edu.mines.jtk.sgl

Class Matrix44

java.lang.Object

edu.mines.jtk.sgl.Matrix44

public class Matrix44
extends java.lang.Object

A 4-by-4 matrix.

Field Summary

Fields

Modifier and Type	Field and Description
double[]	m The matrix elements stored contiguously in an array, as in OpenGL.

Constructor Summary

Constructors

Constructor and Description
Matrix44() Constructs an identity matrix.
Matrix44(double[] m) Constructs a matrix with specified elements.
Matrix44(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33) Constructs a matrix with specified elements.
Matrix44(Matrix44 m) Constructs a copy of the specified matrix.

Method Summary

Methods

Modifier and Type	Method and Description
static Matrix44	frustum(double left, double right, double bottom, double top, double znear, double zfar) Returns a new perspective-projection matrix.
static Matrix44	identity() Returns a new identity matrix.
Matrix44	inverse() Returns the inverse Minv of this matrix M.
Matrix44	inverseEquals() Replaces this matrix M with its inverse Minv.
static Matrix44	ortho(double left, double right, double bottom, double top, double znear, double zfar) Returns a new orthographic-projection matrix.
static Matrix44	perspective(double fovy, double aspect, double znear, double zfar) Returns a new perspective-projection matrix.
static Matrix44	rotate(double ra, double rx, double ry, double rz) Returns a new rotation matrix.
static Matrix44	rotate(double ra, Vector3 rv) Returns a new rotation matrix.
static Matrix44	rotateX(double ra) Returns a new rotation matrix.
static Matrix44	rotateY(double ra) Returns a new rotation matrix.
static Matrix44	rotateZ(double ra) Returns a new rotation matrix.
static Matrix44	scale(double sx, double sy, double sz) Returns a new scaling matrix.
void	set(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33) Sets all elements of this matrix.
Matrix44	setFrustum(double left, double right, double bottom, double top, double znear, double zfar) Sets this matrix to a perspective-projection matrix.
Matrix44	setIdentity() Sets this matrix to an identity matrix.
Matrix44	setOrtho(double left, double right, double bottom, double top, double znear, double zfar) Sets this matrix to a orthographic-projection matrix.
Matrix44	setPerspective(double fovy, double aspect, double znear, double zfar) Sets this matrix to a perspective-projection matrix.
Matrix44	setRotate(double ra, double rx, double ry, double rz) Sets this matrix to a rotation-only matrix.
Matrix44	setRotate(double ra, Vector3 rv) Sets this matrix to a rotation-only matrix.
Matrix44	setRotateX(double ra) Sets this matrix to a rotation-only matrix.
Matrix44	setRotateY(double ra) Sets this matrix to a rotation-only matrix.
Matrix44	setRotateZ(double ra) Sets this matrix to a rotation-only matrix.
Matrix44	setScale(double sx, double sy, double sz) Sets this matrix to a scaling-only matrix.
Matrix44	setTranslate(double tx, double ty, double tz) Sets this matrix to a translation-only matrix.
Matrix44	setTranslate(Vector3 tv) Sets this matrix to a translation-only matrix.
Matrix44	times(Matrix44 a) Returns the product MA of this matrix M and a matrix A.
Point3	times(Point3 p) Returns the product Mp of this matrix M and a point p.
Point4	times(Point4 p) Returns the product Mp of this matrix M and a point p.
Vector3	times(Vector3 v) Returns the product Mv of this matrix M and a vector v.
Matrix44	timesEquals(Matrix44 a) Replaces this matrix M with the matrix product MA.
Matrix44	timesTranspose(Matrix44 a) Returns the product MA' of this matrix M and the transpose of a matrix A.
Matrix44	timesTransposeEquals(Matrix44 a) Replaces this matrix M with the matrix product MA'.
java.lang.String	toString()
static Matrix44	translate(double tx, double ty, double tz) Returns a new translation matrix.
static Matrix44	translate(Vector3 tv) Returns a new translation matrix.
Matrix44	transpose() Returns the transpose M' of this matrix M.
Matrix44	transposeEquals() Replaces this matrix M with its transpose M'.
Matrix44	transposeTimes(Matrix44 a) Returns the product M'A of the transpose of this matrix M and a matrix A.
Point3	transposeTimes(Point3 p) Returns the product M'p of the transpose of this matrix M and a point p.
Point4	transposeTimes(Point4 p) Returns the product M'p of the transpose of this matrix M and a point p.
Vector3	transposeTimes(Vector3 v) Returns the product M'v of the transpose of this matrix M and a vector v.
Matrix44	transposeTimesEquals(Matrix44 a) Replaces this matrix M with the matrix product M'A.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

m

public double[] m

The matrix elements stored contiguously in an array, as in OpenGL. The matrix elements are:

 | m00  m01  m02  m03 |     | m[ 0]  m[ 4]  m[ 8]  m[12] |
 | m10  m11  m12  m13 |  =  | m[ 1]  m[ 5]  m[ 9]  m[13] |
 | m20  m21  m22  m23 |     | m[ 2]  m[ 6]  m[10]  m[14] |
 | m30  m31  m32  m03 |     | m[ 3]  m[ 7]  m[11]  m[15] |
 

Constructor Detail

Matrix44

public Matrix44()

Constructs an identity matrix.

Matrix44

public Matrix44(double m00,
        double m01,
        double m02,
        double m03,
        double m10,
        double m11,
        double m12,
        double m13,
        double m20,
        double m21,
        double m22,
        double m23,
        double m30,
        double m31,
        double m32,
        double m33)

Constructs a matrix with specified elements.

Parameters:

m00 - the element with (row,col) indices (0,0)

m01 - the element with (row,col) indices (0,1)

m02 - the element with (row,col) indices (0,2)

m03 - the element with (row,col) indices (0,3)

m10 - the element with (row,col) indices (1,0)

m11 - the element with (row,col) indices (1,1)

m12 - the element with (row,col) indices (1,2)

m13 - the element with (row,col) indices (1,3)

m20 - the element with (row,col) indices (2,0)

m21 - the element with (row,col) indices (2,1)

m22 - the element with (row,col) indices (2,2)

m23 - the element with (row,col) indices (2,3)

m30 - the element with (row,col) indices (3,0)

m31 - the element with (row,col) indices (3,1)

m32 - the element with (row,col) indices (3,2)

m33 - the element with (row,col) indices (3,3)

Matrix44

public Matrix44(double[] m)

Constructs a matrix with specified elements. The specified array of elements is referenced by (not copied into) the constructed matrix. Therefore, any changes to the matrix will be reflected in changes to the elements of the specified array.

Parameters:

m - the array[16] of matrix elements.

Matrix44

public Matrix44(Matrix44 m)

Constructs a copy of the specified matrix.

Parameters:

m - the matrix.

Method Detail

set

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

Sets all elements of this matrix.

Parameters:

m00 - the element with (row,col) indices (0,0)

m01 - the element with (row,col) indices (0,1)

m02 - the element with (row,col) indices (0,2)

m03 - the element with (row,col) indices (0,3)

m10 - the element with (row,col) indices (1,0)

m11 - the element with (row,col) indices (1,1)

m12 - the element with (row,col) indices (1,2)

m13 - the element with (row,col) indices (1,3)

m20 - the element with (row,col) indices (2,0)

m21 - the element with (row,col) indices (2,1)

m22 - the element with (row,col) indices (2,2)

m23 - the element with (row,col) indices (2,3)

m30 - the element with (row,col) indices (3,0)

m31 - the element with (row,col) indices (3,1)

m32 - the element with (row,col) indices (3,2)

m33 - the element with (row,col) indices (3,3)

inverse

public Matrix44 inverse()

Returns the inverse Minv of this matrix M.

Returns:

the inverse Minv.

inverseEquals

public Matrix44 inverseEquals()

Replaces this matrix M with its inverse Minv.

Returns:

this matrix, inverted.

transpose

public Matrix44 transpose()

Returns the transpose M' of this matrix M.

Returns:

the transpose M'.

transposeEquals

public Matrix44 transposeEquals()

Replaces this matrix M with its transpose M'.

Returns:

this matrix, transposed.

times

public Matrix44 times(Matrix44 a)

Returns the product MA of this matrix M and a matrix A.

Parameters:

a - the matrix A.

Returns:

the product MA.

timesEquals

public Matrix44 timesEquals(Matrix44 a)

Replaces this matrix M with the matrix product MA.

Parameters:

a - the matrix A.

Returns:

the product MA.

timesTranspose

public Matrix44 timesTranspose(Matrix44 a)

Returns the product MA' of this matrix M and the transpose of a matrix A.

Parameters:

a - the matrix A.

Returns:

the product MA'.

timesTransposeEquals

public Matrix44 timesTransposeEquals(Matrix44 a)

Replaces this matrix M with the matrix product MA'.

Parameters:

a - the matrix A.

Returns:

the product MA'.

transposeTimes

public Matrix44 transposeTimes(Matrix44 a)

Returns the product M'A of the transpose of this matrix M and a matrix A.

Parameters:

a - the matrix A.

Returns:

the product M'A.

transposeTimesEquals

public Matrix44 transposeTimesEquals(Matrix44 a)

Replaces this matrix M with the matrix product M'A.

Parameters:

a - the matrix A.

Returns:

the product M'A.

times

public Point3 times(Point3 p)

Returns the product Mp of this matrix M and a point p. The coordinate w of the specified point is assumed to equal 1.0; and the returned point is homogenized, that is, scaled such that its coordinate w equals 1.0.

Parameters:

p - the point p.

Returns:

the product Mp.

times

public Point4 times(Point4 p)

Returns the product Mp of this matrix M and a point p.

Parameters:

p - the point p.

Returns:

the product Mp.

transposeTimes

public Point3 transposeTimes(Point3 p)

Returns the product M'p of the transpose of this matrix M and a point p. The coordinate w of the specified point is assumed to equal 1.0; and the returned point is homogenized, that is, scaled such that its coordinate w equals 1.0.

Parameters:

p - the point p.

Returns:

the product M'p.

transposeTimes

public Point4 transposeTimes(Point4 p)

Returns the product M'p of the transpose of this matrix M and a point p.

Parameters:

p - the point p.

Returns:

the product M'p.

times

public Vector3 times(Vector3 v)

Returns the product Mv of this matrix M and a vector v. Uses only the upper-left 3-by-3 elements of this matrix.

Parameters:

v - the vector v.

Returns:

the product Mv.

transposeTimes

public Vector3 transposeTimes(Vector3 v)

Returns the product M'v of the transpose of this matrix M and a vector v. Uses only the upper-left 3-by-3 elements of this matrix.

Parameters:

v - the vector v.

Returns:

the product M'v.

identity

public static Matrix44 identity()

Returns a new identity matrix.

Returns:

an identity matrix.

translate

public static Matrix44 translate(double tx,
                 double ty,
                 double tz)

Returns a new translation matrix.

Parameters:

tx - the x component of the translation.

ty - the y component of the translation.

tz - the z component of the translation.

Returns:

the translation matrix.

translate

public static Matrix44 translate(Vector3 tv)

Returns a new translation matrix.

Parameters:

tv - the translation vector.

Returns:

the translation matrix.

scale

public static Matrix44 scale(double sx,
             double sy,
             double sz)

Returns a new scaling matrix.

Parameters:

sx - the x component of the scaling.

sy - the y component of the scaling.

sz - the z component of the scaling.

Returns:

the scaling matrix.

rotate

public static Matrix44 rotate(double ra,
              double rx,
              double ry,
              double rz)

Returns a new rotation matrix. The rotation is about a specified vector axis.

Parameters:

ra - the angle of rotation, in degrees.

rx - the x component of the vector axis of rotation

ry - the y component of the vector axis of rotation

rz - the z component of the vector axis of rotation

Returns:

the rotation matrix.

rotate

public static Matrix44 rotate(double ra,
              Vector3 rv)

Returns a new rotation matrix. The rotation is about a specified vector axis.

Parameters:

ra - the angle of rotation, in degrees.

rv - the vector axis of rotation.

Returns:

the rotation matrix.

rotateX

public static Matrix44 rotateX(double ra)

Returns a new rotation matrix. The rotation is about the x axis.

Parameters:

ra - the angle of rotation, in degrees.

Returns:

the rotation matrix.

rotateY

public static Matrix44 rotateY(double ra)

Returns a new rotation matrix. The rotation is about the y axis.

Parameters:

ra - the angle of rotation, in degrees.

Returns:

the rotation matrix.

rotateZ

public static Matrix44 rotateZ(double ra)

Returns a new rotation matrix. The rotation is about the z axis.

Parameters:

ra - the angle of rotation, in degrees.

Returns:

the rotation matrix.

ortho

public static Matrix44 ortho(double left,
             double right,
             double bottom,
             double top,
             double znear,
             double zfar)

Returns a new orthographic-projection matrix. Parameters correspond to those for the OpenGL standard function glOrtho.

Parameters:

left - the coordinate for the left clipping plane.

right - the coordinate for the right clipping plane.

bottom - the coordinate for the bottom clipping plane.

top - the coordinate for the top clipping plane.

znear - the distance to the near depth clipping plane

zfar - the distance to the far depth clipping plane

Returns:

the orthographic-projection matrix.

frustum

public static Matrix44 frustum(double left,
               double right,
               double bottom,
               double top,
               double znear,
               double zfar)

Returns a new perspective-projection matrix. Parameters correspond to those for the OpenGL standard function glFrustum.

Parameters:

left - the coordinate for the left clipping plane.

right - the coordinate for the right clipping plane.

bottom - the coordinate for the bottom clipping plane.

top - the coordinate for the top clipping plane.

znear - the distance to the near depth clipping plane

zfar - the distance to the far depth clipping plane

Returns:

the perspective-projection matrix.

perspective

public static Matrix44 perspective(double fovy,
                   double aspect,
                   double znear,
                   double zfar)

Returns a new perspective-projection matrix. Parameters correspond to those for the OpenGL standard function gluPerspective.

Parameters:

fovy - the field of view, in degrees, in the vertical direction.

aspect - the aspect ratio width/height.

znear - the distance to the near depth clipping plane

zfar - the distance to the far depth clipping plane

Returns:

this perspective-projection matrix.

setIdentity

public Matrix44 setIdentity()

Sets this matrix to an identity matrix.

Returns:

this identity matrix.

setTranslate

public Matrix44 setTranslate(double tx,
                    double ty,
                    double tz)

Sets this matrix to a translation-only matrix.

Parameters:

tx - the x component of the translation.

ty - the y component of the translation.

tz - the z component of the translation.

Returns:

this translation-only matrix.

setTranslate

public Matrix44 setTranslate(Vector3 tv)

Sets this matrix to a translation-only matrix.

Parameters:

tv - the translation vector.

Returns:

this translation-only matrix.

setScale

public Matrix44 setScale(double sx,
                double sy,
                double sz)

Sets this matrix to a scaling-only matrix.

Parameters:

sx - the x component of the scaling.

sy - the y component of the scaling.

sz - the z component of the scaling.

Returns:

this scaling-only matrix.

setRotate

public Matrix44 setRotate(double ra,
                 double rx,
                 double ry,
                 double rz)

Sets this matrix to a rotation-only matrix. The rotation is about a specified vector axis.

Parameters:

ra - the angle of rotation, in degrees.

rx - the x component of the vector axis of rotation

ry - the y component of the vector axis of rotation

rz - the z component of the vector axis of rotation

Returns:

this rotation-only matrix.

setRotate

public Matrix44 setRotate(double ra,
                 Vector3 rv)

Sets this matrix to a rotation-only matrix. The rotation is about a specified axis.

Parameters:

ra - the angle of rotation, in degrees.

rv - the vector axis of rotation.

Returns:

this rotation-only matrix.

setRotateX

public Matrix44 setRotateX(double ra)

Sets this matrix to a rotation-only matrix. The rotation is about the x axis.

Parameters:

ra - the angle of rotation, in degrees.

Returns:

this rotation-only matrix.

setRotateY

public Matrix44 setRotateY(double ra)

Sets this matrix to a rotation-only matrix. The rotation is about the y axis.

Parameters:

ra - the angle of rotation, in degrees.

Returns:

this rotation-only matrix.

setRotateZ

public Matrix44 setRotateZ(double ra)

Sets this matrix to a rotation-only matrix. The rotation is about the z axis.

Parameters:

ra - the angle of rotation, in degrees.

Returns:

this rotation-only matrix.

setOrtho

public Matrix44 setOrtho(double left,
                double right,
                double bottom,
                double top,
                double znear,
                double zfar)

Sets this matrix to a orthographic-projection matrix. Parameters correspond to those for the OpenGL standard function glOrtho.

Parameters:

left - the coordinate for the left clipping plane.

right - the coordinate for the right clipping plane.

bottom - the coordinate for the bottom clipping plane.

top - the coordinate for the top clipping plane.

znear - the distance to the near depth clipping plane

zfar - the distance to the far depth clipping plane

Returns:

this orthographic-projection matrix.

setFrustum

public Matrix44 setFrustum(double left,
                  double right,
                  double bottom,
                  double top,
                  double znear,
                  double zfar)

Sets this matrix to a perspective-projection matrix. Parameters correspond to those for the OpenGL standard function glFrustum.

Parameters:

left - the coordinate for the left clipping plane.

right - the coordinate for the right clipping plane.

bottom - the coordinate for the bottom clipping plane.

top - the coordinate for the top clipping plane.

znear - the distance to the near depth clipping plane

zfar - the distance to the far depth clipping plane

Returns:

this perspective-projection matrix.

setPerspective

public Matrix44 setPerspective(double fovy,
                      double aspect,
                      double znear,
                      double zfar)

Sets this matrix to a perspective-projection matrix. Parameters correspond to those for the OpenGL standard function gluPerspective.

Parameters:

fovy - the field of view, in degrees, in the vertical direction.

aspect - the aspect ratio width/height.

znear - the distance to the near depth clipping plane

zfar - the distance to the far depth clipping plane

Returns:

this perspective-projection matrix.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object