @return this */ public Matrix2d rotation(double angle) { double sin = Math.sin(angle); double cos = Math.cosFromSin(sin, angle); m00 = cos; m01 = sin; m10 = -sin; m11 = cos; return this; } public Vector2d transform(Vector2d v) { return v.mul(this); } public Vector2d transform(Vector2dc v, Vector2d dest) { v.mul(this, dest); return dest; } public Vector2d transform(double x, double y, Vector2d dest) { dest.set(m00 * x + m10 * y, m01 * x + m11 * y); return dest; } public Vector2d transformTranspose(Vector2d v) { return v.mulTranspose(this); } public Vector2d transformTranspose(Vector2dc v, Vector2d dest) { v.mulTranspose(this, dest); return dest; } public Vector2d transformTranspose(double x, double y, Vector2d dest) { dest.set(m00 * x + m01 * y, m10 * x + m11 * y); return dest; } public void writeExternal(ObjectOutput out) throws IOException { out.writeDouble(m00); out.writeDouble(m01); out.writeDouble(m10); out.writeDouble(m11); } public void readExternal(ObjectInput in) throws IOException { m00 = in.readDouble(); m01 = in.readDouble(); m10 = in.readDouble(); m11 = in.readDouble(); } /** * Apply rotation about the origin to this matrix by rotating the given amount of radians. *
* The produced rotation will rotate a vector counter-clockwise around the origin. *
* 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!
*
* Reference: http://en.wikipedia.org * * @param angle * the angle in radians * @return this */ public Matrix2d rotate(double angle) { return rotate(angle, this); } public Matrix2d rotate(double angle, Matrix2d dest) { double s = Math.sin(angle); double c = Math.cosFromSin(s, angle); // rotation matrix elements: // m00 = c, m01 = s, m10 = -s, m11 = c double nm00 = m00 * c + m10 * s; double nm01 = m01 * c + m11 * s; double nm10 = m10 * c - m00 * s; double nm11 = m11 * c - m01 * s; dest.m00 = nm00; dest.m01 = nm01; dest.m10 = nm10; dest.m11 = nm11; return dest; } /** * Pre-multiply a rotation to this matrix by rotating the given amount of radians about the origin. *
* The produced rotation will rotate a vector counter-clockwise around the origin. *
* 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 angle
* the angle in radians to rotate about the X axis
* @return this
*/
public Matrix2d rotateLocal(double angle) {
return rotateLocal(angle, this);
}
public Matrix2d rotateLocal(double angle, Matrix2d dest) {
double s = Math.sin(angle);
double c = Math.cosFromSin(s, angle);
// rotation matrix elements:
// m00 = c, m01 = s, m10 = -s, m11 = c
double nm00 = c * m00 - s * m01;
double nm01 = s * m00 + c * m01;
double nm10 = c * m10 - s * m11;
double nm11 = s * m10 + c * m11;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m10 = nm10;
dest.m11 = nm11;
return dest;
}
public Vector2d getRow(int row, Vector2d dest) throws IndexOutOfBoundsException {
switch (row) {
case 0:
dest.x = m00;
dest.y = m10;
break;
case 1:
dest.x = m01;
dest.y = m11;
break;
default:
throw new IndexOutOfBoundsException();
}
return dest;
}
/**
* Set the row at the given row index, starting with 0.
*
* @param row
* the row index in [0..1]
* @param src
* the row components to set
* @return this
* @throws IndexOutOfBoundsException if row is not in [0..1]
*/
public Matrix2d setRow(int row, Vector2dc src) throws IndexOutOfBoundsException {
return setRow(row, src.x(), src.y());
}
/**
* Set the row at the given row index, starting with 0.
*
* @param row
* the row index in [0..1]
* @param x
* the first element in the row
* @param y
* the second element in the row
* @return this
* @throws IndexOutOfBoundsException if row is not in [0..1]
*/
public Matrix2d setRow(int row, double x, double y) throws IndexOutOfBoundsException {
switch (row) {
case 0:
this.m00 = x;
this.m10 = y;
break;
case 1:
this.m01 = x;
this.m11 = y;
break;
default:
throw new IndexOutOfBoundsException();
}
return this;
}
public Vector2d getColumn(int column, Vector2d dest) throws IndexOutOfBoundsException {
switch (column) {
case 0:
dest.x = m00;
dest.y = m01;
break;
case 1:
dest.x = m10;
dest.y = m11;
break;
default:
throw new IndexOutOfBoundsException();
}
return dest;
}
/**
* Set the column at the given column index, starting with 0.
*
* @param column
* the column index in [0..1]
* @param src
* the column components to set
* @return this
* @throws IndexOutOfBoundsException if column is not in [0..1]
*/
public Matrix2d setColumn(int column, Vector2dc src) throws IndexOutOfBoundsException {
return setColumn(column, src.x(), src.y());
}
/**
* Set the column at the given column index, starting with 0.
*
* @param column
* the column index in [0..1]
* @param x
* the first element in the column
* @param y
* the second element in the column
* @return this
* @throws IndexOutOfBoundsException if column is not in [0..1]
*/
public Matrix2d setColumn(int column, double x, double y) throws IndexOutOfBoundsException {
switch (column) {
case 0:
this.m00 = x;
this.m01 = y;
break;
case 1:
this.m10 = x;
this.m11 = y;
break;
default:
throw new IndexOutOfBoundsException();
}
return this;
}
public double get(int column, int row) {
switch (column) {
case 0:
switch (row) {
case 0:
return m00;
case 1:
return m01;
default:
break;
}
break;
case 1:
switch (row) {
case 0:
return m10;
case 1:
return m11;
default:
break;
}
break;
default:
break;
}
throw new IndexOutOfBoundsException();
}
/**
* Set the matrix element at the given column and row to the specified value.
*
* @param column
* the colum index in [0..1]
* @param row
* the row index in [0..1]
* @param value
* the value
* @return this
*/
public Matrix2d set(int column, int row, double value) {
switch (column) {
case 0:
switch (row) {
case 0:
this.m00 = value;
return this;
case 1:
this.m01 = value;
return this;
default:
break;
}
break;
case 1:
switch (row) {
case 0:
this.m10 = value;
return this;
case 1:
this.m11 = value;
return this;
default:
break;
}
break;
default:
break;
}
throw new IndexOutOfBoundsException();
}
/**
* Set this matrix to its own normal matrix.
*
* Please note that, if this is an orthogonal matrix or a matrix whose columns are orthogonal vectors,
* then this method need not be invoked, since in that case this itself is its normal matrix.
* In this case, use {@link #set(Matrix2dc)} to set a given Matrix2d to this matrix.
*
* @see #set(Matrix2dc)
*
* @return this
*/
public Matrix2d normal() {
return normal(this);
}
/**
* Compute a normal matrix from this matrix and store it into dest.
*
* Please note that, if this is an orthogonal matrix or a matrix whose columns are orthogonal vectors,
* then this method need not be invoked, since in that case this itself is its normal matrix.
* In this case, use {@link #set(Matrix2dc)} to set a given Matrix2d to this matrix.
*
* @see #set(Matrix2dc)
*
* @param dest
* will hold the result
* @return dest
*/
public Matrix2d normal(Matrix2d dest) {
double det = m00 * m11 - m10 * m01;
double s = 1.0 / det;
/* Invert and transpose in one go */
double nm00 = m11 * s;
double nm01 = -m10 * s;
double nm10 = -m01 * s;
double nm11 = m00 * s;
dest.m00 = nm00;
dest.m01 = nm01;
dest.m10 = nm10;
dest.m11 = nm11;
return dest;
}
public Vector2d getScale(Vector2d dest) {
dest.x = Math.sqrt(m00 * m00 + m01 * m01);
dest.y = Math.sqrt(m10 * m10 + m11 * m11);
return dest;
}
public Vector2d positiveX(Vector2d dir) {
if (m00 * m11 < m01 * m10) { // negative determinant?
dir.x = -m11;
dir.y = m01;
} else {
dir.x = m11;
dir.y = -m01;
}
return dir.normalize(dir);
}
public Vector2d normalizedPositiveX(Vector2d dir) {
if (m00 * m11 < m01 * m10) { // negative determinant?
dir.x = -m11;
dir.y = m01;
} else {
dir.x = m11;
dir.y = -m01;
}
return dir;
}
public Vector2d positiveY(Vector2d dir) {
if (m00 * m11 < m01 * m10) { // negative determinant?
dir.x = m10;
dir.y = -m00;
} else {
dir.x = -m10;
dir.y = m00;
}
return dir.normalize(dir);
}
public Vector2d normalizedPositiveY(Vector2d dir) {
if (m00 * m11 < m01 * m10) { // negative determinant?
dir.x = m10;
dir.y = -m00;
} else {
dir.x = -m10;
dir.y = m00;
}
return dir;
}
public int hashCode() {
final int prime = 31;
int result = 1;
long temp;
temp = Double.doubleToLongBits(m00);
result = prime * result + (int) ((temp >>> 32) ^ temp);
temp = Double.doubleToLongBits(m01);
result = prime * result + (int) ((temp >>> 32) ^ temp);
temp = Double.doubleToLongBits(m10);
result = prime * result + (int) ((temp >>> 32) ^ temp);
temp = Double.doubleToLongBits(m11);
result = prime * result + (int) ((temp >>> 32) ^ temp);
return result;
}
public boolean equals(Object obj) {
if (this == obj)
return true;
if (obj == null)
return false;
if (getClass() != obj.getClass())
return false;
Matrix2d other = (Matrix2d) 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;
return true;
}
public boolean equals(Matrix2dc m, double delta) {
if (this == m)
return true;
if (m == null)
return false;
if (!(m instanceof Matrix2d))
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;
return true;
}
/**
* Exchange the values of this matrix with the given other matrix.
*
* @param other
* the other matrix to exchange the values with
* @return this
*/
public Matrix2d swap(Matrix2d other) {
MemUtil.INSTANCE.swap(this, other);
return this;
}
/**
* Component-wise add this and other.
*
* @param other
* the other addend
* @return this
*/
public Matrix2d add(Matrix2dc other) {
return add(other, this);
}
public Matrix2d add(Matrix2dc other, Matrix2d dest) {
dest.m00 = m00 + other.m00();
dest.m01 = m01 + other.m01();
dest.m10 = m10 + other.m10();
dest.m11 = m11 + other.m11();
return dest;
}
/**
* Component-wise subtract subtrahend from this.
*
* @param subtrahend
* the subtrahend
* @return this
*/
public Matrix2d sub(Matrix2dc subtrahend) {
return sub(subtrahend, this);
}
public Matrix2d sub(Matrix2dc other, Matrix2d dest) {
dest.m00 = m00 - other.m00();
dest.m01 = m01 - other.m01();
dest.m10 = m10 - other.m10();
dest.m11 = m11 - other.m11();
return dest;
}
/**
* Component-wise multiply this by other.
*
* @param other
* the other matrix
* @return this
*/
public Matrix2d mulComponentWise(Matrix2dc other) {
return sub(other, this);
}
public Matrix2d mulComponentWise(Matrix2dc other, Matrix2d dest) {
dest.m00 = m00 * other.m00();
dest.m01 = m01 * other.m01();
dest.m10 = m10 * other.m10();
dest.m11 = m11 * other.m11();
return dest;
}
/**
* Linearly interpolate this and other using the given interpolation factor t
* and store the result in this.
*
* If t is 0.0 then the result is this. If the interpolation factor is 1.0
* then the result is other.
*
* @param other
* the other matrix
* @param t
* the interpolation factor between 0.0 and 1.0
* @return this
*/
public Matrix2d lerp(Matrix2dc other, double t) {
return lerp(other, t, this);
}
public Matrix2d lerp(Matrix2dc other, double t, Matrix2d dest) {
dest.m00 = Math.fma(other.m00() - m00, t, m00);
dest.m01 = Math.fma(other.m01() - m01, t, m01);
dest.m10 = Math.fma(other.m10() - m10, t, m10);
dest.m11 = Math.fma(other.m11() - m11, t, m11);
return dest;
}
public boolean isFinite() {
return Math.isFinite(m00) && Math.isFinite(m01) &&
Math.isFinite(m10) && Math.isFinite(m11);
}
public Object clone() throws CloneNotSupportedException {
return super.clone();
}
}