mirror of
https://github.com/Jozufozu/Flywheel.git
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a42c027b6f
- Fix Resources not being closed properly - Change versioning scheme to match Create - Add LICENSE to built jar - Fix mods.toml version sync - Move JOML code to non-src directory - Update Gradle - Organize imports
4921 lines
170 KiB
Java
4921 lines
170 KiB
Java
/*
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* The MIT License
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*
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* Copyright (c) 2015-2021 Richard Greenlees
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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package com.jozufozu.flywheel.repack.joml;
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import java.io.Externalizable;
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import java.io.IOException;
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import java.io.ObjectInput;
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import java.io.ObjectOutput;
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import java.nio.ByteBuffer;
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import java.nio.FloatBuffer;
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import java.text.DecimalFormat;
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import java.text.NumberFormat;
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/**
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* Contains the definition of a 3x3 matrix of floats, and associated functions to transform
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* it. The matrix is column-major to match OpenGL's interpretation, and it looks like this:
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* <p>
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* m00 m10 m20<br>
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* m01 m11 m21<br>
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* m02 m12 m22<br>
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*
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* @author Richard Greenlees
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* @author Kai Burjack
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*/
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public class Matrix3f implements Externalizable, Cloneable, Matrix3fc {
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private static final long serialVersionUID = 1L;
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public float m00, m01, m02;
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public float m10, m11, m12;
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public float m20, m21, m22;
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/**
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* Create a new {@link Matrix3f} and set it to {@link #identity() identity}.
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*/
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public Matrix3f() {
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m00 = 1.0f;
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m11 = 1.0f;
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m22 = 1.0f;
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}
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/**
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* Create a new {@link Matrix3f} by setting its uppper left 2x2 submatrix to the values of the given {@link Matrix2fc}
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* and the rest to identity.
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*
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* @param mat
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* the {@link Matrix2fc}
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*/
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public Matrix3f(Matrix2fc mat) {
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set(mat);
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}
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/**
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* Create a new {@link Matrix3f} and make it a copy of the given matrix.
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*
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* @param mat
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* the {@link Matrix3fc} to copy the values from
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*/
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public Matrix3f(Matrix3fc mat) {
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set(mat);
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}
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/**
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* Create a new {@link Matrix3f} and make it a copy of the upper left 3x3 of the given {@link Matrix4fc}.
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*
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* @param mat
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* the {@link Matrix4fc} to copy the values from
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*/
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public Matrix3f(Matrix4fc mat) {
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set(mat);
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}
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/**
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* Create a new 3x3 matrix using the supplied float values. The order of the parameter is column-major,
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* so the first three parameters specify the three elements of the first column.
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*
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* @param m00
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* the value of m00
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* @param m01
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* the value of m01
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* @param m02
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* the value of m02
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* @param m10
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* the value of m10
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* @param m11
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* the value of m11
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* @param m12
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* the value of m12
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* @param m20
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* the value of m20
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* @param m21
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* the value of m21
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* @param m22
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* the value of m22
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*/
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public Matrix3f(float m00, float m01, float m02,
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float m10, float m11, float m12,
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float m20, float m21, float m22) {
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this.m00 = m00;
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this.m01 = m01;
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this.m02 = m02;
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this.m10 = m10;
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this.m11 = m11;
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this.m12 = m12;
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this.m20 = m20;
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this.m21 = m21;
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this.m22 = m22;
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}
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/**
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* Create a new {@link Matrix3f} by reading its 9 float components from the given {@link FloatBuffer}
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* at the buffer's current position.
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* <p>
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* That FloatBuffer is expected to hold the values in column-major order.
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* <p>
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* The buffer's position will not be changed by this method.
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*
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* @param buffer
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* the {@link FloatBuffer} to read the matrix values from
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*/
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public Matrix3f(FloatBuffer buffer) {
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MemUtil.INSTANCE.get(this, buffer.position(), buffer);
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}
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/**
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* Create a new {@link Matrix3f} and initialize its three columns using the supplied vectors.
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*
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* @param col0
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* the first column
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* @param col1
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* the second column
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* @param col2
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* the third column
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*/
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public Matrix3f(Vector3fc col0, Vector3fc col1, Vector3fc col2) {
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set(col0, col1, col2);
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}
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public float m00() {
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return m00;
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}
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public float m01() {
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return m01;
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}
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public float m02() {
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return m02;
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}
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public float m10() {
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return m10;
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}
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public float m11() {
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return m11;
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}
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public float m12() {
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return m12;
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}
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public float m20() {
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return m20;
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}
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public float m21() {
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return m21;
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}
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public float m22() {
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return m22;
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}
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/**
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* Set the value of the matrix element at column 0 and row 0.
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*
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* @param m00
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* the new value
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* @return this
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*/
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public Matrix3f m00(float m00) {
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this.m00 = m00;
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return this;
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}
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/**
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* Set the value of the matrix element at column 0 and row 1.
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*
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* @param m01
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* the new value
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* @return this
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*/
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public Matrix3f m01(float m01) {
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this.m01 = m01;
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return this;
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}
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/**
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* Set the value of the matrix element at column 0 and row 2.
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*
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* @param m02
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* the new value
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* @return this
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*/
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public Matrix3f m02(float m02) {
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this.m02 = m02;
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return this;
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}
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/**
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* Set the value of the matrix element at column 1 and row 0.
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*
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* @param m10
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* the new value
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* @return this
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*/
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public Matrix3f m10(float m10) {
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this.m10 = m10;
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return this;
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}
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/**
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* Set the value of the matrix element at column 1 and row 1.
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*
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* @param m11
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* the new value
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* @return this
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*/
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public Matrix3f m11(float m11) {
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this.m11 = m11;
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return this;
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}
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/**
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* Set the value of the matrix element at column 1 and row 2.
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*
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* @param m12
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* the new value
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* @return this
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*/
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public Matrix3f m12(float m12) {
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this.m12 = m12;
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return this;
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}
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/**
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* Set the value of the matrix element at column 2 and row 0.
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*
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* @param m20
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* the new value
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* @return this
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*/
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public Matrix3f m20(float m20) {
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this.m20 = m20;
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return this;
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}
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/**
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* Set the value of the matrix element at column 2 and row 1.
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*
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* @param m21
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* the new value
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* @return this
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*/
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public Matrix3f m21(float m21) {
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this.m21 = m21;
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return this;
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}
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/**
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* Set the value of the matrix element at column 2 and row 2.
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*
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* @param m22
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* the new value
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* @return this
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*/
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public Matrix3f m22(float m22) {
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this.m22 = m22;
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return this;
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}
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/**
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* Set the value of the matrix element at column 0 and row 0.
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*
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* @param m00
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* the new value
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* @return this
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*/
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Matrix3f _m00(float m00) {
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this.m00 = m00;
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return this;
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}
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/**
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* Set the value of the matrix element at column 0 and row 1.
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*
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* @param m01
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* the new value
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* @return this
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*/
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Matrix3f _m01(float m01) {
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this.m01 = m01;
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return this;
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}
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/**
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* Set the value of the matrix element at column 0 and row 2.
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*
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* @param m02
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* the new value
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* @return this
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*/
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Matrix3f _m02(float m02) {
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this.m02 = m02;
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return this;
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}
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/**
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* Set the value of the matrix element at column 1 and row 0.
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*
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* @param m10
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* the new value
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* @return this
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*/
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Matrix3f _m10(float m10) {
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this.m10 = m10;
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return this;
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}
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/**
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* Set the value of the matrix element at column 1 and row 1.
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*
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* @param m11
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* the new value
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* @return this
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*/
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Matrix3f _m11(float m11) {
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this.m11 = m11;
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return this;
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}
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/**
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* Set the value of the matrix element at column 1 and row 2.
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*
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* @param m12
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* the new value
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* @return this
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*/
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Matrix3f _m12(float m12) {
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this.m12 = m12;
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return this;
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}
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/**
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* Set the value of the matrix element at column 2 and row 0.
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*
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* @param m20
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* the new value
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* @return this
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*/
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Matrix3f _m20(float m20) {
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this.m20 = m20;
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return this;
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}
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/**
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* Set the value of the matrix element at column 2 and row 1.
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*
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* @param m21
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* the new value
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* @return this
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*/
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Matrix3f _m21(float m21) {
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this.m21 = m21;
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return this;
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}
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/**
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* Set the value of the matrix element at column 2 and row 2.
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*
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* @param m22
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* the new value
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* @return this
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*/
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Matrix3f _m22(float m22) {
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this.m22 = m22;
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return this;
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}
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/**
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* Set the elements of this matrix to the ones in <code>m</code>.
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*
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* @param m
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* the matrix to copy the elements from
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* @return this
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*/
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public Matrix3f set(Matrix3fc m) {
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return
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_m00(m.m00()).
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_m01(m.m01()).
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_m02(m.m02()).
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_m10(m.m10()).
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_m11(m.m11()).
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_m12(m.m12()).
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_m20(m.m20()).
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_m21(m.m21()).
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_m22(m.m22());
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}
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/**
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* Store the values of the transpose of the given matrix <code>m</code> into <code>this</code> matrix.
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*
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* @param m
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* the matrix to copy the transposed values from
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* @return this
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*/
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public Matrix3f setTransposed(Matrix3fc m) {
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float nm10 = m.m01(), nm12 = m.m21();
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float nm20 = m.m02(), nm21 = m.m12();
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return this
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._m00(m.m00())._m01(m.m10())._m02(m.m20())
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._m10(nm10)._m11(m.m11())._m12(nm12)
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._m20(nm20)._m21(nm21)._m22(m.m22());
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}
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/**
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* Set the elements of this matrix to the left 3x3 submatrix of <code>m</code>.
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*
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* @param m
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* the matrix to copy the elements from
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* @return this
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*/
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public Matrix3f set(Matrix4x3fc m) {
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m00 = m.m00();
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m01 = m.m01();
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m02 = m.m02();
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m10 = m.m10();
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m11 = m.m11();
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m12 = m.m12();
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m20 = m.m20();
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m21 = m.m21();
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m22 = m.m22();
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return this;
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}
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/**
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* Set the elements of this matrix to the upper left 3x3 of the given {@link Matrix4fc}.
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*
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* @param mat
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* the {@link Matrix4fc} to copy the values from
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* @return this
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*/
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public Matrix3f set(Matrix4fc mat) {
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m00 = mat.m00();
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m01 = mat.m01();
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m02 = mat.m02();
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m10 = mat.m10();
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m11 = mat.m11();
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m12 = mat.m12();
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m20 = mat.m20();
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m21 = mat.m21();
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m22 = mat.m22();
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return this;
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}
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/**
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* Set the upper left 2x2 submatrix of this {@link Matrix3f} to the given {@link Matrix2fc}
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* and the rest to identity.
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*
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* @see #Matrix3f(Matrix2fc)
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*
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* @param mat
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* the {@link Matrix2fc}
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* @return this
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*/
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public Matrix3f set(Matrix2fc mat) {
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m00 = mat.m00();
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m01 = mat.m01();
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m02 = 0.0f;
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m10 = mat.m10();
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m11 = mat.m11();
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m12 = 0.0f;
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m20 = 0.0f;
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m21 = 0.0f;
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m22 = 1.0f;
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return this;
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}
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/**
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* Set this matrix to be equivalent to the rotation specified by the given {@link AxisAngle4f}.
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*
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* @param axisAngle
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* the {@link AxisAngle4f}
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* @return this
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*/
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public Matrix3f set(AxisAngle4f axisAngle) {
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float x = axisAngle.x;
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float y = axisAngle.y;
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float z = axisAngle.z;
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float angle = axisAngle.angle;
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float invLength = Math.invsqrt(x*x + y*y + z*z);
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x *= invLength;
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y *= invLength;
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z *= invLength;
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float s = Math.sin(angle);
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float c = Math.cosFromSin(s, angle);
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float omc = 1.0f - c;
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m00 = c + x*x*omc;
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m11 = c + y*y*omc;
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m22 = c + z*z*omc;
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float tmp1 = x*y*omc;
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float tmp2 = z*s;
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m10 = tmp1 - tmp2;
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m01 = tmp1 + tmp2;
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tmp1 = x*z*omc;
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tmp2 = y*s;
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m20 = tmp1 + tmp2;
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m02 = tmp1 - tmp2;
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tmp1 = y*z*omc;
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tmp2 = x*s;
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m21 = tmp1 - tmp2;
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m12 = tmp1 + tmp2;
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return this;
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}
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/**
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* Set this matrix to be equivalent to the rotation specified by the given {@link AxisAngle4d}.
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*
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* @param axisAngle
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* the {@link AxisAngle4d}
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* @return this
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*/
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public Matrix3f set(AxisAngle4d axisAngle) {
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double x = axisAngle.x;
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double y = axisAngle.y;
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double z = axisAngle.z;
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double angle = axisAngle.angle;
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double invLength = Math.invsqrt(x*x + y*y + z*z);
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x *= invLength;
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y *= invLength;
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z *= invLength;
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double s = Math.sin(angle);
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double c = Math.cosFromSin(s, angle);
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double omc = 1.0f - c;
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m00 = (float)(c + x*x*omc);
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m11 = (float)(c + y*y*omc);
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m22 = (float)(c + z*z*omc);
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double tmp1 = x*y*omc;
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double tmp2 = z*s;
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m10 = (float)(tmp1 - tmp2);
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m01 = (float)(tmp1 + tmp2);
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tmp1 = x*z*omc;
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tmp2 = y*s;
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m20 = (float)(tmp1 + tmp2);
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m02 = (float)(tmp1 - tmp2);
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tmp1 = y*z*omc;
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tmp2 = x*s;
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m21 = (float)(tmp1 - tmp2);
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m12 = (float)(tmp1 + tmp2);
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return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to be equivalent to the rotation - and possibly scaling - specified by the given {@link Quaternionfc}.
|
|
* <p>
|
|
* This method is equivalent to calling: <code>rotation(q)</code>
|
|
* <p>
|
|
* Reference: <a href="http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToMatrix/">http://www.euclideanspace.com/</a>
|
|
*
|
|
* @see #rotation(Quaternionfc)
|
|
*
|
|
* @param q
|
|
* the {@link Quaternionfc}
|
|
* @return this
|
|
*/
|
|
public Matrix3f set(Quaternionfc q) {
|
|
return rotation(q);
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation - and possibly scaling - equivalent to the given quaternion.
|
|
* <p>
|
|
* Reference: <a href="http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToMatrix/">http://www.euclideanspace.com/</a>
|
|
*
|
|
* @param q
|
|
* the quaternion
|
|
* @return this
|
|
*/
|
|
public Matrix3f set(Quaterniondc q) {
|
|
double w2 = q.w() * q.w();
|
|
double x2 = q.x() * q.x();
|
|
double y2 = q.y() * q.y();
|
|
double z2 = q.z() * q.z();
|
|
double zw = q.z() * q.w();
|
|
double xy = q.x() * q.y();
|
|
double xz = q.x() * q.z();
|
|
double yw = q.y() * q.w();
|
|
double yz = q.y() * q.z();
|
|
double xw = q.x() * q.w();
|
|
m00 = (float) (w2 + x2 - z2 - y2);
|
|
m01 = (float) (xy + zw + zw + xy);
|
|
m02 = (float) (xz - yw + xz - yw);
|
|
m10 = (float) (-zw + xy - zw + xy);
|
|
m11 = (float) (y2 - z2 + w2 - x2);
|
|
m12 = (float) (yz + yz + xw + xw);
|
|
m20 = (float) (yw + xz + xz + yw);
|
|
m21 = (float) (yz + yz - xw - xw);
|
|
m22 = (float) (z2 - y2 - x2 + w2);
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Multiply this matrix by the supplied <code>right</code> matrix.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the <code>right</code> matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
|
|
* transformation of the right matrix will be applied first!
|
|
*
|
|
* @param right
|
|
* the right operand of the matrix multiplication
|
|
* @return this
|
|
*/
|
|
public Matrix3f mul(Matrix3fc right) {
|
|
return mul(right, this);
|
|
}
|
|
|
|
public Matrix3f mul(Matrix3fc right, Matrix3f dest) {
|
|
float nm00 = Math.fma(m00, right.m00(), Math.fma(m10, right.m01(), m20 * right.m02()));
|
|
float nm01 = Math.fma(m01, right.m00(), Math.fma(m11, right.m01(), m21 * right.m02()));
|
|
float nm02 = Math.fma(m02, right.m00(), Math.fma(m12, right.m01(), m22 * right.m02()));
|
|
float nm10 = Math.fma(m00, right.m10(), Math.fma(m10, right.m11(), m20 * right.m12()));
|
|
float nm11 = Math.fma(m01, right.m10(), Math.fma(m11, right.m11(), m21 * right.m12()));
|
|
float nm12 = Math.fma(m02, right.m10(), Math.fma(m12, right.m11(), m22 * right.m12()));
|
|
float nm20 = Math.fma(m00, right.m20(), Math.fma(m10, right.m21(), m20 * right.m22()));
|
|
float nm21 = Math.fma(m01, right.m20(), Math.fma(m11, right.m21(), m21 * right.m22()));
|
|
float nm22 = Math.fma(m02, right.m20(), Math.fma(m12, right.m21(), m22 * right.m22()));
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
dest.m20 = nm20;
|
|
dest.m21 = nm21;
|
|
dest.m22 = nm22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply this matrix by the supplied <code>left</code> matrix and store the result in <code>this</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the <code>left</code> matrix,
|
|
* then the new matrix will be <code>L * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>L * M * v</code>, the
|
|
* transformation of <code>this</code> matrix will be applied first!
|
|
*
|
|
* @param left
|
|
* the left operand of the matrix multiplication
|
|
* @return this
|
|
*/
|
|
public Matrix3f mulLocal(Matrix3fc left) {
|
|
return mulLocal(left, this);
|
|
}
|
|
|
|
public Matrix3f mulLocal(Matrix3fc left, Matrix3f dest) {
|
|
float nm00 = left.m00() * m00 + left.m10() * m01 + left.m20() * m02;
|
|
float nm01 = left.m01() * m00 + left.m11() * m01 + left.m21() * m02;
|
|
float nm02 = left.m02() * m00 + left.m12() * m01 + left.m22() * m02;
|
|
float nm10 = left.m00() * m10 + left.m10() * m11 + left.m20() * m12;
|
|
float nm11 = left.m01() * m10 + left.m11() * m11 + left.m21() * m12;
|
|
float nm12 = left.m02() * m10 + left.m12() * m11 + left.m22() * m12;
|
|
float nm20 = left.m00() * m20 + left.m10() * m21 + left.m20() * m22;
|
|
float nm21 = left.m01() * m20 + left.m11() * m21 + left.m21() * m22;
|
|
float nm22 = left.m02() * m20 + left.m12() * m21 + left.m22() * m22;
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
dest.m20 = nm20;
|
|
dest.m21 = nm21;
|
|
dest.m22 = nm22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Set the values within this matrix to the supplied float values. The result looks like this:
|
|
* <p>
|
|
* m00, m10, m20<br>
|
|
* m01, m11, m21<br>
|
|
* m02, m12, m22<br>
|
|
*
|
|
* @param m00
|
|
* the new value of m00
|
|
* @param m01
|
|
* the new value of m01
|
|
* @param m02
|
|
* the new value of m02
|
|
* @param m10
|
|
* the new value of m10
|
|
* @param m11
|
|
* the new value of m11
|
|
* @param m12
|
|
* the new value of m12
|
|
* @param m20
|
|
* the new value of m20
|
|
* @param m21
|
|
* the new value of m21
|
|
* @param m22
|
|
* the new value of m22
|
|
* @return this
|
|
*/
|
|
public Matrix3f set(float m00, float m01, float m02,
|
|
float m10, float m11, float m12,
|
|
float m20, float m21, float m22) {
|
|
this.m00 = m00;
|
|
this.m01 = m01;
|
|
this.m02 = m02;
|
|
this.m10 = m10;
|
|
this.m11 = m11;
|
|
this.m12 = m12;
|
|
this.m20 = m20;
|
|
this.m21 = m21;
|
|
this.m22 = m22;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set the values in this matrix based on the supplied float array. The result looks like this:
|
|
* <p>
|
|
* 0, 3, 6<br>
|
|
* 1, 4, 7<br>
|
|
* 2, 5, 8<br>
|
|
*
|
|
* This method only uses the first 9 values, all others are ignored.
|
|
*
|
|
* @param m
|
|
* the array to read the matrix values from
|
|
* @return this
|
|
*/
|
|
public Matrix3f set(float m[]) {
|
|
MemUtil.INSTANCE.copy(m, 0, this);
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set the three columns of this matrix to the supplied vectors, respectively.
|
|
*
|
|
* @param col0
|
|
* the first column
|
|
* @param col1
|
|
* the second column
|
|
* @param col2
|
|
* the third column
|
|
* @return this
|
|
*/
|
|
public Matrix3f set(Vector3fc col0, Vector3fc col1, Vector3fc col2) {
|
|
this.m00 = col0.x();
|
|
this.m01 = col0.y();
|
|
this.m02 = col0.z();
|
|
this.m10 = col1.x();
|
|
this.m11 = col1.y();
|
|
this.m12 = col1.z();
|
|
this.m20 = col2.x();
|
|
this.m21 = col2.y();
|
|
this.m22 = col2.z();
|
|
return this;
|
|
}
|
|
|
|
public float determinant() {
|
|
return (m00 * m11 - m01 * m10) * m22
|
|
+ (m02 * m10 - m00 * m12) * m21
|
|
+ (m01 * m12 - m02 * m11) * m20;
|
|
}
|
|
|
|
/**
|
|
* Invert this matrix.
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f invert() {
|
|
return invert(this);
|
|
}
|
|
|
|
public Matrix3f invert(Matrix3f dest) {
|
|
float a = Math.fma(m00, m11, -m01 * m10);
|
|
float b = Math.fma(m02, m10, -m00 * m12);
|
|
float c = Math.fma(m01, m12, -m02 * m11);
|
|
float d = Math.fma(a, m22, Math.fma(b, m21, c * m20));
|
|
float s = 1.0f / d;
|
|
float nm00 = Math.fma(m11, m22, -m21 * m12) * s;
|
|
float nm01 = Math.fma(m21, m02, -m01 * m22) * s;
|
|
float nm02 = c * s;
|
|
float nm10 = Math.fma(m20, m12, -m10 * m22) * s;
|
|
float nm11 = Math.fma(m00, m22, -m20 * m02) * s;
|
|
float nm12 = b * s;
|
|
float nm20 = Math.fma(m10, m21, -m20 * m11) * s;
|
|
float nm21 = Math.fma(m20, m01, -m00 * m21) * s;
|
|
float nm22 = a * s;
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
dest.m20 = nm20;
|
|
dest.m21 = nm21;
|
|
dest.m22 = nm22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Transpose this matrix.
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f transpose() {
|
|
return transpose(this);
|
|
}
|
|
|
|
public Matrix3f transpose(Matrix3f dest) {
|
|
return dest.set(m00, m10, m20,
|
|
m01, m11, m21,
|
|
m02, m12, m22);
|
|
}
|
|
|
|
/**
|
|
* Return a string representation of this matrix.
|
|
* <p>
|
|
* This method creates a new {@link DecimalFormat} on every invocation with the format string "<code>0.000E0;-</code>".
|
|
*
|
|
* @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"
|
|
+ Runtime.format(m02, formatter) + " " + Runtime.format(m12, formatter) + " " + Runtime.format(m22, formatter) + "\n";
|
|
}
|
|
|
|
/**
|
|
* Get the current values of <code>this</code> matrix and store them into
|
|
* <code>dest</code>.
|
|
* <p>
|
|
* This is the reverse method of {@link #set(Matrix3fc)} and allows to obtain
|
|
* intermediate calculation results when chaining multiple transformations.
|
|
*
|
|
* @see #set(Matrix3fc)
|
|
*
|
|
* @param dest
|
|
* the destination matrix
|
|
* @return the passed in destination
|
|
*/
|
|
public Matrix3f get(Matrix3f dest) {
|
|
return dest.set(this);
|
|
}
|
|
|
|
public Matrix4f get(Matrix4f dest) {
|
|
return dest.set(this);
|
|
}
|
|
|
|
public AxisAngle4f getRotation(AxisAngle4f dest) {
|
|
return dest.set(this);
|
|
}
|
|
|
|
public Quaternionf getUnnormalizedRotation(Quaternionf dest) {
|
|
return dest.setFromUnnormalized(this);
|
|
}
|
|
|
|
public Quaternionf getNormalizedRotation(Quaternionf dest) {
|
|
return dest.setFromNormalized(this);
|
|
}
|
|
|
|
public Quaterniond getUnnormalizedRotation(Quaterniond dest) {
|
|
return dest.setFromUnnormalized(this);
|
|
}
|
|
|
|
public Quaterniond getNormalizedRotation(Quaterniond dest) {
|
|
return dest.setFromNormalized(this);
|
|
}
|
|
|
|
|
|
public FloatBuffer get(FloatBuffer buffer) {
|
|
return get(buffer.position(), buffer);
|
|
}
|
|
|
|
public FloatBuffer get(int index, FloatBuffer 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 FloatBuffer get3x4(FloatBuffer buffer) {
|
|
return get3x4(buffer.position(), buffer);
|
|
}
|
|
|
|
public FloatBuffer get3x4(int index, FloatBuffer buffer) {
|
|
MemUtil.INSTANCE.put3x4(this, index, buffer);
|
|
return buffer;
|
|
}
|
|
|
|
public ByteBuffer get3x4(ByteBuffer buffer) {
|
|
return get3x4(buffer.position(), buffer);
|
|
}
|
|
|
|
public ByteBuffer get3x4(int index, ByteBuffer buffer) {
|
|
MemUtil.INSTANCE.put3x4(this, index, buffer);
|
|
return buffer;
|
|
}
|
|
|
|
public FloatBuffer getTransposed(FloatBuffer buffer) {
|
|
return getTransposed(buffer.position(), buffer);
|
|
}
|
|
|
|
public FloatBuffer getTransposed(int index, FloatBuffer buffer) {
|
|
MemUtil.INSTANCE.putTransposed(this, index, buffer);
|
|
return buffer;
|
|
}
|
|
|
|
public ByteBuffer getTransposed(ByteBuffer buffer) {
|
|
return getTransposed(buffer.position(), buffer);
|
|
}
|
|
|
|
public ByteBuffer getTransposed(int index, ByteBuffer buffer) {
|
|
MemUtil.INSTANCE.putTransposed(this, index, buffer);
|
|
return buffer;
|
|
}
|
|
|
|
public Matrix3fc getToAddress(long address) {
|
|
if (Options.NO_UNSAFE)
|
|
throw new UnsupportedOperationException("Not supported when using joml.nounsafe");
|
|
MemUtil.MemUtilUnsafe.put(this, address);
|
|
return this;
|
|
}
|
|
|
|
public float[] get(float[] arr, int offset) {
|
|
MemUtil.INSTANCE.copy(this, arr, offset);
|
|
return arr;
|
|
}
|
|
|
|
public float[] get(float[] arr) {
|
|
return get(arr, 0);
|
|
}
|
|
|
|
/**
|
|
* Set the values of this matrix by reading 9 float values from the given {@link FloatBuffer} in column-major order,
|
|
* starting at its current position.
|
|
* <p>
|
|
* The FloatBuffer is expected to contain the values in column-major order.
|
|
* <p>
|
|
* The position of the FloatBuffer will not be changed by this method.
|
|
*
|
|
* @param buffer
|
|
* the FloatBuffer to read the matrix values from in column-major order
|
|
* @return this
|
|
*/
|
|
public Matrix3f set(FloatBuffer buffer) {
|
|
MemUtil.INSTANCE.get(this, buffer.position(), buffer);
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set the values of this matrix by reading 9 float values from the given {@link ByteBuffer} in column-major order,
|
|
* starting at its current position.
|
|
* <p>
|
|
* The ByteBuffer is expected to contain the values in column-major order.
|
|
* <p>
|
|
* 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 Matrix3f set(ByteBuffer buffer) {
|
|
MemUtil.INSTANCE.get(this, buffer.position(), buffer);
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set the values of this matrix by reading 9 float values from the given {@link FloatBuffer} in column-major order,
|
|
* starting at the specified absolute buffer position/index.
|
|
* <p>
|
|
* The FloatBuffer is expected to contain the values in column-major order.
|
|
* <p>
|
|
* The position of the FloatBuffer will not be changed by this method.
|
|
*
|
|
* @param index
|
|
* the absolute position into the FloatBuffer
|
|
* @param buffer
|
|
* the FloatBuffer to read the matrix values from in column-major order
|
|
* @return this
|
|
*/
|
|
public Matrix3f set(int index, FloatBuffer buffer) {
|
|
MemUtil.INSTANCE.get(this, index, buffer);
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set the values of this matrix by reading 9 float values from the given {@link ByteBuffer} in column-major order,
|
|
* starting at the specified absolute buffer position/index.
|
|
* <p>
|
|
* The ByteBuffer is expected to contain the values in column-major order.
|
|
* <p>
|
|
* 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 Matrix3f set(int index, ByteBuffer buffer) {
|
|
MemUtil.INSTANCE.get(this, index, buffer);
|
|
return this;
|
|
}
|
|
/**
|
|
* Set the values of this matrix by reading 9 float values from off-heap memory in column-major order,
|
|
* starting at the given address.
|
|
* <p>
|
|
* This method will throw an {@link UnsupportedOperationException} when JOML is used with `-Djoml.nounsafe`.
|
|
* <p>
|
|
* <em>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.</em>
|
|
*
|
|
* @param address
|
|
* the off-heap memory address to read the matrix values from in column-major order
|
|
* @return this
|
|
*/
|
|
public Matrix3f 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 Matrix3f zero() {
|
|
MemUtil.INSTANCE.zero(this);
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to the identity.
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f identity() {
|
|
MemUtil.INSTANCE.identity(this);
|
|
return this;
|
|
}
|
|
|
|
public Matrix3f scale(Vector3fc xyz, Matrix3f dest) {
|
|
return scale(xyz.x(), xyz.y(), xyz.z(), dest);
|
|
}
|
|
|
|
/**
|
|
* Apply scaling to this matrix by scaling the base axes by the given <code>xyz.x</code>,
|
|
* <code>xyz.y</code> and <code>xyz.z</code> factors, respectively.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the scaling matrix,
|
|
* then the new matrix will be <code>M * S</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * S * v</code>, the
|
|
* scaling will be applied first!
|
|
*
|
|
* @param xyz
|
|
* the factors of the x, y and z component, respectively
|
|
* @return this
|
|
*/
|
|
public Matrix3f scale(Vector3fc xyz) {
|
|
return scale(xyz.x(), xyz.y(), xyz.z(), this);
|
|
}
|
|
|
|
public Matrix3f scale(float x, float y, float z, Matrix3f dest) {
|
|
// scale matrix elements:
|
|
// m00 = x, m11 = y, m22 = z
|
|
// all others = 0
|
|
dest.m00 = m00 * x;
|
|
dest.m01 = m01 * x;
|
|
dest.m02 = m02 * x;
|
|
dest.m10 = m10 * y;
|
|
dest.m11 = m11 * y;
|
|
dest.m12 = m12 * y;
|
|
dest.m20 = m20 * z;
|
|
dest.m21 = m21 * z;
|
|
dest.m22 = m22 * z;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Apply scaling to this matrix by scaling the base axes by the given x,
|
|
* y and z factors.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the scaling matrix,
|
|
* then the new matrix will be <code>M * S</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * S * v</code>
|
|
* , the scaling will be applied first!
|
|
*
|
|
* @param x
|
|
* the factor of the x component
|
|
* @param y
|
|
* the factor of the y component
|
|
* @param z
|
|
* the factor of the z component
|
|
* @return this
|
|
*/
|
|
public Matrix3f scale(float x, float y, float z) {
|
|
return scale(x, y, z, this);
|
|
}
|
|
|
|
public Matrix3f scale(float xyz, Matrix3f dest) {
|
|
return scale(xyz, xyz, xyz, dest);
|
|
}
|
|
|
|
/**
|
|
* Apply scaling to this matrix by uniformly scaling all base axes by the given <code>xyz</code> factor.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the scaling matrix,
|
|
* then the new matrix will be <code>M * S</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * S * v</code>
|
|
* , the scaling will be applied first!
|
|
*
|
|
* @see #scale(float, float, float)
|
|
*
|
|
* @param xyz
|
|
* the factor for all components
|
|
* @return this
|
|
*/
|
|
public Matrix3f scale(float xyz) {
|
|
return scale(xyz, xyz, xyz);
|
|
}
|
|
|
|
public Matrix3f scaleLocal(float x, float y, float z, Matrix3f dest) {
|
|
float nm00 = x * m00;
|
|
float nm01 = y * m01;
|
|
float nm02 = z * m02;
|
|
float nm10 = x * m10;
|
|
float nm11 = y * m11;
|
|
float nm12 = z * m12;
|
|
float nm20 = x * m20;
|
|
float nm21 = y * m21;
|
|
float nm22 = z * m22;
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
dest.m20 = nm20;
|
|
dest.m21 = nm21;
|
|
dest.m22 = nm22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply scaling to this matrix by scaling the base axes by the given x,
|
|
* y and z factors.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>S</code> the scaling matrix,
|
|
* then the new matrix will be <code>S * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>S * M * v</code>, the
|
|
* scaling will be applied last!
|
|
*
|
|
* @param x
|
|
* the factor of the x component
|
|
* @param y
|
|
* the factor of the y component
|
|
* @param z
|
|
* the factor of the z component
|
|
* @return this
|
|
*/
|
|
public Matrix3f scaleLocal(float x, float y, float z) {
|
|
return scaleLocal(x, y, z, this);
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to be a simple scale matrix, which scales all axes uniformly by the given factor.
|
|
* <p>
|
|
* The resulting matrix can be multiplied against another transformation
|
|
* matrix to obtain an additional scaling.
|
|
* <p>
|
|
* In order to post-multiply a scaling transformation directly to a
|
|
* matrix, use {@link #scale(float) scale()} instead.
|
|
*
|
|
* @see #scale(float)
|
|
*
|
|
* @param factor
|
|
* the scale factor in x, y and z
|
|
* @return this
|
|
*/
|
|
public Matrix3f scaling(float factor) {
|
|
MemUtil.INSTANCE.zero(this);
|
|
m00 = factor;
|
|
m11 = factor;
|
|
m22 = factor;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to be a simple scale matrix.
|
|
*
|
|
* @param x
|
|
* the scale in x
|
|
* @param y
|
|
* the scale in y
|
|
* @param z
|
|
* the scale in z
|
|
* @return this
|
|
*/
|
|
public Matrix3f scaling(float x, float y, float z) {
|
|
MemUtil.INSTANCE.zero(this);
|
|
m00 = x;
|
|
m11 = y;
|
|
m22 = z;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to be a simple scale matrix which scales the base axes by <code>xyz.x</code>, <code>xyz.y</code> and <code>xyz.z</code> respectively.
|
|
* <p>
|
|
* The resulting matrix can be multiplied against another transformation
|
|
* matrix to obtain an additional scaling.
|
|
* <p>
|
|
* In order to post-multiply a scaling transformation directly to a
|
|
* matrix use {@link #scale(Vector3fc) scale()} instead.
|
|
*
|
|
* @see #scale(Vector3fc)
|
|
*
|
|
* @param xyz
|
|
* the scale in x, y and z respectively
|
|
* @return this
|
|
*/
|
|
public Matrix3f scaling(Vector3fc xyz) {
|
|
return scaling(xyz.x(), xyz.y(), xyz.z());
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation matrix which rotates the given radians about a given axis.
|
|
* <p>
|
|
* The axis described by the <code>axis</code> vector needs to be a unit vector.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* The resulting matrix can be multiplied against another transformation
|
|
* matrix to obtain an additional rotation.
|
|
* <p>
|
|
* In order to post-multiply a rotation transformation directly to a
|
|
* matrix, use {@link #rotate(float, Vector3fc) rotate()} instead.
|
|
*
|
|
* @see #rotate(float, Vector3fc)
|
|
*
|
|
* @param angle
|
|
* the angle in radians
|
|
* @param axis
|
|
* the axis to rotate about (needs to be {@link Vector3f#normalize() normalized})
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotation(float angle, Vector3fc axis) {
|
|
return rotation(angle, axis.x(), axis.y(), axis.z());
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation transformation using the given {@link AxisAngle4f}.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* The resulting matrix can be multiplied against another transformation
|
|
* matrix to obtain an additional rotation.
|
|
* <p>
|
|
* In order to apply the rotation transformation to an existing transformation,
|
|
* use {@link #rotate(AxisAngle4f) rotate()} instead.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotate(AxisAngle4f)
|
|
*
|
|
* @param axisAngle
|
|
* the {@link AxisAngle4f} (needs to be {@link AxisAngle4f#normalize() normalized})
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotation(AxisAngle4f axisAngle) {
|
|
return rotation(axisAngle.angle, axisAngle.x, axisAngle.y, axisAngle.z);
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation matrix which rotates the given radians about a given axis.
|
|
* <p>
|
|
* The axis described by the three components needs to be a unit vector.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* The resulting matrix can be multiplied against another transformation
|
|
* matrix to obtain an additional rotation.
|
|
* <p>
|
|
* In order to apply the rotation transformation to an existing transformation,
|
|
* use {@link #rotate(float, float, float, float) rotate()} instead.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotate(float, float, float, float)
|
|
*
|
|
* @param angle
|
|
* the angle in radians
|
|
* @param x
|
|
* the x-component of the rotation axis
|
|
* @param y
|
|
* the y-component of the rotation axis
|
|
* @param z
|
|
* the z-component of the rotation axis
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotation(float angle, float x, float y, float z) {
|
|
float sin = Math.sin(angle);
|
|
float cos = Math.cosFromSin(sin, angle);
|
|
float C = 1.0f - cos;
|
|
float xy = x * y, xz = x * z, yz = y * z;
|
|
m00 = cos + x * x * C;
|
|
m10 = xy * C - z * sin;
|
|
m20 = xz * C + y * sin;
|
|
m01 = xy * C + z * sin;
|
|
m11 = cos + y * y * C;
|
|
m21 = yz * C - x * sin;
|
|
m02 = xz * C - y * sin;
|
|
m12 = yz * C + x * sin;
|
|
m22 = cos + z * z * C;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation transformation about the X axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
|
|
*
|
|
* @param ang
|
|
* the angle in radians
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotationX(float ang) {
|
|
float sin, cos;
|
|
sin = Math.sin(ang);
|
|
cos = Math.cosFromSin(sin, ang);
|
|
m00 = 1.0f;
|
|
m01 = 0.0f;
|
|
m02 = 0.0f;
|
|
m10 = 0.0f;
|
|
m11 = cos;
|
|
m12 = sin;
|
|
m20 = 0.0f;
|
|
m21 = -sin;
|
|
m22 = cos;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation transformation about the Y axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
|
|
*
|
|
* @param ang
|
|
* the angle in radians
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotationY(float ang) {
|
|
float sin, cos;
|
|
sin = Math.sin(ang);
|
|
cos = Math.cosFromSin(sin, ang);
|
|
m00 = cos;
|
|
m01 = 0.0f;
|
|
m02 = -sin;
|
|
m10 = 0.0f;
|
|
m11 = 1.0f;
|
|
m12 = 0.0f;
|
|
m20 = sin;
|
|
m21 = 0.0f;
|
|
m22 = cos;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation transformation about the Z axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
|
|
*
|
|
* @param ang
|
|
* the angle in radians
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotationZ(float ang) {
|
|
float sin, cos;
|
|
sin = Math.sin(ang);
|
|
cos = Math.cosFromSin(sin, ang);
|
|
m00 = cos;
|
|
m01 = sin;
|
|
m02 = 0.0f;
|
|
m10 = -sin;
|
|
m11 = cos;
|
|
m12 = 0.0f;
|
|
m20 = 0.0f;
|
|
m21 = 0.0f;
|
|
m22 = 1.0f;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation of <code>angleX</code> radians about the X axis, followed by a rotation
|
|
* of <code>angleY</code> radians about the Y axis and followed by a rotation of <code>angleZ</code> radians about the Z axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* This method is equivalent to calling: <code>rotationX(angleX).rotateY(angleY).rotateZ(angleZ)</code>
|
|
*
|
|
* @param angleX
|
|
* the angle to rotate about X
|
|
* @param angleY
|
|
* the angle to rotate about Y
|
|
* @param angleZ
|
|
* the angle to rotate about Z
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotationXYZ(float angleX, float angleY, float angleZ) {
|
|
float sinX = Math.sin(angleX);
|
|
float cosX = Math.cosFromSin(sinX, angleX);
|
|
float sinY = Math.sin(angleY);
|
|
float cosY = Math.cosFromSin(sinY, angleY);
|
|
float sinZ = Math.sin(angleZ);
|
|
float cosZ = Math.cosFromSin(sinZ, angleZ);
|
|
float m_sinX = -sinX;
|
|
float m_sinY = -sinY;
|
|
float m_sinZ = -sinZ;
|
|
|
|
// rotateX
|
|
float nm11 = cosX;
|
|
float nm12 = sinX;
|
|
float nm21 = m_sinX;
|
|
float nm22 = cosX;
|
|
// rotateY
|
|
float nm00 = cosY;
|
|
float nm01 = nm21 * m_sinY;
|
|
float nm02 = nm22 * m_sinY;
|
|
m20 = sinY;
|
|
m21 = nm21 * cosY;
|
|
m22 = nm22 * cosY;
|
|
// rotateZ
|
|
m00 = nm00 * cosZ;
|
|
m01 = nm01 * cosZ + nm11 * sinZ;
|
|
m02 = nm02 * cosZ + nm12 * sinZ;
|
|
m10 = nm00 * m_sinZ;
|
|
m11 = nm01 * m_sinZ + nm11 * cosZ;
|
|
m12 = nm02 * m_sinZ + nm12 * cosZ;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation of <code>angleZ</code> radians about the Z axis, followed by a rotation
|
|
* of <code>angleY</code> radians about the Y axis and followed by a rotation of <code>angleX</code> radians about the X axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* This method is equivalent to calling: <code>rotationZ(angleZ).rotateY(angleY).rotateX(angleX)</code>
|
|
*
|
|
* @param angleZ
|
|
* the angle to rotate about Z
|
|
* @param angleY
|
|
* the angle to rotate about Y
|
|
* @param angleX
|
|
* the angle to rotate about X
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotationZYX(float angleZ, float angleY, float angleX) {
|
|
float sinX = Math.sin(angleX);
|
|
float cosX = Math.cosFromSin(sinX, angleX);
|
|
float sinY = Math.sin(angleY);
|
|
float cosY = Math.cosFromSin(sinY, angleY);
|
|
float sinZ = Math.sin(angleZ);
|
|
float cosZ = Math.cosFromSin(sinZ, angleZ);
|
|
float m_sinZ = -sinZ;
|
|
float m_sinY = -sinY;
|
|
float m_sinX = -sinX;
|
|
|
|
// rotateZ
|
|
float nm00 = cosZ;
|
|
float nm01 = sinZ;
|
|
float nm10 = m_sinZ;
|
|
float nm11 = cosZ;
|
|
// rotateY
|
|
float nm20 = nm00 * sinY;
|
|
float nm21 = nm01 * sinY;
|
|
float nm22 = cosY;
|
|
m00 = nm00 * cosY;
|
|
m01 = nm01 * cosY;
|
|
m02 = m_sinY;
|
|
// rotateX
|
|
m10 = nm10 * cosX + nm20 * sinX;
|
|
m11 = nm11 * cosX + nm21 * sinX;
|
|
m12 = nm22 * sinX;
|
|
m20 = nm10 * m_sinX + nm20 * cosX;
|
|
m21 = nm11 * m_sinX + nm21 * cosX;
|
|
m22 = nm22 * cosX;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation of <code>angleY</code> radians about the Y axis, followed by a rotation
|
|
* of <code>angleX</code> radians about the X axis and followed by a rotation of <code>angleZ</code> radians about the Z axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* This method is equivalent to calling: <code>rotationY(angleY).rotateX(angleX).rotateZ(angleZ)</code>
|
|
*
|
|
* @param angleY
|
|
* the angle to rotate about Y
|
|
* @param angleX
|
|
* the angle to rotate about X
|
|
* @param angleZ
|
|
* the angle to rotate about Z
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotationYXZ(float angleY, float angleX, float angleZ) {
|
|
float sinX = Math.sin(angleX);
|
|
float cosX = Math.cosFromSin(sinX, angleX);
|
|
float sinY = Math.sin(angleY);
|
|
float cosY = Math.cosFromSin(sinY, angleY);
|
|
float sinZ = Math.sin(angleZ);
|
|
float cosZ = Math.cosFromSin(sinZ, angleZ);
|
|
float m_sinY = -sinY;
|
|
float m_sinX = -sinX;
|
|
float m_sinZ = -sinZ;
|
|
|
|
// rotateY
|
|
float nm00 = cosY;
|
|
float nm02 = m_sinY;
|
|
float nm20 = sinY;
|
|
float nm22 = cosY;
|
|
// rotateX
|
|
float nm10 = nm20 * sinX;
|
|
float nm11 = cosX;
|
|
float nm12 = nm22 * sinX;
|
|
m20 = nm20 * cosX;
|
|
m21 = m_sinX;
|
|
m22 = nm22 * cosX;
|
|
// rotateZ
|
|
m00 = nm00 * cosZ + nm10 * sinZ;
|
|
m01 = nm11 * sinZ;
|
|
m02 = nm02 * cosZ + nm12 * sinZ;
|
|
m10 = nm00 * m_sinZ + nm10 * cosZ;
|
|
m11 = nm11 * cosZ;
|
|
m12 = nm02 * m_sinZ + nm12 * cosZ;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to the rotation - and possibly scaling - transformation of the given {@link Quaternionfc}.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* The resulting matrix can be multiplied against another transformation
|
|
* matrix to obtain an additional rotation.
|
|
* <p>
|
|
* In order to apply the rotation transformation to an existing transformation,
|
|
* use {@link #rotate(Quaternionfc) rotate()} instead.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotate(Quaternionfc)
|
|
*
|
|
* @param quat
|
|
* the {@link Quaternionfc}
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotation(Quaternionfc quat) {
|
|
float w2 = quat.w() * quat.w();
|
|
float x2 = quat.x() * quat.x();
|
|
float y2 = quat.y() * quat.y();
|
|
float z2 = quat.z() * quat.z();
|
|
float zw = quat.z() * quat.w(), dzw = zw + zw;
|
|
float xy = quat.x() * quat.y(), dxy = xy + xy;
|
|
float xz = quat.x() * quat.z(), dxz = xz + xz;
|
|
float yw = quat.y() * quat.w(), dyw = yw + yw;
|
|
float yz = quat.y() * quat.z(), dyz = yz + yz;
|
|
float xw = quat.x() * quat.w(), dxw = xw + xw;
|
|
m00 = w2 + x2 - z2 - y2;
|
|
m01 = dxy + dzw;
|
|
m02 = dxz - dyw;
|
|
m10 = -dzw + dxy;
|
|
m11 = y2 - z2 + w2 - x2;
|
|
m12 = dyz + dxw;
|
|
m20 = dyw + dxz;
|
|
m21 = dyz - dxw;
|
|
m22 = z2 - y2 - x2 + w2;
|
|
return this;
|
|
}
|
|
|
|
public Vector3f transform(Vector3f v) {
|
|
return v.mul(this);
|
|
}
|
|
|
|
public Vector3f transform(Vector3fc v, Vector3f dest) {
|
|
return v.mul(this, dest);
|
|
}
|
|
|
|
public Vector3f transform(float x, float y, float z, Vector3f dest) {
|
|
return dest.set(Math.fma(m00, x, Math.fma(m10, y, m20 * z)),
|
|
Math.fma(m01, x, Math.fma(m11, y, m21 * z)),
|
|
Math.fma(m02, x, Math.fma(m12, y, m22 * z)));
|
|
}
|
|
|
|
public Vector3f transformTranspose(Vector3f v) {
|
|
return v.mulTranspose(this);
|
|
}
|
|
|
|
public Vector3f transformTranspose(Vector3fc v, Vector3f dest) {
|
|
return v.mulTranspose(this, dest);
|
|
}
|
|
|
|
public Vector3f transformTranspose(float x, float y, float z, Vector3f dest) {
|
|
return dest.set(Math.fma(m00, x, Math.fma(m01, y, m02 * z)),
|
|
Math.fma(m10, x, Math.fma(m11, y, m12 * z)),
|
|
Math.fma(m20, x, Math.fma(m21, y, m22 * z)));
|
|
}
|
|
|
|
public void writeExternal(ObjectOutput out) throws IOException {
|
|
out.writeFloat(m00);
|
|
out.writeFloat(m01);
|
|
out.writeFloat(m02);
|
|
out.writeFloat(m10);
|
|
out.writeFloat(m11);
|
|
out.writeFloat(m12);
|
|
out.writeFloat(m20);
|
|
out.writeFloat(m21);
|
|
out.writeFloat(m22);
|
|
}
|
|
|
|
public void readExternal(ObjectInput in) throws IOException {
|
|
m00 = in.readFloat();
|
|
m01 = in.readFloat();
|
|
m02 = in.readFloat();
|
|
m10 = in.readFloat();
|
|
m11 = in.readFloat();
|
|
m12 = in.readFloat();
|
|
m20 = in.readFloat();
|
|
m21 = in.readFloat();
|
|
m22 = in.readFloat();
|
|
}
|
|
|
|
public Matrix3f rotateX(float ang, Matrix3f dest) {
|
|
float sin, cos;
|
|
sin = Math.sin(ang);
|
|
cos = Math.cosFromSin(sin, ang);
|
|
float rm11 = cos;
|
|
float rm21 = -sin;
|
|
float rm12 = sin;
|
|
float rm22 = cos;
|
|
|
|
// add temporaries for dependent values
|
|
float nm10 = m10 * rm11 + m20 * rm12;
|
|
float nm11 = m11 * rm11 + m21 * rm12;
|
|
float nm12 = m12 * rm11 + m22 * rm12;
|
|
// set non-dependent values directly
|
|
dest.m20 = m10 * rm21 + m20 * rm22;
|
|
dest.m21 = m11 * rm21 + m21 * rm22;
|
|
dest.m22 = m12 * rm21 + m22 * rm22;
|
|
// set other values
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
dest.m00 = m00;
|
|
dest.m01 = m01;
|
|
dest.m02 = m02;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Apply rotation about the X axis to this matrix by rotating the given amount of radians.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>
|
|
* , the rotation will be applied first!
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
|
|
*
|
|
* @param ang
|
|
* the angle in radians
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateX(float ang) {
|
|
return rotateX(ang, this);
|
|
}
|
|
|
|
public Matrix3f rotateY(float ang, Matrix3f dest) {
|
|
float sin, cos;
|
|
sin = Math.sin(ang);
|
|
cos = Math.cosFromSin(sin, ang);
|
|
float rm00 = cos;
|
|
float rm20 = sin;
|
|
float rm02 = -sin;
|
|
float rm22 = cos;
|
|
|
|
// add temporaries for dependent values
|
|
float nm00 = m00 * rm00 + m20 * rm02;
|
|
float nm01 = m01 * rm00 + m21 * rm02;
|
|
float nm02 = m02 * rm00 + m22 * rm02;
|
|
// set non-dependent values directly
|
|
dest.m20 = m00 * rm20 + m20 * rm22;
|
|
dest.m21 = m01 * rm20 + m21 * rm22;
|
|
dest.m22 = m02 * rm20 + m22 * rm22;
|
|
// set other values
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = m10;
|
|
dest.m11 = m11;
|
|
dest.m12 = m12;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Apply rotation about the Y axis to this matrix by rotating the given amount of radians.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>
|
|
* , the rotation will be applied first!
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
|
|
*
|
|
* @param ang
|
|
* the angle in radians
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateY(float ang) {
|
|
return rotateY(ang, this);
|
|
}
|
|
|
|
public Matrix3f rotateZ(float ang, Matrix3f dest) {
|
|
float sin, cos;
|
|
sin = Math.sin(ang);
|
|
cos = Math.cosFromSin(sin, ang);
|
|
float rm00 = cos;
|
|
float rm10 = -sin;
|
|
float rm01 = sin;
|
|
float rm11 = cos;
|
|
|
|
// add temporaries for dependent values
|
|
float nm00 = m00 * rm00 + m10 * rm01;
|
|
float nm01 = m01 * rm00 + m11 * rm01;
|
|
float nm02 = m02 * rm00 + m12 * rm01;
|
|
// set non-dependent values directly
|
|
dest.m10 = m00 * rm10 + m10 * rm11;
|
|
dest.m11 = m01 * rm10 + m11 * rm11;
|
|
dest.m12 = m02 * rm10 + m12 * rm11;
|
|
// set other values
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m20 = m20;
|
|
dest.m21 = m21;
|
|
dest.m22 = m22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Apply rotation about the Z axis to this matrix by rotating the given amount of radians.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>
|
|
* , the rotation will be applied first!
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations">http://en.wikipedia.org</a>
|
|
*
|
|
* @param ang
|
|
* the angle in radians
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateZ(float ang) {
|
|
return rotateZ(ang, this);
|
|
}
|
|
|
|
/**
|
|
* Apply rotation of <code>angles.x</code> radians about the X axis, followed by a rotation of <code>angles.y</code> radians about the Y axis and
|
|
* followed by a rotation of <code>angles.z</code> radians about the Z axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
|
|
* rotation will be applied first!
|
|
* <p>
|
|
* This method is equivalent to calling: <code>rotateX(angles.x).rotateY(angles.y).rotateZ(angles.z)</code>
|
|
*
|
|
* @param angles
|
|
* the Euler angles
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateXYZ(Vector3f angles) {
|
|
return rotateXYZ(angles.x, angles.y, angles.z);
|
|
}
|
|
|
|
/**
|
|
* Apply rotation of <code>angleX</code> radians about the X axis, followed by a rotation of <code>angleY</code> radians about the Y axis and
|
|
* followed by a rotation of <code>angleZ</code> radians about the Z axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
|
|
* rotation will be applied first!
|
|
* <p>
|
|
* This method is equivalent to calling: <code>rotateX(angleX).rotateY(angleY).rotateZ(angleZ)</code>
|
|
*
|
|
* @param angleX
|
|
* the angle to rotate about X
|
|
* @param angleY
|
|
* the angle to rotate about Y
|
|
* @param angleZ
|
|
* the angle to rotate about Z
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateXYZ(float angleX, float angleY, float angleZ) {
|
|
return rotateXYZ(angleX, angleY, angleZ, this);
|
|
}
|
|
|
|
public Matrix3f rotateXYZ(float angleX, float angleY, float angleZ, Matrix3f dest) {
|
|
float sinX = Math.sin(angleX);
|
|
float cosX = Math.cosFromSin(sinX, angleX);
|
|
float sinY = Math.sin(angleY);
|
|
float cosY = Math.cosFromSin(sinY, angleY);
|
|
float sinZ = Math.sin(angleZ);
|
|
float cosZ = Math.cosFromSin(sinZ, angleZ);
|
|
float m_sinX = -sinX;
|
|
float m_sinY = -sinY;
|
|
float m_sinZ = -sinZ;
|
|
|
|
// rotateX
|
|
float nm10 = m10 * cosX + m20 * sinX;
|
|
float nm11 = m11 * cosX + m21 * sinX;
|
|
float nm12 = m12 * cosX + m22 * sinX;
|
|
float nm20 = m10 * m_sinX + m20 * cosX;
|
|
float nm21 = m11 * m_sinX + m21 * cosX;
|
|
float nm22 = m12 * m_sinX + m22 * cosX;
|
|
// rotateY
|
|
float nm00 = m00 * cosY + nm20 * m_sinY;
|
|
float nm01 = m01 * cosY + nm21 * m_sinY;
|
|
float nm02 = m02 * cosY + nm22 * m_sinY;
|
|
dest.m20 = m00 * sinY + nm20 * cosY;
|
|
dest.m21 = m01 * sinY + nm21 * cosY;
|
|
dest.m22 = m02 * sinY + nm22 * cosY;
|
|
// rotateZ
|
|
dest.m00 = nm00 * cosZ + nm10 * sinZ;
|
|
dest.m01 = nm01 * cosZ + nm11 * sinZ;
|
|
dest.m02 = nm02 * cosZ + nm12 * sinZ;
|
|
dest.m10 = nm00 * m_sinZ + nm10 * cosZ;
|
|
dest.m11 = nm01 * m_sinZ + nm11 * cosZ;
|
|
dest.m12 = nm02 * m_sinZ + nm12 * cosZ;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Apply rotation of <code>angles.z</code> radians about the Z axis, followed by a rotation of <code>angles.y</code> radians about the Y axis and
|
|
* followed by a rotation of <code>angles.x</code> radians about the X axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
|
|
* rotation will be applied first!
|
|
* <p>
|
|
* This method is equivalent to calling: <code>rotateZ(angles.z).rotateY(angles.y).rotateX(angles.x)</code>
|
|
*
|
|
* @param angles
|
|
* the Euler angles
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateZYX(Vector3f angles) {
|
|
return rotateZYX(angles.z, angles.y, angles.x);
|
|
}
|
|
|
|
/**
|
|
* Apply rotation of <code>angleZ</code> radians about the Z axis, followed by a rotation of <code>angleY</code> radians about the Y axis and
|
|
* followed by a rotation of <code>angleX</code> radians about the X axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
|
|
* rotation will be applied first!
|
|
* <p>
|
|
* This method is equivalent to calling: <code>rotateZ(angleZ).rotateY(angleY).rotateX(angleX)</code>
|
|
*
|
|
* @param angleZ
|
|
* the angle to rotate about Z
|
|
* @param angleY
|
|
* the angle to rotate about Y
|
|
* @param angleX
|
|
* the angle to rotate about X
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateZYX(float angleZ, float angleY, float angleX) {
|
|
return rotateZYX(angleZ, angleY, angleX, this);
|
|
}
|
|
|
|
public Matrix3f rotateZYX(float angleZ, float angleY, float angleX, Matrix3f dest) {
|
|
float sinX = Math.sin(angleX);
|
|
float cosX = Math.cosFromSin(sinX, angleX);
|
|
float sinY = Math.sin(angleY);
|
|
float cosY = Math.cosFromSin(sinY, angleY);
|
|
float sinZ = Math.sin(angleZ);
|
|
float cosZ = Math.cosFromSin(sinZ, angleZ);
|
|
float m_sinZ = -sinZ;
|
|
float m_sinY = -sinY;
|
|
float m_sinX = -sinX;
|
|
|
|
// rotateZ
|
|
float nm00 = m00 * cosZ + m10 * sinZ;
|
|
float nm01 = m01 * cosZ + m11 * sinZ;
|
|
float nm02 = m02 * cosZ + m12 * sinZ;
|
|
float nm10 = m00 * m_sinZ + m10 * cosZ;
|
|
float nm11 = m01 * m_sinZ + m11 * cosZ;
|
|
float nm12 = m02 * m_sinZ + m12 * cosZ;
|
|
// rotateY
|
|
float nm20 = nm00 * sinY + m20 * cosY;
|
|
float nm21 = nm01 * sinY + m21 * cosY;
|
|
float nm22 = nm02 * sinY + m22 * cosY;
|
|
dest.m00 = nm00 * cosY + m20 * m_sinY;
|
|
dest.m01 = nm01 * cosY + m21 * m_sinY;
|
|
dest.m02 = nm02 * cosY + m22 * m_sinY;
|
|
// rotateX
|
|
dest.m10 = nm10 * cosX + nm20 * sinX;
|
|
dest.m11 = nm11 * cosX + nm21 * sinX;
|
|
dest.m12 = nm12 * cosX + nm22 * sinX;
|
|
dest.m20 = nm10 * m_sinX + nm20 * cosX;
|
|
dest.m21 = nm11 * m_sinX + nm21 * cosX;
|
|
dest.m22 = nm12 * m_sinX + nm22 * cosX;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Apply rotation of <code>angles.y</code> radians about the Y axis, followed by a rotation of <code>angles.x</code> radians about the X axis and
|
|
* followed by a rotation of <code>angles.z</code> radians about the Z axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
|
|
* rotation will be applied first!
|
|
* <p>
|
|
* This method is equivalent to calling: <code>rotateY(angles.y).rotateX(angles.x).rotateZ(angles.z)</code>
|
|
*
|
|
* @param angles
|
|
* the Euler angles
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateYXZ(Vector3f angles) {
|
|
return rotateYXZ(angles.y, angles.x, angles.z);
|
|
}
|
|
|
|
/**
|
|
* Apply rotation of <code>angleY</code> radians about the Y axis, followed by a rotation of <code>angleX</code> radians about the X axis and
|
|
* followed by a rotation of <code>angleZ</code> radians about the Z axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
|
|
* rotation will be applied first!
|
|
* <p>
|
|
* This method is equivalent to calling: <code>rotateY(angleY).rotateX(angleX).rotateZ(angleZ)</code>
|
|
*
|
|
* @param angleY
|
|
* the angle to rotate about Y
|
|
* @param angleX
|
|
* the angle to rotate about X
|
|
* @param angleZ
|
|
* the angle to rotate about Z
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateYXZ(float angleY, float angleX, float angleZ) {
|
|
return rotateYXZ(angleY, angleX, angleZ, this);
|
|
}
|
|
|
|
public Matrix3f rotateYXZ(float angleY, float angleX, float angleZ, Matrix3f dest) {
|
|
float sinX = Math.sin(angleX);
|
|
float cosX = Math.cosFromSin(sinX, angleX);
|
|
float sinY = Math.sin(angleY);
|
|
float cosY = Math.cosFromSin(sinY, angleY);
|
|
float sinZ = Math.sin(angleZ);
|
|
float cosZ = Math.cosFromSin(sinZ, angleZ);
|
|
float m_sinY = -sinY;
|
|
float m_sinX = -sinX;
|
|
float m_sinZ = -sinZ;
|
|
|
|
// rotateY
|
|
float nm20 = m00 * sinY + m20 * cosY;
|
|
float nm21 = m01 * sinY + m21 * cosY;
|
|
float nm22 = m02 * sinY + m22 * cosY;
|
|
float nm00 = m00 * cosY + m20 * m_sinY;
|
|
float nm01 = m01 * cosY + m21 * m_sinY;
|
|
float nm02 = m02 * cosY + m22 * m_sinY;
|
|
// rotateX
|
|
float nm10 = m10 * cosX + nm20 * sinX;
|
|
float nm11 = m11 * cosX + nm21 * sinX;
|
|
float nm12 = m12 * cosX + nm22 * sinX;
|
|
dest.m20 = m10 * m_sinX + nm20 * cosX;
|
|
dest.m21 = m11 * m_sinX + nm21 * cosX;
|
|
dest.m22 = m12 * m_sinX + nm22 * cosX;
|
|
// rotateZ
|
|
dest.m00 = nm00 * cosZ + nm10 * sinZ;
|
|
dest.m01 = nm01 * cosZ + nm11 * sinZ;
|
|
dest.m02 = nm02 * cosZ + nm12 * sinZ;
|
|
dest.m10 = nm00 * m_sinZ + nm10 * cosZ;
|
|
dest.m11 = nm01 * m_sinZ + nm11 * cosZ;
|
|
dest.m12 = nm02 * m_sinZ + nm12 * cosZ;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Apply rotation to this matrix by rotating the given amount of radians
|
|
* about the given axis specified as x, y and z components.
|
|
* <p>
|
|
* The axis described by the three components needs to be a unit vector.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>
|
|
* , the rotation will be applied first!
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @param ang
|
|
* the angle in radians
|
|
* @param x
|
|
* the x component of the axis
|
|
* @param y
|
|
* the y component of the axis
|
|
* @param z
|
|
* the z component of the axis
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotate(float ang, float x, float y, float z) {
|
|
return rotate(ang, x, y, z, this);
|
|
}
|
|
|
|
public Matrix3f rotate(float ang, float x, float y, float z, Matrix3f dest) {
|
|
float s = Math.sin(ang);
|
|
float c = Math.cosFromSin(s, ang);
|
|
float C = 1.0f - c;
|
|
|
|
// rotation matrix elements:
|
|
// m30, m31, m32, m03, m13, m23 = 0
|
|
float xx = x * x, xy = x * y, xz = x * z;
|
|
float yy = y * y, yz = y * z;
|
|
float zz = z * z;
|
|
float rm00 = xx * C + c;
|
|
float rm01 = xy * C + z * s;
|
|
float rm02 = xz * C - y * s;
|
|
float rm10 = xy * C - z * s;
|
|
float rm11 = yy * C + c;
|
|
float rm12 = yz * C + x * s;
|
|
float rm20 = xz * C + y * s;
|
|
float rm21 = yz * C - x * s;
|
|
float rm22 = zz * C + c;
|
|
|
|
// add temporaries for dependent values
|
|
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
|
|
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
|
|
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
|
|
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
|
|
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
|
|
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
|
|
// set non-dependent values directly
|
|
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
|
|
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
|
|
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
|
|
// set other values
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply a rotation to this matrix by rotating the given amount of radians
|
|
* about the specified <code>(x, y, z)</code> axis and store the result in <code>dest</code>.
|
|
* <p>
|
|
* The axis described by the three components needs to be a unit vector.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>R * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>R * M * v</code>, the
|
|
* rotation will be applied last!
|
|
* <p>
|
|
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation
|
|
* transformation, use {@link #rotation(float, float, float, float) rotation()}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotation(float, float, float, float)
|
|
*
|
|
* @param ang
|
|
* the angle in radians
|
|
* @param x
|
|
* the x component of the axis
|
|
* @param y
|
|
* the y component of the axis
|
|
* @param z
|
|
* the z component of the axis
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f rotateLocal(float ang, float x, float y, float z, Matrix3f dest) {
|
|
float s = Math.sin(ang);
|
|
float c = Math.cosFromSin(s, ang);
|
|
float C = 1.0f - c;
|
|
float xx = x * x, xy = x * y, xz = x * z;
|
|
float yy = y * y, yz = y * z;
|
|
float zz = z * z;
|
|
float lm00 = xx * C + c;
|
|
float lm01 = xy * C + z * s;
|
|
float lm02 = xz * C - y * s;
|
|
float lm10 = xy * C - z * s;
|
|
float lm11 = yy * C + c;
|
|
float lm12 = yz * C + x * s;
|
|
float lm20 = xz * C + y * s;
|
|
float lm21 = yz * C - x * s;
|
|
float lm22 = zz * C + c;
|
|
float nm00 = lm00 * m00 + lm10 * m01 + lm20 * m02;
|
|
float nm01 = lm01 * m00 + lm11 * m01 + lm21 * m02;
|
|
float nm02 = lm02 * m00 + lm12 * m01 + lm22 * m02;
|
|
float nm10 = lm00 * m10 + lm10 * m11 + lm20 * m12;
|
|
float nm11 = lm01 * m10 + lm11 * m11 + lm21 * m12;
|
|
float nm12 = lm02 * m10 + lm12 * m11 + lm22 * m12;
|
|
float nm20 = lm00 * m20 + lm10 * m21 + lm20 * m22;
|
|
float nm21 = lm01 * m20 + lm11 * m21 + lm21 * m22;
|
|
float nm22 = lm02 * m20 + lm12 * m21 + lm22 * m22;
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
dest.m20 = nm20;
|
|
dest.m21 = nm21;
|
|
dest.m22 = nm22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply a rotation to this matrix by rotating the given amount of radians
|
|
* about the specified <code>(x, y, z)</code> axis.
|
|
* <p>
|
|
* The axis described by the three components needs to be a unit vector.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>R * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>R * M * v</code>, the
|
|
* rotation will be applied last!
|
|
* <p>
|
|
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation
|
|
* transformation, use {@link #rotation(float, float, float, float) rotation()}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotation(float, float, float, float)
|
|
*
|
|
* @param ang
|
|
* the angle in radians
|
|
* @param x
|
|
* the x component of the axis
|
|
* @param y
|
|
* the y component of the axis
|
|
* @param z
|
|
* the z component of the axis
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateLocal(float ang, float x, float y, float z) {
|
|
return rotateLocal(ang, x, y, z, this);
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply a rotation around the X axis to this matrix by rotating the given amount of radians
|
|
* about the X axis and store the result in <code>dest</code>.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>R * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>R * M * v</code>, the
|
|
* rotation will be applied last!
|
|
* <p>
|
|
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation
|
|
* transformation, use {@link #rotationX(float) rotationX()}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotationX(float)
|
|
*
|
|
* @param ang
|
|
* the angle in radians to rotate about the X axis
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f rotateLocalX(float ang, Matrix3f dest) {
|
|
float sin = Math.sin(ang);
|
|
float cos = Math.cosFromSin(sin, ang);
|
|
float nm01 = cos * m01 - sin * m02;
|
|
float nm02 = sin * m01 + cos * m02;
|
|
float nm11 = cos * m11 - sin * m12;
|
|
float nm12 = sin * m11 + cos * m12;
|
|
float nm21 = cos * m21 - sin * m22;
|
|
float nm22 = sin * m21 + cos * m22;
|
|
dest.m00 = m00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = m10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
dest.m20 = m20;
|
|
dest.m21 = nm21;
|
|
dest.m22 = nm22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply a rotation to this matrix by rotating the given amount of radians about the X axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>R * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>R * M * v</code>, the
|
|
* rotation will be applied last!
|
|
* <p>
|
|
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation
|
|
* transformation, use {@link #rotationX(float) rotationX()}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotationX(float)
|
|
*
|
|
* @param ang
|
|
* the angle in radians to rotate about the X axis
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateLocalX(float ang) {
|
|
return rotateLocalX(ang, this);
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply a rotation around the Y axis to this matrix by rotating the given amount of radians
|
|
* about the Y axis and store the result in <code>dest</code>.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>R * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>R * M * v</code>, the
|
|
* rotation will be applied last!
|
|
* <p>
|
|
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation
|
|
* transformation, use {@link #rotationY(float) rotationY()}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotationY(float)
|
|
*
|
|
* @param ang
|
|
* the angle in radians to rotate about the Y axis
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f rotateLocalY(float ang, Matrix3f dest) {
|
|
float sin = Math.sin(ang);
|
|
float cos = Math.cosFromSin(sin, ang);
|
|
float nm00 = cos * m00 + sin * m02;
|
|
float nm02 = -sin * m00 + cos * m02;
|
|
float nm10 = cos * m10 + sin * m12;
|
|
float nm12 = -sin * m10 + cos * m12;
|
|
float nm20 = cos * m20 + sin * m22;
|
|
float nm22 = -sin * m20 + cos * m22;
|
|
dest.m00 = nm00;
|
|
dest.m01 = m01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = m11;
|
|
dest.m12 = nm12;
|
|
dest.m20 = nm20;
|
|
dest.m21 = m21;
|
|
dest.m22 = nm22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply a rotation to this matrix by rotating the given amount of radians about the Y axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>R * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>R * M * v</code>, the
|
|
* rotation will be applied last!
|
|
* <p>
|
|
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation
|
|
* transformation, use {@link #rotationY(float) rotationY()}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotationY(float)
|
|
*
|
|
* @param ang
|
|
* the angle in radians to rotate about the Y axis
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateLocalY(float ang) {
|
|
return rotateLocalY(ang, this);
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply a rotation around the Z axis to this matrix by rotating the given amount of radians
|
|
* about the Z axis and store the result in <code>dest</code>.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>R * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>R * M * v</code>, the
|
|
* rotation will be applied last!
|
|
* <p>
|
|
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation
|
|
* transformation, use {@link #rotationZ(float) rotationZ()}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotationZ(float)
|
|
*
|
|
* @param ang
|
|
* the angle in radians to rotate about the Z axis
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f rotateLocalZ(float ang, Matrix3f dest) {
|
|
float sin = Math.sin(ang);
|
|
float cos = Math.cosFromSin(sin, ang);
|
|
float nm00 = cos * m00 - sin * m01;
|
|
float nm01 = sin * m00 + cos * m01;
|
|
float nm10 = cos * m10 - sin * m11;
|
|
float nm11 = sin * m10 + cos * m11;
|
|
float nm20 = cos * m20 - sin * m21;
|
|
float nm21 = sin * m20 + cos * m21;
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = m02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = m12;
|
|
dest.m20 = nm20;
|
|
dest.m21 = nm21;
|
|
dest.m22 = m22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply a rotation to this matrix by rotating the given amount of radians about the Z axis.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the rotation matrix,
|
|
* then the new matrix will be <code>R * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>R * M * v</code>, the
|
|
* rotation will be applied last!
|
|
* <p>
|
|
* In order to set the matrix to a rotation matrix without pre-multiplying the rotation
|
|
* transformation, use {@link #rotationZ(float) rotationY()}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotationY(float)
|
|
*
|
|
* @param ang
|
|
* the angle in radians to rotate about the Z axis
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateLocalZ(float ang) {
|
|
return rotateLocalZ(ang, this);
|
|
}
|
|
|
|
/**
|
|
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>Q</code> the rotation matrix obtained from the given quaternion,
|
|
* then the new matrix will be <code>M * Q</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * Q * v</code>,
|
|
* the quaternion rotation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without post-multiplying,
|
|
* use {@link #rotation(Quaternionfc)}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotation(Quaternionfc)
|
|
*
|
|
* @param quat
|
|
* the {@link Quaternionfc}
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotate(Quaternionfc quat) {
|
|
return rotate(quat, this);
|
|
}
|
|
|
|
/**
|
|
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix and store
|
|
* the result in <code>dest</code>.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>Q</code> the rotation matrix obtained from the given quaternion,
|
|
* then the new matrix will be <code>M * Q</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * Q * v</code>,
|
|
* the quaternion rotation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without post-multiplying,
|
|
* use {@link #rotation(Quaternionfc)}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotation(Quaternionfc)
|
|
*
|
|
* @param quat
|
|
* the {@link Quaternionfc}
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f rotate(Quaternionfc quat, Matrix3f dest) {
|
|
float w2 = quat.w() * quat.w(), x2 = quat.x() * quat.x();
|
|
float y2 = quat.y() * quat.y(), z2 = quat.z() * quat.z();
|
|
float zw = quat.z() * quat.w(), dzw = zw + zw, xy = quat.x() * quat.y(), dxy = xy + xy;
|
|
float xz = quat.x() * quat.z(), dxz = xz + xz, yw = quat.y() * quat.w(), dyw = yw + yw;
|
|
float yz = quat.y() * quat.z(), dyz = yz + yz, xw = quat.x() * quat.w(), dxw = xw + xw;
|
|
float rm00 = w2 + x2 - z2 - y2;
|
|
float rm01 = dxy + dzw;
|
|
float rm02 = dxz - dyw;
|
|
float rm10 = dxy - dzw;
|
|
float rm11 = y2 - z2 + w2 - x2;
|
|
float rm12 = dyz + dxw;
|
|
float rm20 = dyw + dxz;
|
|
float rm21 = dyz - dxw;
|
|
float rm22 = z2 - y2 - x2 + w2;
|
|
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
|
|
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
|
|
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
|
|
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
|
|
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
|
|
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
|
|
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
|
|
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
|
|
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix and store
|
|
* the result in <code>dest</code>.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>Q</code> the rotation matrix obtained from the given quaternion,
|
|
* then the new matrix will be <code>Q * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>Q * M * v</code>,
|
|
* the quaternion rotation will be applied last!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without pre-multiplying,
|
|
* use {@link #rotation(Quaternionfc)}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotation(Quaternionfc)
|
|
*
|
|
* @param quat
|
|
* the {@link Quaternionfc}
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f rotateLocal(Quaternionfc quat, Matrix3f dest) {
|
|
float w2 = quat.w() * quat.w(), x2 = quat.x() * quat.x();
|
|
float y2 = quat.y() * quat.y(), z2 = quat.z() * quat.z();
|
|
float zw = quat.z() * quat.w(), dzw = zw + zw, xy = quat.x() * quat.y(), dxy = xy + xy;
|
|
float xz = quat.x() * quat.z(), dxz = xz + xz, yw = quat.y() * quat.w(), dyw = yw + yw;
|
|
float yz = quat.y() * quat.z(), dyz = yz + yz, xw = quat.x() * quat.w(), dxw = xw + xw;
|
|
float lm00 = w2 + x2 - z2 - y2;
|
|
float lm01 = dxy + dzw;
|
|
float lm02 = dxz - dyw;
|
|
float lm10 = dxy - dzw;
|
|
float lm11 = y2 - z2 + w2 - x2;
|
|
float lm12 = dyz + dxw;
|
|
float lm20 = dyw + dxz;
|
|
float lm21 = dyz - dxw;
|
|
float lm22 = z2 - y2 - x2 + w2;
|
|
float nm00 = lm00 * m00 + lm10 * m01 + lm20 * m02;
|
|
float nm01 = lm01 * m00 + lm11 * m01 + lm21 * m02;
|
|
float nm02 = lm02 * m00 + lm12 * m01 + lm22 * m02;
|
|
float nm10 = lm00 * m10 + lm10 * m11 + lm20 * m12;
|
|
float nm11 = lm01 * m10 + lm11 * m11 + lm21 * m12;
|
|
float nm12 = lm02 * m10 + lm12 * m11 + lm22 * m12;
|
|
float nm20 = lm00 * m20 + lm10 * m21 + lm20 * m22;
|
|
float nm21 = lm01 * m20 + lm11 * m21 + lm21 * m22;
|
|
float nm22 = lm02 * m20 + lm12 * m21 + lm22 * m22;
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
dest.m20 = nm20;
|
|
dest.m21 = nm21;
|
|
dest.m22 = nm22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Pre-multiply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>Q</code> the rotation matrix obtained from the given quaternion,
|
|
* then the new matrix will be <code>Q * M</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>Q * M * v</code>,
|
|
* the quaternion rotation will be applied last!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without pre-multiplying,
|
|
* use {@link #rotation(Quaternionfc)}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotation(Quaternionfc)
|
|
*
|
|
* @param quat
|
|
* the {@link Quaternionfc}
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateLocal(Quaternionfc quat) {
|
|
return rotateLocal(quat, this);
|
|
}
|
|
|
|
/**
|
|
* Apply a rotation transformation, rotating about the given {@link AxisAngle4f}, to this matrix.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>A</code> the rotation matrix obtained from the given {@link AxisAngle4f},
|
|
* then the new matrix will be <code>M * A</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * A * v</code>,
|
|
* the {@link AxisAngle4f} rotation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without post-multiplying,
|
|
* use {@link #rotation(AxisAngle4f)}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotate(float, float, float, float)
|
|
* @see #rotation(AxisAngle4f)
|
|
*
|
|
* @param axisAngle
|
|
* the {@link AxisAngle4f} (needs to be {@link AxisAngle4f#normalize() normalized})
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotate(AxisAngle4f axisAngle) {
|
|
return rotate(axisAngle.angle, axisAngle.x, axisAngle.y, axisAngle.z);
|
|
}
|
|
|
|
/**
|
|
* Apply a rotation transformation, rotating about the given {@link AxisAngle4f} and store the result in <code>dest</code>.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>A</code> the rotation matrix obtained from the given {@link AxisAngle4f},
|
|
* then the new matrix will be <code>M * A</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * A * v</code>,
|
|
* the {@link AxisAngle4f} rotation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without post-multiplying,
|
|
* use {@link #rotation(AxisAngle4f)}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotate(float, float, float, float)
|
|
* @see #rotation(AxisAngle4f)
|
|
*
|
|
* @param axisAngle
|
|
* the {@link AxisAngle4f} (needs to be {@link AxisAngle4f#normalize() normalized})
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f rotate(AxisAngle4f axisAngle, Matrix3f dest) {
|
|
return rotate(axisAngle.angle, axisAngle.x, axisAngle.y, axisAngle.z, dest);
|
|
}
|
|
|
|
/**
|
|
* Apply a rotation transformation, rotating the given radians about the specified axis, to this matrix.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>A</code> the rotation matrix obtained from the given angle and axis,
|
|
* then the new matrix will be <code>M * A</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * A * v</code>,
|
|
* the axis-angle rotation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without post-multiplying,
|
|
* use {@link #rotation(float, Vector3fc)}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotate(float, float, float, float)
|
|
* @see #rotation(float, Vector3fc)
|
|
*
|
|
* @param angle
|
|
* the angle in radians
|
|
* @param axis
|
|
* the rotation axis (needs to be {@link Vector3f#normalize() normalized})
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotate(float angle, Vector3fc axis) {
|
|
return rotate(angle, axis.x(), axis.y(), axis.z());
|
|
}
|
|
|
|
/**
|
|
* Apply a rotation transformation, rotating the given radians about the specified axis and store the result in <code>dest</code>.
|
|
* <p>
|
|
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
|
|
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
|
|
* When used with a left-handed coordinate system, the rotation is clockwise.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>A</code> the rotation matrix obtained from the given angle and axis,
|
|
* then the new matrix will be <code>M * A</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * A * v</code>,
|
|
* the axis-angle rotation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without post-multiplying,
|
|
* use {@link #rotation(float, Vector3fc)}.
|
|
* <p>
|
|
* Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
|
|
*
|
|
* @see #rotate(float, float, float, float)
|
|
* @see #rotation(float, Vector3fc)
|
|
*
|
|
* @param angle
|
|
* the angle in radians
|
|
* @param axis
|
|
* the rotation axis (needs to be {@link Vector3f#normalize() normalized})
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f rotate(float angle, Vector3fc axis, Matrix3f dest) {
|
|
return rotate(angle, axis.x(), axis.y(), axis.z(), dest);
|
|
}
|
|
|
|
/**
|
|
* Apply a rotation transformation to this matrix to make <code>-z</code> point along <code>dir</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookalong rotation matrix,
|
|
* then the new matrix will be <code>M * L</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>, the
|
|
* lookalong rotation transformation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a lookalong transformation without post-multiplying it,
|
|
* use {@link #setLookAlong(Vector3fc, Vector3fc) setLookAlong()}.
|
|
*
|
|
* @see #lookAlong(float, float, float, float, float, float)
|
|
* @see #setLookAlong(Vector3fc, Vector3fc)
|
|
*
|
|
* @param dir
|
|
* the direction in space to look along
|
|
* @param up
|
|
* the direction of 'up'
|
|
* @return this
|
|
*/
|
|
public Matrix3f lookAlong(Vector3fc dir, Vector3fc up) {
|
|
return lookAlong(dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z(), this);
|
|
}
|
|
|
|
/**
|
|
* Apply a rotation transformation to this matrix to make <code>-z</code> point along <code>dir</code>
|
|
* and store the result in <code>dest</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookalong rotation matrix,
|
|
* then the new matrix will be <code>M * L</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>, the
|
|
* lookalong rotation transformation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a lookalong transformation without post-multiplying it,
|
|
* use {@link #setLookAlong(Vector3fc, Vector3fc) setLookAlong()}.
|
|
*
|
|
* @see #lookAlong(float, float, float, float, float, float)
|
|
* @see #setLookAlong(Vector3fc, Vector3fc)
|
|
*
|
|
* @param dir
|
|
* the direction in space to look along
|
|
* @param up
|
|
* the direction of 'up'
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f lookAlong(Vector3fc dir, Vector3fc up, Matrix3f dest) {
|
|
return lookAlong(dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z(), dest);
|
|
}
|
|
|
|
/**
|
|
* Apply a rotation transformation to this matrix to make <code>-z</code> point along <code>dir</code>
|
|
* and store the result in <code>dest</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookalong rotation matrix,
|
|
* then the new matrix will be <code>M * L</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>, the
|
|
* lookalong rotation transformation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a lookalong transformation without post-multiplying it,
|
|
* use {@link #setLookAlong(float, float, float, float, float, float) setLookAlong()}
|
|
*
|
|
* @see #setLookAlong(float, float, float, float, float, float)
|
|
*
|
|
* @param dirX
|
|
* the x-coordinate of the direction to look along
|
|
* @param dirY
|
|
* the y-coordinate of the direction to look along
|
|
* @param dirZ
|
|
* the z-coordinate of the direction to look along
|
|
* @param upX
|
|
* the x-coordinate of the up vector
|
|
* @param upY
|
|
* the y-coordinate of the up vector
|
|
* @param upZ
|
|
* the z-coordinate of the up vector
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f lookAlong(float dirX, float dirY, float dirZ,
|
|
float upX, float upY, float upZ, Matrix3f dest) {
|
|
// Normalize direction
|
|
float invDirLength = Math.invsqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
|
|
dirX *= -invDirLength;
|
|
dirY *= -invDirLength;
|
|
dirZ *= -invDirLength;
|
|
// left = up x direction
|
|
float leftX, leftY, leftZ;
|
|
leftX = upY * dirZ - upZ * dirY;
|
|
leftY = upZ * dirX - upX * dirZ;
|
|
leftZ = upX * dirY - upY * dirX;
|
|
// normalize left
|
|
float invLeftLength = Math.invsqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
|
|
leftX *= invLeftLength;
|
|
leftY *= invLeftLength;
|
|
leftZ *= invLeftLength;
|
|
// up = direction x left
|
|
float upnX = dirY * leftZ - dirZ * leftY;
|
|
float upnY = dirZ * leftX - dirX * leftZ;
|
|
float upnZ = dirX * leftY - dirY * leftX;
|
|
|
|
// calculate right matrix elements
|
|
float rm00 = leftX;
|
|
float rm01 = upnX;
|
|
float rm02 = dirX;
|
|
float rm10 = leftY;
|
|
float rm11 = upnY;
|
|
float rm12 = dirY;
|
|
float rm20 = leftZ;
|
|
float rm21 = upnZ;
|
|
float rm22 = dirZ;
|
|
|
|
// perform optimized matrix multiplication
|
|
// introduce temporaries for dependent results
|
|
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
|
|
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
|
|
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
|
|
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
|
|
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
|
|
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
|
|
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
|
|
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
|
|
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
|
|
// set the rest of the matrix elements
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Apply a rotation transformation to this matrix to make <code>-z</code> point along <code>dir</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookalong rotation matrix,
|
|
* then the new matrix will be <code>M * L</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>, the
|
|
* lookalong rotation transformation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a lookalong transformation without post-multiplying it,
|
|
* use {@link #setLookAlong(float, float, float, float, float, float) setLookAlong()}
|
|
*
|
|
* @see #setLookAlong(float, float, float, float, float, float)
|
|
*
|
|
* @param dirX
|
|
* the x-coordinate of the direction to look along
|
|
* @param dirY
|
|
* the y-coordinate of the direction to look along
|
|
* @param dirZ
|
|
* the z-coordinate of the direction to look along
|
|
* @param upX
|
|
* the x-coordinate of the up vector
|
|
* @param upY
|
|
* the y-coordinate of the up vector
|
|
* @param upZ
|
|
* the z-coordinate of the up vector
|
|
* @return this
|
|
*/
|
|
public Matrix3f lookAlong(float dirX, float dirY, float dirZ,
|
|
float upX, float upY, float upZ) {
|
|
return lookAlong(dirX, dirY, dirZ, upX, upY, upZ, this);
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation transformation to make <code>-z</code>
|
|
* point along <code>dir</code>.
|
|
* <p>
|
|
* In order to apply the lookalong transformation to any previous existing transformation,
|
|
* use {@link #lookAlong(Vector3fc, Vector3fc)}.
|
|
*
|
|
* @see #setLookAlong(Vector3fc, Vector3fc)
|
|
* @see #lookAlong(Vector3fc, Vector3fc)
|
|
*
|
|
* @param dir
|
|
* the direction in space to look along
|
|
* @param up
|
|
* the direction of 'up'
|
|
* @return this
|
|
*/
|
|
public Matrix3f setLookAlong(Vector3fc dir, Vector3fc up) {
|
|
return setLookAlong(dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z());
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a rotation transformation to make <code>-z</code>
|
|
* point along <code>dir</code>.
|
|
* <p>
|
|
* In order to apply the lookalong transformation to any previous existing transformation,
|
|
* use {@link #lookAlong(float, float, float, float, float, float) lookAlong()}
|
|
*
|
|
* @see #setLookAlong(float, float, float, float, float, float)
|
|
* @see #lookAlong(float, float, float, float, float, float)
|
|
*
|
|
* @param dirX
|
|
* the x-coordinate of the direction to look along
|
|
* @param dirY
|
|
* the y-coordinate of the direction to look along
|
|
* @param dirZ
|
|
* the z-coordinate of the direction to look along
|
|
* @param upX
|
|
* the x-coordinate of the up vector
|
|
* @param upY
|
|
* the y-coordinate of the up vector
|
|
* @param upZ
|
|
* the z-coordinate of the up vector
|
|
* @return this
|
|
*/
|
|
public Matrix3f setLookAlong(float dirX, float dirY, float dirZ,
|
|
float upX, float upY, float upZ) {
|
|
// Normalize direction
|
|
float invDirLength = Math.invsqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
|
|
dirX *= -invDirLength;
|
|
dirY *= -invDirLength;
|
|
dirZ *= -invDirLength;
|
|
// left = up x direction
|
|
float leftX, leftY, leftZ;
|
|
leftX = upY * dirZ - upZ * dirY;
|
|
leftY = upZ * dirX - upX * dirZ;
|
|
leftZ = upX * dirY - upY * dirX;
|
|
// normalize left
|
|
float invLeftLength = Math.invsqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
|
|
leftX *= invLeftLength;
|
|
leftY *= invLeftLength;
|
|
leftZ *= invLeftLength;
|
|
// up = direction x left
|
|
float upnX = dirY * leftZ - dirZ * leftY;
|
|
float upnY = dirZ * leftX - dirX * leftZ;
|
|
float upnZ = dirX * leftY - dirY * leftX;
|
|
|
|
m00 = leftX;
|
|
m01 = upnX;
|
|
m02 = dirX;
|
|
m10 = leftY;
|
|
m11 = upnY;
|
|
m12 = dirY;
|
|
m20 = leftZ;
|
|
m21 = upnZ;
|
|
m22 = dirZ;
|
|
|
|
return this;
|
|
}
|
|
|
|
public Vector3f getRow(int row, Vector3f dest) throws IndexOutOfBoundsException {
|
|
switch (row) {
|
|
case 0:
|
|
return dest.set(m00, m10, m20);
|
|
case 1:
|
|
return dest.set(m01, m11, m21);
|
|
case 2:
|
|
return dest.set(m02, m12, m22);
|
|
default:
|
|
throw new IndexOutOfBoundsException();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set the row at the given <code>row</code> index, starting with <code>0</code>.
|
|
*
|
|
* @param row
|
|
* the row index in <code>[0..2]</code>
|
|
* @param src
|
|
* the row components to set
|
|
* @return this
|
|
* @throws IndexOutOfBoundsException if <code>row</code> is not in <code>[0..2]</code>
|
|
*/
|
|
public Matrix3f setRow(int row, Vector3fc src) throws IndexOutOfBoundsException {
|
|
return setRow(row, src.x(), src.y(), src.z());
|
|
}
|
|
|
|
/**
|
|
* Set the row at the given <code>row</code> index, starting with <code>0</code>.
|
|
*
|
|
* @param row
|
|
* the row index in <code>[0..2]</code>
|
|
* @param x
|
|
* the first element in the row
|
|
* @param y
|
|
* the second element in the row
|
|
* @param z
|
|
* the third element in the row
|
|
* @return this
|
|
* @throws IndexOutOfBoundsException if <code>row</code> is not in <code>[0..2]</code>
|
|
*/
|
|
public Matrix3f setRow(int row, float x, float y, float z) throws IndexOutOfBoundsException {
|
|
switch (row) {
|
|
case 0:
|
|
this.m00 = x;
|
|
this.m10 = y;
|
|
this.m20 = z;
|
|
break;
|
|
case 1:
|
|
this.m01 = x;
|
|
this.m11 = y;
|
|
this.m21 = z;
|
|
break;
|
|
case 2:
|
|
this.m02 = x;
|
|
this.m12 = y;
|
|
this.m22 = z;
|
|
break;
|
|
default:
|
|
throw new IndexOutOfBoundsException();
|
|
}
|
|
return this;
|
|
}
|
|
|
|
public Vector3f getColumn(int column, Vector3f dest) throws IndexOutOfBoundsException {
|
|
switch (column) {
|
|
case 0:
|
|
return dest.set(m00, m01, m02);
|
|
case 1:
|
|
return dest.set(m10, m11, m12);
|
|
case 2:
|
|
return dest.set(m20, m21, m22);
|
|
default:
|
|
throw new IndexOutOfBoundsException();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set the column at the given <code>column</code> index, starting with <code>0</code>.
|
|
*
|
|
* @param column
|
|
* the column index in <code>[0..2]</code>
|
|
* @param src
|
|
* the column components to set
|
|
* @return this
|
|
* @throws IndexOutOfBoundsException if <code>column</code> is not in <code>[0..2]</code>
|
|
*/
|
|
public Matrix3f setColumn(int column, Vector3fc src) throws IndexOutOfBoundsException {
|
|
return setColumn(column, src.x(), src.y(), src.z());
|
|
}
|
|
|
|
/**
|
|
* Set the column at the given <code>column</code> index, starting with <code>0</code>.
|
|
*
|
|
* @param column
|
|
* the column index in <code>[0..2]</code>
|
|
* @param x
|
|
* the first element in the column
|
|
* @param y
|
|
* the second element in the column
|
|
* @param z
|
|
* the third element in the column
|
|
* @return this
|
|
* @throws IndexOutOfBoundsException if <code>column</code> is not in <code>[0..2]</code>
|
|
*/
|
|
public Matrix3f setColumn(int column, float x, float y, float z) throws IndexOutOfBoundsException {
|
|
switch (column) {
|
|
case 0:
|
|
this.m00 = x;
|
|
this.m01 = y;
|
|
this.m02 = z;
|
|
break;
|
|
case 1:
|
|
this.m10 = x;
|
|
this.m11 = y;
|
|
this.m12 = z;
|
|
break;
|
|
case 2:
|
|
this.m20 = x;
|
|
this.m21 = y;
|
|
this.m22 = z;
|
|
break;
|
|
default:
|
|
throw new IndexOutOfBoundsException();
|
|
}
|
|
return this;
|
|
}
|
|
|
|
public float get(int column, int row) {
|
|
return MemUtil.INSTANCE.get(this, column, row);
|
|
}
|
|
|
|
/**
|
|
* Set the matrix element at the given column and row to the specified value.
|
|
*
|
|
* @param column
|
|
* the colum index in <code>[0..2]</code>
|
|
* @param row
|
|
* the row index in <code>[0..2]</code>
|
|
* @param value
|
|
* the value
|
|
* @return this
|
|
*/
|
|
public Matrix3f set(int column, int row, float value) {
|
|
return MemUtil.INSTANCE.set(this, column, row, value);
|
|
}
|
|
|
|
public float getRowColumn(int row, int column) {
|
|
return MemUtil.INSTANCE.get(this, column, row);
|
|
}
|
|
|
|
/**
|
|
* Set the matrix element at the given row and column to the specified value.
|
|
*
|
|
* @param row
|
|
* the row index in <code>[0..2]</code>
|
|
* @param column
|
|
* the colum index in <code>[0..2]</code>
|
|
* @param value
|
|
* the value
|
|
* @return this
|
|
*/
|
|
public Matrix3f setRowColumn(int row, int column, float value) {
|
|
return MemUtil.INSTANCE.set(this, column, row, value);
|
|
}
|
|
|
|
/**
|
|
* Set <code>this</code> matrix to its own normal matrix.
|
|
* <p>
|
|
* The normal matrix of <code>m</code> is the transpose of the inverse of <code>m</code>.
|
|
* <p>
|
|
* Please note that, if <code>this</code> is an orthogonal matrix or a matrix whose columns are orthogonal vectors,
|
|
* then this method <i>need not</i> be invoked, since in that case <code>this</code> itself is its normal matrix.
|
|
* In this case, use {@link #set(Matrix3fc)} to set a given Matrix3f to this matrix.
|
|
*
|
|
* @see #set(Matrix3fc)
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f normal() {
|
|
return normal(this);
|
|
}
|
|
|
|
/**
|
|
* Compute a normal matrix from <code>this</code> matrix and store it into <code>dest</code>.
|
|
* <p>
|
|
* The normal matrix of <code>m</code> is the transpose of the inverse of <code>m</code>.
|
|
* <p>
|
|
* Please note that, if <code>this</code> is an orthogonal matrix or a matrix whose columns are orthogonal vectors,
|
|
* then this method <i>need not</i> be invoked, since in that case <code>this</code> itself is its normal matrix.
|
|
* In this case, use {@link #set(Matrix3fc)} to set a given Matrix3f to this matrix.
|
|
*
|
|
* @see #set(Matrix3fc)
|
|
*
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f normal(Matrix3f dest) {
|
|
float m00m11 = m00 * m11;
|
|
float m01m10 = m01 * m10;
|
|
float m02m10 = m02 * m10;
|
|
float m00m12 = m00 * m12;
|
|
float m01m12 = m01 * m12;
|
|
float m02m11 = m02 * m11;
|
|
float det = (m00m11 - m01m10) * m22 + (m02m10 - m00m12) * m21 + (m01m12 - m02m11) * m20;
|
|
float s = 1.0f / det;
|
|
/* Invert and transpose in one go */
|
|
float nm00 = (m11 * m22 - m21 * m12) * s;
|
|
float nm01 = (m20 * m12 - m10 * m22) * s;
|
|
float nm02 = (m10 * m21 - m20 * m11) * s;
|
|
float nm10 = (m21 * m02 - m01 * m22) * s;
|
|
float nm11 = (m00 * m22 - m20 * m02) * s;
|
|
float nm12 = (m20 * m01 - m00 * m21) * s;
|
|
float nm20 = (m01m12 - m02m11) * s;
|
|
float nm21 = (m02m10 - m00m12) * s;
|
|
float nm22 = (m00m11 - m01m10) * s;
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
dest.m20 = nm20;
|
|
dest.m21 = nm21;
|
|
dest.m22 = nm22;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Compute the cofactor matrix of <code>this</code>.
|
|
* <p>
|
|
* The cofactor matrix can be used instead of {@link #normal()} to transform normals
|
|
* when the orientation of the normals with respect to the surface should be preserved.
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f cofactor() {
|
|
return cofactor(this);
|
|
}
|
|
|
|
/**
|
|
* Compute the cofactor matrix of <code>this</code> and store it into <code>dest</code>.
|
|
* <p>
|
|
* The cofactor matrix can be used instead of {@link #normal(Matrix3f)} to transform normals
|
|
* when the orientation of the normals with respect to the surface should be preserved.
|
|
*
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f cofactor(Matrix3f dest) {
|
|
float nm00 = m11 * m22 - m21 * m12;
|
|
float nm01 = m20 * m12 - m10 * m22;
|
|
float nm02 = m10 * m21 - m20 * m11;
|
|
float nm10 = m21 * m02 - m01 * m22;
|
|
float nm11 = m00 * m22 - m20 * m02;
|
|
float nm12 = m20 * m01 - m00 * m21;
|
|
float nm20 = m01 * m12 - m11 * m02;
|
|
float nm21 = m02 * m10 - m12 * m00;
|
|
float nm22 = m00 * m11 - m10 * m01;
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
dest.m20 = nm20;
|
|
dest.m21 = nm21;
|
|
dest.m22 = nm22;
|
|
return dest;
|
|
}
|
|
|
|
public Vector3f getScale(Vector3f dest) {
|
|
return dest.set(Math.sqrt(m00 * m00 + m01 * m01 + m02 * m02),
|
|
Math.sqrt(m10 * m10 + m11 * m11 + m12 * m12),
|
|
Math.sqrt(m20 * m20 + m21 * m21 + m22 * m22));
|
|
}
|
|
|
|
public Vector3f positiveZ(Vector3f dir) {
|
|
dir.x = m10 * m21 - m11 * m20;
|
|
dir.y = m20 * m01 - m21 * m00;
|
|
dir.z = m00 * m11 - m01 * m10;
|
|
return dir.normalize(dir);
|
|
}
|
|
|
|
public Vector3f normalizedPositiveZ(Vector3f dir) {
|
|
dir.x = m02;
|
|
dir.y = m12;
|
|
dir.z = m22;
|
|
return dir;
|
|
}
|
|
|
|
public Vector3f positiveX(Vector3f dir) {
|
|
dir.x = m11 * m22 - m12 * m21;
|
|
dir.y = m02 * m21 - m01 * m22;
|
|
dir.z = m01 * m12 - m02 * m11;
|
|
return dir.normalize(dir);
|
|
}
|
|
|
|
public Vector3f normalizedPositiveX(Vector3f dir) {
|
|
dir.x = m00;
|
|
dir.y = m10;
|
|
dir.z = m20;
|
|
return dir;
|
|
}
|
|
|
|
public Vector3f positiveY(Vector3f dir) {
|
|
dir.x = m12 * m20 - m10 * m22;
|
|
dir.y = m00 * m22 - m02 * m20;
|
|
dir.z = m02 * m10 - m00 * m12;
|
|
return dir.normalize(dir);
|
|
}
|
|
|
|
public Vector3f normalizedPositiveY(Vector3f dir) {
|
|
dir.x = m01;
|
|
dir.y = m11;
|
|
dir.z = m21;
|
|
return dir;
|
|
}
|
|
|
|
public int hashCode() {
|
|
final int prime = 31;
|
|
int result = 1;
|
|
result = prime * result + Float.floatToIntBits(m00);
|
|
result = prime * result + Float.floatToIntBits(m01);
|
|
result = prime * result + Float.floatToIntBits(m02);
|
|
result = prime * result + Float.floatToIntBits(m10);
|
|
result = prime * result + Float.floatToIntBits(m11);
|
|
result = prime * result + Float.floatToIntBits(m12);
|
|
result = prime * result + Float.floatToIntBits(m20);
|
|
result = prime * result + Float.floatToIntBits(m21);
|
|
result = prime * result + Float.floatToIntBits(m22);
|
|
return result;
|
|
}
|
|
|
|
public boolean equals(Object obj) {
|
|
if (this == obj)
|
|
return true;
|
|
if (obj == null)
|
|
return false;
|
|
if (getClass() != obj.getClass())
|
|
return false;
|
|
Matrix3f other = (Matrix3f) obj;
|
|
if (Float.floatToIntBits(m00) != Float.floatToIntBits(other.m00))
|
|
return false;
|
|
if (Float.floatToIntBits(m01) != Float.floatToIntBits(other.m01))
|
|
return false;
|
|
if (Float.floatToIntBits(m02) != Float.floatToIntBits(other.m02))
|
|
return false;
|
|
if (Float.floatToIntBits(m10) != Float.floatToIntBits(other.m10))
|
|
return false;
|
|
if (Float.floatToIntBits(m11) != Float.floatToIntBits(other.m11))
|
|
return false;
|
|
if (Float.floatToIntBits(m12) != Float.floatToIntBits(other.m12))
|
|
return false;
|
|
if (Float.floatToIntBits(m20) != Float.floatToIntBits(other.m20))
|
|
return false;
|
|
if (Float.floatToIntBits(m21) != Float.floatToIntBits(other.m21))
|
|
return false;
|
|
if (Float.floatToIntBits(m22) != Float.floatToIntBits(other.m22))
|
|
return false;
|
|
return true;
|
|
}
|
|
|
|
public boolean equals(Matrix3fc m, float delta) {
|
|
if (this == m)
|
|
return true;
|
|
if (m == null)
|
|
return false;
|
|
if (!(m instanceof Matrix3f))
|
|
return false;
|
|
if (!Runtime.equals(m00, m.m00(), delta))
|
|
return false;
|
|
if (!Runtime.equals(m01, m.m01(), delta))
|
|
return false;
|
|
if (!Runtime.equals(m02, m.m02(), delta))
|
|
return false;
|
|
if (!Runtime.equals(m10, m.m10(), delta))
|
|
return false;
|
|
if (!Runtime.equals(m11, m.m11(), delta))
|
|
return false;
|
|
if (!Runtime.equals(m12, m.m12(), delta))
|
|
return false;
|
|
if (!Runtime.equals(m20, m.m20(), delta))
|
|
return false;
|
|
if (!Runtime.equals(m21, m.m21(), delta))
|
|
return false;
|
|
if (!Runtime.equals(m22, m.m22(), delta))
|
|
return false;
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* Exchange the values of <code>this</code> matrix with the given <code>other</code> matrix.
|
|
*
|
|
* @param other
|
|
* the other matrix to exchange the values with
|
|
* @return this
|
|
*/
|
|
public Matrix3f swap(Matrix3f other) {
|
|
MemUtil.INSTANCE.swap(this, other);
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Component-wise add <code>this</code> and <code>other</code>.
|
|
*
|
|
* @param other
|
|
* the other addend
|
|
* @return this
|
|
*/
|
|
public Matrix3f add(Matrix3fc other) {
|
|
return add(other, this);
|
|
}
|
|
|
|
public Matrix3f add(Matrix3fc other, Matrix3f dest) {
|
|
dest.m00 = m00 + other.m00();
|
|
dest.m01 = m01 + other.m01();
|
|
dest.m02 = m02 + other.m02();
|
|
dest.m10 = m10 + other.m10();
|
|
dest.m11 = m11 + other.m11();
|
|
dest.m12 = m12 + other.m12();
|
|
dest.m20 = m20 + other.m20();
|
|
dest.m21 = m21 + other.m21();
|
|
dest.m22 = m22 + other.m22();
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Component-wise subtract <code>subtrahend</code> from <code>this</code>.
|
|
*
|
|
* @param subtrahend
|
|
* the subtrahend
|
|
* @return this
|
|
*/
|
|
public Matrix3f sub(Matrix3fc subtrahend) {
|
|
return sub(subtrahend, this);
|
|
}
|
|
|
|
public Matrix3f sub(Matrix3fc subtrahend, Matrix3f dest) {
|
|
dest.m00 = m00 - subtrahend.m00();
|
|
dest.m01 = m01 - subtrahend.m01();
|
|
dest.m02 = m02 - subtrahend.m02();
|
|
dest.m10 = m10 - subtrahend.m10();
|
|
dest.m11 = m11 - subtrahend.m11();
|
|
dest.m12 = m12 - subtrahend.m12();
|
|
dest.m20 = m20 - subtrahend.m20();
|
|
dest.m21 = m21 - subtrahend.m21();
|
|
dest.m22 = m22 - subtrahend.m22();
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Component-wise multiply <code>this</code> by <code>other</code>.
|
|
*
|
|
* @param other
|
|
* the other matrix
|
|
* @return this
|
|
*/
|
|
public Matrix3f mulComponentWise(Matrix3fc other) {
|
|
return mulComponentWise(other, this);
|
|
}
|
|
|
|
public Matrix3f mulComponentWise(Matrix3fc other, Matrix3f dest) {
|
|
dest.m00 = m00 * other.m00();
|
|
dest.m01 = m01 * other.m01();
|
|
dest.m02 = m02 * other.m02();
|
|
dest.m10 = m10 * other.m10();
|
|
dest.m11 = m11 * other.m11();
|
|
dest.m12 = m12 * other.m12();
|
|
dest.m20 = m20 * other.m20();
|
|
dest.m21 = m21 * other.m21();
|
|
dest.m22 = m22 * other.m22();
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a skew-symmetric matrix using the following layout:
|
|
* <pre>
|
|
* 0, a, -b
|
|
* -a, 0, c
|
|
* b, -c, 0
|
|
* </pre>
|
|
*
|
|
* Reference: <a href="https://en.wikipedia.org/wiki/Skew-symmetric_matrix">https://en.wikipedia.org</a>
|
|
*
|
|
* @param a
|
|
* the value used for the matrix elements m01 and m10
|
|
* @param b
|
|
* the value used for the matrix elements m02 and m20
|
|
* @param c
|
|
* the value used for the matrix elements m12 and m21
|
|
* @return this
|
|
*/
|
|
public Matrix3f setSkewSymmetric(float a, float b, float c) {
|
|
m00 = m11 = m22 = 0;
|
|
m01 = -a;
|
|
m02 = b;
|
|
m10 = a;
|
|
m12 = -c;
|
|
m20 = -b;
|
|
m21 = c;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Linearly interpolate <code>this</code> and <code>other</code> using the given interpolation factor <code>t</code>
|
|
* and store the result in <code>this</code>.
|
|
* <p>
|
|
* If <code>t</code> is <code>0.0</code> then the result is <code>this</code>. If the interpolation factor is <code>1.0</code>
|
|
* then the result is <code>other</code>.
|
|
*
|
|
* @param other
|
|
* the other matrix
|
|
* @param t
|
|
* the interpolation factor between 0.0 and 1.0
|
|
* @return this
|
|
*/
|
|
public Matrix3f lerp(Matrix3fc other, float t) {
|
|
return lerp(other, t, this);
|
|
}
|
|
|
|
public Matrix3f lerp(Matrix3fc other, float t, Matrix3f dest) {
|
|
dest.m00 = Math.fma(other.m00() - m00, t, m00);
|
|
dest.m01 = Math.fma(other.m01() - m01, t, m01);
|
|
dest.m02 = Math.fma(other.m02() - m02, t, m02);
|
|
dest.m10 = Math.fma(other.m10() - m10, t, m10);
|
|
dest.m11 = Math.fma(other.m11() - m11, t, m11);
|
|
dest.m12 = Math.fma(other.m12() - m12, t, m12);
|
|
dest.m20 = Math.fma(other.m20() - m20, t, m20);
|
|
dest.m21 = Math.fma(other.m21() - m21, t, m21);
|
|
dest.m22 = Math.fma(other.m22() - m22, t, m22);
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Apply a model transformation to this matrix for a right-handed coordinate system,
|
|
* that aligns the local <code>+Z</code> axis with <code>direction</code>
|
|
* and store the result in <code>dest</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
|
|
* then the new matrix will be <code>M * L</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
|
|
* the lookat transformation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without post-multiplying it,
|
|
* use {@link #rotationTowards(Vector3fc, Vector3fc) rotationTowards()}.
|
|
* <p>
|
|
* This method is equivalent to calling: <code>mul(new Matrix3f().lookAlong(new Vector3f(dir).negate(), up).invert(), dest)</code>
|
|
*
|
|
* @see #rotateTowards(float, float, float, float, float, float, Matrix3f)
|
|
* @see #rotationTowards(Vector3fc, Vector3fc)
|
|
*
|
|
* @param direction
|
|
* the direction to rotate towards
|
|
* @param up
|
|
* the model's up vector
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f rotateTowards(Vector3fc direction, Vector3fc up, Matrix3f dest) {
|
|
return rotateTowards(direction.x(), direction.y(), direction.z(), up.x(), up.y(), up.z(), dest);
|
|
}
|
|
|
|
/**
|
|
* Apply a model transformation to this matrix for a right-handed coordinate system,
|
|
* that aligns the local <code>+Z</code> axis with <code>direction</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
|
|
* then the new matrix will be <code>M * L</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
|
|
* the lookat transformation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without post-multiplying it,
|
|
* use {@link #rotationTowards(Vector3fc, Vector3fc) rotationTowards()}.
|
|
* <p>
|
|
* This method is equivalent to calling: <code>mul(new Matrix3f().lookAlong(new Vector3f(dir).negate(), up).invert())</code>
|
|
*
|
|
* @see #rotateTowards(float, float, float, float, float, float)
|
|
* @see #rotationTowards(Vector3fc, Vector3fc)
|
|
*
|
|
* @param direction
|
|
* the direction to orient towards
|
|
* @param up
|
|
* the up vector
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateTowards(Vector3fc direction, Vector3fc up) {
|
|
return rotateTowards(direction.x(), direction.y(), direction.z(), up.x(), up.y(), up.z(), this);
|
|
}
|
|
|
|
/**
|
|
* Apply a model transformation to this matrix for a right-handed coordinate system,
|
|
* that aligns the local <code>+Z</code> axis with <code>direction</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
|
|
* then the new matrix will be <code>M * L</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
|
|
* the lookat transformation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without post-multiplying it,
|
|
* use {@link #rotationTowards(float, float, float, float, float, float) rotationTowards()}.
|
|
* <p>
|
|
* This method is equivalent to calling: <code>mul(new Matrix3f().lookAlong(-dirX, -dirY, -dirZ, upX, upY, upZ).invert())</code>
|
|
*
|
|
* @see #rotateTowards(Vector3fc, Vector3fc)
|
|
* @see #rotationTowards(float, float, float, float, float, float)
|
|
*
|
|
* @param dirX
|
|
* the x-coordinate of the direction to rotate towards
|
|
* @param dirY
|
|
* the y-coordinate of the direction to rotate towards
|
|
* @param dirZ
|
|
* the z-coordinate of the direction to rotate towards
|
|
* @param upX
|
|
* the x-coordinate of the up vector
|
|
* @param upY
|
|
* the y-coordinate of the up vector
|
|
* @param upZ
|
|
* the z-coordinate of the up vector
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotateTowards(float dirX, float dirY, float dirZ, float upX, float upY, float upZ) {
|
|
return rotateTowards(dirX, dirY, dirZ, upX, upY, upZ, this);
|
|
}
|
|
|
|
/**
|
|
* Apply a model transformation to this matrix for a right-handed coordinate system,
|
|
* that aligns the local <code>+Z</code> axis with <code>dir</code>
|
|
* and store the result in <code>dest</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>L</code> the lookat matrix,
|
|
* then the new matrix will be <code>M * L</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * L * v</code>,
|
|
* the lookat transformation will be applied first!
|
|
* <p>
|
|
* In order to set the matrix to a rotation transformation without post-multiplying it,
|
|
* use {@link #rotationTowards(float, float, float, float, float, float) rotationTowards()}.
|
|
* <p>
|
|
* This method is equivalent to calling: <code>mul(new Matrix3f().lookAlong(-dirX, -dirY, -dirZ, upX, upY, upZ).invert(), dest)</code>
|
|
*
|
|
* @see #rotateTowards(Vector3fc, Vector3fc)
|
|
* @see #rotationTowards(float, float, float, float, float, float)
|
|
*
|
|
* @param dirX
|
|
* the x-coordinate of the direction to rotate towards
|
|
* @param dirY
|
|
* the y-coordinate of the direction to rotate towards
|
|
* @param dirZ
|
|
* the z-coordinate of the direction to rotate towards
|
|
* @param upX
|
|
* the x-coordinate of the up vector
|
|
* @param upY
|
|
* the y-coordinate of the up vector
|
|
* @param upZ
|
|
* the z-coordinate of the up vector
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f rotateTowards(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Matrix3f dest) {
|
|
// Normalize direction
|
|
float invDirLength = Math.invsqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
|
|
float ndirX = dirX * invDirLength;
|
|
float ndirY = dirY * invDirLength;
|
|
float ndirZ = dirZ * invDirLength;
|
|
// left = up x direction
|
|
float leftX, leftY, leftZ;
|
|
leftX = upY * ndirZ - upZ * ndirY;
|
|
leftY = upZ * ndirX - upX * ndirZ;
|
|
leftZ = upX * ndirY - upY * ndirX;
|
|
// normalize left
|
|
float invLeftLength = Math.invsqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
|
|
leftX *= invLeftLength;
|
|
leftY *= invLeftLength;
|
|
leftZ *= invLeftLength;
|
|
// up = direction x left
|
|
float upnX = ndirY * leftZ - ndirZ * leftY;
|
|
float upnY = ndirZ * leftX - ndirX * leftZ;
|
|
float upnZ = ndirX * leftY - ndirY * leftX;
|
|
float rm00 = leftX;
|
|
float rm01 = leftY;
|
|
float rm02 = leftZ;
|
|
float rm10 = upnX;
|
|
float rm11 = upnY;
|
|
float rm12 = upnZ;
|
|
float rm20 = ndirX;
|
|
float rm21 = ndirY;
|
|
float rm22 = ndirZ;
|
|
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
|
|
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
|
|
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
|
|
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
|
|
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
|
|
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
|
|
dest.m20 = m00 * rm20 + m10 * rm21 + m20 * rm22;
|
|
dest.m21 = m01 * rm20 + m11 * rm21 + m21 * rm22;
|
|
dest.m22 = m02 * rm20 + m12 * rm21 + m22 * rm22;
|
|
dest.m00 = nm00;
|
|
dest.m01 = nm01;
|
|
dest.m02 = nm02;
|
|
dest.m10 = nm10;
|
|
dest.m11 = nm11;
|
|
dest.m12 = nm12;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a model transformation for a right-handed coordinate system,
|
|
* that aligns the local <code>-z</code> axis with <code>center - eye</code>.
|
|
* <p>
|
|
* In order to apply the rotation transformation to a previous existing transformation,
|
|
* use {@link #rotateTowards(float, float, float, float, float, float) rotateTowards}.
|
|
* <p>
|
|
* This method is equivalent to calling: <code>setLookAlong(new Vector3f(dir).negate(), up).invert()</code>
|
|
*
|
|
* @see #rotationTowards(Vector3fc, Vector3fc)
|
|
* @see #rotateTowards(float, float, float, float, float, float)
|
|
*
|
|
* @param dir
|
|
* the direction to orient the local -z axis towards
|
|
* @param up
|
|
* the up vector
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotationTowards(Vector3fc dir, Vector3fc up) {
|
|
return rotationTowards(dir.x(), dir.y(), dir.z(), up.x(), up.y(), up.z());
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a model transformation for a right-handed coordinate system,
|
|
* that aligns the local <code>-z</code> axis with <code>center - eye</code>.
|
|
* <p>
|
|
* In order to apply the rotation transformation to a previous existing transformation,
|
|
* use {@link #rotateTowards(float, float, float, float, float, float) rotateTowards}.
|
|
* <p>
|
|
* This method is equivalent to calling: <code>setLookAlong(-dirX, -dirY, -dirZ, upX, upY, upZ).invert()</code>
|
|
*
|
|
* @see #rotateTowards(Vector3fc, Vector3fc)
|
|
* @see #rotationTowards(float, float, float, float, float, float)
|
|
*
|
|
* @param dirX
|
|
* the x-coordinate of the direction to rotate towards
|
|
* @param dirY
|
|
* the y-coordinate of the direction to rotate towards
|
|
* @param dirZ
|
|
* the z-coordinate of the direction to rotate towards
|
|
* @param upX
|
|
* the x-coordinate of the up vector
|
|
* @param upY
|
|
* the y-coordinate of the up vector
|
|
* @param upZ
|
|
* the z-coordinate of the up vector
|
|
* @return this
|
|
*/
|
|
public Matrix3f rotationTowards(float dirX, float dirY, float dirZ, float upX, float upY, float upZ) {
|
|
// Normalize direction
|
|
float invDirLength = Math.invsqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
|
|
float ndirX = dirX * invDirLength;
|
|
float ndirY = dirY * invDirLength;
|
|
float ndirZ = dirZ * invDirLength;
|
|
// left = up x direction
|
|
float leftX, leftY, leftZ;
|
|
leftX = upY * ndirZ - upZ * ndirY;
|
|
leftY = upZ * ndirX - upX * ndirZ;
|
|
leftZ = upX * ndirY - upY * ndirX;
|
|
// normalize left
|
|
float invLeftLength = Math.invsqrt(leftX * leftX + leftY * leftY + leftZ * leftZ);
|
|
leftX *= invLeftLength;
|
|
leftY *= invLeftLength;
|
|
leftZ *= invLeftLength;
|
|
// up = direction x left
|
|
float upnX = ndirY * leftZ - ndirZ * leftY;
|
|
float upnY = ndirZ * leftX - ndirX * leftZ;
|
|
float upnZ = ndirX * leftY - ndirY * leftX;
|
|
this.m00 = leftX;
|
|
this.m01 = leftY;
|
|
this.m02 = leftZ;
|
|
this.m10 = upnX;
|
|
this.m11 = upnY;
|
|
this.m12 = upnZ;
|
|
this.m20 = ndirX;
|
|
this.m21 = ndirY;
|
|
this.m22 = ndirZ;
|
|
return this;
|
|
}
|
|
|
|
public Vector3f getEulerAnglesZYX(Vector3f dest) {
|
|
dest.x = Math.atan2(m12, m22);
|
|
dest.y = Math.atan2(-m02, Math.sqrt(1.0f - m02 * m02));
|
|
dest.z = Math.atan2(m01, m00);
|
|
return dest;
|
|
}
|
|
|
|
public Vector3f getEulerAnglesXYZ(Vector3f dest) {
|
|
dest.x = Math.atan2(-m21, m22);
|
|
dest.y = Math.atan2(m20, Math.sqrt(1.0f - m20 * m20));
|
|
dest.z = Math.atan2(-m10, m00);
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Apply an oblique projection transformation to this matrix with the given values for <code>a</code> and
|
|
* <code>b</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the oblique transformation matrix,
|
|
* then the new matrix will be <code>M * O</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
|
|
* oblique transformation will be applied first!
|
|
* <p>
|
|
* The oblique transformation is defined as:
|
|
* <pre>
|
|
* x' = x + a*z
|
|
* y' = y + a*z
|
|
* z' = z
|
|
* </pre>
|
|
* or in matrix form:
|
|
* <pre>
|
|
* 1 0 a
|
|
* 0 1 b
|
|
* 0 0 1
|
|
* </pre>
|
|
*
|
|
* @param a
|
|
* the value for the z factor that applies to x
|
|
* @param b
|
|
* the value for the z factor that applies to y
|
|
* @return this
|
|
*/
|
|
public Matrix3f obliqueZ(float a, float b) {
|
|
this.m20 = m00 * a + m10 * b + m20;
|
|
this.m21 = m01 * a + m11 * b + m21;
|
|
this.m22 = m02 * a + m12 * b + m22;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Apply an oblique projection transformation to this matrix with the given values for <code>a</code> and
|
|
* <code>b</code> and store the result in <code>dest</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>O</code> the oblique transformation matrix,
|
|
* then the new matrix will be <code>M * O</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * O * v</code>, the
|
|
* oblique transformation will be applied first!
|
|
* <p>
|
|
* The oblique transformation is defined as:
|
|
* <pre>
|
|
* x' = x + a*z
|
|
* y' = y + a*z
|
|
* z' = z
|
|
* </pre>
|
|
* or in matrix form:
|
|
* <pre>
|
|
* 1 0 a
|
|
* 0 1 b
|
|
* 0 0 1
|
|
* </pre>
|
|
*
|
|
* @param a
|
|
* the value for the z factor that applies to x
|
|
* @param b
|
|
* the value for the z factor that applies to y
|
|
* @param dest
|
|
* will hold the result
|
|
* @return dest
|
|
*/
|
|
public Matrix3f obliqueZ(float a, float b, Matrix3f dest) {
|
|
dest.m00 = m00;
|
|
dest.m01 = m01;
|
|
dest.m02 = m02;
|
|
dest.m10 = m10;
|
|
dest.m11 = m11;
|
|
dest.m12 = m12;
|
|
dest.m20 = m00 * a + m10 * b + m20;
|
|
dest.m21 = m01 * a + m11 * b + m21;
|
|
dest.m22 = m02 * a + m12 * b + m22;
|
|
return dest;
|
|
}
|
|
|
|
public Matrix3f reflect(float nx, float ny, float nz, Matrix3f dest) {
|
|
float da = nx + nx, db = ny + ny, dc = nz + nz;
|
|
float rm00 = 1.0f - da * nx;
|
|
float rm01 = -da * ny;
|
|
float rm02 = -da * nz;
|
|
float rm10 = -db * nx;
|
|
float rm11 = 1.0f - db * ny;
|
|
float rm12 = -db * nz;
|
|
float rm20 = -dc * nx;
|
|
float rm21 = -dc * ny;
|
|
float rm22 = 1.0f - dc * nz;
|
|
float nm00 = m00 * rm00 + m10 * rm01 + m20 * rm02;
|
|
float nm01 = m01 * rm00 + m11 * rm01 + m21 * rm02;
|
|
float nm02 = m02 * rm00 + m12 * rm01 + m22 * rm02;
|
|
float nm10 = m00 * rm10 + m10 * rm11 + m20 * rm12;
|
|
float nm11 = m01 * rm10 + m11 * rm11 + m21 * rm12;
|
|
float nm12 = m02 * rm10 + m12 * rm11 + m22 * rm12;
|
|
return dest
|
|
._m20(m00 * rm20 + m10 * rm21 + m20 * rm22)
|
|
._m21(m01 * rm20 + m11 * rm21 + m21 * rm22)
|
|
._m22(m02 * rm20 + m12 * rm21 + m22 * rm22)
|
|
._m00(nm00)
|
|
._m01(nm01)
|
|
._m02(nm02)
|
|
._m10(nm10)
|
|
._m11(nm11)
|
|
._m12(nm12);
|
|
}
|
|
|
|
/**
|
|
* Apply a mirror/reflection transformation to this matrix that reflects through the given plane
|
|
* specified via the plane normal.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the reflection matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
|
|
* reflection will be applied first!
|
|
*
|
|
* @param nx
|
|
* the x-coordinate of the plane normal
|
|
* @param ny
|
|
* the y-coordinate of the plane normal
|
|
* @param nz
|
|
* the z-coordinate of the plane normal
|
|
* @return this
|
|
*/
|
|
public Matrix3f reflect(float nx, float ny, float nz) {
|
|
return reflect(nx, ny, nz, this);
|
|
}
|
|
|
|
/**
|
|
* Apply a mirror/reflection transformation to this matrix that reflects through the given plane
|
|
* specified via the plane normal.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the reflection matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
|
|
* reflection will be applied first!
|
|
*
|
|
* @param normal
|
|
* the plane normal
|
|
* @return this
|
|
*/
|
|
public Matrix3f reflect(Vector3fc normal) {
|
|
return reflect(normal.x(), normal.y(), normal.z());
|
|
}
|
|
|
|
/**
|
|
* Apply a mirror/reflection transformation to this matrix that reflects about a plane
|
|
* specified via the plane orientation.
|
|
* <p>
|
|
* This method can be used to build a reflection transformation based on the orientation of a mirror object in the scene.
|
|
* It is assumed that the default mirror plane's normal is <code>(0, 0, 1)</code>. So, if the given {@link Quaternionfc} is
|
|
* the identity (does not apply any additional rotation), the reflection plane will be <code>z=0</code>.
|
|
* <p>
|
|
* If <code>M</code> is <code>this</code> matrix and <code>R</code> the reflection matrix,
|
|
* then the new matrix will be <code>M * R</code>. So when transforming a
|
|
* vector <code>v</code> with the new matrix by using <code>M * R * v</code>, the
|
|
* reflection will be applied first!
|
|
*
|
|
* @param orientation
|
|
* the plane orientation
|
|
* @return this
|
|
*/
|
|
public Matrix3f reflect(Quaternionfc orientation) {
|
|
return reflect(orientation, this);
|
|
}
|
|
|
|
public Matrix3f reflect(Quaternionfc orientation, Matrix3f dest) {
|
|
float num1 = orientation.x() + orientation.x();
|
|
float num2 = orientation.y() + orientation.y();
|
|
float num3 = orientation.z() + orientation.z();
|
|
float normalX = orientation.x() * num3 + orientation.w() * num2;
|
|
float normalY = orientation.y() * num3 - orientation.w() * num1;
|
|
float normalZ = 1.0f - (orientation.x() * num1 + orientation.y() * num2);
|
|
return reflect(normalX, normalY, normalZ, dest);
|
|
}
|
|
|
|
public Matrix3f reflect(Vector3fc normal, Matrix3f dest) {
|
|
return reflect(normal.x(), normal.y(), normal.z(), dest);
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a mirror/reflection transformation that reflects through the given plane
|
|
* specified via the plane normal.
|
|
*
|
|
* @param nx
|
|
* the x-coordinate of the plane normal
|
|
* @param ny
|
|
* the y-coordinate of the plane normal
|
|
* @param nz
|
|
* the z-coordinate of the plane normal
|
|
* @return this
|
|
*/
|
|
public Matrix3f reflection(float nx, float ny, float nz) {
|
|
float da = nx + nx, db = ny + ny, dc = nz + nz;
|
|
this._m00(1.0f - da * nx);
|
|
this._m01(-da * ny);
|
|
this._m02(-da * nz);
|
|
this._m10(-db * nx);
|
|
this._m11(1.0f - db * ny);
|
|
this._m12(-db * nz);
|
|
this._m20(-dc * nx);
|
|
this._m21(-dc * ny);
|
|
this._m22(1.0f - dc * nz);
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a mirror/reflection transformation that reflects through the given plane
|
|
* specified via the plane normal.
|
|
*
|
|
* @param normal
|
|
* the plane normal
|
|
* @return this
|
|
*/
|
|
public Matrix3f reflection(Vector3fc normal) {
|
|
return reflection(normal.x(), normal.y(), normal.z());
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to a mirror/reflection transformation that reflects through a plane
|
|
* specified via the plane orientation.
|
|
* <p>
|
|
* This method can be used to build a reflection transformation based on the orientation of a mirror object in the scene.
|
|
* It is assumed that the default mirror plane's normal is <code>(0, 0, 1)</code>. So, if the given {@link Quaternionfc} is
|
|
* the identity (does not apply any additional rotation), the reflection plane will be <code>z=0</code>, offset by the given <code>point</code>.
|
|
*
|
|
* @param orientation
|
|
* the plane orientation
|
|
* @return this
|
|
*/
|
|
public Matrix3f reflection(Quaternionfc orientation) {
|
|
float num1 = orientation.x() + orientation.x();
|
|
float num2 = orientation.y() + orientation.y();
|
|
float num3 = orientation.z() + orientation.z();
|
|
float normalX = orientation.x() * num3 + orientation.w() * num2;
|
|
float normalY = orientation.y() * num3 - orientation.w() * num1;
|
|
float normalZ = 1.0f - (orientation.x() * num1 + orientation.y() * num2);
|
|
return reflection(normalX, normalY, normalZ);
|
|
}
|
|
|
|
public boolean isFinite() {
|
|
return Math.isFinite(m00) && Math.isFinite(m01) && Math.isFinite(m02) &&
|
|
Math.isFinite(m10) && Math.isFinite(m11) && Math.isFinite(m12) &&
|
|
Math.isFinite(m20) && Math.isFinite(m21) && Math.isFinite(m22);
|
|
}
|
|
|
|
public float quadraticFormProduct(float x, float y, float z) {
|
|
float Axx = m00 * x + m10 * y + m20 * z;
|
|
float Axy = m01 * x + m11 * y + m21 * z;
|
|
float Axz = m02 * x + m12 * y + m22 * z;
|
|
return x * Axx + y * Axy + z * Axz;
|
|
}
|
|
|
|
public float quadraticFormProduct(Vector3fc v) {
|
|
return quadraticFormProduct(v.x(), v.y(), v.z());
|
|
}
|
|
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 1 0 0
|
|
* 0 0 1
|
|
* 0 1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapXZY() {
|
|
return mapXZY(this);
|
|
}
|
|
public Matrix3f mapXZY(Matrix3f dest) {
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(m00)._m01(m01)._m02(m02)._m10(m20)._m11(m21)._m12(m22)._m20(m10)._m21(m11)._m22(m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 1 0 0
|
|
* 0 0 -1
|
|
* 0 1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapXZnY() {
|
|
return mapXZnY(this);
|
|
}
|
|
public Matrix3f mapXZnY(Matrix3f dest) {
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(m00)._m01(m01)._m02(m02)._m10(m20)._m11(m21)._m12(m22)._m20(-m10)._m21(-m11)._m22(-m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 1 0 0
|
|
* 0 -1 0
|
|
* 0 0 -1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapXnYnZ() {
|
|
return mapXnYnZ(this);
|
|
}
|
|
public Matrix3f mapXnYnZ(Matrix3f dest) {
|
|
return dest._m00(m00)._m01(m01)._m02(m02)._m10(-m10)._m11(-m11)._m12(-m12)._m20(-m20)._m21(-m21)._m22(-m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 1 0 0
|
|
* 0 0 1
|
|
* 0 -1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapXnZY() {
|
|
return mapXnZY(this);
|
|
}
|
|
public Matrix3f mapXnZY(Matrix3f dest) {
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(m00)._m01(m01)._m02(m02)._m10(-m20)._m11(-m21)._m12(-m22)._m20(m10)._m21(m11)._m22(m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 1 0 0
|
|
* 0 0 -1
|
|
* 0 -1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapXnZnY() {
|
|
return mapXnZnY(this);
|
|
}
|
|
public Matrix3f mapXnZnY(Matrix3f dest) {
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(m00)._m01(m01)._m02(m02)._m10(-m20)._m11(-m21)._m12(-m22)._m20(-m10)._m21(-m11)._m22(-m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 1 0
|
|
* 1 0 0
|
|
* 0 0 1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapYXZ() {
|
|
return mapYXZ(this);
|
|
}
|
|
public Matrix3f mapYXZ(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m10)._m01(m11)._m02(m12)._m10(m00)._m11(m01)._m12(m02)._m20(m20)._m21(m21)._m22(m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 1 0
|
|
* 1 0 0
|
|
* 0 0 -1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapYXnZ() {
|
|
return mapYXnZ(this);
|
|
}
|
|
public Matrix3f mapYXnZ(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m10)._m01(m11)._m02(m12)._m10(m00)._m11(m01)._m12(m02)._m20(-m20)._m21(-m21)._m22(-m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 1
|
|
* 1 0 0
|
|
* 0 1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapYZX() {
|
|
return mapYZX(this);
|
|
}
|
|
public Matrix3f mapYZX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m10)._m01(m11)._m02(m12)._m10(m20)._m11(m21)._m12(m22)._m20(m00)._m21(m01)._m22(m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 -1
|
|
* 1 0 0
|
|
* 0 1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapYZnX() {
|
|
return mapYZnX(this);
|
|
}
|
|
public Matrix3f mapYZnX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m10)._m01(m11)._m02(m12)._m10(m20)._m11(m21)._m12(m22)._m20(-m00)._m21(-m01)._m22(-m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 -1 0
|
|
* 1 0 0
|
|
* 0 0 1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapYnXZ() {
|
|
return mapYnXZ(this);
|
|
}
|
|
public Matrix3f mapYnXZ(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m10)._m01(m11)._m02(m12)._m10(-m00)._m11(-m01)._m12(-m02)._m20(m20)._m21(m21)._m22(m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 -1 0
|
|
* 1 0 0
|
|
* 0 0 -1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapYnXnZ() {
|
|
return mapYnXnZ(this);
|
|
}
|
|
public Matrix3f mapYnXnZ(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m10)._m01(m11)._m02(m12)._m10(-m00)._m11(-m01)._m12(-m02)._m20(-m20)._m21(-m21)._m22(-m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 1
|
|
* 1 0 0
|
|
* 0 -1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapYnZX() {
|
|
return mapYnZX(this);
|
|
}
|
|
public Matrix3f mapYnZX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m10)._m01(m11)._m02(m12)._m10(-m20)._m11(-m21)._m12(-m22)._m20(m00)._m21(m01)._m22(m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 -1
|
|
* 1 0 0
|
|
* 0 -1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapYnZnX() {
|
|
return mapYnZnX(this);
|
|
}
|
|
public Matrix3f mapYnZnX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m10)._m01(m11)._m02(m12)._m10(-m20)._m11(-m21)._m12(-m22)._m20(-m00)._m21(-m01)._m22(-m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 1 0
|
|
* 0 0 1
|
|
* 1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapZXY() {
|
|
return mapZXY(this);
|
|
}
|
|
public Matrix3f mapZXY(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(m20)._m01(m21)._m02(m22)._m10(m00)._m11(m01)._m12(m02)._m20(m10)._m21(m11)._m22(m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 1 0
|
|
* 0 0 -1
|
|
* 1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapZXnY() {
|
|
return mapZXnY(this);
|
|
}
|
|
public Matrix3f mapZXnY(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(m20)._m01(m21)._m02(m22)._m10(m00)._m11(m01)._m12(m02)._m20(-m10)._m21(-m11)._m22(-m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 1
|
|
* 0 1 0
|
|
* 1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapZYX() {
|
|
return mapZYX(this);
|
|
}
|
|
public Matrix3f mapZYX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m20)._m01(m21)._m02(m22)._m10(m10)._m11(m11)._m12(m12)._m20(m00)._m21(m01)._m22(m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 -1
|
|
* 0 1 0
|
|
* 1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapZYnX() {
|
|
return mapZYnX(this);
|
|
}
|
|
public Matrix3f mapZYnX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m20)._m01(m21)._m02(m22)._m10(m10)._m11(m11)._m12(m12)._m20(-m00)._m21(-m01)._m22(-m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 -1 0
|
|
* 0 0 1
|
|
* 1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapZnXY() {
|
|
return mapZnXY(this);
|
|
}
|
|
public Matrix3f mapZnXY(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(m20)._m01(m21)._m02(m22)._m10(-m00)._m11(-m01)._m12(-m02)._m20(m10)._m21(m11)._m22(m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 -1 0
|
|
* 0 0 -1
|
|
* 1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapZnXnY() {
|
|
return mapZnXnY(this);
|
|
}
|
|
public Matrix3f mapZnXnY(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(m20)._m01(m21)._m02(m22)._m10(-m00)._m11(-m01)._m12(-m02)._m20(-m10)._m21(-m11)._m22(-m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 1
|
|
* 0 -1 0
|
|
* 1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapZnYX() {
|
|
return mapZnYX(this);
|
|
}
|
|
public Matrix3f mapZnYX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m20)._m01(m21)._m02(m22)._m10(-m10)._m11(-m11)._m12(-m12)._m20(m00)._m21(m01)._m22(m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 -1
|
|
* 0 -1 0
|
|
* 1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapZnYnX() {
|
|
return mapZnYnX(this);
|
|
}
|
|
public Matrix3f mapZnYnX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(m20)._m01(m21)._m02(m22)._m10(-m10)._m11(-m11)._m12(-m12)._m20(-m00)._m21(-m01)._m22(-m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* -1 0 0
|
|
* 0 1 0
|
|
* 0 0 -1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnXYnZ() {
|
|
return mapnXYnZ(this);
|
|
}
|
|
public Matrix3f mapnXYnZ(Matrix3f dest) {
|
|
return dest._m00(-m00)._m01(-m01)._m02(-m02)._m10(m10)._m11(m11)._m12(m12)._m20(-m20)._m21(-m21)._m22(-m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* -1 0 0
|
|
* 0 0 1
|
|
* 0 1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnXZY() {
|
|
return mapnXZY(this);
|
|
}
|
|
public Matrix3f mapnXZY(Matrix3f dest) {
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(-m00)._m01(-m01)._m02(-m02)._m10(m20)._m11(m21)._m12(m22)._m20(m10)._m21(m11)._m22(m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* -1 0 0
|
|
* 0 0 -1
|
|
* 0 1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnXZnY() {
|
|
return mapnXZnY(this);
|
|
}
|
|
public Matrix3f mapnXZnY(Matrix3f dest) {
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(-m00)._m01(-m01)._m02(-m02)._m10(m20)._m11(m21)._m12(m22)._m20(-m10)._m21(-m11)._m22(-m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* -1 0 0
|
|
* 0 -1 0
|
|
* 0 0 1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnXnYZ() {
|
|
return mapnXnYZ(this);
|
|
}
|
|
public Matrix3f mapnXnYZ(Matrix3f dest) {
|
|
return dest._m00(-m00)._m01(-m01)._m02(-m02)._m10(-m10)._m11(-m11)._m12(-m12)._m20(m20)._m21(m21)._m22(m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* -1 0 0
|
|
* 0 -1 0
|
|
* 0 0 -1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnXnYnZ() {
|
|
return mapnXnYnZ(this);
|
|
}
|
|
public Matrix3f mapnXnYnZ(Matrix3f dest) {
|
|
return dest._m00(-m00)._m01(-m01)._m02(-m02)._m10(-m10)._m11(-m11)._m12(-m12)._m20(-m20)._m21(-m21)._m22(-m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* -1 0 0
|
|
* 0 0 1
|
|
* 0 -1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnXnZY() {
|
|
return mapnXnZY(this);
|
|
}
|
|
public Matrix3f mapnXnZY(Matrix3f dest) {
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(-m00)._m01(-m01)._m02(-m02)._m10(-m20)._m11(-m21)._m12(-m22)._m20(m10)._m21(m11)._m22(m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* -1 0 0
|
|
* 0 0 -1
|
|
* 0 -1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnXnZnY() {
|
|
return mapnXnZnY(this);
|
|
}
|
|
public Matrix3f mapnXnZnY(Matrix3f dest) {
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(-m00)._m01(-m01)._m02(-m02)._m10(-m20)._m11(-m21)._m12(-m22)._m20(-m10)._m21(-m11)._m22(-m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 1 0
|
|
* -1 0 0
|
|
* 0 0 1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnYXZ() {
|
|
return mapnYXZ(this);
|
|
}
|
|
public Matrix3f mapnYXZ(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m10)._m01(-m11)._m02(-m12)._m10(m00)._m11(m01)._m12(m02)._m20(m20)._m21(m21)._m22(m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 1 0
|
|
* -1 0 0
|
|
* 0 0 -1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnYXnZ() {
|
|
return mapnYXnZ(this);
|
|
}
|
|
public Matrix3f mapnYXnZ(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m10)._m01(-m11)._m02(-m12)._m10(m00)._m11(m01)._m12(m02)._m20(-m20)._m21(-m21)._m22(-m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 1
|
|
* -1 0 0
|
|
* 0 1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnYZX() {
|
|
return mapnYZX(this);
|
|
}
|
|
public Matrix3f mapnYZX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m10)._m01(-m11)._m02(-m12)._m10(m20)._m11(m21)._m12(m22)._m20(m00)._m21(m01)._m22(m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 -1
|
|
* -1 0 0
|
|
* 0 1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnYZnX() {
|
|
return mapnYZnX(this);
|
|
}
|
|
public Matrix3f mapnYZnX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m10)._m01(-m11)._m02(-m12)._m10(m20)._m11(m21)._m12(m22)._m20(-m00)._m21(-m01)._m22(-m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 -1 0
|
|
* -1 0 0
|
|
* 0 0 1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnYnXZ() {
|
|
return mapnYnXZ(this);
|
|
}
|
|
public Matrix3f mapnYnXZ(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m10)._m01(-m11)._m02(-m12)._m10(-m00)._m11(-m01)._m12(-m02)._m20(m20)._m21(m21)._m22(m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 -1 0
|
|
* -1 0 0
|
|
* 0 0 -1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnYnXnZ() {
|
|
return mapnYnXnZ(this);
|
|
}
|
|
public Matrix3f mapnYnXnZ(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m10)._m01(-m11)._m02(-m12)._m10(-m00)._m11(-m01)._m12(-m02)._m20(-m20)._m21(-m21)._m22(-m22);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 1
|
|
* -1 0 0
|
|
* 0 -1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnYnZX() {
|
|
return mapnYnZX(this);
|
|
}
|
|
public Matrix3f mapnYnZX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m10)._m01(-m11)._m02(-m12)._m10(-m20)._m11(-m21)._m12(-m22)._m20(m00)._m21(m01)._m22(m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 -1
|
|
* -1 0 0
|
|
* 0 -1 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnYnZnX() {
|
|
return mapnYnZnX(this);
|
|
}
|
|
public Matrix3f mapnYnZnX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m10)._m01(-m11)._m02(-m12)._m10(-m20)._m11(-m21)._m12(-m22)._m20(-m00)._m21(-m01)._m22(-m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 1 0
|
|
* 0 0 1
|
|
* -1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnZXY() {
|
|
return mapnZXY(this);
|
|
}
|
|
public Matrix3f mapnZXY(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(-m20)._m01(-m21)._m02(-m22)._m10(m00)._m11(m01)._m12(m02)._m20(m10)._m21(m11)._m22(m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 1 0
|
|
* 0 0 -1
|
|
* -1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnZXnY() {
|
|
return mapnZXnY(this);
|
|
}
|
|
public Matrix3f mapnZXnY(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(-m20)._m01(-m21)._m02(-m22)._m10(m00)._m11(m01)._m12(m02)._m20(-m10)._m21(-m11)._m22(-m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 1
|
|
* 0 1 0
|
|
* -1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnZYX() {
|
|
return mapnZYX(this);
|
|
}
|
|
public Matrix3f mapnZYX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m20)._m01(-m21)._m02(-m22)._m10(m10)._m11(m11)._m12(m12)._m20(m00)._m21(m01)._m22(m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 -1
|
|
* 0 1 0
|
|
* -1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnZYnX() {
|
|
return mapnZYnX(this);
|
|
}
|
|
public Matrix3f mapnZYnX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m20)._m01(-m21)._m02(-m22)._m10(m10)._m11(m11)._m12(m12)._m20(-m00)._m21(-m01)._m22(-m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 -1 0
|
|
* 0 0 1
|
|
* -1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnZnXY() {
|
|
return mapnZnXY(this);
|
|
}
|
|
public Matrix3f mapnZnXY(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(-m20)._m01(-m21)._m02(-m22)._m10(-m00)._m11(-m01)._m12(-m02)._m20(m10)._m21(m11)._m22(m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 -1 0
|
|
* 0 0 -1
|
|
* -1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnZnXnY() {
|
|
return mapnZnXnY(this);
|
|
}
|
|
public Matrix3f mapnZnXnY(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
float m10 = this.m10, m11 = this.m11, m12 = this.m12;
|
|
return dest._m00(-m20)._m01(-m21)._m02(-m22)._m10(-m00)._m11(-m01)._m12(-m02)._m20(-m10)._m21(-m11)._m22(-m12);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 1
|
|
* 0 -1 0
|
|
* -1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnZnYX() {
|
|
return mapnZnYX(this);
|
|
}
|
|
public Matrix3f mapnZnYX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m20)._m01(-m21)._m02(-m22)._m10(-m10)._m11(-m11)._m12(-m12)._m20(m00)._m21(m01)._m22(m02);
|
|
}
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 0 0 -1
|
|
* 0 -1 0
|
|
* -1 0 0
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f mapnZnYnX() {
|
|
return mapnZnYnX(this);
|
|
}
|
|
public Matrix3f mapnZnYnX(Matrix3f dest) {
|
|
float m00 = this.m00, m01 = this.m01, m02 = this.m02;
|
|
return dest._m00(-m20)._m01(-m21)._m02(-m22)._m10(-m10)._m11(-m11)._m12(-m12)._m20(-m00)._m21(-m01)._m22(-m02);
|
|
}
|
|
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* -1 0 0
|
|
* 0 1 0
|
|
* 0 0 1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f negateX() {
|
|
return _m00(-m00)._m01(-m01)._m02(-m02);
|
|
}
|
|
public Matrix3f negateX(Matrix3f dest) {
|
|
return dest._m00(-m00)._m01(-m01)._m02(-m02)._m10(m10)._m11(m11)._m12(m12)._m20(m20)._m21(m21)._m22(m22);
|
|
}
|
|
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 1 0 0
|
|
* 0 -1 0
|
|
* 0 0 1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f negateY() {
|
|
return _m10(-m10)._m11(-m11)._m12(-m12);
|
|
}
|
|
public Matrix3f negateY(Matrix3f dest) {
|
|
return dest._m00(m00)._m01(m01)._m02(m02)._m10(-m10)._m11(-m11)._m12(-m12)._m20(m20)._m21(m21)._m22(m22);
|
|
}
|
|
|
|
/**
|
|
* Multiply <code>this</code> by the matrix
|
|
* <pre>
|
|
* 1 0 0
|
|
* 0 1 0
|
|
* 0 0 -1
|
|
* </pre>
|
|
*
|
|
* @return this
|
|
*/
|
|
public Matrix3f negateZ() {
|
|
return _m20(-m20)._m21(-m21)._m22(-m22);
|
|
}
|
|
public Matrix3f negateZ(Matrix3f dest) {
|
|
return dest._m00(m00)._m01(m01)._m02(m02)._m10(m10)._m11(m11)._m12(m12)._m20(-m20)._m21(-m21)._m22(-m22);
|
|
}
|
|
|
|
public Object clone() throws CloneNotSupportedException {
|
|
return super.clone();
|
|
}
|
|
|
|
}
|