Added missing static methods to Matrix4f for consistency. Cleaned up handling of src == dest aliasing
This commit is contained in:
Elias Naur
parent
dbf9356358
commit
09001cb925
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@ -76,7 +76,7 @@ public class Matrix2f extends Matrix implements Serializable {
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* Copy the source matrix to the destination matrix.
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* @param src The source matrix
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* @param dest The destination matrix, or null if a new one should be created.
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* @return dest
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* @return The copied matrix
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*/
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public static Matrix2f load(Matrix2f src, Matrix2f dest) {
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if (dest == null)
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@ -286,14 +286,14 @@ public class Matrix2f extends Matrix implements Serializable {
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* @return The inverted matrix, or null if source can't be reverted.
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*/
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public static Matrix2f invert(Matrix2f src, Matrix2f dest) {
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if (dest == null)
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dest = new Matrix2f();
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/*
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*inv(A) = 1/det(A) * adj(A);
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*/
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float determinant = src.determinant();
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if (determinant != 0) {
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if (dest == null)
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dest = new Matrix2f();
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float determinant_inv = 1f/determinant;
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float t00 = src.m11*determinant_inv;
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float t01 = -src.m01*determinant_inv;
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@ -78,7 +78,7 @@ public class Matrix3f extends Matrix implements Serializable {
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* Copy source matrix to destination matrix
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* @param src The source matrix
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* @param dest The destination matrix, or null of a new matrix is to be created
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* @return dest
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* @return The copied matrix
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*/
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public static Matrix3f load(Matrix3f src, Matrix3f dest) {
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if (dest == null)
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@ -372,13 +372,15 @@ public class Matrix3f extends Matrix implements Serializable {
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/**
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* Invert the source matrix and put the result into the destination matrix
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* @param src The source matrix to be inverted
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* @param dest The destination matrix
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* @return dest if successful, null otherwise
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* @param dest The destination matrix, or null if a new one is to be created
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* @return The inverted matrix if successful, null otherwise
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*/
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public static Matrix3f invert(Matrix3f src, Matrix3f dest) {
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float determinant = src.determinant();
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if (determinant != 0) {
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if (dest == null)
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dest = new Matrix3f();
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/* do it the ordinary way
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*
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* inv(A) = 1/det(A) * adj(T), where adj(T) = transpose(Conjugate Matrix)
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@ -40,16 +40,16 @@ import java.nio.FloatBuffer;
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* @author foo
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*/
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public class Matrix4f extends Matrix implements Serializable {
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private static final long serialVersionUID = 1L;
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public float m00 = 1.0f, m01, m02, m03, m10, m11 = 1.0f, m12, m13, m20, m21, m22 = 1.0f, m23, m30, m31, m32, m33 = 1.0f;
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public float m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33;
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/**
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* Construct a Matrix4f
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* Construct a new matrix, initialized to the identity.
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*/
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public Matrix4f() {
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super();
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setIdentity();
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}
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/**
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@ -69,52 +69,68 @@ public class Matrix4f extends Matrix implements Serializable {
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* @return this
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*/
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public Matrix setIdentity() {
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m00 = 1.0f;
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m01 = 0.0f;
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m02 = 0.0f;
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m03 = 0.0f;
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m10 = 0.0f;
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m11 = 1.0f;
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m12 = 0.0f;
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m13 = 0.0f;
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m20 = 0.0f;
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m21 = 0.0f;
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m22 = 1.0f;
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m23 = 0.0f;
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m30 = 0.0f;
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m31 = 0.0f;
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m32 = 0.0f;
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m33 = 1.0f;
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return this;
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return setIdentity(this);
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}
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/**
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* Set the given matrix to be the identity matrix.
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* @param m The matrix to set to the identity
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* @return m
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*/
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public static Matrix4f setIdentity(Matrix4f m) {
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m.m00 = 1.0f;
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m.m01 = 0.0f;
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m.m02 = 0.0f;
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m.m03 = 0.0f;
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m.m10 = 0.0f;
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m.m11 = 1.0f;
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m.m12 = 0.0f;
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m.m13 = 0.0f;
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m.m20 = 0.0f;
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m.m21 = 0.0f;
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m.m22 = 1.0f;
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m.m23 = 0.0f;
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m.m30 = 0.0f;
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m.m31 = 0.0f;
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m.m32 = 0.0f;
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m.m33 = 1.0f;
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return m;
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}
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/**
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* Set this matrix to 0.
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* @return this
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*/
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public Matrix setZero() {
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m00 = 0.0f;
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m01 = 0.0f;
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m02 = 0.0f;
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m03 = 0.0f;
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m10 = 0.0f;
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m11 = 0.0f;
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m12 = 0.0f;
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m13 = 0.0f;
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m20 = 0.0f;
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m21 = 0.0f;
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m22 = 0.0f;
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m23 = 0.0f;
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m30 = 0.0f;
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m31 = 0.0f;
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m32 = 0.0f;
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m33 = 0.0f;
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return this;
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return setZero(this);
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}
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/**
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* Set the given matrix to 0.
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* @param m The matrix to set to 0
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* @return m
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*/
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public static Matrix4f setZero(Matrix4f m) {
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m.m00 = 0.0f;
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m.m01 = 0.0f;
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m.m02 = 0.0f;
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m.m03 = 0.0f;
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m.m10 = 0.0f;
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m.m11 = 0.0f;
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m.m12 = 0.0f;
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m.m13 = 0.0f;
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m.m20 = 0.0f;
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m.m21 = 0.0f;
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m.m22 = 0.0f;
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m.m23 = 0.0f;
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m.m30 = 0.0f;
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m.m31 = 0.0f;
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m.m32 = 0.0f;
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m.m33 = 0.0f;
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return m;
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}
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/**
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* Load from another matrix4f
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@ -122,25 +138,36 @@ public class Matrix4f extends Matrix implements Serializable {
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* @return this
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*/
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public Matrix4f load(Matrix4f src) {
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return load(src, this);
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}
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/**
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* Copy the source matrix to the destination matrix
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* @param src The source matrix
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* @param dest The destination matrix, or null of a new one is to be created
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* @return The copied matrix
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*/
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public static Matrix4f load(Matrix4f src, Matrix4f dest) {
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if (dest == null)
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dest = new Matrix4f();
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dest.m00 = src.m00;
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dest.m01 = src.m01;
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dest.m02 = src.m02;
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dest.m03 = src.m03;
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dest.m10 = src.m10;
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dest.m11 = src.m11;
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dest.m12 = src.m12;
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dest.m13 = src.m13;
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dest.m20 = src.m20;
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dest.m21 = src.m21;
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dest.m22 = src.m22;
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dest.m23 = src.m23;
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dest.m30 = src.m30;
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dest.m31 = src.m31;
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dest.m32 = src.m32;
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dest.m33 = src.m33;
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m00 = src.m00;
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m01 = src.m01;
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m02 = src.m02;
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m03 = src.m03;
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m10 = src.m10;
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m11 = src.m11;
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m12 = src.m12;
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m13 = src.m13;
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m20 = src.m20;
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m21 = src.m21;
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m22 = src.m22;
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m23 = src.m23;
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m30 = src.m30;
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m31 = src.m31;
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m32 = src.m32;
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m33 = src.m33;
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return this;
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return dest;
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}
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/**
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@ -260,15 +287,8 @@ public class Matrix4f extends Matrix implements Serializable {
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* @return the destination matrix
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*/
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public static Matrix4f add(Matrix4f left, Matrix4f right, Matrix4f dest) {
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Matrix4f temp = null;
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if (dest == null)
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dest = new Matrix4f();
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else if (dest == left || dest == right) {
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temp = dest;
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dest = new Matrix4f();
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}
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dest.m00 = left.m00 + right.m00;
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dest.m01 = left.m01 + right.m01;
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@ -286,13 +306,8 @@ public class Matrix4f extends Matrix implements Serializable {
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dest.m31 = left.m31 + right.m31;
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dest.m32 = left.m32 + right.m32;
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dest.m33 = left.m33 + right.m33;
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if (temp != null) {
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temp.load(dest);
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return temp;
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} else
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return dest;
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return dest;
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}
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/**
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@ -303,15 +318,8 @@ public class Matrix4f extends Matrix implements Serializable {
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* @return the destination matrix
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*/
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public static Matrix4f sub(Matrix4f left, Matrix4f right, Matrix4f dest) {
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Matrix4f temp = null;
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if (dest == null)
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dest = new Matrix4f();
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else if (dest == left || dest == right) {
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temp = dest;
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dest = new Matrix4f();
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}
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dest.m00 = left.m00 - right.m00;
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dest.m01 = left.m01 - right.m01;
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@ -330,11 +338,7 @@ public class Matrix4f extends Matrix implements Serializable {
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dest.m32 = left.m32 - right.m32;
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dest.m33 = left.m33 - right.m33;
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if (temp != null) {
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temp.load(dest);
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return temp;
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} else
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return dest;
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return dest;
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}
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/**
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@ -345,39 +349,44 @@ public class Matrix4f extends Matrix implements Serializable {
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* @return the destination matrix
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*/
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public static Matrix4f mul(Matrix4f left, Matrix4f right, Matrix4f dest) {
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Matrix4f temp = null;
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if (dest == null)
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dest = new Matrix4f();
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else if (dest == left || dest == right) {
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temp = dest;
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dest = new Matrix4f();
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}
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dest.m00 = left.m00 * right.m00 + left.m10 * right.m01 + left.m20 * right.m02 + left.m30 * right.m03;
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dest.m01 = left.m01 * right.m00 + left.m11 * right.m01 + left.m21 * right.m02 + left.m31 * right.m03;
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dest.m02 = left.m02 * right.m00 + left.m12 * right.m01 + left.m22 * right.m02 + left.m32 * right.m03;
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dest.m03 = left.m03 * right.m00 + left.m13 * right.m01 + left.m23 * right.m02 + left.m33 * right.m03;
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dest.m10 = left.m00 * right.m10 + left.m10 * right.m11 + left.m20 * right.m12 + left.m30 * right.m13;
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dest.m11 = left.m01 * right.m10 + left.m11 * right.m11 + left.m21 * right.m12 + left.m31 * right.m13;
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dest.m12 = left.m02 * right.m10 + left.m12 * right.m11 + left.m22 * right.m12 + left.m32 * right.m13;
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dest.m13 = left.m03 * right.m10 + left.m13 * right.m11 + left.m23 * right.m12 + left.m33 * right.m13;
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dest.m20 = left.m00 * right.m20 + left.m10 * right.m21 + left.m20 * right.m22 + left.m30 * right.m23;
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dest.m21 = left.m01 * right.m20 + left.m11 * right.m21 + left.m21 * right.m22 + left.m31 * right.m23;
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dest.m22 = left.m02 * right.m20 + left.m12 * right.m21 + left.m22 * right.m22 + left.m32 * right.m23;
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dest.m23 = left.m03 * right.m20 + left.m13 * right.m21 + left.m23 * right.m22 + left.m33 * right.m23;
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dest.m30 = left.m00 * right.m30 + left.m10 * right.m31 + left.m20 * right.m32 + left.m30 * right.m33;
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dest.m31 = left.m01 * right.m30 + left.m11 * right.m31 + left.m21 * right.m32 + left.m31 * right.m33;
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dest.m32 = left.m02 * right.m30 + left.m12 * right.m31 + left.m22 * right.m32 + left.m32 * right.m33;
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dest.m33 = left.m03 * right.m30 + left.m13 * right.m31 + left.m23 * right.m32 + left.m33 * right.m33;
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if (temp != null) {
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temp.load(dest);
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return temp;
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} else
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return dest;
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float m00 = left.m00 * right.m00 + left.m10 * right.m01 + left.m20 * right.m02 + left.m30 * right.m03;
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float m01 = left.m01 * right.m00 + left.m11 * right.m01 + left.m21 * right.m02 + left.m31 * right.m03;
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float m02 = left.m02 * right.m00 + left.m12 * right.m01 + left.m22 * right.m02 + left.m32 * right.m03;
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float m03 = left.m03 * right.m00 + left.m13 * right.m01 + left.m23 * right.m02 + left.m33 * right.m03;
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float m10 = left.m00 * right.m10 + left.m10 * right.m11 + left.m20 * right.m12 + left.m30 * right.m13;
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float m11 = left.m01 * right.m10 + left.m11 * right.m11 + left.m21 * right.m12 + left.m31 * right.m13;
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float m12 = left.m02 * right.m10 + left.m12 * right.m11 + left.m22 * right.m12 + left.m32 * right.m13;
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float m13 = left.m03 * right.m10 + left.m13 * right.m11 + left.m23 * right.m12 + left.m33 * right.m13;
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float m20 = left.m00 * right.m20 + left.m10 * right.m21 + left.m20 * right.m22 + left.m30 * right.m23;
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float m21 = left.m01 * right.m20 + left.m11 * right.m21 + left.m21 * right.m22 + left.m31 * right.m23;
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float m22 = left.m02 * right.m20 + left.m12 * right.m21 + left.m22 * right.m22 + left.m32 * right.m23;
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float m23 = left.m03 * right.m20 + left.m13 * right.m21 + left.m23 * right.m22 + left.m33 * right.m23;
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float m30 = left.m00 * right.m30 + left.m10 * right.m31 + left.m20 * right.m32 + left.m30 * right.m33;
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float m31 = left.m01 * right.m30 + left.m11 * right.m31 + left.m21 * right.m32 + left.m31 * right.m33;
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float m32 = left.m02 * right.m30 + left.m12 * right.m31 + left.m22 * right.m32 + left.m32 * right.m33;
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float m33 = left.m03 * right.m30 + left.m13 * right.m31 + left.m23 * right.m32 + left.m33 * right.m33;
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dest.m00 = m00;
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dest.m01 = m01;
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dest.m02 = m02;
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dest.m03 = m03;
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dest.m10 = m10;
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dest.m11 = m11;
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dest.m12 = m12;
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dest.m13 = m13;
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dest.m20 = m20;
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dest.m21 = m21;
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dest.m22 = m22;
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dest.m23 = m23;
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dest.m30 = m30;
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dest.m31 = m31;
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dest.m32 = m32;
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dest.m33 = m33;
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return dest;
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}
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/**
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@ -389,27 +398,20 @@ public class Matrix4f extends Matrix implements Serializable {
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* @return the destination vector
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*/
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public static Vector4f transform(Matrix4f left, Vector4f right, Vector4f dest) {
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Vector4f temp = null;
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if (dest == null)
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dest = new Vector4f();
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else if (dest == right) {
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temp = dest;
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dest = new Vector4f();
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}
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dest.x = left.m00 * right.x + left.m10 * right.y + left.m20 * right.z + left.m30 * right.w;
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dest.y = left.m01 * right.x + left.m11 * right.y + left.m21 * right.z + left.m31 * right.w;
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dest.z = left.m02 * right.x + left.m12 * right.y + left.m22 * right.z + left.m32 * right.w;
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dest.w = left.m03 * right.x + left.m13 * right.y + left.m23 * right.z + left.m33 * right.w;
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if (temp != null) {
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temp.set(dest);
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return temp;
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} else
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return dest;
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float x = left.m00 * right.x + left.m10 * right.y + left.m20 * right.z + left.m30 * right.w;
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float y = left.m01 * right.x + left.m11 * right.y + left.m21 * right.z + left.m31 * right.w;
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float z = left.m02 * right.x + left.m12 * right.y + left.m22 * right.z + left.m32 * right.w;
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float w = left.m03 * right.x + left.m13 * right.y + left.m23 * right.z + left.m33 * right.w;
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dest.x = x;
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dest.y = y;
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dest.z = z;
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dest.w = w;
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return dest;
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}
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/**
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|
|
@ -417,27 +419,7 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return this
|
||||
*/
|
||||
public Matrix transpose() {
|
||||
|
||||
float f = m10;
|
||||
m10 = m01;
|
||||
m01 = f;
|
||||
f = m20;
|
||||
m20 = m02;
|
||||
m02 = f;
|
||||
f = m30;
|
||||
m30 = m03;
|
||||
m03 = f;
|
||||
f = m21;
|
||||
m21 = m12;
|
||||
m12 = f;
|
||||
f = m31;
|
||||
m31 = m13;
|
||||
m13 = f;
|
||||
f = m32;
|
||||
m32 = m23;
|
||||
m23 = f;
|
||||
|
||||
return this;
|
||||
return transpose(this);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -446,11 +428,7 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return this
|
||||
*/
|
||||
public Matrix4f translate(Vector2f vec) {
|
||||
m30 += m00 * vec.x + m10 * vec.y;
|
||||
m31 += m01 * vec.x + m11 * vec.y;
|
||||
m32 += m02 * vec.x + m12 * vec.y;
|
||||
m33 += m03 * vec.x + m13 * vec.y;
|
||||
return this;
|
||||
return translate(vec, this);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -459,11 +437,7 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return this
|
||||
*/
|
||||
public Matrix4f translate(Vector3f vec) {
|
||||
m30 += m00 * vec.x + m10 * vec.y + m20 * vec.z;
|
||||
m31 += m01 * vec.x + m11 * vec.y + m21 * vec.z;
|
||||
m32 += m02 * vec.x + m12 * vec.y + m22 * vec.z;
|
||||
m33 += m03 * vec.x + m13 * vec.y + m23 * vec.z;
|
||||
return this;
|
||||
return translate(vec, this);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -472,19 +446,32 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return this
|
||||
*/
|
||||
public Matrix4f scale(Vector3f vec) {
|
||||
m00 *= vec.x;
|
||||
m01 *= vec.x;
|
||||
m02 *= vec.x;
|
||||
m03 *= vec.x;
|
||||
m10 *= vec.y;
|
||||
m11 *= vec.y;
|
||||
m12 *= vec.y;
|
||||
m13 *= vec.y;
|
||||
m20 *= vec.z;
|
||||
m21 *= vec.z;
|
||||
m22 *= vec.z;
|
||||
m23 *= vec.z;
|
||||
return this;
|
||||
return scale(vec, this, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Scales the source matrix and put the result in the destination matrix
|
||||
* @param vec The vector to scale by
|
||||
* @param src The source matrix
|
||||
* @param dest The destination matrix, or null if a new matrix is to be created
|
||||
* @return The scaled matrix
|
||||
*/
|
||||
public static Matrix4f scale(Vector3f vec, Matrix4f src, Matrix4f dest) {
|
||||
if (dest == null)
|
||||
dest = new Matrix4f();
|
||||
dest.m00 = src.m00 * vec.x;
|
||||
dest.m01 = src.m01 * vec.x;
|
||||
dest.m02 = src.m02 * vec.x;
|
||||
dest.m03 = src.m03 * vec.x;
|
||||
dest.m10 = src.m10 * vec.y;
|
||||
dest.m11 = src.m11 * vec.y;
|
||||
dest.m12 = src.m12 * vec.y;
|
||||
dest.m13 = src.m13 * vec.y;
|
||||
dest.m20 = src.m20 * vec.z;
|
||||
dest.m21 = src.m21 * vec.z;
|
||||
dest.m22 = src.m22 * vec.z;
|
||||
dest.m23 = src.m23 * vec.z;
|
||||
return dest;
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -494,6 +481,32 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return this
|
||||
*/
|
||||
public Matrix4f rotate(float angle, Vector3f axis) {
|
||||
return rotate(angle, axis, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Rotates the matrix around the given axis the specified angle
|
||||
* @param angle the angle, in radians.
|
||||
* @param axis The vector representing the rotation axis. Must be normalized.
|
||||
* @param dest The matrix to put the result, or null if a new matrix is to be created
|
||||
* @return The rotated matrix
|
||||
*/
|
||||
public Matrix4f rotate(float angle, Vector3f axis, Matrix4f dest) {
|
||||
return rotate(angle, axis, this, dest);
|
||||
}
|
||||
|
||||
/**
|
||||
* Rotates the source matrix around the given axis the specified angle and
|
||||
* put the result in the destination matrix.
|
||||
* @param angle the angle, in radians.
|
||||
* @param axis The vector representing the rotation axis. Must be normalized.
|
||||
* @param src The matrix to rotate
|
||||
* @param dest The matrix to put the result, or null if a new matrix is to be created
|
||||
* @return The rotated matrix
|
||||
*/
|
||||
public static Matrix4f rotate(float angle, Vector3f axis, Matrix4f src, Matrix4f dest) {
|
||||
if (dest == null)
|
||||
dest = new Matrix4f();
|
||||
float c = (float) Math.cos(angle);
|
||||
float s = (float) Math.sin(angle);
|
||||
float oneminusc = 1.0f - c;
|
||||
|
|
@ -516,76 +529,26 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
float f21 = yz*oneminusc-xs;
|
||||
float f22 = axis.z*axis.z*oneminusc+c;
|
||||
|
||||
float t00 = m00 * f00 + m10 * f01 + m20 * f02;
|
||||
float t01 = m01 * f00 + m11 * f01 + m21 * f02;
|
||||
float t02 = m02 * f00 + m12 * f01 + m22 * f02;
|
||||
float t03 = m03 * f00 + m13 * f01 + m23 * f02;
|
||||
float t10 = m00 * f10 + m10 * f11 + m20 * f12;
|
||||
float t11 = m01 * f10 + m11 * f11 + m21 * f12;
|
||||
float t12 = m02 * f10 + m12 * f11 + m22 * f12;
|
||||
float t13 = m03 * f10 + m13 * f11 + m23 * f12;
|
||||
m20 = m00 * f20 + m10 * f21 + m20 * f22;
|
||||
m21 = m01 * f20 + m11 * f21 + m21 * f22;
|
||||
m22 = m02 * f20 + m12 * f21 + m22 * f22;
|
||||
m23 = m03 * f20 + m13 * f21 + m23 * f22;
|
||||
m00 = t00;
|
||||
m01 = t01;
|
||||
m02 = t02;
|
||||
m03 = t03;
|
||||
m10 = t10;
|
||||
m11 = t11;
|
||||
m12 = t12;
|
||||
m13 = t13;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* Rotates the matrix around the given axis the specified angle, and stores it in the specified destination
|
||||
* @param angle the angle, in radians.
|
||||
* @param axis The vector representing the rotation axis. Must be normalized.
|
||||
* @param dest The destination matrix or null if a new matrix is to be created
|
||||
* @return The rotated matrix
|
||||
*/
|
||||
public Matrix4f rotate(float angle, Vector3f axis, Matrix4f dest) {
|
||||
if (dest == null)
|
||||
dest = new Matrix4f();
|
||||
else if (dest == this)
|
||||
return rotate(angle, axis);
|
||||
float c = (float) Math.cos(angle);
|
||||
float s = (float) Math.sin(angle);
|
||||
float oneminusc = 1.0f - c;
|
||||
float xy = axis.x*axis.y;
|
||||
float yz = axis.y*axis.z;
|
||||
float xz = axis.x*axis.z;
|
||||
float xs = axis.x*s;
|
||||
float ys = axis.y*s;
|
||||
float zs = axis.z*s;
|
||||
|
||||
float f0 = axis.x*axis.x*oneminusc+c;
|
||||
float f1 = xy*oneminusc+zs;
|
||||
float f2 = xz*oneminusc-ys;
|
||||
// n[3] not used
|
||||
float f4 = xy*oneminusc-zs;
|
||||
float f5 = axis.y*axis.y*oneminusc+c;
|
||||
float f6 = yz*oneminusc+xs;
|
||||
// n[7] not used
|
||||
float f8 = xz*oneminusc+ys;
|
||||
float f9 = yz*oneminusc-xs;
|
||||
float f10 = axis.z*axis.z*oneminusc+c;
|
||||
|
||||
/* m[12] to m[15] are not changed by a rotate */
|
||||
dest.m00 = m00 * f0 + m10 * f1 + m20 * f2;
|
||||
dest.m01 = m01 * f0 + m11 * f1 + m21 * f2;
|
||||
dest.m02 = m02 * f0 + m12 * f1 + m22 * f2;
|
||||
dest.m03 = m03 * f0 + m13 * f1 + m23 * f2;
|
||||
dest.m10 = m00 * f4 + m10 * f5 + m20 * f6;
|
||||
dest.m11 = m01 * f4 + m11 * f5 + m21 * f6;
|
||||
dest.m12 = m02 * f4 + m12 * f5 + m22 * f6;
|
||||
dest.m13 = m03 * f4 + m13 * f5 + m23 * f6;
|
||||
dest.m20 = m00 * f8 + m10 * f9 + m20 * f10;
|
||||
dest.m21 = m01 * f8 + m11 * f9 + m21 * f10;
|
||||
dest.m22 = m02 * f8 + m12 * f9 + m22 * f10;
|
||||
dest.m23 = m03 * f8 + m13 * f9 + m23 * f10;
|
||||
float t00 = src.m00 * f00 + src.m10 * f01 + src.m20 * f02;
|
||||
float t01 = src.m01 * f00 + src.m11 * f01 + src.m21 * f02;
|
||||
float t02 = src.m02 * f00 + src.m12 * f01 + src.m22 * f02;
|
||||
float t03 = src.m03 * f00 + src.m13 * f01 + src.m23 * f02;
|
||||
float t10 = src.m00 * f10 + src.m10 * f11 + src.m20 * f12;
|
||||
float t11 = src.m01 * f10 + src.m11 * f11 + src.m21 * f12;
|
||||
float t12 = src.m02 * f10 + src.m12 * f11 + src.m22 * f12;
|
||||
float t13 = src.m03 * f10 + src.m13 * f11 + src.m23 * f12;
|
||||
dest.m20 = src.m00 * f20 + src.m10 * f21 + src.m20 * f22;
|
||||
dest.m21 = src.m01 * f20 + src.m11 * f21 + src.m21 * f22;
|
||||
dest.m22 = src.m02 * f20 + src.m12 * f21 + src.m22 * f22;
|
||||
dest.m23 = src.m03 * f20 + src.m13 * f21 + src.m23 * f22;
|
||||
dest.m00 = t00;
|
||||
dest.m01 = t01;
|
||||
dest.m02 = t02;
|
||||
dest.m03 = t03;
|
||||
dest.m10 = t10;
|
||||
dest.m11 = t11;
|
||||
dest.m12 = t12;
|
||||
dest.m13 = t13;
|
||||
return dest;
|
||||
}
|
||||
|
||||
|
|
@ -596,15 +559,24 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return the translated matrix
|
||||
*/
|
||||
public Matrix4f translate(Vector3f vec, Matrix4f dest) {
|
||||
return translate(vec, this, dest);
|
||||
}
|
||||
|
||||
/**
|
||||
* Translate the source matrix and stash the result in the destination matrix
|
||||
* @param vec The vector to translate by
|
||||
* @param src The source matrix
|
||||
* @param dest The destination matrix or null if a new matrix is to be created
|
||||
* @return The translated matrix
|
||||
*/
|
||||
public static Matrix4f translate(Vector3f vec, Matrix4f src, Matrix4f dest) {
|
||||
if (dest == null)
|
||||
dest = new Matrix4f();
|
||||
else if (dest == this)
|
||||
return translate(vec);
|
||||
|
||||
dest.m30 += m00 * vec.x + m10 * vec.y + m20 * vec.z;
|
||||
dest.m31 += m01 * vec.x + m11 * vec.y + m21 * vec.z;
|
||||
dest.m32 += m02 * vec.x + m12 * vec.y + m22 * vec.z;
|
||||
dest.m33 += m03 * vec.x + m13 * vec.y + m23 * vec.z;
|
||||
dest.m30 += src.m00 * vec.x + src.m10 * vec.y + src.m20 * vec.z;
|
||||
dest.m31 += src.m01 * vec.x + src.m11 * vec.y + src.m21 * vec.z;
|
||||
dest.m32 += src.m02 * vec.x + src.m12 * vec.y + src.m22 * vec.z;
|
||||
dest.m33 += src.m03 * vec.x + src.m13 * vec.y + src.m23 * vec.z;
|
||||
|
||||
return dest;
|
||||
}
|
||||
|
|
@ -616,56 +588,82 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return the translated matrix
|
||||
*/
|
||||
public Matrix4f translate(Vector2f vec, Matrix4f dest) {
|
||||
return translate(vec, this, dest);
|
||||
}
|
||||
|
||||
/**
|
||||
* Translate the source matrix and stash the result in the destination matrix
|
||||
* @param vec The vector to translate by
|
||||
* @param src The source matrix
|
||||
* @param dest The destination matrix or null if a new matrix is to be created
|
||||
* @return The translated matrix
|
||||
*/
|
||||
public static Matrix4f translate(Vector2f vec, Matrix4f src, Matrix4f dest) {
|
||||
if (dest == null)
|
||||
dest = new Matrix4f();
|
||||
else if (dest == this)
|
||||
return translate(vec);
|
||||
|
||||
dest.m30 += m00 * vec.x + m10 * vec.y;
|
||||
dest.m31 += m01 * vec.x + m11 * vec.y;
|
||||
dest.m32 += m02 * vec.x + m12 * vec.y;
|
||||
dest.m33 += m03 * vec.x + m13 * vec.y;
|
||||
dest.m30 += src.m00 * vec.x + src.m10 * vec.y;
|
||||
dest.m31 += src.m01 * vec.x + src.m11 * vec.y;
|
||||
dest.m32 += src.m02 * vec.x + src.m12 * vec.y;
|
||||
dest.m33 += src.m03 * vec.x + src.m13 * vec.y;
|
||||
|
||||
return dest;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Transpose this matrix and place the result in another matrix
|
||||
* @param dest The destination matrix or null if a new matrix is to be created
|
||||
* @return the transposed matrix
|
||||
*/
|
||||
public Matrix4f transpose(Matrix4f dest) {
|
||||
if (dest == null) {
|
||||
// New matrix needed to store transpose
|
||||
return transpose(this, dest);
|
||||
}
|
||||
|
||||
/**
|
||||
* Transpose the source matrix and place the result in the destination matrix
|
||||
* @param src The source matrix
|
||||
* @param dest The destination matrix or null if a new matrix is to be created
|
||||
* @return the transposed matrix
|
||||
*/
|
||||
public static Matrix4f transpose(Matrix4f src, Matrix4f dest) {
|
||||
if (dest == null)
|
||||
dest = new Matrix4f();
|
||||
}
|
||||
if (this == dest) {
|
||||
// Destination and source are the same! Run the in-place
|
||||
// transpose instead as the copy transpose will be destructive.
|
||||
transpose();
|
||||
} else {
|
||||
// Destination differs from source. Perform copy transpose
|
||||
dest.m00 = m00;
|
||||
dest.m01 = m10;
|
||||
dest.m02 = m20;
|
||||
dest.m03 = m30;
|
||||
dest.m10 = m01;
|
||||
dest.m11 = m11;
|
||||
dest.m12 = m21;
|
||||
dest.m13 = m31;
|
||||
dest.m20 = m02;
|
||||
dest.m21 = m12;
|
||||
dest.m22 = m22;
|
||||
dest.m23 = m32;
|
||||
dest.m30 = m03;
|
||||
dest.m31 = m13;
|
||||
dest.m32 = m23;
|
||||
dest.m33 = m33;
|
||||
}
|
||||
return dest;
|
||||
}
|
||||
float m00 = src.m00;
|
||||
float m01 = src.m10;
|
||||
float m02 = src.m20;
|
||||
float m03 = src.m30;
|
||||
float m10 = src.m01;
|
||||
float m11 = src.m11;
|
||||
float m12 = src.m21;
|
||||
float m13 = src.m31;
|
||||
float m20 = src.m02;
|
||||
float m21 = src.m12;
|
||||
float m22 = src.m22;
|
||||
float m23 = src.m32;
|
||||
float m30 = src.m03;
|
||||
float m31 = src.m13;
|
||||
float m32 = src.m23;
|
||||
float m33 = src.m33;
|
||||
|
||||
dest.m00 = m00;
|
||||
dest.m01 = m01;
|
||||
dest.m02 = m02;
|
||||
dest.m03 = m03;
|
||||
dest.m10 = m10;
|
||||
dest.m11 = m11;
|
||||
dest.m12 = m12;
|
||||
dest.m13 = m13;
|
||||
dest.m20 = m20;
|
||||
dest.m21 = m21;
|
||||
dest.m22 = m22;
|
||||
dest.m23 = m23;
|
||||
dest.m30 = m30;
|
||||
dest.m31 = m31;
|
||||
dest.m32 = m32;
|
||||
dest.m33 = m33;
|
||||
|
||||
return dest;
|
||||
}
|
||||
|
||||
/**
|
||||
* @return the determinant of the matrix
|
||||
|
|
@ -700,7 +698,7 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return result
|
||||
*/
|
||||
|
||||
private float determinant3x3(float t00, float t01, float t02,
|
||||
private static float determinant3x3(float t00, float t01, float t02,
|
||||
float t10, float t11, float t12,
|
||||
float t20, float t21, float t22)
|
||||
{
|
||||
|
|
@ -714,58 +712,68 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return this if successful, null otherwise
|
||||
*/
|
||||
public Matrix invert() {
|
||||
return invert(this, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Invert the source matrix and put the result in the destination
|
||||
* @param src The source matrix
|
||||
* @param dest The destination matrix, or null if a new matrix is to be created
|
||||
* @return The inverted matrix if successful, null otherwise
|
||||
*/
|
||||
public static Matrix4f invert(Matrix4f src, Matrix4f dest) {
|
||||
float determinant = src.determinant();
|
||||
|
||||
float determinant = determinant();
|
||||
|
||||
if (determinant != 0)
|
||||
{
|
||||
if (determinant != 0) {
|
||||
/*
|
||||
* m00 m01 m02 m03
|
||||
* m10 m11 m12 m13
|
||||
* m20 m21 m22 m23
|
||||
* m30 m31 m32 m33
|
||||
*/
|
||||
if (dest == null)
|
||||
dest = new Matrix4f();
|
||||
float determinant_inv = 1f/determinant;
|
||||
|
||||
// first row
|
||||
float t00 = determinant3x3(m11, m12, m13, m21, m22, m23, m31, m32, m33);
|
||||
float t01 = -determinant3x3(m10, m12, m13, m20, m22, m23, m30, m32, m33);
|
||||
float t02 = determinant3x3(m10, m11, m13, m20, m21, m23, m30, m31, m33);
|
||||
float t03 = -determinant3x3(m10, m11, m12, m20, m21, m22, m30, m31, m32);
|
||||
float t00 = determinant3x3(src.m11, src.m12, src.m13, src.m21, src.m22, src.m23, src.m31, src.m32, src.m33);
|
||||
float t01 = -determinant3x3(src.m10, src.m12, src.m13, src.m20, src.m22, src.m23, src.m30, src.m32, src.m33);
|
||||
float t02 = determinant3x3(src.m10, src.m11, src.m13, src.m20, src.m21, src.m23, src.m30, src.m31, src.m33);
|
||||
float t03 = -determinant3x3(src.m10, src.m11, src.m12, src.m20, src.m21, src.m22, src.m30, src.m31, src.m32);
|
||||
// second row
|
||||
float t10 = -determinant3x3(m01, m02, m03, m21, m22, m23, m31, m32, m33);
|
||||
float t11 = determinant3x3(m00, m02, m03, m20, m22, m23, m30, m32, m33);
|
||||
float t12 = -determinant3x3(m00, m01, m03, m20, m21, m23, m30, m31, m33);
|
||||
float t13 = determinant3x3(m00, m01, m02, m20, m21, m22, m30, m31, m32);
|
||||
float t10 = -determinant3x3(src.m01, src.m02, src.m03, src.m21, src.m22, src.m23, src.m31, src.m32, src.m33);
|
||||
float t11 = determinant3x3(src.m00, src.m02, src.m03, src.m20, src.m22, src.m23, src.m30, src.m32, src.m33);
|
||||
float t12 = -determinant3x3(src.m00, src.m01, src.m03, src.m20, src.m21, src.m23, src.m30, src.m31, src.m33);
|
||||
float t13 = determinant3x3(src.m00, src.m01, src.m02, src.m20, src.m21, src.m22, src.m30, src.m31, src.m32);
|
||||
// third row
|
||||
float t20 = determinant3x3(m01, m02, m03, m11, m12, m13, m31, m32, m33);
|
||||
float t21 = -determinant3x3(m00, m02, m03, m10, m12, m13, m30, m32, m33);
|
||||
float t22 = determinant3x3(m00, m01, m03, m10, m11, m13, m30, m31, m33);
|
||||
float t23 = -determinant3x3(m00, m01, m02, m10, m11, m12, m30, m31, m32);
|
||||
float t20 = determinant3x3(src.m01, src.m02, src.m03, src.m11, src.m12, src.m13, src.m31, src.m32, src.m33);
|
||||
float t21 = -determinant3x3(src.m00, src.m02, src.m03, src.m10, src.m12, src.m13, src.m30, src.m32, src.m33);
|
||||
float t22 = determinant3x3(src.m00, src.m01, src.m03, src.m10, src.m11, src.m13, src.m30, src.m31, src.m33);
|
||||
float t23 = -determinant3x3(src.m00, src.m01, src.m02, src.m10, src.m11, src.m12, src.m30, src.m31, src.m32);
|
||||
// fourth row
|
||||
float t30 = -determinant3x3(m01, m02, m03, m11, m12, m13, m21, m22, m23);
|
||||
float t31 = determinant3x3(m00, m02, m03, m10, m12, m13, m20, m22, m23);
|
||||
float t32 = -determinant3x3(m00, m01, m03, m10, m11, m13, m20, m21, m23);
|
||||
float t33 = determinant3x3(m00, m01, m02, m10, m11, m12, m20, m21, m22);
|
||||
float t30 = -determinant3x3(src.m01, src.m02, src.m03, src.m11, src.m12, src.m13, src.m21, src.m22, src.m23);
|
||||
float t31 = determinant3x3(src.m00, src.m02, src.m03, src.m10, src.m12, src.m13, src.m20, src.m22, src.m23);
|
||||
float t32 = -determinant3x3(src.m00, src.m01, src.m03, src.m10, src.m11, src.m13, src.m20, src.m21, src.m23);
|
||||
float t33 = determinant3x3(src.m00, src.m01, src.m02, src.m10, src.m11, src.m12, src.m20, src.m21, src.m22);
|
||||
|
||||
// transpose and divide by the determinant
|
||||
m00 = t00*determinant_inv;
|
||||
m11 = t11*determinant_inv;
|
||||
m22 = t22*determinant_inv;
|
||||
m33 = t33*determinant_inv;
|
||||
m01 = t10*determinant_inv;
|
||||
m10 = t01*determinant_inv;
|
||||
m20 = t02*determinant_inv;
|
||||
m02 = t20*determinant_inv;
|
||||
m12 = t21*determinant_inv;
|
||||
m21 = t12*determinant_inv;
|
||||
m03 = t30*determinant_inv;
|
||||
m30 = t03*determinant_inv;
|
||||
m13 = t31*determinant_inv;
|
||||
m31 = t13*determinant_inv;
|
||||
m32 = t23*determinant_inv;
|
||||
m23 = t32*determinant_inv;
|
||||
return this;
|
||||
dest.m00 = t00*determinant_inv;
|
||||
dest.m11 = t11*determinant_inv;
|
||||
dest.m22 = t22*determinant_inv;
|
||||
dest.m33 = t33*determinant_inv;
|
||||
dest.m01 = t10*determinant_inv;
|
||||
dest.m10 = t01*determinant_inv;
|
||||
dest.m20 = t02*determinant_inv;
|
||||
dest.m02 = t20*determinant_inv;
|
||||
dest.m12 = t21*determinant_inv;
|
||||
dest.m21 = t12*determinant_inv;
|
||||
dest.m03 = t30*determinant_inv;
|
||||
dest.m30 = t03*determinant_inv;
|
||||
dest.m13 = t31*determinant_inv;
|
||||
dest.m31 = t13*determinant_inv;
|
||||
dest.m32 = t23*determinant_inv;
|
||||
dest.m23 = t32*determinant_inv;
|
||||
return dest;
|
||||
} else
|
||||
return null;
|
||||
}
|
||||
|
|
@ -775,23 +783,7 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return this
|
||||
*/
|
||||
public Matrix negate() {
|
||||
m00 = -m00;
|
||||
m01 = -m01;
|
||||
m02 = -m02;
|
||||
m03 = -m03;
|
||||
m10 = -m10;
|
||||
m11 = -m11;
|
||||
m12 = -m12;
|
||||
m13 = -m13;
|
||||
m20 = -m20;
|
||||
m21 = -m21;
|
||||
m22 = -m22;
|
||||
m23 = -m23;
|
||||
m30 = -m30;
|
||||
m31 = -m31;
|
||||
m32 = -m32;
|
||||
m33 = -m33;
|
||||
return this;
|
||||
return negate(this);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -800,27 +792,36 @@ public class Matrix4f extends Matrix implements Serializable {
|
|||
* @return the negated matrix
|
||||
*/
|
||||
public Matrix4f negate(Matrix4f dest) {
|
||||
return negate(this, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Negate this matrix and place the result in a destination matrix.
|
||||
* @param src The source matrix
|
||||
* @param dest The destination matrix, or null if a new matrix is to be created
|
||||
* @return The negated matrix
|
||||
*/
|
||||
public static Matrix4f negate(Matrix4f src, Matrix4f dest) {
|
||||
if (dest == null)
|
||||
dest = new Matrix4f();
|
||||
|
||||
dest.m00 = -m00;
|
||||
dest.m01 = -m01;
|
||||
dest.m02 = -m02;
|
||||
dest.m03 = -m03;
|
||||
dest.m10 = -m10;
|
||||
dest.m11 = -m11;
|
||||
dest.m12 = -m12;
|
||||
dest.m13 = -m13;
|
||||
dest.m20 = -m20;
|
||||
dest.m21 = -m21;
|
||||
dest.m22 = -m22;
|
||||
dest.m23 = -m23;
|
||||
dest.m30 = -m30;
|
||||
dest.m31 = -m31;
|
||||
dest.m32 = -m32;
|
||||
dest.m33 = -m33;
|
||||
dest.m00 = -src.m00;
|
||||
dest.m01 = -src.m01;
|
||||
dest.m02 = -src.m02;
|
||||
dest.m03 = -src.m03;
|
||||
dest.m10 = -src.m10;
|
||||
dest.m11 = -src.m11;
|
||||
dest.m12 = -src.m12;
|
||||
dest.m13 = -src.m13;
|
||||
dest.m20 = -src.m20;
|
||||
dest.m21 = -src.m21;
|
||||
dest.m22 = -src.m22;
|
||||
dest.m23 = -src.m23;
|
||||
dest.m30 = -src.m30;
|
||||
dest.m31 = -src.m31;
|
||||
dest.m32 = -src.m32;
|
||||
dest.m33 = -src.m33;
|
||||
|
||||
return dest;
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue