javax.vecmath
Class Matrix4d

java.lang.Object
  |
  +--javax.vecmath.Matrix4d

public class Matrix4d

extends java.lang.Object

implements java.io.Serializable

A double precision floating point 4 by 4 matrix. Primarily to support 3D rotations.

See Also:

Serialized Form

Field Summary

double	m00 The first element of the first row.
double	m01 The second element of the first row.
double	m02 The third element of the first row.
double	m03 The fourth element of the first row.
double	m10 The first element of the second row.
double	m11 The second element of the second row.
double	m12 The third element of the second row.
double	m13 The fourth element of the second row.
double	m20 The first element of the third row.
double	m21 The second element of the third row.
double	m22 The third element of the third row.
double	m23 The fourth element of the third row.
double	m30 The first element of the fourth row.
double	m31 The second element of the fourth row.
double	m32 The third element of the fourth row.
double	m33 The fourth element of the fourth row.

Constructor Summary

Matrix4d()
Constructs and initializes a Matrix4d to all zeros.

Matrix4d(double[] v)
Constructs and initializes a Matrix4d from the specified 16 element array.

Matrix4d(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
Constructs and initializes a Matrix4d from the specified 16 values.

Matrix4d(Matrix3d m1, Vector3d t1, double s)
Constructs and initializes a Matrix4f from the rotation matrix, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.

Matrix4d(Matrix3f m1, Vector3d t1, double s)
Constructs and initializes a Matrix4d from the rotation matrix, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.

Matrix4d(Matrix4d m1)
Constructs a new matrix with the same values as the Matrix4d parameter.

Matrix4d(Matrix4f m1)
Constructs a new matrix with the same values as the Matrix4f parameter.

Matrix4d(Quat4d q1, Vector3d t1, double s)
Constructs and initializes a Matrix4d from the quaternion, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components.

Matrix4d(Quat4f q1, Vector3d t1, double s)
Constructs and initializes a Matrix4d from the quaternion, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components.

Method Summary

void	add(double scalar) Adds a scalar to each component of this matrix.
void	add(double scalar, Matrix4d m1) Adds a scalar to each component of the matrix m1 and places the result into this.
void	add(Matrix4d m1) Sets the value of this matrix to sum of itself and matrix m1.
void	add(Matrix4d m1, Matrix4d m2) Sets the value of this matrix to the matrix sum of matrices m1 and m2.
double	determinant() Computes the determinant of this matrix.
boolean	epsilonEquals(Matrix4d m1, double epsilon) Returns true if the L-infinite distance between this matrix and matrix m1 is less than or equal to the epsilon parameter, otherwise returns false.
boolean	epsilonEquals(Matrix4d m1, float epsilon) Deprecated. Use epsilonEquals(Matrix4d,double) instead
boolean	equals(Matrix4d m1) Returns true if all of the data members of Matrix4d m1 are equal to the corresponding data members in this Matrix4d.
boolean	equals(java.lang.Object t1) Returns true if the Object t1 is of type Matrix4d and all of the data members of t1 are equal to the corresponding data members in this Matrix4d.
void	get(Matrix3d m1) Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3d parameter.
double	get(Matrix3d m1, Vector3d t1) Performs an SVD normalization of this matrix to calculate the rotation as a 3x3 matrix, the translation, and the scale.
void	get(Matrix3f m1) Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3f parameter.
double	get(Matrix3f m1, Vector3d t1) Performs an SVD normalization of this matrix to calculate the rotation as a 3x3 matrix, the translation, and the scale.
void	get(Quat4d q1) Performs an SVD normalization of q1 matrix in order to acquire the normalized rotational component; the values are placed into the Quat4d parameter.
void	get(Quat4f q1) Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Quat4f parameter.
void	get(Vector3d trans) Retrieves the translational components of this matrix.
void	getColumn(int column, double[] v) Copies the matrix values in the specified column into the array parameter.
void	getColumn(int column, Vector4d v) Copies the matrix values in the specified column into the vector parameter.
double	getElement(int row, int column) Retrieves the value at the specified row and column of this matrix.
void	getRotationScale(Matrix3d m1) Gets the upper 3x3 values of this matrix and places them into the matrix m1.
void	getRotationScale(Matrix3f m1) Gets the upper 3x3 values of this matrix and places them into the matrix m1.
void	getRow(int row, double[] v) Copies the matrix values in the specified row into the array parameter.
void	getRow(int row, Vector4d v) Copies the matrix values in the specified row into the vector parameter.
double	getScale() Performs an SVD normalization of this matrix to calculate and return the uniform scale factor.
int	hashCode() Returns a hash code value based on the data values in this object.
void	invert() Inverts this matrix in place.
void	invert(Matrix4d m1) Sets the value of this matrix to the matrix inverse of the passed (user declared) matrix m1.
void	mul(double scalar) Multiplies each element of this matrix by a scalar.
void	mul(double scalar, Matrix4d m1) Multiplies each element of matrix m1 by a scalar and places the result into this.
void	mul(Matrix4d m1) Sets the value of this matrix to the result of multiplying itself with matrix m1.
void	mul(Matrix4d m1, Matrix4d m2) Sets the value of this matrix to the result of multiplying the two argument matrices together.
void	mulTransposeBoth(Matrix4d m1, Matrix4d m2) Multiplies the transpose of matrix m1 times the transpose of matrix m2, and places the result into this.
void	mulTransposeLeft(Matrix4d m1, Matrix4d m2) Multiplies the transpose of matrix m1 times matrix m2, and places the result into this.
void	mulTransposeRight(Matrix4d m1, Matrix4d m2) Multiplies matrix m1 times the transpose of matrix m2, and places the result into this.
void	negate() Negates the value of this matrix: this = -this.
void	negate(Matrix4d m1) Sets the value of this matrix equal to the negation of of the Matrix4d parameter.
void	rotX(double angle) Sets the value of this matrix to a counter-clockwise rotation about the x axis.
void	rotY(double angle) Sets the value of this matrix to a counter-clockwise rotation about the y axis.
void	rotZ(double angle) Sets the value of this matrix to a counter-clockwise rotation about the z axis.
void	set(AxisAngle4d a1) Sets the value of this matrix to the matrix conversion of the double precision axis and angle argument.
void	set(AxisAngle4f a1) Sets the value of this matrix to the matrix conversion of the single precision axis and angle argument.
void	set(double scale) Sets the value of this matrix to a scale matrix with the passed scale amount.
void	set(double[] m) Sets the values in this Matrix4d equal to the row-major array parameter (ie, the first four elements of the array will be copied into the first row of this matrix, etc.).
void	set(double scale, Vector3d v1) Sets the value of this transform to a scale and translation matrix; the scale is not applied to the translation and all of the matrix values are modified.
void	set(Matrix3d m1) Sets the rotational component (upper 3x3) of this matrix to the matrix values in the double precision Matrix3d argument; the other elements of this matrix are initialized as if this were an identity matrix (i.e., affine matrix with no translational component).
void	set(Matrix3d m1, Vector3d t1, double scale) Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale factor.
void	set(Matrix3f m1) Sets the rotational component (upper 3x3) of this matrix to the matrix values in the single precision Matrix3f argument; the other elements of this matrix are initialized as if this were an identity matrix (i.e., affine matrix with no translational component).
void	set(Matrix3f m1, Vector3f t1, float scale) Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale factor.
void	set(Matrix4d m1) Sets the value of this matrix to a copy of the passed matrix m1.
void	set(Matrix4f m1) Sets the value of this matrix to a copy of the passed matrix m1.
void	set(Quat4d q1) Sets the value of this matrix to the matrix conversion of the (double precision) quaternion argument.
void	set(Quat4d q1, Vector3d t1, double s) Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
void	set(Quat4f q1) Sets the value of this matrix to the matrix conversion of the single precision quaternion argument.
void	set(Quat4f q1, Vector3d t1, double s) Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
void	set(Quat4f q1, Vector3f t1, float s) Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
void	set(Vector3d v1) Sets the value of this matrix to a translate matrix by the passed translation value.
void	set(Vector3d v1, double scale) Sets the value of this transform to a scale and translation matrix; the translation is scaled by the scale factor and all of the matrix values are modified.
void	setColumn(int column, double[] v) Sets the specified column of this matrix4d to the four values provided.
void	setColumn(int column, double x, double y, double z, double w) Sets the specified column of this matrix4d to the four values provided.
void	setColumn(int column, Vector4d v) Sets the specified column of this matrix4d to the vector provided.
void	setElement(int row, int column, double value) Sets the specified element of this matrix4f to the value provided.
void	setIdentity() Sets this Matrix4d to identity.
void	setRotation(AxisAngle4d a1) Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the axis-angle argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the axis-angle, and then the scale is reapplied to the rotational components.
void	setRotation(Matrix3d m1) Sets the rotational component (upper 3x3) of this matrix to the matrix values in the double precision Matrix3d argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the passed rotation components, and then the scale is reapplied to the rotational components.
void	setRotation(Matrix3f m1) Sets the rotational component (upper 3x3) of this matrix to the matrix values in the single precision Matrix3f argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the passed rotation components, and then the scale is reapplied to the rotational components.
void	setRotation(Quat4d q1) Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the quaternion argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the quaternion, and then the scale is reapplied to the rotational components.
void	setRotation(Quat4f q1) Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the quaternion argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the quaternion, and then the scale is reapplied to the rotational components.
void	setRotationScale(Matrix3d m1) Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.
void	setRotationScale(Matrix3f m1) Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.
void	setRow(int row, double[] v) Sets the specified row of this matrix4d to the four values provided.
void	setRow(int row, double x, double y, double z, double w) Sets the specified row of this matrix4d to the four values provided.
void	setRow(int row, Vector4d v) Sets the specified row of this matrix4d to the Vector provided.
void	setScale(double scale) Sets the scale component of the current matrix by factoring out the current scale (by doing an SVD) from the rotational component and multiplying by the new scale.
void	setTranslation(Vector3d trans) Modifies the translational components of this matrix to the values of the Vector3d argument; the other values of this matrix are not modified.
void	setZero() Sets this matrix to all zeros.
void	sub(Matrix4d m1) Sets the value of this matrix to the matrix difference of itself and matrix m1 (this = this - m1).
void	sub(Matrix4d m1, Matrix4d m2) Sets the value of this matrix to the matrix difference of matrices m1 and m2.
java.lang.String	toString() Returns a string that contains the values of this Matrix4d.
void	transform(Point3d point) Transforms the point parameter with this Matrix4d and places the result back into point.
void	transform(Point3d point, Point3d pointOut) Transforms the point parameter with this Matrix4d and places the result into pointOut.
void	transform(Point3f point) Transforms the point parameter with this Matrix4d and places the result back into point.
void	transform(Point3f point, Point3f pointOut) Transforms the point parameter with this Matrix4d and places the result into pointOut.
void	transform(Tuple4d vec) Transform the vector vec using this Matrix4d and place the result back into vec.
void	transform(Tuple4d vec, Tuple4d vecOut) Transform the vector vec using this Matrix4d and place the result into vecOut.
void	transform(Tuple4f vec) Transform the vector vec using this Transform and place the result back into vec.
void	transform(Tuple4f vec, Tuple4f vecOut) Transform the vector vec using this Matrix4d and place the result into vecOut.
void	transform(Vector3d normal) Transforms the normal parameter by this transform and places the value back into normal.
void	transform(Vector3d normal, Vector3d normalOut) Transforms the normal parameter by this Matrix4d and places the value into normalOut.
void	transform(Vector3f normal) Transforms the normal parameter by this transform and places the value back into normal.
void	transform(Vector3f normal, Vector3f normalOut) Transforms the normal parameter by this Matrix4d and places the value into normalOut.
void	transpose() Sets the value of this matrix to its transpose.
void	transpose(Matrix4d m1) Sets the value of this matrix to the transpose of the argument matrix

Methods inherited from class java.lang.Object

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

Field Detail

m00

public double m00

The first element of the first row.

m01

public double m01

The second element of the first row.

m02

public double m02

The third element of the first row.

m03

public double m03

The fourth element of the first row.

m10

public double m10

The first element of the second row.

m11

public double m11

The second element of the second row.

m12

public double m12

The third element of the second row.

m13

public double m13

The fourth element of the second row.

m20

public double m20

The first element of the third row.

m21

public double m21

The second element of the third row.

m22

public double m22

The third element of the third row.

m23

public double m23

The fourth element of the third row.

m30

public double m30

The first element of the fourth row.

m31

public double m31

The second element of the fourth row.

m32

public double m32

The third element of the fourth row.

m33

public double m33

The fourth element of the fourth row.

Constructor Detail

Matrix4d

public Matrix4d(double m00,
                double m01,
                double m02,
                double m03,
                double m10,
                double m11,
                double m12,
                double m13,
                double m20,
                double m21,
                double m22,
                double m23,
                double m30,
                double m31,
                double m32,
                double m33)

Constructs and initializes a Matrix4d from the specified 16 values.

Parameters:

m00 - the [0][0] element

m01 - the [0][1] element

m02 - the [0][2] element

m03 - the [0][3] element

m10 - the [1][0] element

m11 - the [1][1] element

m12 - the [1][2] element

m13 - the [1][3] element

m20 - the [2][0] element

m21 - the [2][1] element

m22 - the [2][2] element

m23 - the [2][3] element

m30 - the [3][0] element

m31 - the [3][1] element

m32 - the [3][2] element

m33 - the [3][3] element

Matrix4d

public Matrix4d(double[] v)

Constructs and initializes a Matrix4d from the specified 16 element array. this.m00 =v[0], this.m01=v[1], etc.

Parameters:

v - the array of length 16 containing in order

Matrix4d

public Matrix4d(Quat4d q1,
                Vector3d t1,
                double s)

Constructs and initializes a Matrix4d from the quaternion, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components.

Parameters:

q1 - the quaternion value representing the rotational component

t1 - the translational component of the matrix

s - the scale value applied to the rotational components

Matrix4d

public Matrix4d(Quat4f q1,
                Vector3d t1,
                double s)

Constructs and initializes a Matrix4d from the quaternion, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components.

Parameters:

q1 - the quaternion value representing the rotational component

t1 - the translational component of the matrix

s - the scale value applied to the rotational components

Matrix4d

public Matrix4d(Matrix4d m1)

Constructs a new matrix with the same values as the Matrix4d parameter.

Parameters:

m1 - the source matrix

Matrix4d

public Matrix4d(Matrix4f m1)

Constructs a new matrix with the same values as the Matrix4f parameter.

Parameters:

m1 - the source matrix

Matrix4d

public Matrix4d(Matrix3f m1,
                Vector3d t1,
                double s)

Constructs and initializes a Matrix4d from the rotation matrix, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.

Parameters:

m1 - the rotation matrix representing the rotational components

t1 - the translational components of the matrix

s - the scale value applied to the rotational components

Matrix4d

public Matrix4d(Matrix3d m1,
                Vector3d t1,
                double s)

Constructs and initializes a Matrix4f from the rotation matrix, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.

Parameters:

m1 - the rotation matrix representing the rotational components

t1 - the translational components of the matrix

s - the scale value applied to the rotational components

Matrix4d

public Matrix4d()

Constructs and initializes a Matrix4d to all zeros.

Method Detail

toString

public java.lang.String toString()

Returns a string that contains the values of this Matrix4d.

Overrides:

toString in class java.lang.Object

Returns:

the String representation

setIdentity

public final void setIdentity()

Sets this Matrix4d to identity.

setElement

public final void setElement(int row,
                             int column,
                             double value)

Sets the specified element of this matrix4f to the value provided.

Parameters:

row - the row number to be modified (zero indexed)

column - the column number to be modified (zero indexed)

value - the new value

getElement

public final double getElement(int row,
                               int column)

Retrieves the value at the specified row and column of this matrix.

Parameters:

row - the row number to be retrieved (zero indexed)

column - the column number to be retrieved (zero indexed)

Returns:

the value at the indexed element

getRow

public final void getRow(int row,
                         Vector4d v)

Copies the matrix values in the specified row into the vector parameter.

Parameters:

row - the matrix row

v - the vector into which the matrix row values will be copied

getRow

public final void getRow(int row,
                         double[] v)

Copies the matrix values in the specified row into the array parameter.

Parameters:

row - the matrix row

v - the array into which the matrix row values will be copied

getColumn

public final void getColumn(int column,
                            Vector4d v)

Copies the matrix values in the specified column into the vector parameter.

Parameters:

column - the matrix column

v - the vector into which the matrix column values will be copied

getColumn

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

Copies the matrix values in the specified column into the array parameter.

Parameters:

column - the matrix column

v - the array into which the matrix column values will be copied

get

public final void get(Matrix3d m1)

Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3d parameter.

Parameters:

m1 - the matrix into which the rotational component is placed

get

public final void get(Matrix3f m1)

Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3f parameter.

Parameters:

m1 - the matrix into which the rotational component is placed

get

public final double get(Matrix3d m1,
                        Vector3d t1)

Performs an SVD normalization of this matrix to calculate the rotation as a 3x3 matrix, the translation, and the scale. None of the matrix values are modified.

Parameters:

m1 - the normalized matrix representing the rotation

t1 - the translation component

Returns:

the scale component of this transform

get

public final double get(Matrix3f m1,
                        Vector3d t1)

Performs an SVD normalization of this matrix to calculate the rotation as a 3x3 matrix, the translation, and the scale. None of the matrix values are modified.

Parameters:

m1 - the normalized matrix representing the rotation

t1 - the translation component

Returns:

the scale component of this transform

get

public final void get(Quat4f q1)

Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Quat4f parameter.

Parameters:

q1 - quaternion into which the rotation component is placed

get

public final void get(Quat4d q1)

Performs an SVD normalization of q1 matrix in order to acquire the normalized rotational component; the values are placed into the Quat4d parameter.

Parameters:

q1 - the quaternion into which the rotation component is placed

get

public final void get(Vector3d trans)

Retrieves the translational components of this matrix.

Parameters:

trans - the vector that will receive the translational component

getRotationScale

public final void getRotationScale(Matrix3f m1)

Gets the upper 3x3 values of this matrix and places them into the matrix m1.

Parameters:

m1 - the matrix that will hold the values

getRotationScale

public final void getRotationScale(Matrix3d m1)

Gets the upper 3x3 values of this matrix and places them into the matrix m1.

Parameters:

m1 - the matrix that will hold the values

getScale

public final double getScale()

Performs an SVD normalization of this matrix to calculate and return the uniform scale factor. If the matrix has non-uniform scale factors, the largest of the x, y, and z scale factors will be returned. This matrix is not modified.

Returns:

the scale factor of this matrix

setRotationScale

public final void setRotationScale(Matrix3d m1)

Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.

Parameters:

m1 - the matrix that will be the new upper 3x3

setRotationScale

public final void setRotationScale(Matrix3f m1)

Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.

Parameters:

m1 - the matrix that will be the new upper 3x3

setScale

public final void setScale(double scale)

Sets the scale component of the current matrix by factoring out the current scale (by doing an SVD) from the rotational component and multiplying by the new scale.

Parameters:

scale - the new scale amount

setRow

public final void setRow(int row,
                         double x,
                         double y,
                         double z,
                         double w)

Sets the specified row of this matrix4d to the four values provided.

Parameters:

row - the row number to be modified (zero indexed)

x - the first column element

y - the second column element

z - the third column element

w - the fourth column element

setRow

public final void setRow(int row,
                         Vector4d v)

Sets the specified row of this matrix4d to the Vector provided.

Parameters:

row - the row number to be modified (zero indexed)

v - the replacement row

setRow

public final void setRow(int row,
                         double[] v)

Sets the specified row of this matrix4d to the four values provided.

Parameters:

row - the row number to be modified (zero indexed)

v - the replacement row

setColumn

public final void setColumn(int column,
                            double x,
                            double y,
                            double z,
                            double w)

Sets the specified column of this matrix4d to the four values provided.

Parameters:

column - the column number to be modified (zero indexed)

x - the first row element

y - the second row element

z - the third row element

w - the fourth row element

setColumn

public final void setColumn(int column,
                            Vector4d v)

Sets the specified column of this matrix4d to the vector provided.

Parameters:

column - the column number to be modified (zero indexed)

v - the replacement column

setColumn

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

Sets the specified column of this matrix4d to the four values provided.

Parameters:

column - the column number to be modified (zero indexed)

v - the replacement column

add

public final void add(double scalar)

Adds a scalar to each component of this matrix.

Parameters:

scalar - the scalar adder

add

public final void add(double scalar,
                      Matrix4d m1)

Adds a scalar to each component of the matrix m1 and places the result into this. Matrix m1 is not modified.

Parameters:

scalar - the scalar adder

m1 - the original matrix values

add

public final void add(Matrix4d m1,
                      Matrix4d m2)

Sets the value of this matrix to the matrix sum of matrices m1 and m2.

Parameters:

m1 - the first matrix

m2 - the second matrix

add

public final void add(Matrix4d m1)

Sets the value of this matrix to sum of itself and matrix m1.

Parameters:

m1 - the other matrix

sub

public final void sub(Matrix4d m1,
                      Matrix4d m2)

Sets the value of this matrix to the matrix difference of matrices m1 and m2.

Parameters:

m1 - the first matrix

m2 - the second matrix

sub

public final void sub(Matrix4d m1)

Sets the value of this matrix to the matrix difference of itself and matrix m1 (this = this - m1).

Parameters:

m1 - the other matrix

transpose

public final void transpose()

Sets the value of this matrix to its transpose.

transpose

public final void transpose(Matrix4d m1)

Sets the value of this matrix to the transpose of the argument matrix

Parameters:

m1 - the matrix to be transposed

set

public final void set(double[] m)

Sets the values in this Matrix4d equal to the row-major array parameter (ie, the first four elements of the array will be copied into the first row of this matrix, etc.).

Parameters:

m - the double precision array of length 16

set

public final void set(Matrix3f m1)

Sets the rotational component (upper 3x3) of this matrix to the matrix values in the single precision Matrix3f argument; the other elements of this matrix are initialized as if this were an identity matrix (i.e., affine matrix with no translational component).

Parameters:

m1 - the double precision 3x3 matrix

set

public final void set(Matrix3d m1)

Sets the rotational component (upper 3x3) of this matrix to the matrix values in the double precision Matrix3d argument; the other elements of this matrix are initialized as if this were an identity matrix (i.e., affine matrix with no translational component).

Parameters:

m1 - the double precision 3x3 matrix

set

public final void set(Quat4d q1)

Sets the value of this matrix to the matrix conversion of the (double precision) quaternion argument.

Parameters:

q1 - the quaternion to be converted

set

public final void set(AxisAngle4d a1)

Sets the value of this matrix to the matrix conversion of the double precision axis and angle argument.

Parameters:

a1 - the axis and angle to be converted

set

public final void set(Quat4f q1)

Sets the value of this matrix to the matrix conversion of the single precision quaternion argument.

Parameters:

q1 - the quaternion to be converted

set

public final void set(AxisAngle4f a1)

Sets the value of this matrix to the matrix conversion of the single precision axis and angle argument.

Parameters:

a1 - the axis and angle to be converted

set

public final void set(Quat4d q1,
                      Vector3d t1,
                      double s)

Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.

Parameters:

q1 - the rotation expressed as a quaternion

t1 - the translation

s - the scale value

set

public final void set(Quat4f q1,
                      Vector3d t1,
                      double s)

Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.

Parameters:

q1 - the rotation expressed as a quaternion

t1 - the translation

s - the scale value

set

public final void set(Quat4f q1,
                      Vector3f t1,
                      float s)

Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.

Parameters:

q1 - the rotation expressed as a quaternion

t1 - the translation

s - the scale value

set

public final void set(Matrix4f m1)

Sets the value of this matrix to a copy of the passed matrix m1.

Parameters:

m1 - the matrix4f

set

public final void set(Matrix4d m1)

Sets the value of this matrix to a copy of the passed matrix m1.

Parameters:

m1 - the matrix to be copied

invert

public final void invert(Matrix4d m1)

Sets the value of this matrix to the matrix inverse of the passed (user declared) matrix m1.

Parameters:

m1 - the matrix to be inverted

invert

public final void invert()

Inverts this matrix in place.

determinant

public final double determinant()

Computes the determinant of this matrix.

Returns:

the determinant of the matrix

set

public final void set(double scale)

Sets the value of this matrix to a scale matrix with the passed scale amount.

Parameters:

scale - the scale factor for the matrix

set

public final void set(Vector3d v1)

Sets the value of this matrix to a translate matrix by the passed translation value.

Parameters:

v1 - the translation amount

set

public final void set(double scale,
                      Vector3d v1)

Sets the value of this transform to a scale and translation matrix; the scale is not applied to the translation and all of the matrix values are modified.

Parameters:

scale - the scale factor for the matrix

v1 - the translation amount

set

public final void set(Vector3d v1,
                      double scale)

Sets the value of this transform to a scale and translation matrix; the translation is scaled by the scale factor and all of the matrix values are modified.

Parameters:

v1 - the translation amount

scale - the scale factor for the matrix

set

public final void set(Matrix3f m1,
                      Vector3f t1,
                      float scale)

Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale factor. The translation is not modified by the scale.

Parameters:

m1 - the rotation component

t1 - the translation component

scale - the scale component

set

public final void set(Matrix3d m1,
                      Vector3d t1,
                      double scale)

Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale factor. The translation is not modified by the scale.

Parameters:

m1 - the rotation component

t1 - the translation component

scale - the scale component

setTranslation

public final void setTranslation(Vector3d trans)

Modifies the translational components of this matrix to the values of the Vector3d argument; the other values of this matrix are not modified.

Parameters:

trans - the translational component

rotX

public final void rotX(double angle)

Sets the value of this matrix to a counter-clockwise rotation about the x axis.

Parameters:

angle - the angle to rotate about the X axis in radians

rotY

public final void rotY(double angle)

Sets the value of this matrix to a counter-clockwise rotation about the y axis.

Parameters:

angle - the angle to rotate about the Y axis in radians

rotZ

public final void rotZ(double angle)

Sets the value of this matrix to a counter-clockwise rotation about the z axis.

Parameters:

angle - the angle to rotate about the Z axis in radians

mul

public final void mul(double scalar)

Multiplies each element of this matrix by a scalar.

Parameters:

scalar - the scalar multiplier.

mul

public final void mul(double scalar,
                      Matrix4d m1)

Multiplies each element of matrix m1 by a scalar and places the result into this. Matrix m1 is not modified.

Parameters:

scalar - the scalar multiplier

m1 - the original matrix

mul

public final void mul(Matrix4d m1)

Sets the value of this matrix to the result of multiplying itself with matrix m1.

Parameters:

m1 - the other matrix

mul

public final void mul(Matrix4d m1,
                      Matrix4d m2)

Sets the value of this matrix to the result of multiplying the two argument matrices together.

Parameters:

m1 - the first matrix

m2 - the second matrix

mulTransposeBoth

public final void mulTransposeBoth(Matrix4d m1,
                                   Matrix4d m2)

Multiplies the transpose of matrix m1 times the transpose of matrix m2, and places the result into this.

Parameters:

m1 - the matrix on the left hand side of the multiplication

m2 - the matrix on the right hand side of the multiplication

mulTransposeRight

public final void mulTransposeRight(Matrix4d m1,
                                    Matrix4d m2)

Multiplies matrix m1 times the transpose of matrix m2, and places the result into this.

Parameters:

m1 - the matrix on the left hand side of the multiplication

m2 - the matrix on the right hand side of the multiplication

mulTransposeLeft

public final void mulTransposeLeft(Matrix4d m1,
                                   Matrix4d m2)

Multiplies the transpose of matrix m1 times matrix m2, and places the result into this.

Parameters:

m1 - the matrix on the left hand side of the multiplication

m2 - the matrix on the right hand side of the multiplication

equals

public boolean equals(Matrix4d m1)

Returns true if all of the data members of Matrix4d m1 are equal to the corresponding data members in this Matrix4d.

Parameters:

m1 - the matrix with which the comparison is made

Returns:

true or false

equals

public boolean equals(java.lang.Object t1)

Returns true if the Object t1 is of type Matrix4d and all of the data members of t1 are equal to the corresponding data members in this Matrix4d.

Overrides:

equals in class java.lang.Object

Parameters:

t1 - the matrix with which the comparison is made

Returns:

true or false

epsilonEquals

public boolean epsilonEquals(Matrix4d m1,
                             float epsilon)

Deprecated. Use epsilonEquals(Matrix4d,double) instead

epsilonEquals

public boolean epsilonEquals(Matrix4d m1,
                             double epsilon)

Returns true if the L-infinite distance between this matrix and matrix m1 is less than or equal to the epsilon parameter, otherwise returns false. The L-infinite distance is equal to MAX[i=0,1,2,3 ; j=0,1,2,3 ; abs(this.m(i,j) - m1.m(i,j)]

Parameters:

m1 - the matrix to be compared to this matrix

epsilon - the threshold value

hashCode

public int hashCode()

Returns a hash code value based on the data values in this object. Two different Matrix4d objects with identical data values (i.e., Matrix4d.equals returns true) will return the same hash code value. Two objects with different data members may return the same hash value, although this is not likely.

Overrides:

hashCode in class java.lang.Object

Returns:

the integer hash code value

transform

public final void transform(Tuple4d vec,
                            Tuple4d vecOut)

Transform the vector vec using this Matrix4d and place the result into vecOut.

Parameters:

vec - the double precision vector to be transformed

vecOut - the vector into which the transformed values are placed

transform

public final void transform(Tuple4d vec)

Transform the vector vec using this Matrix4d and place the result back into vec.

Parameters:

vec - the double precision vector to be transformed

transform

public final void transform(Tuple4f vec,
                            Tuple4f vecOut)

Transform the vector vec using this Matrix4d and place the result into vecOut.

Parameters:

vec - the single precision vector to be transformed

vecOut - the vector into which the transformed values are placed

transform

public final void transform(Tuple4f vec)

Transform the vector vec using this Transform and place the result back into vec.

Parameters:

vec - the single precision vector to be transformed

transform

public final void transform(Point3d point,
                            Point3d pointOut)

Transforms the point parameter with this Matrix4d and places the result into pointOut. The fourth element of the point input parameter is assumed to be one.

Parameters:

point - the input point to be transformed.

pointOut - the transformed point

transform

public final void transform(Point3d point)

Transforms the point parameter with this Matrix4d and places the result back into point. The fourth element of the point input parameter is assumed to be one.

Parameters:

point - the input point to be transformed.

transform

public final void transform(Point3f point,
                            Point3f pointOut)

Transforms the point parameter with this Matrix4d and places the result into pointOut. The fourth element of the point input parameter is assumed to be one.

Parameters:

point - the input point to be transformed.

pointOut - the transformed point

transform

public final void transform(Point3f point)

Transforms the point parameter with this Matrix4d and places the result back into point. The fourth element of the point input parameter is assumed to be one.

Parameters:

point - the input point to be transformed.

transform

public final void transform(Vector3d normal,
                            Vector3d normalOut)

Transforms the normal parameter by this Matrix4d and places the value into normalOut. The fourth element of the normal is assumed to be zero.

Parameters:

normal - the input normal to be transformed.

normalOut - the transformed normal

transform

public final void transform(Vector3d normal)

Transforms the normal parameter by this transform and places the value back into normal. The fourth element of the normal is assumed to be zero.

Parameters:

normal - the input normal to be transformed.

transform

public final void transform(Vector3f normal,
                            Vector3f normalOut)

Transforms the normal parameter by this Matrix4d and places the value into normalOut. The fourth element of the normal is assumed to be zero.

Parameters:

normal - the input normal to be transformed.

normalOut - the transformed normal

transform

public final void transform(Vector3f normal)

Transforms the normal parameter by this transform and places the value back into normal. The fourth element of the normal is assumed to be zero.

Parameters:

normal - the input normal to be transformed.

setRotation

public final void setRotation(Matrix3d m1)

Sets the rotational component (upper 3x3) of this matrix to the matrix values in the double precision Matrix3d argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the passed rotation components, and then the scale is reapplied to the rotational components.

Parameters:

m1 - double precision 3x3 matrix

setRotation

public final void setRotation(Matrix3f m1)

Sets the rotational component (upper 3x3) of this matrix to the matrix values in the single precision Matrix3f argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the passed rotation components, and then the scale is reapplied to the rotational components.

Parameters:

m1 - single precision 3x3 matrix

setRotation

public final void setRotation(Quat4f q1)

Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the quaternion argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the quaternion, and then the scale is reapplied to the rotational components.

Parameters:

q1 - the quaternion that specifies the rotation

setRotation

public final void setRotation(Quat4d q1)

Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the quaternion argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the quaternion, and then the scale is reapplied to the rotational components.

Parameters:

q1 - the quaternion that specifies the rotation

setRotation

public final void setRotation(AxisAngle4d a1)

Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the axis-angle argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the axis-angle, and then the scale is reapplied to the rotational components.

Parameters:

a1 - the axis-angle to be converted (x, y, z, angle)

setZero

public final void setZero()

Sets this matrix to all zeros.

negate

public final void negate()

Negates the value of this matrix: this = -this.

negate

public final void negate(Matrix4d m1)

Sets the value of this matrix equal to the negation of of the Matrix4d parameter.

Parameters:

m1 - the source matrix