511 lines
13 KiB
Java
511 lines
13 KiB
Java
/*
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* Copyright (c) 2002-2008 LWJGL Project
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* * Neither the name of 'LWJGL' nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package org.lwjgl.util.vector;
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import java.io.Serializable;
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import java.nio.FloatBuffer;
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/**
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*
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* Holds a 3x3 matrix.
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*
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* @author cix_foo <cix_foo@users.sourceforge.net>
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* @version $Revision$
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* $Id$
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*/
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public class Matrix3f extends Matrix implements Serializable {
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private static final long serialVersionUID = 1L;
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public float m00,
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m01,
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m02,
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m10,
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m11,
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m12,
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m20,
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m21,
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m22;
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/**
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* Constructor for Matrix3f. Matrix is initialised to the identity.
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*/
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public Matrix3f() {
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super();
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setIdentity();
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}
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/**
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* Load from another matrix
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* @param src The source matrix
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* @return this
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*/
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public Matrix3f load(Matrix3f src) {
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return load(src, this);
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}
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/**
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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 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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dest = new Matrix3f();
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dest.m00 = src.m00;
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dest.m10 = src.m10;
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dest.m20 = src.m20;
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dest.m01 = src.m01;
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dest.m11 = src.m11;
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dest.m21 = src.m21;
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dest.m02 = src.m02;
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dest.m12 = src.m12;
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dest.m22 = src.m22;
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return dest;
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}
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/**
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* Load from a float buffer. The buffer stores the matrix in column major
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* (OpenGL) order.
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*
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* @param buf A float buffer to read from
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* @return this
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*/
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public Matrix load(FloatBuffer buf) {
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m00 = buf.get();
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m01 = buf.get();
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m02 = buf.get();
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m10 = buf.get();
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m11 = buf.get();
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m12 = buf.get();
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m20 = buf.get();
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m21 = buf.get();
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m22 = buf.get();
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return this;
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}
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/**
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* Load from a float buffer. The buffer stores the matrix in row major
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* (maths) order.
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*
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* @param buf A float buffer to read from
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* @return this
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*/
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public Matrix loadTranspose(FloatBuffer buf) {
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m00 = buf.get();
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m10 = buf.get();
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m20 = buf.get();
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m01 = buf.get();
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m11 = buf.get();
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m21 = buf.get();
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m02 = buf.get();
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m12 = buf.get();
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m22 = buf.get();
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return this;
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}
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/**
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* Store this matrix in a float buffer. The matrix is stored in column
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* major (openGL) order.
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* @param buf The buffer to store this matrix in
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*/
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public Matrix store(FloatBuffer buf) {
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buf.put(m00);
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buf.put(m01);
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buf.put(m02);
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buf.put(m10);
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buf.put(m11);
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buf.put(m12);
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buf.put(m20);
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buf.put(m21);
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buf.put(m22);
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return this;
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}
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/**
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* Store this matrix in a float buffer. The matrix is stored in row
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* major (maths) order.
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* @param buf The buffer to store this matrix in
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*/
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public Matrix storeTranspose(FloatBuffer buf) {
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buf.put(m00);
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buf.put(m10);
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buf.put(m20);
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buf.put(m01);
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buf.put(m11);
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buf.put(m21);
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buf.put(m02);
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buf.put(m12);
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buf.put(m22);
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return this;
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}
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/**
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* Add two matrices together and place the result in a third matrix.
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* @param left The left source matrix
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* @param right The right source matrix
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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 destination matrix
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*/
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public static Matrix3f add(Matrix3f left, Matrix3f right, Matrix3f dest) {
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if (dest == null)
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dest = new Matrix3f();
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dest.m00 = left.m00 + right.m00;
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dest.m01 = left.m01 + right.m01;
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dest.m02 = left.m02 + right.m02;
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dest.m10 = left.m10 + right.m10;
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dest.m11 = left.m11 + right.m11;
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dest.m12 = left.m12 + right.m12;
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dest.m20 = left.m20 + right.m20;
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dest.m21 = left.m21 + right.m21;
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dest.m22 = left.m22 + right.m22;
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return dest;
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}
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/**
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* Subtract the right matrix from the left and place the result in a third matrix.
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* @param left The left source matrix
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* @param right The right source matrix
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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 destination matrix
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*/
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public static Matrix3f sub(Matrix3f left, Matrix3f right, Matrix3f dest) {
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if (dest == null)
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dest = new Matrix3f();
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dest.m00 = left.m00 - right.m00;
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dest.m01 = left.m01 - right.m01;
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dest.m02 = left.m02 - right.m02;
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dest.m10 = left.m10 - right.m10;
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dest.m11 = left.m11 - right.m11;
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dest.m12 = left.m12 - right.m12;
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dest.m20 = left.m20 - right.m20;
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dest.m21 = left.m21 - right.m21;
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dest.m22 = left.m22 - right.m22;
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return dest;
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}
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/**
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* Multiply the right matrix by the left and place the result in a third matrix.
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* @param left The left source matrix
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* @param right The right source matrix
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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 destination matrix
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*/
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public static Matrix3f mul(Matrix3f left, Matrix3f right, Matrix3f dest) {
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if (dest == null)
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dest = new Matrix3f();
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float m00 =
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left.m00 * right.m00 + left.m10 * right.m01 + left.m20 * right.m02;
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float m01 =
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left.m01 * right.m00 + left.m11 * right.m01 + left.m21 * right.m02;
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float m02 =
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left.m02 * right.m00 + left.m12 * right.m01 + left.m22 * right.m02;
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float m10 =
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left.m00 * right.m10 + left.m10 * right.m11 + left.m20 * right.m12;
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float m11 =
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left.m01 * right.m10 + left.m11 * right.m11 + left.m21 * right.m12;
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float m12 =
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left.m02 * right.m10 + left.m12 * right.m11 + left.m22 * right.m12;
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float m20 =
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left.m00 * right.m20 + left.m10 * right.m21 + left.m20 * right.m22;
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float m21 =
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left.m01 * right.m20 + left.m11 * right.m21 + left.m21 * right.m22;
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float m22 =
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left.m02 * right.m20 + left.m12 * right.m21 + left.m22 * right.m22;
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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.m10 = m10;
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dest.m11 = m11;
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dest.m12 = m12;
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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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return dest;
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}
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/**
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* Transform a Vector by a matrix and return the result in a destination
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* vector.
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* @param left The left matrix
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* @param right The right vector
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* @param dest The destination vector, or null if a new one is to be created
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* @return the destination vector
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*/
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public static Vector3f transform(Matrix3f left, Vector3f right, Vector3f dest) {
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if (dest == null)
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dest = new Vector3f();
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float x = left.m00 * right.x + left.m10 * right.y + left.m20 * right.z;
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float y = left.m01 * right.x + left.m11 * right.y + left.m21 * right.z;
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float z = left.m02 * right.x + left.m12 * right.y + left.m22 * right.z;
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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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return dest;
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}
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/**
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* Transpose this matrix
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* @return this
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*/
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public Matrix transpose() {
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return transpose(this, this);
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}
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/**
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* Transpose this matrix and place the result in another matrix
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* @param dest The destination matrix or null if a new matrix is to be created
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* @return the transposed matrix
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*/
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public Matrix3f transpose(Matrix3f dest) {
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return transpose(this, dest);
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}
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/**
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* Transpose the source matrix and place the result into the destination matrix
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* @param src The source matrix to be transposed
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* @param dest The destination matrix or null if a new matrix is to be created
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* @return the transposed matrix
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*/
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public static Matrix3f transpose(Matrix3f src, Matrix3f dest) {
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if (dest == null)
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dest = new Matrix3f();
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float m00 = src.m00;
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float m01 = src.m10;
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float m02 = src.m20;
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float m10 = src.m01;
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float m11 = src.m11;
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float m12 = src.m21;
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float m20 = src.m02;
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float m21 = src.m12;
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float m22 = src.m22;
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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.m10 = m10;
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dest.m11 = m11;
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dest.m12 = m12;
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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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return dest;
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}
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/**
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* @return the determinant of the matrix
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*/
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public float determinant() {
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float f =
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m00 * (m11 * m22 - m12 * m21)
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+ m01 * (m12 * m20 - m10 * m22)
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+ m02 * (m10 * m21 - m11 * m20);
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return f;
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}
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/**
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* Returns a string representation of this matrix
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*/
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public String toString() {
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StringBuilder buf = new StringBuilder();
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buf.append(m00).append(' ').append(m10).append(' ').append(m20).append(' ').append('\n');
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buf.append(m01).append(' ').append(m11).append(' ').append(m21).append(' ').append('\n');
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buf.append(m02).append(' ').append(m12).append(' ').append(m22).append(' ').append('\n');
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return buf.toString();
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}
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/**
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* Invert this matrix
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* @return this if successful, null otherwise
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*/
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public Matrix invert() {
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return invert(this, this);
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}
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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, 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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*
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* m00 m01 m02
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* m10 m11 m12
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* m20 m21 m22
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*/
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float determinant_inv = 1f/determinant;
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// get the conjugate matrix
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float t00 = src.m11 * src.m22 - src.m12* src.m21;
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float t01 = - src.m10 * src.m22 + src.m12 * src.m20;
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float t02 = src.m10 * src.m21 - src.m11 * src.m20;
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float t10 = - src.m01 * src.m22 + src.m02 * src.m21;
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float t11 = src.m00 * src.m22 - src.m02 * src.m20;
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float t12 = - src.m00 * src.m21 + src.m01 * src.m20;
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float t20 = src.m01 * src.m12 - src.m02 * src.m11;
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float t21 = -src.m00 * src.m12 + src.m02 * src.m10;
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float t22 = src.m00 * src.m11 - src.m01 * src.m10;
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dest.m00 = t00*determinant_inv;
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dest.m11 = t11*determinant_inv;
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dest.m22 = t22*determinant_inv;
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dest.m01 = t10*determinant_inv;
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dest.m10 = t01*determinant_inv;
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dest.m20 = t02*determinant_inv;
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dest.m02 = t20*determinant_inv;
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dest.m12 = t21*determinant_inv;
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dest.m21 = t12*determinant_inv;
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return dest;
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} else
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return null;
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}
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/**
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* Negate this matrix
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* @return this
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*/
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public Matrix negate() {
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return negate(this);
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}
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/**
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* Negate this matrix and place the result in a destination matrix.
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* @param dest The destination matrix, or null if a new matrix is to be created
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* @return the negated matrix
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*/
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public Matrix3f negate(Matrix3f dest) {
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return negate(this, this);
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}
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/**
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* Negate the source matrix and place the result in 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 matrix is to be created
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* @return the negated matrix
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*/
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public static Matrix3f negate(Matrix3f src, Matrix3f dest) {
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if (dest == null)
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dest = new Matrix3f();
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dest.m00 = -src.m00;
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dest.m01 = -src.m02;
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dest.m02 = -src.m01;
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dest.m10 = -src.m10;
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dest.m11 = -src.m12;
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dest.m12 = -src.m11;
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dest.m20 = -src.m20;
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dest.m21 = -src.m22;
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dest.m22 = -src.m21;
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return dest;
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}
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/**
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* Set this matrix to be the identity matrix.
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* @return this
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*/
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public Matrix setIdentity() {
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return setIdentity(this);
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}
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/**
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* Set the matrix to be the identity matrix.
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* @param m The matrix to be set to the identity
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* @return m
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*/
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public static Matrix3f setIdentity(Matrix3f 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.m10 = 0.0f;
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m.m11 = 1.0f;
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m.m12 = 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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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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return setZero(this);
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}
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/**
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* Set the matrix matrix to 0.
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* @param m The matrix to be set to 0
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* @return m
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*/
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public static Matrix3f setZero(Matrix3f 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.m10 = 0.0f;
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m.m11 = 0.0f;
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m.m12 = 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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return m;
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}
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}
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