org.joml.Matrix3fc Maven / Gradle / Ivy
/*
* The MIT License
*
* Copyright (c) 2016-2019 JOML
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
package org.joml;
import java.nio.ByteBuffer;
import java.nio.FloatBuffer;
import java.util.*;
/**
* Interface to a read-only view of a 3x3 matrix of single-precision floats.
*
* @author Kai Burjack
*/
public interface Matrix3fc {
/**
* Return the value of the matrix element at column 0 and row 0.
*
* @return the value of the matrix element
*/
float m00();
/**
* Return the value of the matrix element at column 0 and row 1.
*
* @return the value of the matrix element
*/
float m01();
/**
* Return the value of the matrix element at column 0 and row 2.
*
* @return the value of the matrix element
*/
float m02();
/**
* Return the value of the matrix element at column 1 and row 0.
*
* @return the value of the matrix element
*/
float m10();
/**
* Return the value of the matrix element at column 1 and row 1.
*
* @return the value of the matrix element
*/
float m11();
/**
* Return the value of the matrix element at column 1 and row 2.
*
* @return the value of the matrix element
*/
float m12();
/**
* Return the value of the matrix element at column 2 and row 0.
*
* @return the value of the matrix element
*/
float m20();
/**
* Return the value of the matrix element at column 2 and row 1.
*
* @return the value of the matrix element
*/
float m21();
/**
* Return the value of the matrix element at column 2 and row 2.
*
* @return the value of the matrix element
*/
float m22();
/**
* Multiply this matrix by the supplied right matrix and store the result in dest.
*
* If M is this matrix and R the right matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* transformation of the right matrix will be applied first!
*
* @param right
* the right operand of the matrix multiplication
* @param dest
* will hold the result
* @return dest
*/
Matrix3f mul(Matrix3fc right, Matrix3f dest);
/**
* Pre-multiply this matrix by the supplied left matrix and store the result in dest.
*
* If M is this matrix and L the left matrix,
* then the new matrix will be L * M. So when transforming a
* vector v with the new matrix by using L * M * v, the
* transformation of this matrix will be applied first!
*
* @param left
* the left operand of the matrix multiplication
* @param dest
* the destination matrix, which will hold the result
* @return dest
*/
Matrix3f mulLocal(Matrix3fc left, Matrix3f dest);
/**
* Return the determinant of this matrix.
*
* @return the determinant
*/
float determinant();
/**
* Invert the this matrix and store the result in dest.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix3f invert(Matrix3f dest);
/**
* Transpose this matrix and store the result in dest.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix3f transpose(Matrix3f dest);
/**
* Get the current values of this matrix and store them into
* dest.
*
* @param dest
* the destination matrix
* @return the passed in destination
*/
Matrix3f get(Matrix3f dest);
/**
* Get the current values of this matrix and store them as
* the rotational component of dest. All other values of dest will
* be set to identity.
*
* @see Matrix4f#set(Matrix3fc)
*
* @param dest
* the destination matrix
* @return the passed in destination
*/
Matrix4f get(Matrix4f dest);
/**
* Get the current values of this matrix and store the represented rotation
* into the given {@link AxisAngle4f}.
*
* @see AxisAngle4f#set(Matrix3fc)
*
* @param dest
* the destination {@link AxisAngle4f}
* @return the passed in destination
*/
AxisAngle4f getRotation(AxisAngle4f dest);
/**
* Get the current values of this matrix and store the represented rotation
* into the given {@link Quaternionf}.
*
* This method assumes that the three column vectors of this matrix are not normalized and
* thus allows to ignore any additional scaling factor that is applied to the matrix.
*
* @see Quaternionf#setFromUnnormalized(Matrix3fc)
*
* @param dest
* the destination {@link Quaternionf}
* @return the passed in destination
*/
Quaternionf getUnnormalizedRotation(Quaternionf dest);
/**
* Get the current values of this matrix and store the represented rotation
* into the given {@link Quaternionf}.
*
* This method assumes that the three column vectors of this matrix are normalized.
*
* @see Quaternionf#setFromNormalized(Matrix3fc)
*
* @param dest
* the destination {@link Quaternionf}
* @return the passed in destination
*/
Quaternionf getNormalizedRotation(Quaternionf dest);
/**
* Get the current values of this matrix and store the represented rotation
* into the given {@link Quaterniond}.
*
* This method assumes that the three column vectors of this matrix are not normalized and
* thus allows to ignore any additional scaling factor that is applied to the matrix.
*
* @see Quaterniond#setFromUnnormalized(Matrix3fc)
*
* @param dest
* the destination {@link Quaterniond}
* @return the passed in destination
*/
Quaterniond getUnnormalizedRotation(Quaterniond dest);
/**
* Get the current values of this matrix and store the represented rotation
* into the given {@link Quaterniond}.
*
* This method assumes that the three column vectors of this matrix are normalized.
*
* @see Quaterniond#setFromNormalized(Matrix3fc)
*
* @param dest
* the destination {@link Quaterniond}
* @return the passed in destination
*/
Quaterniond getNormalizedRotation(Quaterniond dest);
/**
* Store this matrix in column-major order into the supplied {@link FloatBuffer} at the current
* buffer {@link FloatBuffer#position() position}.
*
* This method will not increment the position of the given FloatBuffer.
*
* In order to specify the offset into the FloatBuffer at which
* the matrix is stored, use {@link #get(int, FloatBuffer)}, taking
* the absolute position as parameter.
*
* @see #get(int, FloatBuffer)
*
* @param buffer
* will receive the values of this matrix in column-major order at its current position
* @return the passed in buffer
*/
FloatBuffer get(FloatBuffer buffer);
/**
* Store this matrix in column-major order into the supplied {@link FloatBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given FloatBuffer.
*
* @param index
* the absolute position into the FloatBuffer
* @param buffer
* will receive the values of this matrix in column-major order
* @return the passed in buffer
*/
FloatBuffer get(int index, FloatBuffer buffer);
/**
* Store this matrix in column-major order into the supplied {@link ByteBuffer} at the current
* buffer {@link ByteBuffer#position() position}.
*
* This method will not increment the position of the given ByteBuffer.
*
* In order to specify the offset into the ByteBuffer at which
* the matrix is stored, use {@link #get(int, ByteBuffer)}, taking
* the absolute position as parameter.
*
* @see #get(int, ByteBuffer)
*
* @param buffer
* will receive the values of this matrix in column-major order at its current position
* @return the passed in buffer
*/
ByteBuffer get(ByteBuffer buffer);
/**
* Store this matrix in column-major order into the supplied {@link ByteBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given ByteBuffer.
*
* @param index
* the absolute position into the ByteBuffer
* @param buffer
* will receive the values of this matrix in column-major order
* @return the passed in buffer
*/
ByteBuffer get(int index, ByteBuffer buffer);
/**
* Store the transpose of this matrix in column-major order into the supplied {@link FloatBuffer} at the current
* buffer {@link FloatBuffer#position() position}.
*
* This method will not increment the position of the given FloatBuffer.
*
* In order to specify the offset into the FloatBuffer at which
* the matrix is stored, use {@link #getTransposed(int, FloatBuffer)}, taking
* the absolute position as parameter.
*
* @see #getTransposed(int, FloatBuffer)
*
* @param buffer
* will receive the values of this matrix in column-major order at its current position
* @return the passed in buffer
*/
FloatBuffer getTransposed(FloatBuffer buffer);
/**
* Store the transpose of this matrix in column-major order into the supplied {@link FloatBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given FloatBuffer.
*
* @param index
* the absolute position into the FloatBuffer
* @param buffer
* will receive the values of this matrix in column-major order
* @return the passed in buffer
*/
FloatBuffer getTransposed(int index, FloatBuffer buffer);
/**
* Store the transpose of this matrix in column-major order into the supplied {@link ByteBuffer} at the current
* buffer {@link ByteBuffer#position() position}.
*
* This method will not increment the position of the given ByteBuffer.
*
* In order to specify the offset into the ByteBuffer at which
* the matrix is stored, use {@link #getTransposed(int, ByteBuffer)}, taking
* the absolute position as parameter.
*
* @see #getTransposed(int, ByteBuffer)
*
* @param buffer
* will receive the values of this matrix in column-major order at its current position
* @return the passed in buffer
*/
ByteBuffer getTransposed(ByteBuffer buffer);
/**
* Store the transpose of this matrix in column-major order into the supplied {@link ByteBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given ByteBuffer.
*
* @param index
* the absolute position into the ByteBuffer
* @param buffer
* will receive the values of this matrix in column-major order
* @return the passed in buffer
*/
ByteBuffer getTransposed(int index, ByteBuffer buffer);
/**
* Store this matrix into the supplied float array in column-major order at the given offset.
*
* @param arr
* the array to write the matrix values into
* @param offset
* the offset into the array
* @return the passed in array
*/
float[] get(float[] arr, int offset);
/**
* Store this matrix into the supplied float array in column-major order.
*
* In order to specify an explicit offset into the array, use the method {@link #get(float[], int)}.
*
* @see #get(float[], int)
*
* @param arr
* the array to write the matrix values into
* @return the passed in array
*/
float[] get(float[] arr);
/**
* Apply scaling to this matrix by scaling the base axes by the given xyz.x,
* xyz.y and xyz.z factors, respectively and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v
* , the scaling will be applied first!
*
* @param xyz
* the factors of the x, y and z component, respectively
* @param dest
* will hold the result
* @return dest
*/
Matrix3f scale(Vector3fc xyz, Matrix3f dest);
/**
* Apply scaling to this matrix by scaling the base axes by the given x,
* y and z factors and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v
* , the scaling will be applied first!
*
* @param x
* the factor of the x component
* @param y
* the factor of the y component
* @param z
* the factor of the z component
* @param dest
* will hold the result
* @return dest
*/
Matrix3f scale(float x, float y, float z, Matrix3f dest);
/**
* Apply scaling to this matrix by uniformly scaling all base axes by the given xyz factor
* and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v
* , the scaling will be applied first!
*
* @see #scale(float, float, float, Matrix3f)
*
* @param xyz
* the factor for all components
* @param dest
* will hold the result
* @return dest
*/
Matrix3f scale(float xyz, Matrix3f dest);
/**
* Pre-multiply scaling to this matrix by scaling the base axes by the given x,
* y and z factors and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be S * M. So when transforming a
* vector v with the new matrix by using S * M * v
* , the scaling will be applied last!
*
* @param x
* the factor of the x component
* @param y
* the factor of the y component
* @param z
* the factor of the z component
* @param dest
* will hold the result
* @return dest
*/
Matrix3f scaleLocal(float x, float y, float z, Matrix3f dest);
/**
* Transform the given vector by this matrix.
*
* @param v
* the vector to transform
* @return v
*/
Vector3f transform(Vector3f v);
/**
* Transform the given vector by this matrix and store the result in dest.
*
* @param v
* the vector to transform
* @param dest
* will hold the result
* @return dest
*/
Vector3f transform(Vector3fc v, Vector3f dest);
/**
* Transform the vector (x, y, z) by this matrix and store the result in dest.
*
* @param x
* the x coordinate of the vector to transform
* @param y
* the y coordinate of the vector to transform
* @param z
* the z coordinate of the vector to transform
* @param dest
* will hold the result
* @return dest
*/
Vector3f transform(float x, float y, float z, Vector3f dest);
/**
* Transform the given vector by the transpose of this matrix.
*
* @param v
* the vector to transform
* @return v
*/
Vector3f transformTranspose(Vector3f v);
/**
* Transform the given vector by the transpose of this matrix and store the result in dest.
*
* @param v
* the vector to transform
* @param dest
* will hold the result
* @return dest
*/
Vector3f transformTranspose(Vector3fc v, Vector3f dest);
/**
* Transform the vector (x, y, z) by the transpose of this matrix and store the result in dest.
*
* @param x
* the x coordinate of the vector to transform
* @param y
* the y coordinate of the vector to transform
* @param z
* the z coordinate of the vector to transform
* @param dest
* will hold the result
* @return dest
*/
Vector3f transformTranspose(float x, float y, float z, Vector3f dest);
/**
* Apply rotation about the X axis to this matrix by rotating the given amount of radians
* and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v
* , the rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateX(float ang, Matrix3f dest);
/**
* Apply rotation about the Y axis to this matrix by rotating the given amount of radians
* and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v
* , the rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateY(float ang, Matrix3f dest);
/**
* Apply rotation about the Z axis to this matrix by rotating the given amount of radians
* and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v
* , the rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateZ(float ang, Matrix3f dest);
/**
* Apply rotation of angleX radians about the X axis, followed by a rotation of angleY radians about the Y axis and
* followed by a rotation of angleZ radians about the Z axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* rotation will be applied first!
*
* This method is equivalent to calling: rotateX(angleX, dest).rotateY(angleY).rotateZ(angleZ)
*
* @param angleX
* the angle to rotate about X
* @param angleY
* the angle to rotate about Y
* @param angleZ
* the angle to rotate about Z
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateXYZ(float angleX, float angleY, float angleZ, Matrix3f dest);
/**
* Apply rotation of angleZ radians about the Z axis, followed by a rotation of angleY radians about the Y axis and
* followed by a rotation of angleX radians about the X axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* rotation will be applied first!
*
* This method is equivalent to calling: rotateZ(angleZ, dest).rotateY(angleY).rotateX(angleX)
*
* @param angleZ
* the angle to rotate about Z
* @param angleY
* the angle to rotate about Y
* @param angleX
* the angle to rotate about X
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateZYX(float angleZ, float angleY, float angleX, Matrix3f dest);
/**
* Apply rotation of angleY radians about the Y axis, followed by a rotation of angleX radians about the X axis and
* followed by a rotation of angleZ radians about the Z axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* rotation will be applied first!
*
* This method is equivalent to calling: rotateY(angleY, dest).rotateX(angleX).rotateZ(angleZ)
*
* @param angleY
* the angle to rotate about Y
* @param angleX
* the angle to rotate about X
* @param angleZ
* the angle to rotate about Z
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateYXZ(float angleY, float angleX, float angleZ, Matrix3f dest);
/**
* Apply rotation to this matrix by rotating the given amount of radians
* about the given axis specified as x, y and z components, and store the result in dest.
*
* The axis described by the three components needs to be a unit vector.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v
* , the rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians
* @param x
* the x component of the axis
* @param y
* the y component of the axis
* @param z
* the z component of the axis
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotate(float ang, float x, float y, float z, Matrix3f dest);
/**
* Pre-multiply a rotation to this matrix by rotating the given amount of radians
* about the specified (x, y, z) axis and store the result in dest.
*
* The axis described by the three components needs to be a unit vector.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be R * M. So when transforming a
* vector v with the new matrix by using R * M * v, the
* rotation will be applied last!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians
* @param x
* the x component of the axis
* @param y
* the y component of the axis
* @param z
* the z component of the axis
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateLocal(float ang, float x, float y, float z, Matrix3f dest);
/**
* Pre-multiply a rotation around the X axis to this matrix by rotating the given amount of radians
* about the X axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be R * M. So when transforming a
* vector v with the new matrix by using R * M * v, the
* rotation will be applied last!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians to rotate about the X axis
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateLocalX(float ang, Matrix3f dest);
/**
* Pre-multiply a rotation around the Y axis to this matrix by rotating the given amount of radians
* about the Y axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be R * M. So when transforming a
* vector v with the new matrix by using R * M * v, the
* rotation will be applied last!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians to rotate about the Y axis
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateLocalY(float ang, Matrix3f dest);
/**
* Pre-multiply a rotation around the Z axis to this matrix by rotating the given amount of radians
* about the Z axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be R * M. So when transforming a
* vector v with the new matrix by using R * M * v, the
* rotation will be applied last!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians to rotate about the Z axis
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateLocalZ(float ang, Matrix3f dest);
/**
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix and store
* the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and Q the rotation matrix obtained from the given quaternion,
* then the new matrix will be M * Q. So when transforming a
* vector v with the new matrix by using M * Q * v,
* the quaternion rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param quat
* the {@link Quaternionfc}
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotate(Quaternionfc quat, Matrix3f dest);
/**
* Pre-multiply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix and store
* the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and Q the rotation matrix obtained from the given quaternion,
* then the new matrix will be Q * M. So when transforming a
* vector v with the new matrix by using Q * M * v,
* the quaternion rotation will be applied last!
*
* Reference: http://en.wikipedia.org
*
* @param quat
* the {@link Quaternionfc}
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateLocal(Quaternionfc quat, Matrix3f dest);
/**
* Apply a rotation transformation, rotating about the given {@link AxisAngle4f} and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and A the rotation matrix obtained from the given {@link AxisAngle4f},
* then the new matrix will be M * A. So when transforming a
* vector v with the new matrix by using M * A * v,
* the {@link AxisAngle4f} rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @see #rotate(float, float, float, float, Matrix3f)
*
* @param axisAngle
* the {@link AxisAngle4f} (needs to be {@link AxisAngle4f#normalize() normalized})
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotate(AxisAngle4f axisAngle, Matrix3f dest);
/**
* Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and A the rotation matrix obtained from the given angle and axis,
* then the new matrix will be M * A. So when transforming a
* vector v with the new matrix by using M * A * v,
* the axis-angle rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @see #rotate(float, float, float, float, Matrix3f)
*
* @param angle
* the angle in radians
* @param axis
* the rotation axis (needs to be {@link Vector3f#normalize() normalized})
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotate(float angle, Vector3fc axis, Matrix3f dest);
/**
* Apply a rotation transformation to this matrix to make -z point along dir
* and store the result in dest.
*
* If M is this matrix and L the lookalong rotation matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v, the
* lookalong rotation transformation will be applied first!
*
* @see #lookAlong(float, float, float, float, float, float, Matrix3f)
*
* @param dir
* the direction in space to look along
* @param up
* the direction of 'up'
* @param dest
* will hold the result
* @return dest
*/
Matrix3f lookAlong(Vector3fc dir, Vector3fc up, Matrix3f dest);
/**
* Apply a rotation transformation to this matrix to make -z point along dir
* and store the result in dest.
*
* If M is this matrix and L the lookalong rotation matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v, the
* lookalong rotation transformation will be applied first!
*
* @param dirX
* the x-coordinate of the direction to look along
* @param dirY
* the y-coordinate of the direction to look along
* @param dirZ
* the z-coordinate of the direction to look along
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @param dest
* will hold the result
* @return dest
*/
Matrix3f lookAlong(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Matrix3f dest);
/**
* Get the row at the given row index, starting with 0.
*
* @param row
* the row index in [0..2]
* @param dest
* will hold the row components
* @return the passed in destination
* @throws IndexOutOfBoundsException if row is not in [0..2]
*/
Vector3f getRow(int row, Vector3f dest) throws IndexOutOfBoundsException;
/**
* Get the column at the given column index, starting with 0.
*
* @param column
* the column index in [0..2]
* @param dest
* will hold the column components
* @return the passed in destination
* @throws IndexOutOfBoundsException if column is not in [0..2]
*/
Vector3f getColumn(int column, Vector3f dest) throws IndexOutOfBoundsException;
/**
* Get the matrix element value at the given column and row.
*
* @param column
* the colum index in [0..2]
* @param row
* the row index in [0..2]
* @return the element value
*/
float get(int column, int row);
/**
* Compute a normal matrix from this matrix and store it into dest.
*
* The normal matrix of m is the transpose of the inverse of m.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix3f normal(Matrix3f dest);
/**
* Compute the cofactor matrix of this and store it into dest.
*
* The cofactor matrix can be used instead of {@link #normal(Matrix3f)} to transform normals
* when the orientation of the normals with respect to the surface should be preserved.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix3f cofactor(Matrix3f dest);
/**
* Get the scaling factors of this matrix for the three base axes.
*
* @param dest
* will hold the scaling factors for x, y and z
* @return dest
*/
Vector3f getScale(Vector3f dest);
/**
* Obtain the direction of +Z before the transformation represented by this matrix is applied.
*
* This method is equivalent to the following code:
*
* Matrix3f inv = new Matrix3f(this).invert();
* inv.transform(dir.set(0, 0, 1)).normalize();
*
* If this is already an orthogonal matrix, then consider using {@link #normalizedPositiveZ(Vector3f)} instead.
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +Z
* @return dir
*/
Vector3f positiveZ(Vector3f dir);
/**
* Obtain the direction of +Z before the transformation represented by this orthogonal matrix is applied.
* This method only produces correct results if this is an orthogonal matrix.
*
* This method is equivalent to the following code:
*
* Matrix3f inv = new Matrix3f(this).transpose();
* inv.transform(dir.set(0, 0, 1));
*
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +Z
* @return dir
*/
Vector3f normalizedPositiveZ(Vector3f dir);
/**
* Obtain the direction of +X before the transformation represented by this matrix is applied.
*
* This method is equivalent to the following code:
*
* Matrix3f inv = new Matrix3f(this).invert();
* inv.transform(dir.set(1, 0, 0)).normalize();
*
* If this is already an orthogonal matrix, then consider using {@link #normalizedPositiveX(Vector3f)} instead.
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +X
* @return dir
*/
Vector3f positiveX(Vector3f dir);
/**
* Obtain the direction of +X before the transformation represented by this orthogonal matrix is applied.
* This method only produces correct results if this is an orthogonal matrix.
*
* This method is equivalent to the following code:
*
* Matrix3f inv = new Matrix3f(this).transpose();
* inv.transform(dir.set(1, 0, 0));
*
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +X
* @return dir
*/
Vector3f normalizedPositiveX(Vector3f dir);
/**
* Obtain the direction of +Y before the transformation represented by this matrix is applied.
*
* This method is equivalent to the following code:
*
* Matrix3f inv = new Matrix3f(this).invert();
* inv.transform(dir.set(0, 1, 0)).normalize();
*
* If this is already an orthogonal matrix, then consider using {@link #normalizedPositiveY(Vector3f)} instead.
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +Y
* @return dir
*/
Vector3f positiveY(Vector3f dir);
/**
* Obtain the direction of +Y before the transformation represented by this orthogonal matrix is applied.
* This method only produces correct results if this is an orthogonal matrix.
*
* This method is equivalent to the following code:
*
* Matrix3f inv = new Matrix3f(this).transpose();
* inv.transform(dir.set(0, 1, 0));
*
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +Y
* @return dir
*/
Vector3f normalizedPositiveY(Vector3f dir);
/**
* Component-wise add this and other and store the result in dest.
*
* @param other
* the other addend
* @param dest
* will hold the result
* @return dest
*/
Matrix3f add(Matrix3fc other, Matrix3f dest);
/**
* Component-wise subtract subtrahend from this and store the result in dest.
*
* @param subtrahend
* the subtrahend
* @param dest
* will hold the result
* @return dest
*/
Matrix3f sub(Matrix3fc subtrahend, Matrix3f dest);
/**
* Component-wise multiply this by other and store the result in dest.
*
* @param other
* the other matrix
* @param dest
* will hold the result
* @return dest
*/
Matrix3f mulComponentWise(Matrix3fc other, Matrix3f dest);
/**
* Linearly interpolate this and other using the given interpolation factor t
* and store the result in dest.
*
* If t is 0.0 then the result is this. If the interpolation factor is 1.0
* then the result is other.
*
* @param other
* the other matrix
* @param t
* the interpolation factor between 0.0 and 1.0
* @param dest
* will hold the result
* @return dest
*/
Matrix3f lerp(Matrix3fc other, float t, Matrix3f dest);
/**
* Apply a model transformation to this matrix for a right-handed coordinate system,
* that aligns the local +Z axis with direction
* and store the result in dest.
*
* If M is this matrix and L the lookat matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v,
* the lookat transformation will be applied first!
*
* This method is equivalent to calling: mul(new Matrix3f().lookAlong(new Vector3f(dir).negate(), up).invert(), dest)
*
* @see #rotateTowards(float, float, float, float, float, float, Matrix3f)
*
* @param direction
* the direction to rotate towards
* @param up
* the model's up vector
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateTowards(Vector3fc direction, Vector3fc up, Matrix3f dest);
/**
* Apply a model transformation to this matrix for a right-handed coordinate system,
* that aligns the local +Z axis with dir
* and store the result in dest.
*
* If M is this matrix and L the lookat matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v,
* the lookat transformation will be applied first!
*
* This method is equivalent to calling: mul(new Matrix3f().lookAlong(-dirX, -dirY, -dirZ, upX, upY, upZ).invert(), dest)
*
* @see #rotateTowards(Vector3fc, Vector3fc, Matrix3f)
*
* @param dirX
* the x-coordinate of the direction to rotate towards
* @param dirY
* the y-coordinate of the direction to rotate towards
* @param dirZ
* the z-coordinate of the direction to rotate towards
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @param dest
* will hold the result
* @return dest
*/
Matrix3f rotateTowards(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Matrix3f dest);
/**
* Extract the Euler angles from the rotation represented by this matrix and store the extracted Euler angles in dest.
*
* This method assumes that this matrix only represents a rotation without scaling.
*
* Note that the returned Euler angles must be applied in the order Z * Y * X to obtain the identical matrix.
* This means that calling {@link Matrix3fc#rotateZYX(float, float, float, Matrix3f)} using the obtained Euler angles will yield
* the same rotation as the original matrix from which the Euler angles were obtained, so in the below code the matrix
* m2 should be identical to m (disregarding possible floating-point inaccuracies).
*
* Matrix3f m = ...; // <- matrix only representing rotation
* Matrix3f n = new Matrix3f();
* n.rotateZYX(m.getEulerAnglesZYX(new Vector3f()));
*
*
* Reference: http://nghiaho.com/
*
* @param dest
* will hold the extracted Euler angles
* @return dest
*/
Vector3f getEulerAnglesZYX(Vector3f dest);
/**
* Apply an oblique projection transformation to this matrix with the given values for a and
* b and store the result in dest.
*
* If M is this matrix and O the oblique transformation matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* oblique transformation will be applied first!
*
* The oblique transformation is defined as:
*
* x' = x + a*z
* y' = y + a*z
* z' = z
*
* or in matrix form:
*
* 1 0 a
* 0 1 b
* 0 0 1
*
*
* @param a
* the value for the z factor that applies to x
* @param b
* the value for the z factor that applies to y
* @param dest
* will hold the result
* @return dest
*/
Matrix3f obliqueZ(float a, float b, Matrix3f dest);
/**
* Compare the matrix elements of this matrix with the given matrix using the given delta
* and return whether all of them are equal within a maximum difference of delta.
*
* Please note that this method is not used by any data structure such as {@link ArrayList} {@link HashSet} or {@link HashMap}
* and their operations, such as {@link ArrayList#contains(Object)} or {@link HashSet#remove(Object)}, since those
* data structures only use the {@link Object#equals(Object)} and {@link Object#hashCode()} methods.
*
* @param m
* the other matrix
* @param delta
* the allowed maximum difference
* @return true whether all of the matrix elements are equal; false otherwise
*/
boolean equals(Matrix3fc m, float delta);
/**
* Apply a mirror/reflection transformation to this matrix that reflects through the given plane
* specified via the plane normal (nx, ny, nz), and store the result in dest.
*
* If M is this matrix and R the reflection matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* reflection will be applied first!
*
* @param nx
* the x-coordinate of the plane normal
* @param ny
* the y-coordinate of the plane normal
* @param nz
* the z-coordinate of the plane normal
* @param dest
* will hold the result
* @return a matrix holding the result
*/
Matrix3f reflect(float nx, float ny, float nz, Matrix3f dest);
/**
* Apply a mirror/reflection transformation to this matrix that reflects through a plane
* specified via the plane orientation, and store the result in dest.
*
* This method can be used to build a reflection transformation based on the orientation of a mirror object in the scene.
* It is assumed that the default mirror plane's normal is (0, 0, 1). So, if the given {@link Quaternionfc} is
* the identity (does not apply any additional rotation), the reflection plane will be z=0.
*
* If M is this matrix and R the reflection matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* reflection will be applied first!
*
* @param orientation
* the plane orientation
* @param dest
* will hold the result
* @return a matrix holding the result
*/
Matrix3f reflect(Quaternionfc orientation, Matrix3f dest);
/**
* Apply a mirror/reflection transformation to this matrix that reflects through the given plane
* specified via the plane normal, and store the result in dest.
*
* If M is this matrix and R the reflection matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* reflection will be applied first!
*
* @param normal
* the plane normal
* @param dest
* will hold the result
* @return this
*/
Matrix3f reflect(Vector3fc normal, Matrix3f dest);
}