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/**
* Copyright (c) 2008-2012 Ardor Labs, Inc.
*
* This file is part of Ardor3D.
*
* Ardor3D is free software: you can redistribute it and/or modify it
* under the terms of its license which may be found in the accompanying
* LICENSE file or at .
*/
package com.ardor3d.math;
import java.io.Externalizable;
import java.io.IOException;
import java.io.ObjectInput;
import java.io.ObjectOutput;
import java.nio.BufferOverflowException;
import java.nio.DoubleBuffer;
import java.nio.FloatBuffer;
import com.ardor3d.math.type.ReadOnlyMatrix3;
import com.ardor3d.math.type.ReadOnlyQuaternion;
import com.ardor3d.math.type.ReadOnlyVector3;
import com.ardor3d.util.export.InputCapsule;
import com.ardor3d.util.export.OutputCapsule;
import com.ardor3d.util.export.Savable;
/**
* Matrix3 represents a double precision 3x3 matrix.
*
* Note: some algorithms in this class were ported from Eberly, Wolfram, Game Gems and others to Java.
*/
public class Matrix3 implements Cloneable, Savable, Externalizable, ReadOnlyMatrix3, Poolable {
/** Used with equals method to determine if two Matrix3 objects are close enough to be considered equal. */
public static final double ALLOWED_DEVIANCE = 0.00000001;
private static final long serialVersionUID = 1L;
private static final ObjectPool MAT_POOL = ObjectPool.create(Matrix3.class, MathConstants.maxMathPoolSize);
/**
*
* 1, 0, 0
* 0, 1, 0
* 0, 0, 1
*
*/
public final static ReadOnlyMatrix3 IDENTITY = new Matrix3(1, 0, 0, 0, 1, 0, 0, 0, 1);
protected double _m00, _m01, _m02, //
_m10, _m11, _m12, //
_m20, _m21, _m22;
/**
* Constructs a new, mutable matrix set to identity.
*/
public Matrix3() {
this(Matrix3.IDENTITY);
}
/**
* Constructs a new, mutable matrix using the given matrix values (names are mRC = m[ROW][COL])
*
* @param m00
* @param m01
* @param m02
* @param m10
* @param m11
* @param m12
* @param m20
* @param m21
* @param m22
*/
public Matrix3(final double m00, final double m01, final double m02, final double m10, final double m11,
final double m12, final double m20, final double m21, final double m22) {
_m00 = m00;
_m01 = m01;
_m02 = m02;
_m10 = m10;
_m11 = m11;
_m12 = m12;
_m20 = m20;
_m21 = m21;
_m22 = m22;
}
/**
* Constructs a new, mutable matrix using the values from the given matrix
*
* @param source
*/
public Matrix3(final ReadOnlyMatrix3 source) {
set(source);
}
/**
* @param row
* @param column
* @return the value stored in this matrix at row, column.
* @throws IllegalArgumentException
* if row and column are not in bounds [0, 2]
*/
@Override
public double getValue(final int row, final int column) {
switch (row) {
case 0:
switch (column) {
case 0:
return _m00;
case 1:
return _m01;
case 2:
return _m02;
}
break;
case 1:
switch (column) {
case 0:
return _m10;
case 1:
return _m11;
case 2:
return _m12;
}
break;
case 2:
switch (column) {
case 0:
return _m20;
case 1:
return _m21;
case 2:
return _m22;
}
break;
}
throw new IllegalArgumentException();
}
/**
* @param row
* @param column
* @return the value stored in this matrix at row, column, pre-cast to a float for convenience.
* @throws IllegalArgumentException
* if row and column are not in bounds [0, 2]
*/
@Override
public float getValuef(final int row, final int column) {
return (float) getValue(row, column);
}
@Override
public double getM00() {
return _m00;
}
@Override
public double getM01() {
return _m01;
}
@Override
public double getM02() {
return _m02;
}
@Override
public double getM10() {
return _m10;
}
@Override
public double getM11() {
return _m11;
}
@Override
public double getM12() {
return _m12;
}
@Override
public double getM20() {
return _m20;
}
@Override
public double getM21() {
return _m21;
}
@Override
public double getM22() {
return _m22;
}
public void setM00(final double m00) {
_m00 = m00;
}
public void setM01(final double m01) {
_m01 = m01;
}
public void setM02(final double m02) {
_m02 = m02;
}
public void setM10(final double m10) {
_m10 = m10;
}
public void setM11(final double m11) {
_m11 = m11;
}
public void setM12(final double m12) {
_m12 = m12;
}
public void setM20(final double m20) {
_m20 = m20;
}
public void setM21(final double m21) {
_m21 = m21;
}
public void setM22(final double m22) {
_m22 = m22;
}
/**
* Same as set(IDENTITY)
*
* @return this matrix for chaining
*/
public Matrix3 setIdentity() {
return set(Matrix3.IDENTITY);
}
/**
* @return true if this matrix equals the 3x3 identity matrix
*/
@Override
public boolean isIdentity() {
return strictEquals(Matrix3.IDENTITY);
}
/**
* Sets the value of this matrix at row, column to the given value.
*
* @param row
* @param column
* @param value
* @return this matrix for chaining
* @throws IllegalArgumentException
* if row and column are not in bounds [0, 2]
*/
public Matrix3 setValue(final int row, final int column, final double value) {
switch (row) {
case 0:
switch (column) {
case 0:
_m00 = value;
break;
case 1:
_m01 = value;
break;
case 2:
_m02 = value;
break;
default:
throw new IllegalArgumentException();
}
break;
case 1:
switch (column) {
case 0:
_m10 = value;
break;
case 1:
_m11 = value;
break;
case 2:
_m12 = value;
break;
default:
throw new IllegalArgumentException();
}
break;
case 2:
switch (column) {
case 0:
_m20 = value;
break;
case 1:
_m21 = value;
break;
case 2:
_m22 = value;
break;
default:
throw new IllegalArgumentException();
}
break;
default:
throw new IllegalArgumentException();
}
return this;
}
/**
* Sets the values of this matrix to the values given.
*
* @param m00
* @param m01
* @param m02
* @param m10
* @param m11
* @param m12
* @param m20
* @param m21
* @param m22
* @return this matrix for chaining
*/
public Matrix3 set(final double m00, final double m01, final double m02, final double m10, final double m11,
final double m12, final double m20, final double m21, final double m22) {
_m00 = m00;
_m01 = m01;
_m02 = m02;
_m10 = m10;
_m11 = m11;
_m12 = m12;
_m20 = m20;
_m21 = m21;
_m22 = m22;
return this;
}
/**
* Sets the values of this matrix to the values of the provided source matrix.
*
* @param source
* @return this matrix for chaining
* @throws NullPointerException
* if source is null.
*/
public Matrix3 set(final ReadOnlyMatrix3 source) {
_m00 = source.getM00();
_m10 = source.getM10();
_m20 = source.getM20();
_m01 = source.getM01();
_m11 = source.getM11();
_m21 = source.getM21();
_m02 = source.getM02();
_m12 = source.getM12();
_m22 = source.getM22();
return this;
}
/**
* Sets the values of this matrix to the rotational value of the given quaternion.
*
* @param quaternion
* @return this matrix for chaining
*/
public Matrix3 set(final ReadOnlyQuaternion quaternion) {
return quaternion.toRotationMatrix(this);
}
/**
* @param source
* the buffer to read our matrix data from.
* @return this matrix for chaining.
*/
public Matrix3 fromDoubleBuffer(final DoubleBuffer source) {
return fromDoubleBuffer(source, true);
}
/**
* @param source
* the buffer to read our matrix data from.
* @param rowMajor
* if true, data is stored row by row. Otherwise it is stored column by column.
* @return this matrix for chaining.
*/
public Matrix3 fromDoubleBuffer(final DoubleBuffer source, final boolean rowMajor) {
if (rowMajor) {
_m00 = source.get();
_m01 = source.get();
_m02 = source.get();
_m10 = source.get();
_m11 = source.get();
_m12 = source.get();
_m20 = source.get();
_m21 = source.get();
_m22 = source.get();
} else {
_m00 = source.get();
_m10 = source.get();
_m20 = source.get();
_m01 = source.get();
_m11 = source.get();
_m21 = source.get();
_m02 = source.get();
_m12 = source.get();
_m22 = source.get();
}
return this;
}
/**
* Note: data is cast to floats.
*
* @param store
* the buffer to read our matrix data from.
* @return this matrix for chaining.
*/
public Matrix3 fromFloatBuffer(final FloatBuffer source) {
return fromFloatBuffer(source, true);
}
/**
* Note: data is cast to floats.
*
* @param store
* the buffer to read our matrix data from.
* @param rowMajor
* if true, data is stored row by row. Otherwise it is stored column by column.
* @return this matrix for chaining.
*/
public Matrix3 fromFloatBuffer(final FloatBuffer source, final boolean rowMajor) {
if (rowMajor) {
_m00 = source.get();
_m01 = source.get();
_m02 = source.get();
_m10 = source.get();
_m11 = source.get();
_m12 = source.get();
_m20 = source.get();
_m21 = source.get();
_m22 = source.get();
} else {
_m00 = source.get();
_m10 = source.get();
_m20 = source.get();
_m01 = source.get();
_m11 = source.get();
_m21 = source.get();
_m02 = source.get();
_m12 = source.get();
_m22 = source.get();
}
return this;
}
/**
* Sets the values of this matrix to the values of the provided double array.
*
* @param source
* @return this matrix for chaining
* @throws NullPointerException
* if source is null.
* @throws ArrayIndexOutOfBoundsException
* if source array has a length less than 9.
*/
public Matrix3 fromArray(final double[] source) {
return fromArray(source, true);
}
/**
* Sets the values of this matrix to the values of the provided double array.
*
* @param source
* @param rowMajor
* @return this matrix for chaining
* @throws NullPointerException
* if source is null.
* @throws ArrayIndexOutOfBoundsException
* if source array has a length less than 9.
*/
public Matrix3 fromArray(final double[] source, final boolean rowMajor) {
if (rowMajor) {
_m00 = source[0];
_m01 = source[1];
_m02 = source[2];
_m10 = source[3];
_m11 = source[4];
_m12 = source[5];
_m20 = source[6];
_m21 = source[7];
_m22 = source[8];
} else {
_m00 = source[0];
_m10 = source[1];
_m20 = source[2];
_m01 = source[3];
_m11 = source[4];
_m21 = source[5];
_m02 = source[6];
_m12 = source[7];
_m22 = source[8];
}
return this;
}
/**
* Replaces a column in this matrix with the values of the given vector.
*
* @param columnIndex
* @param columnData
* @return this matrix for chaining
* @throws NullPointerException
* if columnData is null.
* @throws IllegalArgumentException
* if columnIndex is not in [0, 2]
*/
public Matrix3 setColumn(final int columnIndex, final ReadOnlyVector3 columnData) {
switch (columnIndex) {
case 0:
_m00 = columnData.getX();
_m10 = columnData.getY();
_m20 = columnData.getZ();
break;
case 1:
_m01 = columnData.getX();
_m11 = columnData.getY();
_m21 = columnData.getZ();
break;
case 2:
_m02 = columnData.getX();
_m12 = columnData.getY();
_m22 = columnData.getZ();
break;
default:
throw new IllegalArgumentException("Bad columnIndex: " + columnIndex);
}
return this;
}
/**
* Replaces a row in this matrix with the values of the given vector.
*
* @param rowIndex
* @param rowData
* @return this matrix for chaining
* @throws NullPointerException
* if rowData is null.
* @throws IllegalArgumentException
* if rowIndex is not in [0, 2]
*/
public Matrix3 setRow(final int rowIndex, final ReadOnlyVector3 rowData) {
switch (rowIndex) {
case 0:
_m00 = rowData.getX();
_m01 = rowData.getY();
_m02 = rowData.getZ();
break;
case 1:
_m10 = rowData.getX();
_m11 = rowData.getY();
_m12 = rowData.getZ();
break;
case 2:
_m20 = rowData.getX();
_m21 = rowData.getY();
_m22 = rowData.getZ();
break;
default:
throw new IllegalArgumentException("Bad rowIndex: " + rowIndex);
}
return this;
}
/**
* Set the values of this matrix from the axes (columns) provided.
*
* @param uAxis
* @param vAxis
* @param wAxis
* @return this matrix for chaining
* @throws NullPointerException
* if any of the axes are null.
*/
public Matrix3 fromAxes(final ReadOnlyVector3 uAxis, final ReadOnlyVector3 vAxis, final ReadOnlyVector3 wAxis) {
setColumn(0, uAxis);
setColumn(1, vAxis);
setColumn(2, wAxis);
return this;
}
/**
* Sets this matrix to the rotation indicated by the given angle and axis of rotation. Note: This method creates an
* object, so use fromAngleNormalAxis when possible, particularly if your axis is already normalized.
*
* @param angle
* the angle to rotate (in radians).
* @param axis
* the axis of rotation.
* @return this matrix for chaining
* @throws NullPointerException
* if axis is null.
*/
public Matrix3 fromAngleAxis(final double angle, final ReadOnlyVector3 axis) {
final Vector3 normAxis = Vector3.fetchTempInstance();
axis.normalize(normAxis);
fromAngleNormalAxis(angle, normAxis);
Vector3.releaseTempInstance(normAxis);
return this;
}
/**
* Sets this matrix to the rotation indicated by the given angle and a unit-length axis of rotation.
*
* @param angle
* the angle to rotate (in radians).
* @param axis
* the axis of rotation (already normalized).
* @return this matrix for chaining
* @throws NullPointerException
* if axis is null.
*/
public Matrix3 fromAngleNormalAxis(final double angle, final ReadOnlyVector3 axis) {
final double fCos = MathUtils.cos(angle);
final double fSin = MathUtils.sin(angle);
final double fOneMinusCos = 1.0 - fCos;
final double fX2 = axis.getX() * axis.getX();
final double fY2 = axis.getY() * axis.getY();
final double fZ2 = axis.getZ() * axis.getZ();
final double fXYM = axis.getX() * axis.getY() * fOneMinusCos;
final double fXZM = axis.getX() * axis.getZ() * fOneMinusCos;
final double fYZM = axis.getY() * axis.getZ() * fOneMinusCos;
final double fXSin = axis.getX() * fSin;
final double fYSin = axis.getY() * fSin;
final double fZSin = axis.getZ() * 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;
return this;
}
/**
* XXX: Need to redo this again... or at least correct the terms. YRP are arbitrary terms, based on a specific frame
* of axis.
*
* Updates this matrix from the given Euler rotation angles (y,r,p). Note that we are applying in order: roll,
* pitch, yaw but we've ordered them in x, y, and z for convenience. See:
* http://www.euclideanspace.com/maths/geometry/rotations/conversions/eulerToMatrix/index.htm
*
* @param yaw
* the Euler yaw of rotation (in radians). (aka Bank, often rot around x)
* @param roll
* the Euler roll of rotation (in radians). (aka Heading, often rot around y)
* @param pitch
* the Euler pitch of rotation (in radians). (aka Attitude, often rot around z)
* @return this matrix for chaining
*/
public Matrix3 fromAngles(final double yaw, final double roll, final double pitch) {
final double ch = Math.cos(roll);
final double sh = Math.sin(roll);
final double cp = Math.cos(pitch);
final double sp = Math.sin(pitch);
final double cy = Math.cos(yaw);
final double sy = Math.sin(yaw);
_m00 = ch * cp;
_m01 = sh * sy - ch * sp * cy;
_m02 = ch * sp * sy + sh * cy;
_m10 = sp;
_m11 = cp * cy;
_m12 = -cp * sy;
_m20 = -sh * cp;
_m21 = sh * sp * cy + ch * sy;
_m22 = -sh * sp * sy + ch * cy;
return this;
}
public Matrix3 applyRotation(final double angle, final double x, final double y, final double z) {
final double m00 = _m00, m01 = _m01, m02 = _m02, //
m10 = _m10, m11 = _m11, m12 = _m12, //
m20 = _m20, m21 = _m21, m22 = _m22;
final double cosAngle = Math.cos(angle);
final double sinAngle = Math.sin(angle);
final double oneMinusCos = 1.0f - cosAngle;
final double xyOneMinusCos = x * y * oneMinusCos;
final double xzOneMinusCos = x * z * oneMinusCos;
final double yzOneMinusCos = y * z * oneMinusCos;
final double xSin = x * sinAngle;
final double ySin = y * sinAngle;
final double zSin = z * sinAngle;
final double r00 = x * x * oneMinusCos + cosAngle;
final double r01 = xyOneMinusCos - zSin;
final double r02 = xzOneMinusCos + ySin;
final double r10 = xyOneMinusCos + zSin;
final double r11 = y * y * oneMinusCos + cosAngle;
final double r12 = yzOneMinusCos - xSin;
final double r20 = xzOneMinusCos - ySin;
final double r21 = yzOneMinusCos + xSin;
final double r22 = z * z * oneMinusCos + cosAngle;
_m00 = m00 * r00 + m01 * r10 + m02 * r20;
_m01 = m00 * r01 + m01 * r11 + m02 * r21;
_m02 = m00 * r02 + m01 * r12 + m02 * r22;
_m10 = m10 * r00 + m11 * r10 + m12 * r20;
_m11 = m10 * r01 + m11 * r11 + m12 * r21;
_m12 = m10 * r02 + m11 * r12 + m12 * r22;
_m20 = m20 * r00 + m21 * r10 + m22 * r20;
_m21 = m20 * r01 + m21 * r11 + m22 * r21;
_m22 = m20 * r02 + m21 * r12 + m22 * r22;
return this;
}
/**
* Apply rotation around X (Mrx * this)
*
* @param angle
* @return
*/
public Matrix3 applyRotationX(final double angle) {
final double m01 = _m01, m02 = _m02, //
m11 = _m11, m12 = _m12, //
m21 = _m21, m22 = _m22;
final double cosAngle = Math.cos(angle);
final double sinAngle = Math.sin(angle);
_m01 = m01 * cosAngle + m02 * sinAngle;
_m02 = m02 * cosAngle - m01 * sinAngle;
_m11 = m11 * cosAngle + m12 * sinAngle;
_m12 = m12 * cosAngle - m11 * sinAngle;
_m21 = m21 * cosAngle + m22 * sinAngle;
_m22 = m22 * cosAngle - m21 * sinAngle;
return this;
}
/**
* Apply rotation around Y (Mry * this)
*
* @param angle
* @return
*/
public Matrix3 applyRotationY(final double angle) {
final double m00 = _m00, m02 = _m02, //
m10 = _m10, m12 = _m12, //
m20 = _m20, m22 = _m22;
final double cosAngle = Math.cos(angle);
final double sinAngle = Math.sin(angle);
_m00 = m00 * cosAngle - m02 * sinAngle;
_m02 = m00 * sinAngle + m02 * cosAngle;
_m10 = m10 * cosAngle - m12 * sinAngle;
_m12 = m10 * sinAngle + m12 * cosAngle;
_m20 = m20 * cosAngle - m22 * sinAngle;
_m22 = m20 * sinAngle + m22 * cosAngle;
return this;
}
/**
* Apply rotation around Z (Mrz * this)
*
* @param angle
* @return
*/
public Matrix3 applyRotationZ(final double angle) {
final double m00 = _m00, m01 = _m01, //
m10 = _m10, m11 = _m11, //
m20 = _m20, m21 = _m21;
final double cosAngle = Math.cos(angle);
final double sinAngle = Math.sin(angle);
_m00 = m00 * cosAngle + m01 * sinAngle;
_m01 = m01 * cosAngle - m00 * sinAngle;
_m10 = m10 * cosAngle + m11 * sinAngle;
_m11 = m11 * cosAngle - m10 * sinAngle;
_m20 = m20 * cosAngle + m21 * sinAngle;
_m21 = m21 * cosAngle - m20 * sinAngle;
return this;
}
/**
* @param index
* @param store
* the vector object to store the result in. if null, a new one is created.
* @return the column specified by the index.
* @throws IllegalArgumentException
* if index is not in bounds [0, 2]
*/
@Override
public Vector3 getColumn(final int index, final Vector3 store) {
Vector3 result = store;
if (result == null) {
result = new Vector3();
}
switch (index) {
case 0:
result.setX(_m00);
result.setY(_m10);
result.setZ(_m20);
break;
case 1:
result.setX(_m01);
result.setY(_m11);
result.setZ(_m21);
break;
case 2:
result.setX(_m02);
result.setY(_m12);
result.setZ(_m22);
break;
default:
throw new IllegalArgumentException("invalid column index: " + index);
}
return result;
}
/**
* @param index
* @param store
* the vector object to store the result in. if null, a new one is created.
* @return the row specified by the index.
* @throws IllegalArgumentException
* if index is not in bounds [0, 2]
*/
@Override
public Vector3 getRow(final int index, final Vector3 store) {
Vector3 result = store;
if (result == null) {
result = new Vector3();
}
switch (index) {
case 0:
result.setX(_m00);
result.setY(_m01);
result.setZ(_m02);
break;
case 1:
result.setX(_m10);
result.setY(_m11);
result.setZ(_m12);
break;
case 2:
result.setX(_m20);
result.setY(_m21);
result.setZ(_m22);
break;
default:
throw new IllegalArgumentException("invalid row index: " + index);
}
return result;
}
/**
* @param store
* the buffer to store our matrix data in. Must not be null. Data is entered starting at current buffer
* position.
* @return matrix data as a DoubleBuffer in row major order. The position is at the end of the inserted data.
* @throws NullPointerException
* if store is null.
* @throws BufferOverflowException
* if there is not enough room left in the buffer to write all 9 values.
*/
@Override
public DoubleBuffer toDoubleBuffer(final DoubleBuffer store) {
return toDoubleBuffer(store, true);
}
/**
* @param store
* the buffer to store our matrix data in. Must not be null. Data is entered starting at current buffer
* position.
* @param rowMajor
* if true, data is stored row by row. Otherwise it is stored column by column.
* @return matrix data as a DoubleBuffer in the specified order. The position is at the end of the inserted data.
* @throws NullPointerException
* if store is null.
* @throws BufferOverflowException
* if there is not enough room left in the buffer to write all 9 values.
*/
@Override
public DoubleBuffer toDoubleBuffer(final DoubleBuffer store, final boolean rowMajor) {
if (rowMajor) {
store.put(_m00);
store.put(_m01);
store.put(_m02);
store.put(_m10);
store.put(_m11);
store.put(_m12);
store.put(_m20);
store.put(_m21);
store.put(_m22);
} else {
store.put(_m00);
store.put(_m10);
store.put(_m20);
store.put(_m01);
store.put(_m11);
store.put(_m21);
store.put(_m02);
store.put(_m12);
store.put(_m22);
}
return store;
}
/**
* Note: data is cast to floats.
*
* @param store
* the buffer to store our matrix data in. Must not be null. Data is entered starting at current buffer
* position.
* @return matrix data as a FloatBuffer in row major order. The position is at the end of the inserted data.
* @throws NullPointerException
* if store is null.
* @throws BufferOverflowException
* if there is not enough room left in the buffer to write all 9 values.
*/
@Override
public FloatBuffer toFloatBuffer(final FloatBuffer store) {
return toFloatBuffer(store, true);
}
/**
* Note: data is cast to floats.
*
* @param store
* the buffer to store our matrix data in. Must not be null. Data is entered starting at current buffer
* position.
* @param rowMajor
* if true, data is stored row by row. Otherwise it is stored column by column.
* @return matrix data as a FloatBuffer in the specified order. The position is at the end of the inserted data.
* @throws NullPointerException
* if store is null.
* @throws BufferOverflowException
* if there is not enough room left in the buffer to write all 9 values.
*/
@Override
public FloatBuffer toFloatBuffer(final FloatBuffer store, final boolean rowMajor) {
if (rowMajor) {
store.put((float) _m00);
store.put((float) _m01);
store.put((float) _m02);
store.put((float) _m10);
store.put((float) _m11);
store.put((float) _m12);
store.put((float) _m20);
store.put((float) _m21);
store.put((float) _m22);
} else {
store.put((float) _m00);
store.put((float) _m10);
store.put((float) _m20);
store.put((float) _m01);
store.put((float) _m11);
store.put((float) _m21);
store.put((float) _m02);
store.put((float) _m12);
store.put((float) _m22);
}
return store;
}
/**
* @param store
* the double array to store our matrix data in. If null, a new array is created.
* @return matrix data as a double array in row major order.
* @throws IllegalArgumentException
* if the store is non-null and has a length < 9
*/
@Override
public double[] toArray(final double[] store) {
return toArray(store, true);
}
/**
* @param store
* the double array to store our matrix data in. If null, a new array is created.
* @param rowMajor
* if true, data is stored row by row. Otherwise it is stored column by column.
* @return matrix data as a double array in the specified order.
* @throws IllegalArgumentException
* if the store is non-null and has a length < 9
*/
@Override
public double[] toArray(final double[] store, final boolean rowMajor) {
double[] result = store;
if (result == null) {
result = new double[9];
} else if (result.length < 9) {
throw new IllegalArgumentException("store must be at least length 9.");
}
if (rowMajor) {
result[0] = _m00;
result[1] = _m01;
result[2] = _m02;
result[3] = _m10;
result[4] = _m11;
result[5] = _m12;
result[6] = _m20;
result[7] = _m21;
result[8] = _m22;
} else {
result[0] = _m00;
result[1] = _m10;
result[2] = _m20;
result[3] = _m01;
result[4] = _m11;
result[5] = _m21;
result[6] = _m02;
result[7] = _m12;
result[8] = _m22;
}
return result;
}
/**
* converts this matrix to Euler rotation angles (yaw, roll, pitch). See
* http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToEuler/index.htm
*
* @param store
* the double[] array to store the computed angles in. If null, a new double[] will be created
* @return the double[] array.
* @throws IllegalArgumentException
* if non-null store is not at least length 3
* @see #fromAngles(double, double, double)
*/
@Override
public double[] toAngles(final double[] store) {
double[] result = store;
if (result == null) {
result = new double[3];
} else if (result.length < 3) {
throw new IllegalArgumentException("store array must have at least three elements");
}
double heading, attitude, bank;
if (_m10 > 1 - MathUtils.ZERO_TOLERANCE) { // singularity at north pole
heading = Math.atan2(_m02, _m22);
attitude = Math.PI / 2;
bank = 0;
} else if (_m10 < -1 + MathUtils.ZERO_TOLERANCE) { // singularity at south pole
heading = Math.atan2(_m02, _m22);
attitude = -Math.PI / 2;
bank = 0;
} else {
heading = Math.atan2(-_m20, _m00);
bank = Math.atan2(-_m12, _m11);
attitude = Math.asin(_m10);
}
result[0] = bank;
result[1] = heading;
result[2] = attitude;
return result;
}
/**
* @param matrix
* @return This matrix for chaining, modified internally to reflect multiplication against the given matrix
* @throws NullPointerException
* if matrix is null
*/
public Matrix3 multiplyLocal(final ReadOnlyMatrix3 matrix) {
return multiply(matrix, this);
}
/**
* @param matrix
* @param store
* a matrix to store the result in. if null, a new matrix is created. It is safe for the given matrix and
* this parameter to be the same object.
* @return this matrix multiplied by the given matrix.
* @throws NullPointerException
* if matrix is null.
*/
@Override
public Matrix3 multiply(final ReadOnlyMatrix3 matrix, final Matrix3 store) {
Matrix3 result = store;
if (result == null) {
result = new Matrix3();
}
final double temp00 = _m00 * matrix.getM00() + _m01 * matrix.getM10() + _m02 * matrix.getM20();
final double temp01 = _m00 * matrix.getM01() + _m01 * matrix.getM11() + _m02 * matrix.getM21();
final double temp02 = _m00 * matrix.getM02() + _m01 * matrix.getM12() + _m02 * matrix.getM22();
final double temp10 = _m10 * matrix.getM00() + _m11 * matrix.getM10() + _m12 * matrix.getM20();
final double temp11 = _m10 * matrix.getM01() + _m11 * matrix.getM11() + _m12 * matrix.getM21();
final double temp12 = _m10 * matrix.getM02() + _m11 * matrix.getM12() + _m12 * matrix.getM22();
final double temp20 = _m20 * matrix.getM00() + _m21 * matrix.getM10() + _m22 * matrix.getM20();
final double temp21 = _m20 * matrix.getM01() + _m21 * matrix.getM11() + _m22 * matrix.getM21();
final double temp22 = _m20 * matrix.getM02() + _m21 * matrix.getM12() + _m22 * matrix.getM22();
result.set(temp00, temp01, temp02, temp10, temp11, temp12, temp20, temp21, temp22);
return result;
}
/**
* Multiplies this matrix by the diagonal matrix formed by the given vector (v^D * M). If supplied, the result is
* stored into the supplied "store" matrix.
*
* @param vec
* @param store
* a matrix to store the result in. If store is null, a new matrix is created. Note that it IS safe for
* vec and store to be the same object.
* @return the store matrix, or a new matrix if store is null.
* @throws NullPointerException
* if vec is null
*/
@Override
public Matrix3 multiplyDiagonalPre(final ReadOnlyVector3 vec, final Matrix3 store) {
Matrix3 result = store;
if (result == null) {
result = new Matrix3();
}
result.set( //
vec.getX() * _m00, vec.getX() * _m01, vec.getX() * _m02, //
vec.getY() * _m10, vec.getY() * _m11, vec.getY() * _m12, //
vec.getZ() * _m20, vec.getZ() * _m21, vec.getZ() * _m22);
return result;
}
/**
* Multiplies this matrix by the diagonal matrix formed by the given vector (M * v^D). If supplied, the result is
* stored into the supplied "store" matrix.
*
* @param vec
* @param store
* a matrix to store the result in. If store is null, a new matrix is created. Note that it IS safe for
* vec and store to be the same object.
* @return the store matrix, or a new matrix if store is null.
* @throws NullPointerException
* if vec is null
*/
@Override
public Matrix3 multiplyDiagonalPost(final ReadOnlyVector3 vec, final Matrix3 store) {
Matrix3 result = store;
if (result == null) {
result = new Matrix3();
}
result.set( //
vec.getX() * _m00, vec.getY() * _m01, vec.getZ() * _m02, //
vec.getX() * _m10, vec.getY() * _m11, vec.getZ() * _m12, //
vec.getX() * _m20, vec.getY() * _m21, vec.getZ() * _m22);
return result;
}
/**
* Internally scales all values of this matrix by the given scalar.
*
* @param scalar
* @return this matrix for chaining.
*/
public Matrix3 multiplyLocal(final double scalar) {
_m00 *= scalar;
_m01 *= scalar;
_m02 *= scalar;
_m10 *= scalar;
_m11 *= scalar;
_m12 *= scalar;
_m20 *= scalar;
_m21 *= scalar;
_m22 *= scalar;
return this;
}
/**
* @param matrix
* the matrix to add to this.
* @param store
* a matrix to store the result in. If store is null, a new matrix is created. Note that it IS safe for
* matrix and store to be the same object.
* @return the result.
* @throws NullPointerException
* if matrix is null
*/
@Override
public Matrix3 add(final ReadOnlyMatrix3 matrix, final Matrix3 store) {
Matrix3 result = store;
if (result == null) {
result = new Matrix3();
}
result._m00 = _m00 + matrix.getM00();
result._m01 = _m01 + matrix.getM01();
result._m02 = _m02 + matrix.getM02();
result._m10 = _m10 + matrix.getM10();
result._m11 = _m11 + matrix.getM11();
result._m12 = _m12 + matrix.getM12();
result._m20 = _m20 + matrix.getM20();
result._m21 = _m21 + matrix.getM21();
result._m22 = _m22 + matrix.getM22();
return result;
}
/**
* Internally adds the values of the given matrix to this matrix.
*
* @param matrix
* the matrix to add to this.
* @return this matrix for chaining
* @throws NullPointerException
* if matrix is null
*/
public Matrix3 addLocal(final ReadOnlyMatrix3 matrix) {
return add(matrix, this);
}
/**
* @param matrix
* the matrix to subtract from this.
* @param store
* a matrix to store the result in. If store is null, a new matrix is created. Note that it IS safe for
* matrix and store to be the same object.
* @return the result.
* @throws NullPointerException
* if matrix is null
*/
@Override
public Matrix3 subtract(final ReadOnlyMatrix3 matrix, final Matrix3 store) {
Matrix3 result = store;
if (result == null) {
result = new Matrix3();
}
result._m00 = _m00 - matrix.getM00();
result._m01 = _m01 - matrix.getM01();
result._m02 = _m02 - matrix.getM02();
result._m10 = _m10 - matrix.getM10();
result._m11 = _m11 - matrix.getM11();
result._m12 = _m12 - matrix.getM12();
result._m20 = _m20 - matrix.getM20();
result._m21 = _m21 - matrix.getM21();
result._m22 = _m22 - matrix.getM22();
return result;
}
/**
* Internally subtracts the values of the given matrix from this matrix.
*
* @param matrix
* the matrix to subtract from this.
* @return this matrix for chaining
* @throws NullPointerException
* if matrix is null
*/
public Matrix3 subtractLocal(final ReadOnlyMatrix3 matrix) {
return subtract(matrix, this);
}
/**
* Applies the given scale to this matrix and returns the result as a new matrix
*
* @param scale
* @param store
* a matrix to store the result in. If store is null, a new matrix is created.
* @return the new matrix
* @throws NullPointerException
* if scale is null.
*/
@Override
public Matrix3 scale(final ReadOnlyVector3 scale, final Matrix3 store) {
Matrix3 result = store;
if (result == null) {
result = new Matrix3();
}
return result.set( //
_m00 * scale.getX(), _m01 * scale.getY(), _m02 * scale.getZ(), //
_m10 * scale.getX(), _m11 * scale.getY(), _m12 * scale.getZ(), //
_m20 * scale.getX(), _m21 * scale.getY(), _m22 * scale.getZ());
}
/**
* Applies the given scale to this matrix values internally
*
* @param scale
* @return this matrix for chaining.
* @throws NullPointerException
* if scale is null.
*/
public Matrix3 scaleLocal(final ReadOnlyVector3 scale) {
return scale(scale, this);
}
/**
* transposes this matrix as a new matrix, basically flipping it across the diagonal
*
* @param store
* a matrix to store the result in. If store is null, a new matrix is created.
* @return this matrix for chaining.
* @see wikipedia.org-Transpose
*/
@Override
public Matrix3 transpose(final Matrix3 store) {
Matrix3 result = store;
if (result == null) {
result = new Matrix3();
}
result._m00 = _m00;
result._m01 = _m10;
result._m02 = _m20;
result._m10 = _m01;
result._m11 = _m11;
result._m12 = _m21;
result._m20 = _m02;
result._m21 = _m12;
result._m22 = _m22;
return result;
}
/**
* transposes this matrix in place
*
* @return this matrix for chaining.
* @see wikipedia.org-Transpose
*/
public Matrix3 transposeLocal() {
final double m01 = _m01;
final double m02 = _m02;
final double m12 = _m12;
_m01 = _m10;
_m02 = _m20;
_m12 = _m21;
_m10 = m01;
_m20 = m02;
_m21 = m12;
return this;
}
/**
* @param store
* a matrix to store the result in. If store is null, a new matrix is created. Note that it IS safe for
* store == this.
* @return a matrix that represents this matrix, inverted.
*
* if store is not null and is read only
* @throws ArithmeticException
* if this matrix can not be inverted.
*/
@Override
public Matrix3 invert(final Matrix3 store) {
Matrix3 result = store;
if (result == null) {
result = new Matrix3();
}
final double det = determinant();
if (Math.abs(det) <= MathUtils.EPSILON) {
throw new ArithmeticException("This matrix cannot be inverted.");
}
final double temp00 = _m11 * _m22 - _m12 * _m21;
final double temp01 = _m02 * _m21 - _m01 * _m22;
final double temp02 = _m01 * _m12 - _m02 * _m11;
final double temp10 = _m12 * _m20 - _m10 * _m22;
final double temp11 = _m00 * _m22 - _m02 * _m20;
final double temp12 = _m02 * _m10 - _m00 * _m12;
final double temp20 = _m10 * _m21 - _m11 * _m20;
final double temp21 = _m01 * _m20 - _m00 * _m21;
final double temp22 = _m00 * _m11 - _m01 * _m10;
result.set(temp00, temp01, temp02, temp10, temp11, temp12, temp20, temp21, temp22);
result.multiplyLocal(1.0 / det);
return result;
}
/**
* Inverts this matrix locally.
*
* @return this matrix inverted internally.
* @throws ArithmeticException
* if this matrix can not be inverted.
*/
public Matrix3 invertLocal() {
return invert(this);
}
/**
* @param store
* The matrix to store the result in. If null, a new matrix is created.
* @return The adjugate, or classical adjoint, of this matrix
* @see wikipedia.org-Adjugate_matrix
*/
@Override
public Matrix3 adjugate(final Matrix3 store) {
Matrix3 result = store;
if (result == null) {
result = new Matrix3();
}
final double temp00 = _m11 * _m22 - _m12 * _m21;
final double temp01 = _m02 * _m21 - _m01 * _m22;
final double temp02 = _m01 * _m12 - _m02 * _m11;
final double temp10 = _m12 * _m20 - _m10 * _m22;
final double temp11 = _m00 * _m22 - _m02 * _m20;
final double temp12 = _m02 * _m10 - _m00 * _m12;
final double temp20 = _m10 * _m21 - _m11 * _m20;
final double temp21 = _m01 * _m20 - _m00 * _m21;
final double temp22 = _m00 * _m11 - _m01 * _m10;
return result.set(temp00, temp01, temp02, temp10, temp11, temp12, temp20, temp21, temp22);
}
/**
* @return this matrix, modified to represent its adjugate, or classical adjoint
* @see wikipedia.org-Adjugate_matrix
*/
public Matrix3 adjugateLocal() {
return adjugate(this);
}
/**
* @return the determinate of this 3x3 matrix (aei+bfg+cdh-ceg-bdi-afh)
* @see wikipedia.org-Determinant
*/
@Override
public double determinant() {
return _m00 * _m11 * _m22 + _m01 * _m12 * _m20 + _m02 * _m10 * _m21 - //
_m02 * _m11 * _m20 - _m01 * _m10 * _m22 - _m00 * _m12 * _m21;
}
/**
* 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
* @return this matrix, for chaining
* @see "Tomas Möller, John Hughes 'Efficiently Building a Matrix to Rotate One Vector to Another' Journal of Graphics Tools, 4(4):1-4, 1999"
*/
public Matrix3 fromStartEndLocal(final ReadOnlyVector3 start, final ReadOnlyVector3 end) {
final Vector3 v = new Vector3();
double 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 > 1.0 - MathUtils.ZERO_TOLERANCE) {
final Vector3 u = new Vector3();
final Vector3 x = new Vector3();
double c1, c2, c3; /* coefficients for later use */
x.setX(start.getX() > 0.0 ? start.getX() : -start.getX());
x.setY(start.getY() > 0.0 ? start.getY() : -start.getY());
x.setZ(start.getZ() > 0.0 ? start.getZ() : -start.getZ());
if (x.getX() < x.getY()) {
if (x.getX() < x.getZ()) {
x.set(1.0, 0.0, 0.0);
} else {
x.set(0.0, 0.0, 1.0);
}
} else {
if (x.getY() < x.getZ()) {
x.set(0.0, 1.0, 0.0);
} else {
x.set(0.0, 0.0, 1.0);
}
}
u.set(x).subtractLocal(start);
v.set(x).subtractLocal(end);
c1 = 2.0 / u.dot(u);
c2 = 2.0 / v.dot(v);
c3 = c1 * c2 * u.dot(v);
_m00 = -c1 * u.getX() * u.getX() - c2 * v.getX() * v.getX() + c3 * v.getX() * u.getX() + 1.0;
_m01 = -c1 * u.getX() * u.getY() - c2 * v.getX() * v.getY() + c3 * v.getX() * u.getY();
_m02 = -c1 * u.getX() * u.getZ() - c2 * v.getX() * v.getZ() + c3 * v.getX() * u.getZ();
_m10 = -c1 * u.getY() * u.getX() - c2 * v.getY() * v.getX() + c3 * v.getY() * u.getX();
_m11 = -c1 * u.getY() * u.getY() - c2 * v.getY() * v.getY() + c3 * v.getY() * u.getY() + 1.0;
_m12 = -c1 * u.getY() * u.getZ() - c2 * v.getY() * v.getZ() + c3 * v.getY() * u.getZ();
_m20 = -c1 * u.getZ() * u.getX() - c2 * v.getZ() * v.getX() + c3 * v.getZ() * u.getX();
_m21 = -c1 * u.getZ() * u.getY() - c2 * v.getZ() * v.getY() + c3 * v.getZ() * u.getY();
_m22 = -c1 * u.getZ() * u.getZ() - c2 * v.getZ() * v.getZ() + c3 * v.getZ() * u.getZ() + 1.0;
} else {
// the most common case, unless "start"="end", or "start"=-"end"
double hvx, hvz, hvxy, hvxz, hvyz;
h = 1.0 / (1.0 + e);
hvx = h * v.getX();
hvz = h * v.getZ();
hvxy = hvx * v.getY();
hvxz = hvx * v.getZ();
hvyz = hvz * v.getY();
_m00 = e + hvx * v.getX();
_m01 = hvxy - v.getZ();
_m02 = hvxz + v.getY();
_m10 = hvxy + v.getZ();
_m11 = e + h * v.getY() * v.getY();
_m12 = hvyz - v.getX();
_m20 = hvxz - v.getY();
_m21 = hvyz + v.getX();
_m22 = e + hvz * v.getZ();
}
return this;
}
/**
* Multiplies the given vector by this matrix (v * M). If supplied, the result is stored into the supplied "store"
* vector.
*
* @param vec
* the vector to multiply this matrix by.
* @param store
* a vector to store the result in. If store is null, a new vector is created. Note that it IS safe for
* vec and store to be the same object.
* @return the store vector, or a new vector if store is null.
* @throws NullPointerException
* if vec is null
*/
@Override
public Vector3 applyPre(final ReadOnlyVector3 vec, final Vector3 store) {
Vector3 result = store;
if (result == null) {
result = new Vector3();
}
final double x = vec.getX();
final double y = vec.getY();
final double z = vec.getZ();
result.setX(_m00 * x + _m10 * y + _m20 * z);
result.setY(_m01 * x + _m11 * y + _m21 * z);
result.setZ(_m02 * x + _m12 * y + _m22 * z);
return result;
}
/**
* Multiplies the given vector by this matrix (M * v). If supplied, the result is stored into the supplied "store"
* vector.
*
* @param vec
* the vector to multiply this matrix by.
* @param store
* a vector to store the result in. If store is null, a new vector is created. Note that it IS safe for
* vec and store to be the same object.
* @return the store vector, or a new vector if store is null.
* @throws NullPointerException
* if vec is null
*/
@Override
public Vector3 applyPost(final ReadOnlyVector3 vec, final Vector3 store) {
Vector3 result = store;
if (result == null) {
result = new Vector3();
}
final double x = vec.getX();
final double y = vec.getY();
final double z = vec.getZ();
result.setX(_m00 * x + _m01 * y + _m02 * z);
result.setY(_m10 * x + _m11 * y + _m12 * z);
result.setZ(_m20 * x + _m21 * y + _m22 * z);
return result;
}
/**
* Modifies this matrix to equal the rotation required to point the z-axis at 'direction' and the y-axis to 'up'.
*
* @param direction
* where to 'look' at
* @param up
* a vector indicating the local up direction.
* @return this matrix for chaining
*/
public Matrix3 lookAt(final ReadOnlyVector3 direction, final ReadOnlyVector3 up) {
final Vector3 xAxis = Vector3.fetchTempInstance();
final Vector3 yAxis = Vector3.fetchTempInstance();
final Vector3 zAxis = Vector3.fetchTempInstance();
direction.normalize(zAxis);
up.normalize(xAxis).crossLocal(zAxis).normalizeLocal();
zAxis.cross(xAxis, yAxis);
fromAxes(xAxis, yAxis, zAxis);
Vector3.releaseTempInstance(xAxis);
Vector3.releaseTempInstance(yAxis);
Vector3.releaseTempInstance(zAxis);
return this;
}
/**
* Check a matrix... if it is null or its doubles are NaN or infinite, return false. Else return true.
*
* @param matrix
* the vector to check
* @return true or false as stated above.
*/
public static boolean isValid(final ReadOnlyMatrix3 matrix) {
if (matrix == null) {
return false;
}
if (Double.isNaN(matrix.getM00()) || Double.isInfinite(matrix.getM00())) {
return false;
} else if (Double.isNaN(matrix.getM01()) || Double.isInfinite(matrix.getM01())) {
return false;
} else if (Double.isNaN(matrix.getM02()) || Double.isInfinite(matrix.getM02())) {
return false;
} else if (Double.isNaN(matrix.getM10()) || Double.isInfinite(matrix.getM10())) {
return false;
} else if (Double.isNaN(matrix.getM11()) || Double.isInfinite(matrix.getM11())) {
return false;
} else if (Double.isNaN(matrix.getM12()) || Double.isInfinite(matrix.getM12())) {
return false;
} else if (Double.isNaN(matrix.getM20()) || Double.isInfinite(matrix.getM20())) {
return false;
} else if (Double.isNaN(matrix.getM21()) || Double.isInfinite(matrix.getM21())) {
return false;
} else if (Double.isNaN(matrix.getM22()) || Double.isInfinite(matrix.getM22())) {
return false;
}
return true;
}
/**
* @return true if this Matrix is orthonormal - its rows are orthogonal, unit vectors.
*/
@Override
public boolean isOrthonormal() {
if (Math.abs(_m00 * _m00 + _m01 * _m01 + _m02 * _m02 - 1.0) > MathUtils.ZERO_TOLERANCE) {
return false;
} else if (Math.abs(_m00 * _m10 + _m01 * _m11 + _m02 * _m12 - 0.0) > MathUtils.ZERO_TOLERANCE) {
return false;
} else if (Math.abs(_m00 * _m20 + _m01 * _m21 + _m02 * _m22 - 0.0) > MathUtils.ZERO_TOLERANCE) {
return false;
} else if (Math.abs(_m10 * _m00 + _m11 * _m01 + _m12 * _m02 - 0.0) > MathUtils.ZERO_TOLERANCE) {
return false;
} else if (Math.abs(_m10 * _m10 + _m11 * _m11 + _m12 * _m12 - 1.0) > MathUtils.ZERO_TOLERANCE) {
return false;
} else if (Math.abs(_m10 * _m20 + _m11 * _m21 + _m12 * _m22 - 0.0) > MathUtils.ZERO_TOLERANCE) {
return false;
} else if (Math.abs(_m20 * _m00 + _m21 * _m01 + _m22 * _m02 - 0.0) > MathUtils.ZERO_TOLERANCE) {
return false;
} else if (Math.abs(_m20 * _m10 + _m21 * _m11 + _m22 * _m12 - 0.0) > MathUtils.ZERO_TOLERANCE) {
return false;
} else if (Math.abs(_m20 * _m20 + _m21 * _m21 + _m22 * _m22 - 1.0) > MathUtils.ZERO_TOLERANCE) {
return false;
}
return true;
}
/**
* @return the string representation of this matrix.
*/
@Override
public String toString() {
final StringBuffer result = new StringBuffer("com.ardor3d.math.Matrix3\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");
result.append(']');
return result.toString();
}
/**
* @return returns a unique code for this matrix object based on its values. If two matrices are numerically equal,
* they will return the same hash code value.
*/
@Override
public int hashCode() {
int result = 17;
long val = Double.doubleToLongBits(_m00);
result += 31 * result + (int) (val ^ val >>> 32);
val = Double.doubleToLongBits(_m01);
result += 31 * result + (int) (val ^ val >>> 32);
val = Double.doubleToLongBits(_m02);
result += 31 * result + (int) (val ^ val >>> 32);
val = Double.doubleToLongBits(_m10);
result += 31 * result + (int) (val ^ val >>> 32);
val = Double.doubleToLongBits(_m11);
result += 31 * result + (int) (val ^ val >>> 32);
val = Double.doubleToLongBits(_m12);
result += 31 * result + (int) (val ^ val >>> 32);
val = Double.doubleToLongBits(_m20);
result += 31 * result + (int) (val ^ val >>> 32);
val = Double.doubleToLongBits(_m21);
result += 31 * result + (int) (val ^ val >>> 32);
val = Double.doubleToLongBits(_m22);
result += 31 * result + (int) (val ^ val >>> 32);
return result;
}
/**
* @param o
* the object to compare for equality
* @return true if this matrix and the provided matrix have the double values that are within the
* MathUtils.ZERO_TOLERANCE.
*/
@Override
public boolean equals(final Object o) {
if (this == o) {
return true;
}
if (!(o instanceof ReadOnlyMatrix3)) {
return false;
}
final ReadOnlyMatrix3 comp = (ReadOnlyMatrix3) o;
if (Math.abs(getM00() - comp.getM00()) > Matrix3.ALLOWED_DEVIANCE) {
return false;
} else if (Math.abs(getM01() - comp.getM01()) > Matrix3.ALLOWED_DEVIANCE) {
return false;
} else if (Math.abs(getM02() - comp.getM02()) > Matrix3.ALLOWED_DEVIANCE) {
return false;
} else if (Math.abs(getM10() - comp.getM10()) > Matrix3.ALLOWED_DEVIANCE) {
return false;
} else if (Math.abs(getM11() - comp.getM11()) > Matrix3.ALLOWED_DEVIANCE) {
return false;
} else if (Math.abs(getM12() - comp.getM12()) > Matrix3.ALLOWED_DEVIANCE) {
return false;
} else if (Math.abs(getM20() - comp.getM20()) > Matrix3.ALLOWED_DEVIANCE) {
return false;
} else if (Math.abs(getM21() - comp.getM21()) > Matrix3.ALLOWED_DEVIANCE) {
return false;
} else if (Math.abs(getM22() - comp.getM22()) > Matrix3.ALLOWED_DEVIANCE) {
return false;
}
return true;
}
/**
* @param o
* the object to compare for equality
* @return true if this matrix and the provided matrix have the exact same double values.
*/
public boolean strictEquals(final Object o) {
if (this == o) {
return true;
}
if (!(o instanceof ReadOnlyMatrix3)) {
return false;
}
final ReadOnlyMatrix3 comp = (ReadOnlyMatrix3) o;
if (getM00() != comp.getM00()) {
return false;
} else if (getM01() != comp.getM01()) {
return false;
} else if (getM02() != comp.getM02()) {
return false;
} else if (getM10() != comp.getM10()) {
return false;
} else if (getM11() != comp.getM11()) {
return false;
} else if (getM12() != comp.getM12()) {
return false;
} else if (getM20() != comp.getM20()) {
return false;
} else if (getM21() != comp.getM21()) {
return false;
} else if (getM22() != comp.getM22()) {
return false;
}
return true;
}
// /////////////////
// Method for Cloneable
// /////////////////
@Override
public Matrix3 clone() {
return new Matrix3(this);
}
// /////////////////
// Methods for Savable
// /////////////////
@Override
public Class getClassTag() {
return this.getClass();
}
@Override
public void write(final OutputCapsule capsule) throws IOException {
capsule.write(_m00, "m00", 1.0);
capsule.write(_m01, "m01", 0.0);
capsule.write(_m02, "m02", 0.0);
capsule.write(_m10, "m10", 0.0);
capsule.write(_m11, "m11", 1.0);
capsule.write(_m12, "m12", 0.0);
capsule.write(_m20, "m20", 0.0);
capsule.write(_m21, "m21", 0.0);
capsule.write(_m22, "m22", 1.0);
}
@Override
public void read(final InputCapsule capsule) throws IOException {
_m00 = capsule.readDouble("m00", 1.0);
_m01 = capsule.readDouble("m01", 0.0);
_m02 = capsule.readDouble("m02", 0.0);
_m10 = capsule.readDouble("m10", 0.0);
_m11 = capsule.readDouble("m11", 1.0);
_m12 = capsule.readDouble("m12", 0.0);
_m20 = capsule.readDouble("m20", 0.0);
_m21 = capsule.readDouble("m21", 0.0);
_m22 = capsule.readDouble("m22", 1.0);
}
// /////////////////
// Methods for Externalizable
// /////////////////
/**
* Used with serialization. Not to be called manually.
*
* @param in
* ObjectInput
* @throws IOException
* @throws ClassNotFoundException
*/
@Override
public void readExternal(final ObjectInput in) throws IOException, ClassNotFoundException {
_m00 = in.readDouble();
_m01 = in.readDouble();
_m02 = in.readDouble();
_m10 = in.readDouble();
_m11 = in.readDouble();
_m12 = in.readDouble();
_m20 = in.readDouble();
_m21 = in.readDouble();
_m22 = in.readDouble();
}
/**
* Used with serialization. Not to be called manually.
*
* @param out
* ObjectOutput
* @throws IOException
*/
@Override
public void writeExternal(final ObjectOutput out) throws IOException {
out.writeDouble(_m00);
out.writeDouble(_m01);
out.writeDouble(_m02);
out.writeDouble(_m10);
out.writeDouble(_m11);
out.writeDouble(_m12);
out.writeDouble(_m20);
out.writeDouble(_m21);
out.writeDouble(_m22);
}
// /////////////////
// Methods for creating temp variables (pooling)
// /////////////////
/**
* @return An instance of Matrix3 that is intended for temporary use in calculations and so forth. Multiple calls to
* the method should return instances of this class that are not currently in use.
*/
public final static Matrix3 fetchTempInstance() {
if (MathConstants.useMathPools) {
return Matrix3.MAT_POOL.fetch();
} else {
return new Matrix3();
}
}
/**
* Releases a Matrix3 back to be used by a future call to fetchTempInstance. TAKE CARE: this Matrix3 object should
* no longer have other classes referencing it or "Bad Things" will happen.
*
* @param mat
* the Matrix3 to release.
*/
public final static void releaseTempInstance(final Matrix3 mat) {
if (MathConstants.useMathPools) {
Matrix3.MAT_POOL.release(mat);
}
}
}
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