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Diffstat (limited to 'engine/src/core/com/jme3/math/Matrix3f.java')
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diff --git a/engine/src/core/com/jme3/math/Matrix3f.java b/engine/src/core/com/jme3/math/Matrix3f.java new file mode 100644 index 0000000..96bf1b3 --- /dev/null +++ b/engine/src/core/com/jme3/math/Matrix3f.java @@ -0,0 +1,1387 @@ +/* + * Copyright (c) 2009-2010 jMonkeyEngine + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * * Neither the name of 'jMonkeyEngine' nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED + * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +package com.jme3.math; + +import com.jme3.export.*; +import com.jme3.util.BufferUtils; +import com.jme3.util.TempVars; +import java.io.IOException; +import java.nio.FloatBuffer; +import java.util.logging.Logger; + +/** + * <code>Matrix3f</code> defines a 3x3 matrix. Matrix data is maintained + * internally and is accessible via the get and set methods. Convenience methods + * are used for matrix operations as well as generating a matrix from a given + * set of values. + * + * @author Mark Powell + * @author Joshua Slack + */ +public final class Matrix3f implements Savable, Cloneable, java.io.Serializable { + + static final long serialVersionUID = 1; + + private static final Logger logger = Logger.getLogger(Matrix3f.class.getName()); + protected float m00, m01, m02; + protected float m10, m11, m12; + protected float m20, m21, m22; + public static final Matrix3f ZERO = new Matrix3f(0, 0, 0, 0, 0, 0, 0, 0, 0); + public static final Matrix3f IDENTITY = new Matrix3f(); + + /** + * Constructor instantiates a new <code>Matrix3f</code> object. The + * initial values for the matrix is that of the identity matrix. + * + */ + public Matrix3f() { + loadIdentity(); + } + + /** + * constructs a matrix with the given values. + * + * @param m00 + * 0x0 in the matrix. + * @param m01 + * 0x1 in the matrix. + * @param m02 + * 0x2 in the matrix. + * @param m10 + * 1x0 in the matrix. + * @param m11 + * 1x1 in the matrix. + * @param m12 + * 1x2 in the matrix. + * @param m20 + * 2x0 in the matrix. + * @param m21 + * 2x1 in the matrix. + * @param m22 + * 2x2 in the matrix. + */ + public Matrix3f(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; + } + + /** + * Copy constructor that creates a new <code>Matrix3f</code> object that + * is the same as the provided matrix. + * + * @param mat + * the matrix to copy. + */ + public Matrix3f(Matrix3f mat) { + set(mat); + } + + /** + * Takes the absolute value of all matrix fields locally. + */ + public void absoluteLocal() { + m00 = FastMath.abs(m00); + m01 = FastMath.abs(m01); + m02 = FastMath.abs(m02); + m10 = FastMath.abs(m10); + m11 = FastMath.abs(m11); + m12 = FastMath.abs(m12); + m20 = FastMath.abs(m20); + m21 = FastMath.abs(m21); + m22 = FastMath.abs(m22); + } + + /** + * <code>copy</code> transfers the contents of a given matrix to this + * matrix. If a null matrix is supplied, this matrix is set to the identity + * matrix. + * + * @param matrix + * the matrix to copy. + * @return this + */ + public Matrix3f set(Matrix3f matrix) { + if (null == matrix) { + loadIdentity(); + } else { + m00 = matrix.m00; + m01 = matrix.m01; + m02 = matrix.m02; + m10 = matrix.m10; + m11 = matrix.m11; + m12 = matrix.m12; + m20 = matrix.m20; + m21 = matrix.m21; + m22 = matrix.m22; + } + return this; + } + + /** + * <code>get</code> retrieves a value from the matrix at the given + * position. If the position is invalid a <code>JmeException</code> is + * thrown. + * + * @param i + * the row index. + * @param j + * the colum index. + * @return the value at (i, j). + */ + @SuppressWarnings("fallthrough") + public float get(int i, int j) { + switch (i) { + case 0: + switch (j) { + case 0: + return m00; + case 1: + return m01; + case 2: + return m02; + } + case 1: + switch (j) { + case 0: + return m10; + case 1: + return m11; + case 2: + return m12; + } + case 2: + switch (j) { + case 0: + return m20; + case 1: + return m21; + case 2: + return m22; + } + } + + logger.warning("Invalid matrix index."); + throw new IllegalArgumentException("Invalid indices into matrix."); + } + + /** + * <code>get(float[])</code> returns the matrix in row-major or column-major order. + * + * @param data + * The array to return the data into. This array can be 9 or 16 floats in size. + * Only the upper 3x3 are assigned to in the case of a 16 element array. + * @param rowMajor + * True for row major storage in the array (translation in elements 3, 7, 11 for a 4x4), + * false for column major (translation in elements 12, 13, 14 for a 4x4). + */ + public void get(float[] data, boolean rowMajor) { + if (data.length == 9) { + if (rowMajor) { + data[0] = m00; + data[1] = m01; + data[2] = m02; + data[3] = m10; + data[4] = m11; + data[5] = m12; + data[6] = m20; + data[7] = m21; + data[8] = m22; + } else { + data[0] = m00; + data[1] = m10; + data[2] = m20; + data[3] = m01; + data[4] = m11; + data[5] = m21; + data[6] = m02; + data[7] = m12; + data[8] = m22; + } + } else if (data.length == 16) { + if (rowMajor) { + data[0] = m00; + data[1] = m01; + data[2] = m02; + data[4] = m10; + data[5] = m11; + data[6] = m12; + data[8] = m20; + data[9] = m21; + data[10] = m22; + } else { + data[0] = m00; + data[1] = m10; + data[2] = m20; + data[4] = m01; + data[5] = m11; + data[6] = m21; + data[8] = m02; + data[9] = m12; + data[10] = m22; + } + } else { + throw new IndexOutOfBoundsException("Array size must be 9 or 16 in Matrix3f.get()."); + } + } + + /** + * <code>getColumn</code> returns one of three columns specified by the + * parameter. This column is returned as a <code>Vector3f</code> object. + * + * @param i + * the column to retrieve. Must be between 0 and 2. + * @return the column specified by the index. + */ + public Vector3f getColumn(int i) { + return getColumn(i, null); + } + + /** + * <code>getColumn</code> returns one of three columns specified by the + * parameter. This column is returned as a <code>Vector3f</code> object. + * + * @param i + * the column to retrieve. Must be between 0 and 2. + * @param store + * the vector object to store the result in. if null, a new one + * is created. + * @return the column specified by the index. + */ + public Vector3f getColumn(int i, Vector3f store) { + if (store == null) { + store = new Vector3f(); + } + switch (i) { + case 0: + store.x = m00; + store.y = m10; + store.z = m20; + break; + case 1: + store.x = m01; + store.y = m11; + store.z = m21; + break; + case 2: + store.x = m02; + store.y = m12; + store.z = m22; + break; + default: + logger.warning("Invalid column index."); + throw new IllegalArgumentException("Invalid column index. " + i); + } + return store; + } + + /** + * <code>getColumn</code> returns one of three rows as specified by the + * parameter. This row is returned as a <code>Vector3f</code> object. + * + * @param i + * the row to retrieve. Must be between 0 and 2. + * @return the row specified by the index. + */ + public Vector3f getRow(int i) { + return getRow(i, null); + } + + /** + * <code>getRow</code> returns one of three rows as specified by the + * parameter. This row is returned as a <code>Vector3f</code> object. + * + * @param i + * the row to retrieve. Must be between 0 and 2. + * @param store + * the vector object to store the result in. if null, a new one + * is created. + * @return the row specified by the index. + */ + public Vector3f getRow(int i, Vector3f store) { + if (store == null) { + store = new Vector3f(); + } + switch (i) { + case 0: + store.x = m00; + store.y = m01; + store.z = m02; + break; + case 1: + store.x = m10; + store.y = m11; + store.z = m12; + break; + case 2: + store.x = m20; + store.y = m21; + store.z = m22; + break; + default: + logger.warning("Invalid row index."); + throw new IllegalArgumentException("Invalid row index. " + i); + } + return store; + } + + /** + * <code>toFloatBuffer</code> returns a FloatBuffer object that contains + * the matrix data. + * + * @return matrix data as a FloatBuffer. + */ + public FloatBuffer toFloatBuffer() { + FloatBuffer fb = BufferUtils.createFloatBuffer(9); + + fb.put(m00).put(m01).put(m02); + fb.put(m10).put(m11).put(m12); + fb.put(m20).put(m21).put(m22); + fb.rewind(); + return fb; + } + + /** + * <code>fillFloatBuffer</code> fills a FloatBuffer object with the matrix + * data. + * + * @param fb + * the buffer to fill, starting at current position. Must have + * room for 9 more floats. + * @return matrix data as a FloatBuffer. (position is advanced by 9 and any + * limit set is not changed). + */ + public FloatBuffer fillFloatBuffer(FloatBuffer fb, boolean columnMajor) { +// if (columnMajor){ +// fb.put(m00).put(m10).put(m20); +// fb.put(m01).put(m11).put(m21); +// fb.put(m02).put(m12).put(m22); +// }else{ +// fb.put(m00).put(m01).put(m02); +// fb.put(m10).put(m11).put(m12); +// fb.put(m20).put(m21).put(m22); +// } + + TempVars vars = TempVars.get(); + + + fillFloatArray(vars.matrixWrite, columnMajor); + fb.put(vars.matrixWrite, 0, 9); + + vars.release(); + + return fb; + } + + public void fillFloatArray(float[] f, boolean columnMajor) { + if (columnMajor) { + f[ 0] = m00; + f[ 1] = m10; + f[ 2] = m20; + f[ 3] = m01; + f[ 4] = m11; + f[ 5] = m21; + f[ 6] = m02; + f[ 7] = m12; + f[ 8] = m22; + } else { + f[ 0] = m00; + f[ 1] = m01; + f[ 2] = m02; + f[ 3] = m10; + f[ 4] = m11; + f[ 5] = m12; + f[ 6] = m20; + f[ 7] = m21; + f[ 8] = m22; + } + } + + /** + * + * <code>setColumn</code> sets a particular column of this matrix to that + * represented by the provided vector. + * + * @param i + * the column to set. + * @param column + * the data to set. + * @return this + */ + public Matrix3f setColumn(int i, Vector3f column) { + + if (column == null) { + logger.warning("Column is null. Ignoring."); + return this; + } + switch (i) { + case 0: + m00 = column.x; + m10 = column.y; + m20 = column.z; + break; + case 1: + m01 = column.x; + m11 = column.y; + m21 = column.z; + break; + case 2: + m02 = column.x; + m12 = column.y; + m22 = column.z; + break; + default: + logger.warning("Invalid column index."); + throw new IllegalArgumentException("Invalid column index. " + i); + } + return this; + } + + /** + * + * <code>setRow</code> sets a particular row of this matrix to that + * represented by the provided vector. + * + * @param i + * the row to set. + * @param row + * the data to set. + * @return this + */ + public Matrix3f setRow(int i, Vector3f row) { + + if (row == null) { + logger.warning("Row is null. Ignoring."); + return this; + } + switch (i) { + case 0: + m00 = row.x; + m01 = row.y; + m02 = row.z; + break; + case 1: + m10 = row.x; + m11 = row.y; + m12 = row.z; + break; + case 2: + m20 = row.x; + m21 = row.y; + m22 = row.z; + break; + default: + logger.warning("Invalid row index."); + throw new IllegalArgumentException("Invalid row index. " + i); + } + return this; + } + + /** + * <code>set</code> places a given value into the matrix at the given + * position. If the position is invalid a <code>JmeException</code> is + * thrown. + * + * @param i + * the row index. + * @param j + * the colum index. + * @param value + * the value for (i, j). + * @return this + */ + @SuppressWarnings("fallthrough") + public Matrix3f set(int i, int j, float value) { + switch (i) { + case 0: + switch (j) { + case 0: + m00 = value; + return this; + case 1: + m01 = value; + return this; + case 2: + m02 = value; + return this; + } + case 1: + switch (j) { + case 0: + m10 = value; + return this; + case 1: + m11 = value; + return this; + case 2: + m12 = value; + return this; + } + case 2: + switch (j) { + case 0: + m20 = value; + return this; + case 1: + m21 = value; + return this; + case 2: + m22 = value; + return this; + } + } + + logger.warning("Invalid matrix index."); + throw new IllegalArgumentException("Invalid indices into matrix."); + } + + /** + * + * <code>set</code> sets the values of the matrix to those supplied by the + * 3x3 two dimenion array. + * + * @param matrix + * the new values of the matrix. + * @throws JmeException + * if the array is not of size 9. + * @return this + */ + public Matrix3f set(float[][] matrix) { + if (matrix.length != 3 || matrix[0].length != 3) { + throw new IllegalArgumentException( + "Array must be of size 9."); + } + + m00 = matrix[0][0]; + m01 = matrix[0][1]; + m02 = matrix[0][2]; + m10 = matrix[1][0]; + m11 = matrix[1][1]; + m12 = matrix[1][2]; + m20 = matrix[2][0]; + m21 = matrix[2][1]; + m22 = matrix[2][2]; + + return this; + } + + /** + * Recreate Matrix using the provided axis. + * + * @param uAxis + * Vector3f + * @param vAxis + * Vector3f + * @param wAxis + * Vector3f + */ + public void fromAxes(Vector3f uAxis, Vector3f vAxis, Vector3f wAxis) { + m00 = uAxis.x; + m10 = uAxis.y; + m20 = uAxis.z; + + m01 = vAxis.x; + m11 = vAxis.y; + m21 = vAxis.z; + + m02 = wAxis.x; + m12 = wAxis.y; + m22 = wAxis.z; + } + + /** + * <code>set</code> sets the values of this matrix from an array of + * values assuming that the data is rowMajor order; + * + * @param matrix + * the matrix to set the value to. + * @return this + */ + public Matrix3f set(float[] matrix) { + return set(matrix, true); + } + + /** + * <code>set</code> sets the values of this matrix from an array of + * values; + * + * @param matrix + * the matrix to set the value to. + * @param rowMajor + * whether the incoming data is in row or column major order. + * @return this + */ + public Matrix3f set(float[] matrix, boolean rowMajor) { + if (matrix.length != 9) { + throw new IllegalArgumentException( + "Array must be of size 9."); + } + + if (rowMajor) { + m00 = matrix[0]; + m01 = matrix[1]; + m02 = matrix[2]; + m10 = matrix[3]; + m11 = matrix[4]; + m12 = matrix[5]; + m20 = matrix[6]; + m21 = matrix[7]; + m22 = matrix[8]; + } else { + m00 = matrix[0]; + m01 = matrix[3]; + m02 = matrix[6]; + m10 = matrix[1]; + m11 = matrix[4]; + m12 = matrix[7]; + m20 = matrix[2]; + m21 = matrix[5]; + m22 = matrix[8]; + } + return this; + } + + /** + * + * <code>set</code> defines the values of the matrix based on a supplied + * <code>Quaternion</code>. It should be noted that all previous values + * will be overridden. + * + * @param quaternion + * the quaternion to create a rotational matrix from. + * @return this + */ + public Matrix3f set(Quaternion quaternion) { + return quaternion.toRotationMatrix(this); + } + + /** + * <code>loadIdentity</code> sets this matrix to the identity matrix. + * Where all values are zero except those along the diagonal which are one. + * + */ + public void loadIdentity() { + m01 = m02 = m10 = m12 = m20 = m21 = 0; + m00 = m11 = m22 = 1; + } + + /** + * @return true if this matrix is identity + */ + public boolean isIdentity() { + return (m00 == 1 && m01 == 0 && m02 == 0) + && (m10 == 0 && m11 == 1 && m12 == 0) + && (m20 == 0 && m21 == 0 && m22 == 1); + } + + /** + * <code>fromAngleAxis</code> sets this matrix4f to the values specified + * by an angle and an axis of rotation. This method creates an object, so + * use fromAngleNormalAxis if your axis is already normalized. + * + * @param angle + * the angle to rotate (in radians). + * @param axis + * the axis of rotation. + */ + public void fromAngleAxis(float angle, Vector3f axis) { + Vector3f normAxis = axis.normalize(); + fromAngleNormalAxis(angle, normAxis); + } + + /** + * <code>fromAngleNormalAxis</code> sets this matrix4f to the values + * specified by an angle and a normalized axis of rotation. + * + * @param angle + * the angle to rotate (in radians). + * @param axis + * the axis of rotation (already normalized). + */ + public void fromAngleNormalAxis(float angle, Vector3f axis) { + float fCos = FastMath.cos(angle); + float fSin = FastMath.sin(angle); + float fOneMinusCos = ((float) 1.0) - fCos; + float fX2 = axis.x * axis.x; + float fY2 = axis.y * axis.y; + float fZ2 = axis.z * axis.z; + float fXYM = axis.x * axis.y * fOneMinusCos; + float fXZM = axis.x * axis.z * fOneMinusCos; + float fYZM = axis.y * axis.z * fOneMinusCos; + float fXSin = axis.x * fSin; + float fYSin = axis.y * fSin; + float fZSin = axis.z * fSin; + + m00 = fX2 * fOneMinusCos + fCos; + m01 = fXYM - fZSin; + m02 = fXZM + fYSin; + m10 = fXYM + fZSin; + m11 = fY2 * fOneMinusCos + fCos; + m12 = fYZM - fXSin; + m20 = fXZM - fYSin; + m21 = fYZM + fXSin; + m22 = fZ2 * fOneMinusCos + fCos; + } + + /** + * <code>mult</code> multiplies this matrix by a given matrix. The result + * matrix is returned as a new object. If the given matrix is null, a null + * matrix is returned. + * + * @param mat + * the matrix to multiply this matrix by. + * @return the result matrix. + */ + public Matrix3f mult(Matrix3f mat) { + return mult(mat, null); + } + + /** + * <code>mult</code> multiplies this matrix by a given matrix. The result + * matrix is returned as a new object. + * + * @param mat + * the matrix to multiply this matrix by. + * @param product + * the matrix to store the result in. if null, a new matrix3f is + * created. It is safe for mat and product to be the same object. + * @return a matrix3f object containing the result of this operation + */ + public Matrix3f mult(Matrix3f mat, Matrix3f product) { + + float temp00, temp01, temp02; + float temp10, temp11, temp12; + float temp20, temp21, temp22; + + if (product == null) { + product = new Matrix3f(); + } + temp00 = m00 * mat.m00 + m01 * mat.m10 + m02 * mat.m20; + temp01 = m00 * mat.m01 + m01 * mat.m11 + m02 * mat.m21; + temp02 = m00 * mat.m02 + m01 * mat.m12 + m02 * mat.m22; + temp10 = m10 * mat.m00 + m11 * mat.m10 + m12 * mat.m20; + temp11 = m10 * mat.m01 + m11 * mat.m11 + m12 * mat.m21; + temp12 = m10 * mat.m02 + m11 * mat.m12 + m12 * mat.m22; + temp20 = m20 * mat.m00 + m21 * mat.m10 + m22 * mat.m20; + temp21 = m20 * mat.m01 + m21 * mat.m11 + m22 * mat.m21; + temp22 = m20 * mat.m02 + m21 * mat.m12 + m22 * mat.m22; + + product.m00 = temp00; + product.m01 = temp01; + product.m02 = temp02; + product.m10 = temp10; + product.m11 = temp11; + product.m12 = temp12; + product.m20 = temp20; + product.m21 = temp21; + product.m22 = temp22; + + return product; + } + + /** + * <code>mult</code> multiplies this matrix by a given + * <code>Vector3f</code> object. The result vector is returned. If the + * given vector is null, null will be returned. + * + * @param vec + * the vector to multiply this matrix by. + * @return the result vector. + */ + public Vector3f mult(Vector3f vec) { + return mult(vec, null); + } + + /** + * Multiplies this 3x3 matrix by the 1x3 Vector vec and stores the result in + * product. + * + * @param vec + * The Vector3f to multiply. + * @param product + * The Vector3f to store the result, it is safe for this to be + * the same as vec. + * @return The given product vector. + */ + public Vector3f mult(Vector3f vec, Vector3f product) { + + if (null == product) { + product = new Vector3f(); + } + + float x = vec.x; + float y = vec.y; + float z = vec.z; + + product.x = m00 * x + m01 * y + m02 * z; + product.y = m10 * x + m11 * y + m12 * z; + product.z = m20 * x + m21 * y + m22 * z; + return product; + } + + /** + * <code>multLocal</code> multiplies this matrix internally by + * a given float scale factor. + * + * @param scale + * the value to scale by. + * @return this Matrix3f + */ + public Matrix3f multLocal(float scale) { + m00 *= scale; + m01 *= scale; + m02 *= scale; + m10 *= scale; + m11 *= scale; + m12 *= scale; + m20 *= scale; + m21 *= scale; + m22 *= scale; + return this; + } + + /** + * <code>multLocal</code> multiplies this matrix by a given + * <code>Vector3f</code> object. The result vector is stored inside the + * passed vector, then returned . If the given vector is null, null will be + * returned. + * + * @param vec + * the vector to multiply this matrix by. + * @return The passed vector after multiplication + */ + public Vector3f multLocal(Vector3f vec) { + if (vec == null) { + return null; + } + float x = vec.x; + float y = vec.y; + vec.x = m00 * x + m01 * y + m02 * vec.z; + vec.y = m10 * x + m11 * y + m12 * vec.z; + vec.z = m20 * x + m21 * y + m22 * vec.z; + return vec; + } + + /** + * <code>mult</code> multiplies this matrix by a given matrix. The result + * matrix is saved in the current matrix. If the given matrix is null, + * nothing happens. The current matrix is returned. This is equivalent to + * this*=mat + * + * @param mat + * the matrix to multiply this matrix by. + * @return This matrix, after the multiplication + */ + public Matrix3f multLocal(Matrix3f mat) { + return mult(mat, this); + } + + /** + * Transposes this matrix in place. Returns this matrix for chaining + * + * @return This matrix after transpose + */ + public Matrix3f transposeLocal() { +// float[] tmp = new float[9]; +// get(tmp, false); +// set(tmp, true); + + float tmp = m01; + m01 = m10; + m10 = tmp; + + tmp = m02; + m02 = m20; + m20 = tmp; + + tmp = m12; + m12 = m21; + m21 = tmp; + + return this; + } + + /** + * Inverts this matrix as a new Matrix3f. + * + * @return The new inverse matrix + */ + public Matrix3f invert() { + return invert(null); + } + + /** + * Inverts this matrix and stores it in the given store. + * + * @return The store + */ + public Matrix3f invert(Matrix3f store) { + if (store == null) { + store = new Matrix3f(); + } + + float det = determinant(); + if (FastMath.abs(det) <= FastMath.FLT_EPSILON) { + return store.zero(); + } + + store.m00 = m11 * m22 - m12 * m21; + store.m01 = m02 * m21 - m01 * m22; + store.m02 = m01 * m12 - m02 * m11; + store.m10 = m12 * m20 - m10 * m22; + store.m11 = m00 * m22 - m02 * m20; + store.m12 = m02 * m10 - m00 * m12; + store.m20 = m10 * m21 - m11 * m20; + store.m21 = m01 * m20 - m00 * m21; + store.m22 = m00 * m11 - m01 * m10; + + store.multLocal(1f / det); + return store; + } + + /** + * Inverts this matrix locally. + * + * @return this + */ + public Matrix3f invertLocal() { + float det = determinant(); + if (FastMath.abs(det) <= 0f) { + return zero(); + } + + float f00 = m11 * m22 - m12 * m21; + float f01 = m02 * m21 - m01 * m22; + float f02 = m01 * m12 - m02 * m11; + float f10 = m12 * m20 - m10 * m22; + float f11 = m00 * m22 - m02 * m20; + float f12 = m02 * m10 - m00 * m12; + float f20 = m10 * m21 - m11 * m20; + float f21 = m01 * m20 - m00 * m21; + float f22 = m00 * m11 - m01 * m10; + + m00 = f00; + m01 = f01; + m02 = f02; + m10 = f10; + m11 = f11; + m12 = f12; + m20 = f20; + m21 = f21; + m22 = f22; + + multLocal(1f / det); + return this; + } + + /** + * Returns a new matrix representing the adjoint of this matrix. + * + * @return The adjoint matrix + */ + public Matrix3f adjoint() { + return adjoint(null); + } + + /** + * Places the adjoint of this matrix in store (creates store if null.) + * + * @param store + * The matrix to store the result in. If null, a new matrix is created. + * @return store + */ + public Matrix3f adjoint(Matrix3f store) { + if (store == null) { + store = new Matrix3f(); + } + + store.m00 = m11 * m22 - m12 * m21; + store.m01 = m02 * m21 - m01 * m22; + store.m02 = m01 * m12 - m02 * m11; + store.m10 = m12 * m20 - m10 * m22; + store.m11 = m00 * m22 - m02 * m20; + store.m12 = m02 * m10 - m00 * m12; + store.m20 = m10 * m21 - m11 * m20; + store.m21 = m01 * m20 - m00 * m21; + store.m22 = m00 * m11 - m01 * m10; + + return store; + } + + /** + * <code>determinant</code> generates the determinant of this matrix. + * + * @return the determinant + */ + public float determinant() { + float fCo00 = m11 * m22 - m12 * m21; + float fCo10 = m12 * m20 - m10 * m22; + float fCo20 = m10 * m21 - m11 * m20; + float fDet = m00 * fCo00 + m01 * fCo10 + m02 * fCo20; + return fDet; + } + + /** + * Sets all of the values in this matrix to zero. + * + * @return this matrix + */ + public Matrix3f zero() { + m00 = m01 = m02 = m10 = m11 = m12 = m20 = m21 = m22 = 0.0f; + return this; + } + + /** + * <code>transpose</code> <b>locally</b> transposes this Matrix. + * This is inconsistent with general value vs local semantics, but is + * preserved for backwards compatibility. Use transposeNew() to transpose + * to a new object (value). + * + * @return this object for chaining. + */ + public Matrix3f transpose() { + return transposeLocal(); + } + + /** + * <code>transposeNew</code> returns a transposed version of this matrix. + * + * @return The new Matrix3f object. + */ + public Matrix3f transposeNew() { + Matrix3f ret = new Matrix3f(m00, m10, m20, m01, m11, m21, m02, m12, m22); + return ret; + } + + /** + * <code>toString</code> returns the string representation of this object. + * It is in a format of a 3x3 matrix. For example, an identity matrix would + * be represented by the following string. com.jme.math.Matrix3f <br>[<br> + * 1.0 0.0 0.0 <br> + * 0.0 1.0 0.0 <br> + * 0.0 0.0 1.0 <br>]<br> + * + * @return the string representation of this object. + */ + @Override + public String toString() { + StringBuilder result = new StringBuilder("Matrix3f\n[\n"); + result.append(" "); + result.append(m00); + result.append(" "); + result.append(m01); + result.append(" "); + result.append(m02); + result.append(" \n"); + result.append(" "); + result.append(m10); + result.append(" "); + result.append(m11); + result.append(" "); + result.append(m12); + result.append(" \n"); + result.append(" "); + result.append(m20); + result.append(" "); + result.append(m21); + result.append(" "); + result.append(m22); + result.append(" \n]"); + return result.toString(); + } + + /** + * + * <code>hashCode</code> returns the hash code value as an integer and is + * supported for the benefit of hashing based collection classes such as + * Hashtable, HashMap, HashSet etc. + * + * @return the hashcode for this instance of Matrix4f. + * @see java.lang.Object#hashCode() + */ + @Override + public int hashCode() { + int hash = 37; + hash = 37 * hash + Float.floatToIntBits(m00); + hash = 37 * hash + Float.floatToIntBits(m01); + hash = 37 * hash + Float.floatToIntBits(m02); + + hash = 37 * hash + Float.floatToIntBits(m10); + hash = 37 * hash + Float.floatToIntBits(m11); + hash = 37 * hash + Float.floatToIntBits(m12); + + hash = 37 * hash + Float.floatToIntBits(m20); + hash = 37 * hash + Float.floatToIntBits(m21); + hash = 37 * hash + Float.floatToIntBits(m22); + + return hash; + } + + /** + * are these two matrices the same? they are is they both have the same mXX values. + * + * @param o + * the object to compare for equality + * @return true if they are equal + */ + @Override + public boolean equals(Object o) { + if (!(o instanceof Matrix3f) || o == null) { + return false; + } + + if (this == o) { + return true; + } + + Matrix3f comp = (Matrix3f) o; + if (Float.compare(m00, comp.m00) != 0) { + return false; + } + if (Float.compare(m01, comp.m01) != 0) { + return false; + } + if (Float.compare(m02, comp.m02) != 0) { + return false; + } + + if (Float.compare(m10, comp.m10) != 0) { + return false; + } + if (Float.compare(m11, comp.m11) != 0) { + return false; + } + if (Float.compare(m12, comp.m12) != 0) { + return false; + } + + if (Float.compare(m20, comp.m20) != 0) { + return false; + } + if (Float.compare(m21, comp.m21) != 0) { + return false; + } + if (Float.compare(m22, comp.m22) != 0) { + return false; + } + + return true; + } + + public void write(JmeExporter e) throws IOException { + OutputCapsule cap = e.getCapsule(this); + cap.write(m00, "m00", 1); + cap.write(m01, "m01", 0); + cap.write(m02, "m02", 0); + cap.write(m10, "m10", 0); + cap.write(m11, "m11", 1); + cap.write(m12, "m12", 0); + cap.write(m20, "m20", 0); + cap.write(m21, "m21", 0); + cap.write(m22, "m22", 1); + } + + public void read(JmeImporter e) throws IOException { + InputCapsule cap = e.getCapsule(this); + m00 = cap.readFloat("m00", 1); + m01 = cap.readFloat("m01", 0); + m02 = cap.readFloat("m02", 0); + m10 = cap.readFloat("m10", 0); + m11 = cap.readFloat("m11", 1); + m12 = cap.readFloat("m12", 0); + m20 = cap.readFloat("m20", 0); + m21 = cap.readFloat("m21", 0); + m22 = cap.readFloat("m22", 1); + } + + /** + * A function for creating a rotation matrix that rotates a vector called + * "start" into another vector called "end". + * + * @param start + * normalized non-zero starting vector + * @param end + * normalized non-zero ending vector + * @see "Tomas M�ller, John Hughes \"Efficiently Building a Matrix to Rotate \ + * One Vector to Another\" Journal of Graphics Tools, 4(4):1-4, 1999" + */ + public void fromStartEndVectors(Vector3f start, Vector3f end) { + Vector3f v = new Vector3f(); + float e, h, f; + + start.cross(end, v); + e = start.dot(end); + f = (e < 0) ? -e : e; + + // if "from" and "to" vectors are nearly parallel + if (f > 1.0f - FastMath.ZERO_TOLERANCE) { + Vector3f u = new Vector3f(); + Vector3f x = new Vector3f(); + float c1, c2, c3; /* coefficients for later use */ + int i, j; + + x.x = (start.x > 0.0) ? start.x : -start.x; + x.y = (start.y > 0.0) ? start.y : -start.y; + x.z = (start.z > 0.0) ? start.z : -start.z; + + if (x.x < x.y) { + if (x.x < x.z) { + x.x = 1.0f; + x.y = x.z = 0.0f; + } else { + x.z = 1.0f; + x.x = x.y = 0.0f; + } + } else { + if (x.y < x.z) { + x.y = 1.0f; + x.x = x.z = 0.0f; + } else { + x.z = 1.0f; + x.x = x.y = 0.0f; + } + } + + u.x = x.x - start.x; + u.y = x.y - start.y; + u.z = x.z - start.z; + v.x = x.x - end.x; + v.y = x.y - end.y; + v.z = x.z - end.z; + + c1 = 2.0f / u.dot(u); + c2 = 2.0f / v.dot(v); + c3 = c1 * c2 * u.dot(v); + + for (i = 0; i < 3; i++) { + for (j = 0; j < 3; j++) { + float val = -c1 * u.get(i) * u.get(j) - c2 * v.get(i) + * v.get(j) + c3 * v.get(i) * u.get(j); + set(i, j, val); + } + float val = get(i, i); + set(i, i, val + 1.0f); + } + } else { + // the most common case, unless "start"="end", or "start"=-"end" + float hvx, hvz, hvxy, hvxz, hvyz; + h = 1.0f / (1.0f + e); + hvx = h * v.x; + hvz = h * v.z; + hvxy = hvx * v.y; + hvxz = hvx * v.z; + hvyz = hvz * v.y; + set(0, 0, e + hvx * v.x); + set(0, 1, hvxy - v.z); + set(0, 2, hvxz + v.y); + + set(1, 0, hvxy + v.z); + set(1, 1, e + h * v.y * v.y); + set(1, 2, hvyz - v.x); + + set(2, 0, hvxz - v.y); + set(2, 1, hvyz + v.x); + set(2, 2, e + hvz * v.z); + } + } + + /** + * <code>scale</code> scales the operation performed by this matrix on a + * per-component basis. + * + * @param scale + * The scale applied to each of the X, Y and Z output values. + */ + public void scale(Vector3f scale) { + m00 *= scale.x; + m10 *= scale.x; + m20 *= scale.x; + m01 *= scale.y; + m11 *= scale.y; + m21 *= scale.y; + m02 *= scale.z; + m12 *= scale.z; + m22 *= scale.z; + } + + static boolean equalIdentity(Matrix3f mat) { + if (Math.abs(mat.m00 - 1) > 1e-4) { + return false; + } + if (Math.abs(mat.m11 - 1) > 1e-4) { + return false; + } + if (Math.abs(mat.m22 - 1) > 1e-4) { + return false; + } + + if (Math.abs(mat.m01) > 1e-4) { + return false; + } + if (Math.abs(mat.m02) > 1e-4) { + return false; + } + + if (Math.abs(mat.m10) > 1e-4) { + return false; + } + if (Math.abs(mat.m12) > 1e-4) { + return false; + } + + if (Math.abs(mat.m20) > 1e-4) { + return false; + } + if (Math.abs(mat.m21) > 1e-4) { + return false; + } + + return true; + } + + @Override + public Matrix3f clone() { + try { + return (Matrix3f) super.clone(); + } catch (CloneNotSupportedException e) { + throw new AssertionError(); // can not happen + } + } +} |