499 lines
12 KiB
Java
499 lines
12 KiB
Java
/*
|
|
* Copyright (c) 2002-2004 LWJGL Project
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are
|
|
* met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
*
|
|
* * Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in the
|
|
* documentation and/or other materials provided with the distribution.
|
|
*
|
|
* * Neither the name of 'LWJGL' nor the names of
|
|
* its contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
|
|
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
|
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
|
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
|
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
package org.lwjgl.util.vector;
|
|
|
|
import java.io.Serializable;
|
|
import java.nio.FloatBuffer;
|
|
|
|
/**
|
|
*
|
|
* Holds a 3x3 matrix.
|
|
*
|
|
* @author cix_foo <cix_foo@users.sourceforge.net>
|
|
* @version $Revision$
|
|
* $Id$
|
|
*/
|
|
|
|
public class Matrix3f extends Matrix implements Serializable {
|
|
|
|
private static final long serialVersionUID = 1L;
|
|
|
|
public float m00 = 1.0f,
|
|
m01,
|
|
m02,
|
|
m10,
|
|
m11 = 1.0f,
|
|
m12,
|
|
m20,
|
|
m21,
|
|
m22 = 1.0f;
|
|
|
|
/**
|
|
* Constructor for Matrix3f.
|
|
*/
|
|
public Matrix3f() {
|
|
super();
|
|
}
|
|
/**
|
|
* Load from another matrix3f
|
|
* @param src The source matrix
|
|
* @return this
|
|
*/
|
|
public Matrix3f load(Matrix3f src) {
|
|
|
|
m00 = src.m00;
|
|
m10 = src.m10;
|
|
m20 = src.m20;
|
|
m01 = src.m01;
|
|
m11 = src.m11;
|
|
m21 = src.m21;
|
|
m02 = src.m02;
|
|
m12 = src.m12;
|
|
m22 = src.m22;
|
|
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Load from a float buffer. The buffer stores the matrix in column major
|
|
* (OpenGL) order.
|
|
*
|
|
* @param buf A float buffer to read from
|
|
* @return this
|
|
*/
|
|
public Matrix load(FloatBuffer buf) {
|
|
|
|
m00 = buf.get();
|
|
m01 = buf.get();
|
|
m02 = buf.get();
|
|
m10 = buf.get();
|
|
m11 = buf.get();
|
|
m12 = buf.get();
|
|
m20 = buf.get();
|
|
m21 = buf.get();
|
|
m22 = buf.get();
|
|
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Load from a float buffer. The buffer stores the matrix in row major
|
|
* (maths) order.
|
|
*
|
|
* @param buf A float buffer to read from
|
|
* @return this
|
|
*/
|
|
public Matrix loadTranspose(FloatBuffer buf) {
|
|
|
|
m00 = buf.get();
|
|
m10 = buf.get();
|
|
m20 = buf.get();
|
|
m01 = buf.get();
|
|
m11 = buf.get();
|
|
m21 = buf.get();
|
|
m02 = buf.get();
|
|
m12 = buf.get();
|
|
m22 = buf.get();
|
|
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Store this matrix in a float buffer. The matrix is stored in column
|
|
* major (openGL) order.
|
|
* @param buf The buffer to store this matrix in
|
|
*/
|
|
public Matrix store(FloatBuffer buf) {
|
|
buf.put(m00);
|
|
buf.put(m01);
|
|
buf.put(m02);
|
|
buf.put(m10);
|
|
buf.put(m11);
|
|
buf.put(m12);
|
|
buf.put(m20);
|
|
buf.put(m21);
|
|
buf.put(m22);
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Store this matrix in a float buffer. The matrix is stored in row
|
|
* major (maths) order.
|
|
* @param buf The buffer to store this matrix in
|
|
*/
|
|
public Matrix storeTranspose(FloatBuffer buf) {
|
|
buf.put(m00);
|
|
buf.put(m10);
|
|
buf.put(m20);
|
|
buf.put(m01);
|
|
buf.put(m11);
|
|
buf.put(m21);
|
|
buf.put(m02);
|
|
buf.put(m12);
|
|
buf.put(m22);
|
|
return this;
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
* Add two matrices together and place the result in a third matrix.
|
|
* @param left The left source matrix
|
|
* @param right The right source matrix
|
|
* @param dest The destination matrix, or null if a new one is to be created
|
|
* @return the destination matrix
|
|
*/
|
|
public static Matrix3f add(Matrix3f left, Matrix3f right, Matrix3f dest) {
|
|
|
|
Matrix3f temp = null;
|
|
|
|
if (dest == null)
|
|
dest = new Matrix3f();
|
|
else if (dest == left || dest == right) {
|
|
temp = dest;
|
|
dest = new Matrix3f();
|
|
}
|
|
|
|
dest.m00 = left.m00 + right.m00;
|
|
dest.m01 = left.m01 + right.m01;
|
|
dest.m02 = left.m02 + right.m02;
|
|
dest.m10 = left.m10 + right.m10;
|
|
dest.m11 = left.m11 + right.m11;
|
|
dest.m12 = left.m12 + right.m12;
|
|
dest.m20 = left.m20 + right.m20;
|
|
dest.m21 = left.m21 + right.m21;
|
|
dest.m22 = left.m22 + right.m22;
|
|
|
|
if (temp != null) {
|
|
temp.load(dest);
|
|
return temp;
|
|
} else
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Subtract the right matrix from the left and place the result in a third matrix.
|
|
* @param left The left source matrix
|
|
* @param right The right source matrix
|
|
* @param dest The destination matrix, or null if a new one is to be created
|
|
* @return the destination matrix
|
|
*/
|
|
public static Matrix3f sub(Matrix3f left, Matrix3f right, Matrix3f dest) {
|
|
|
|
Matrix3f temp = null;
|
|
|
|
if (dest == null)
|
|
dest = new Matrix3f();
|
|
else if (dest == left || dest == right) {
|
|
temp = dest;
|
|
dest = new Matrix3f();
|
|
}
|
|
|
|
dest.m00 = left.m00 - right.m00;
|
|
dest.m01 = left.m01 - right.m01;
|
|
dest.m02 = left.m02 - right.m02;
|
|
dest.m10 = left.m10 - right.m10;
|
|
dest.m11 = left.m11 - right.m11;
|
|
dest.m12 = left.m12 - right.m12;
|
|
dest.m20 = left.m20 - right.m20;
|
|
dest.m21 = left.m21 - right.m21;
|
|
dest.m22 = left.m22 - right.m22;
|
|
|
|
if (temp != null) {
|
|
temp.load(dest);
|
|
return temp;
|
|
} else
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Multiply the right matrix by the left and place the result in a third matrix.
|
|
* @param left The left source matrix
|
|
* @param right The right source matrix
|
|
* @param dest The destination matrix, or null if a new one is to be created
|
|
* @return the destination matrix
|
|
*/
|
|
public static Matrix3f mul(Matrix3f left, Matrix3f right, Matrix3f dest) {
|
|
|
|
Matrix3f temp = null;
|
|
|
|
if (dest == null)
|
|
dest = new Matrix3f();
|
|
else if (dest == left || dest == right) {
|
|
temp = dest;
|
|
dest = new Matrix3f();
|
|
}
|
|
|
|
dest.m00 =
|
|
left.m00 * right.m00 + left.m10 * right.m01 + left.m20 * right.m02;
|
|
dest.m01 =
|
|
left.m01 * right.m00 + left.m11 * right.m01 + left.m21 * right.m02;
|
|
dest.m02 =
|
|
left.m02 * right.m00 + left.m12 * right.m01 + left.m22 * right.m02;
|
|
dest.m10 =
|
|
left.m00 * right.m10 + left.m10 * right.m11 + left.m20 * right.m12;
|
|
dest.m11 =
|
|
left.m01 * right.m10 + left.m11 * right.m11 + left.m21 * right.m12;
|
|
dest.m12 =
|
|
left.m02 * right.m10 + left.m12 * right.m11 + left.m22 * right.m12;
|
|
dest.m20 =
|
|
left.m00 * right.m20 + left.m10 * right.m21 + left.m20 * right.m22;
|
|
dest.m21 =
|
|
left.m01 * right.m20 + left.m11 * right.m21 + left.m21 * right.m22;
|
|
dest.m22 =
|
|
left.m02 * right.m20 + left.m12 * right.m21 + left.m22 * right.m22;
|
|
|
|
if (temp != null) {
|
|
temp.load(dest);
|
|
return temp;
|
|
} else
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Transform a Vector by a matrix and return the result in a destination
|
|
* vector.
|
|
* @param left The left matrix
|
|
* @param right The right vector
|
|
* @param dest The destination vector, or null if a new one is to be created
|
|
* @return the destination vector
|
|
*/
|
|
public static Vector3f transform(Matrix3f left, Vector3f right, Vector3f dest) {
|
|
|
|
Vector3f temp = null;
|
|
|
|
if (dest == null)
|
|
dest = new Vector3f();
|
|
else if (dest == right) {
|
|
temp = dest;
|
|
dest = new Vector3f();
|
|
}
|
|
|
|
dest.x = left.m00 * right.x + left.m10 * right.y + left.m20 * right.z;
|
|
dest.y = left.m01 * right.x + left.m11 * right.y + left.m21 * right.z;
|
|
dest.z = left.m02 * right.x + left.m12 * right.y + left.m22 * right.z;
|
|
|
|
if (temp != null) {
|
|
temp.set(dest);
|
|
return temp;
|
|
} else
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Transpose this matrix
|
|
* @return this
|
|
*/
|
|
public Matrix transpose() {
|
|
float f = m10;
|
|
m10 = m01;
|
|
m01 = f;
|
|
f = m20;
|
|
m20 = m02;
|
|
m02 = f;
|
|
f = m21;
|
|
m21 = m12;
|
|
m12 = f;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* 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 Matrix3f transpose(Matrix3f dest) {
|
|
if (dest == null) {
|
|
// New matrix needed to store transpose
|
|
dest = new Matrix3f();
|
|
}
|
|
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.m10 = m01;
|
|
dest.m11 = m11;
|
|
dest.m12 = m21;
|
|
dest.m20 = m02;
|
|
dest.m21 = m12;
|
|
dest.m22 = m22;
|
|
}
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* @return the determinant of the matrix
|
|
*/
|
|
public float determinant() {
|
|
float f =
|
|
m00 * (m11 * m22 - m12 * m21)
|
|
+ m01 * (m12 * m20 - m10 * m22)
|
|
+ m02 * (m10 * m21 - m11 * m20);
|
|
return f;
|
|
}
|
|
|
|
/**
|
|
* Returns a string representation of this matrix
|
|
*/
|
|
public String toString() {
|
|
StringBuffer buf = new StringBuffer();
|
|
buf.append(m00).append(' ').append(m10).append(' ').append(m20).append(' ').append('\n');
|
|
buf.append(m01).append(' ').append(m11).append(' ').append(m21).append(' ').append('\n');
|
|
buf.append(m02).append(' ').append(m12).append(' ').append(m22).append(' ').append('\n');
|
|
return buf.toString();
|
|
}
|
|
|
|
/**
|
|
* Invert this matrix
|
|
* @return this if successful, null otherwise
|
|
*/
|
|
public Matrix invert()
|
|
{
|
|
float determinant = determinant();
|
|
|
|
if (determinant != 0)
|
|
{
|
|
/* do it the ordinary way
|
|
*
|
|
* inv(A) = 1/det(A) * adj(T), where adj(T) = transpose(Conjugate Matrix)
|
|
*
|
|
* m00 m01 m02
|
|
* m10 m11 m12
|
|
* m20 m21 m22
|
|
*/
|
|
float determinant_inv = 1f/determinant;
|
|
|
|
// get the conjugate matrix
|
|
float t00 = m11 * m22 - m12* m21;
|
|
float t01 = - m10 * m22 + m12 *m20;
|
|
float t02 = m10 * m21 - m11 * m20;
|
|
float t10 = - m01 * m22 + m02 * m21;
|
|
float t11 = m00 * m22 - m02 * m20;
|
|
float t12 = - m00 * m21 + m01 * m20;
|
|
float t20 = m01 * m12 - m02 * m11;
|
|
float t21 = -m00 * m12 + m02 * m10;
|
|
float t22 = m00 * m11 - m01 * m10;
|
|
|
|
|
|
m00 = t00*determinant_inv;
|
|
m11 = t11*determinant_inv;
|
|
m22 = t22*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;
|
|
return this;
|
|
} else
|
|
return null;
|
|
}
|
|
|
|
/**
|
|
* Negate this matrix
|
|
* @return this
|
|
*/
|
|
public Matrix negate() {
|
|
m00 = -m00;
|
|
m01 = -m02;
|
|
m02 = -m01;
|
|
m10 = -m10;
|
|
m11 = -m12;
|
|
m12 = -m11;
|
|
m20 = -m20;
|
|
m21 = -m22;
|
|
m22 = -m21;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Negate this matrix and place the result in a destination matrix.
|
|
* @param dest The destination matrix, or null if a new matrix is to be created
|
|
* @return the negated matrix
|
|
*/
|
|
public Matrix3f negate(Matrix3f dest) {
|
|
if (dest == null)
|
|
dest = new Matrix3f();
|
|
|
|
dest.m00 = -m00;
|
|
dest.m01 = -m02;
|
|
dest.m02 = -m01;
|
|
dest.m10 = -m10;
|
|
dest.m11 = -m12;
|
|
dest.m12 = -m11;
|
|
dest.m20 = -m20;
|
|
dest.m21 = -m22;
|
|
dest.m22 = -m21;
|
|
return dest;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to be the identity matrix.
|
|
* @return this
|
|
*/
|
|
public Matrix setIdentity() {
|
|
m00 = 1.0f;
|
|
m01 = 0.0f;
|
|
m02 = 0.0f;
|
|
m10 = 0.0f;
|
|
m11 = 1.0f;
|
|
m12 = 0.0f;
|
|
m20 = 0.0f;
|
|
m21 = 0.0f;
|
|
m22 = 1.0f;
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to 0.
|
|
* @return this
|
|
*/
|
|
public Matrix setZero() {
|
|
m00 = 0.0f;
|
|
m01 = 0.0f;
|
|
m02 = 0.0f;
|
|
m10 = 0.0f;
|
|
m11 = 0.0f;
|
|
m12 = 0.0f;
|
|
m20 = 0.0f;
|
|
m21 = 0.0f;
|
|
m22 = 0.0f;
|
|
return this;
|
|
}
|
|
|
|
}
|