Package org.joml

Interface Matrix3fc

  • All Known Implementing Classes:
    Matrix3f, Matrix3fStack

    public interface Matrix3fc
    Interface to a read-only view of a 3x3 matrix of single-precision floats.
    Author:
    Kai Burjack
    • Method Summary

      All Methods Instance Methods Abstract Methods 
      Modifier and Type Method Description
      Matrix3f add​(Matrix3fc other, Matrix3f dest)
      Component-wise add this and other and store the result in dest.
      float determinant()
      Return the determinant of this matrix.
      boolean equals​(Matrix3fc m, float delta)
      Compare the matrix elements of this matrix with the given matrix using the given delta and return whether all of them are equal within a maximum difference of delta.
      float[] get​(float[] arr)
      Store this matrix into the supplied float array in column-major order.
      float[] get​(float[] arr, int offset)
      Store this matrix into the supplied float array in column-major order at the given offset.
      float get​(int column, int row)
      Get the matrix element value at the given column and row.
      java.nio.ByteBuffer get​(int index, java.nio.ByteBuffer buffer)
      Store this matrix in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
      java.nio.FloatBuffer get​(int index, java.nio.FloatBuffer buffer)
      Store this matrix in column-major order into the supplied FloatBuffer starting at the specified absolute buffer position/index.
      java.nio.ByteBuffer get​(java.nio.ByteBuffer buffer)
      Store this matrix in column-major order into the supplied ByteBuffer at the current buffer position.
      java.nio.FloatBuffer get​(java.nio.FloatBuffer buffer)
      Store this matrix in column-major order into the supplied FloatBuffer at the current buffer position.
      Matrix3f get​(Matrix3f dest)
      Get the current values of this matrix and store them into dest.
      Matrix4f get​(Matrix4f dest)
      Get the current values of this matrix and store them as the rotational component of dest.
      Vector3f getColumn​(int column, Vector3f dest)
      Get the column at the given column index, starting with 0.
      Vector3f getEulerAnglesZYX​(Vector3f dest)
      Extract the Euler angles from the rotation represented by this matrix and store the extracted Euler angles in dest.
      Quaterniond getNormalizedRotation​(Quaterniond dest)
      Get the current values of this matrix and store the represented rotation into the given Quaterniond.
      Quaternionf getNormalizedRotation​(Quaternionf dest)
      Get the current values of this matrix and store the represented rotation into the given Quaternionf.
      AxisAngle4f getRotation​(AxisAngle4f dest)
      Get the current values of this matrix and store the represented rotation into the given AxisAngle4f.
      Vector3f getRow​(int row, Vector3f dest)
      Get the row at the given row index, starting with 0.
      Vector3f getScale​(Vector3f dest)
      Get the scaling factors of this matrix for the three base axes.
      Matrix3fc getToAddress​(long address)
      Store this matrix in column-major order at the given off-heap address.
      java.nio.ByteBuffer getTransposed​(int index, java.nio.ByteBuffer buffer)
      Store the transpose of this matrix in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
      java.nio.FloatBuffer getTransposed​(int index, java.nio.FloatBuffer buffer)
      Store the transpose of this matrix in column-major order into the supplied FloatBuffer starting at the specified absolute buffer position/index.
      java.nio.ByteBuffer getTransposed​(java.nio.ByteBuffer buffer)
      Store the transpose of this matrix in column-major order into the supplied ByteBuffer at the current buffer position.
      java.nio.FloatBuffer getTransposed​(java.nio.FloatBuffer buffer)
      Store the transpose of this matrix in column-major order into the supplied FloatBuffer at the current buffer position.
      Quaterniond getUnnormalizedRotation​(Quaterniond dest)
      Get the current values of this matrix and store the represented rotation into the given Quaterniond.
      Quaternionf getUnnormalizedRotation​(Quaternionf dest)
      Get the current values of this matrix and store the represented rotation into the given Quaternionf.
      Matrix3f invert​(Matrix3f dest)
      Invert the this matrix and store the result in dest.
      Matrix3f lerp​(Matrix3fc other, float t, Matrix3f dest)
      Linearly interpolate this and other using the given interpolation factor t and store the result in dest.
      Matrix3f lookAlong​(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Matrix3f dest)
      Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.
      Matrix3f lookAlong​(Vector3fc dir, Vector3fc up, Matrix3f dest)
      Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.
      float m00()
      Return the value of the matrix element at column 0 and row 0.
      float m01()
      Return the value of the matrix element at column 0 and row 1.
      float m02()
      Return the value of the matrix element at column 0 and row 2.
      float m10()
      Return the value of the matrix element at column 1 and row 0.
      float m11()
      Return the value of the matrix element at column 1 and row 1.
      float m12()
      Return the value of the matrix element at column 1 and row 2.
      float m20()
      Return the value of the matrix element at column 2 and row 0.
      float m21()
      Return the value of the matrix element at column 2 and row 1.
      float m22()
      Return the value of the matrix element at column 2 and row 2.
      Matrix3f mul​(Matrix3fc right, Matrix3f dest)
      Multiply this matrix by the supplied right matrix and store the result in dest.
      Matrix3f mulComponentWise​(Matrix3fc other, Matrix3f dest)
      Component-wise multiply this by other and store the result in dest.
      Matrix3f mulLocal​(Matrix3fc left, Matrix3f dest)
      Pre-multiply this matrix by the supplied left matrix and store the result in dest.
      Matrix3f normal​(Matrix3f dest)
      Compute a normal matrix from this matrix and store it into dest.
      Vector3f normalizedPositiveX​(Vector3f dir)
      Obtain the direction of +X before the transformation represented by this orthogonal matrix is applied.
      Vector3f normalizedPositiveY​(Vector3f dir)
      Obtain the direction of +Y before the transformation represented by this orthogonal matrix is applied.
      Vector3f normalizedPositiveZ​(Vector3f dir)
      Obtain the direction of +Z before the transformation represented by this orthogonal matrix is applied.
      Matrix3f obliqueZ​(float a, float b, Matrix3f dest)
      Apply an oblique projection transformation to this matrix with the given values for a and b and store the result in dest.
      Vector3f positiveX​(Vector3f dir)
      Obtain the direction of +X before the transformation represented by this matrix is applied.
      Vector3f positiveY​(Vector3f dir)
      Obtain the direction of +Y before the transformation represented by this matrix is applied.
      Vector3f positiveZ​(Vector3f dir)
      Obtain the direction of +Z before the transformation represented by this matrix is applied.
      Matrix3f rotate​(float ang, float x, float y, float z, Matrix3f dest)
      Apply rotation to this matrix by rotating the given amount of radians about the given axis specified as x, y and z components, and store the result in dest.
      Matrix3f rotate​(float angle, Vector3fc axis, Matrix3f dest)
      Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.
      Matrix3f rotate​(AxisAngle4f axisAngle, Matrix3f dest)
      Apply a rotation transformation, rotating about the given AxisAngle4f and store the result in dest.
      Matrix3f rotate​(Quaternionfc quat, Matrix3f dest)
      Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.
      Matrix3f rotateLocal​(float ang, float x, float y, float z, Matrix3f dest)
      Pre-multiply a rotation to this matrix by rotating the given amount of radians about the specified (x, y, z) axis and store the result in dest.
      Matrix3f rotateLocal​(Quaternionfc quat, Matrix3f dest)
      Pre-multiply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.
      Matrix3f rotateLocalX​(float ang, Matrix3f dest)
      Pre-multiply a rotation around the X axis to this matrix by rotating the given amount of radians about the X axis and store the result in dest.
      Matrix3f rotateLocalY​(float ang, Matrix3f dest)
      Pre-multiply a rotation around the Y axis to this matrix by rotating the given amount of radians about the Y axis and store the result in dest.
      Matrix3f rotateLocalZ​(float ang, Matrix3f dest)
      Pre-multiply a rotation around the Z axis to this matrix by rotating the given amount of radians about the Z axis and store the result in dest.
      Matrix3f rotateTowards​(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Matrix3f dest)
      Apply a model transformation to this matrix for a right-handed coordinate system, that aligns the local +Z axis with dir and store the result in dest.
      Matrix3f rotateTowards​(Vector3fc direction, Vector3fc up, Matrix3f dest)
      Apply a model transformation to this matrix for a right-handed coordinate system, that aligns the local +Z axis with direction and store the result in dest.
      Matrix3f rotateX​(float ang, Matrix3f dest)
      Apply rotation about the X axis to this matrix by rotating the given amount of radians and store the result in dest.
      Matrix3f rotateXYZ​(float angleX, float angleY, float angleZ, Matrix3f dest)
      Apply rotation of angleX radians about the X axis, followed by a rotation of angleY radians about the Y axis and followed by a rotation of angleZ radians about the Z axis and store the result in dest.
      Matrix3f rotateY​(float ang, Matrix3f dest)
      Apply rotation about the Y axis to this matrix by rotating the given amount of radians and store the result in dest.
      Matrix3f rotateYXZ​(float angleY, float angleX, float angleZ, Matrix3f dest)
      Apply rotation of angleY radians about the Y axis, followed by a rotation of angleX radians about the X axis and followed by a rotation of angleZ radians about the Z axis and store the result in dest.
      Matrix3f rotateZ​(float ang, Matrix3f dest)
      Apply rotation about the Z axis to this matrix by rotating the given amount of radians and store the result in dest.
      Matrix3f rotateZYX​(float angleZ, float angleY, float angleX, Matrix3f dest)
      Apply rotation of angleZ radians about the Z axis, followed by a rotation of angleY radians about the Y axis and followed by a rotation of angleX radians about the X axis and store the result in dest.
      Matrix3f scale​(float x, float y, float z, Matrix3f dest)
      Apply scaling to this matrix by scaling the base axes by the given x, y and z factors and store the result in dest.
      Matrix3f scale​(float xyz, Matrix3f dest)
      Apply scaling to this matrix by uniformly scaling all base axes by the given xyz factor and store the result in dest.
      Matrix3f scale​(Vector3fc xyz, Matrix3f dest)
      Apply scaling to this matrix by scaling the base axes by the given xyz.x, xyz.y and xyz.z factors, respectively and store the result in dest.
      Matrix3f scaleLocal​(float x, float y, float z, Matrix3f dest)
      Pre-multiply scaling to this matrix by scaling the base axes by the given x, y and z factors and store the result in dest.
      Matrix3f sub​(Matrix3fc subtrahend, Matrix3f dest)
      Component-wise subtract subtrahend from this and store the result in dest.
      Vector3f transform​(float x, float y, float z, Vector3f dest)
      Transform the vector (x, y, z) by this matrix and store the result in dest.
      Vector3f transform​(Vector3f v)
      Transform the given vector by this matrix.
      Vector3f transform​(Vector3fc v, Vector3f dest)
      Transform the given vector by this matrix and store the result in dest.
      Vector3f transformTranspose​(float x, float y, float z, Vector3f dest)
      Transform the vector (x, y, z) by the transpose of this matrix and store the result in dest.
      Vector3f transformTranspose​(Vector3f v)
      Transform the given vector by the transpose of this matrix.
      Vector3f transformTranspose​(Vector3fc v, Vector3f dest)
      Transform the given vector by the transpose of this matrix and store the result in dest.
      Matrix3f transpose​(Matrix3f dest)
      Transpose this matrix and store the result in dest.
    • Method Detail

      • m00

        float m00()
        Return the value of the matrix element at column 0 and row 0.
        Returns:
        the value of the matrix element
      • m01

        float m01()
        Return the value of the matrix element at column 0 and row 1.
        Returns:
        the value of the matrix element
      • m02

        float m02()
        Return the value of the matrix element at column 0 and row 2.
        Returns:
        the value of the matrix element
      • m10

        float m10()
        Return the value of the matrix element at column 1 and row 0.
        Returns:
        the value of the matrix element
      • m11

        float m11()
        Return the value of the matrix element at column 1 and row 1.
        Returns:
        the value of the matrix element
      • m12

        float m12()
        Return the value of the matrix element at column 1 and row 2.
        Returns:
        the value of the matrix element
      • m20

        float m20()
        Return the value of the matrix element at column 2 and row 0.
        Returns:
        the value of the matrix element
      • m21

        float m21()
        Return the value of the matrix element at column 2 and row 1.
        Returns:
        the value of the matrix element
      • m22

        float m22()
        Return the value of the matrix element at column 2 and row 2.
        Returns:
        the value of the matrix element
      • mul

        Matrix3f mul​(Matrix3fc right,
                     Matrix3f dest)
        Multiply this matrix by the supplied right matrix and store the result in dest.

        If M is this matrix and R the right matrix, then the new matrix will be M * R. So when transforming a vector v with the new matrix by using M * R * v, the transformation of the right matrix will be applied first!

        Parameters:
        right - the right operand of the matrix multiplication
        dest - will hold the result
        Returns:
        dest
      • mulLocal

        Matrix3f mulLocal​(Matrix3fc left,
                          Matrix3f dest)
        Pre-multiply this matrix by the supplied left matrix and store the result in dest.

        If M is this matrix and L the left matrix, then the new matrix will be L * M. So when transforming a vector v with the new matrix by using L * M * v, the transformation of this matrix will be applied first!

        Parameters:
        left - the left operand of the matrix multiplication
        dest - the destination matrix, which will hold the result
        Returns:
        dest
      • determinant

        float determinant()
        Return the determinant of this matrix.
        Returns:
        the determinant
      • invert

        Matrix3f invert​(Matrix3f dest)
        Invert the this matrix and store the result in dest.
        Parameters:
        dest - will hold the result
        Returns:
        dest
      • transpose

        Matrix3f transpose​(Matrix3f dest)
        Transpose this matrix and store the result in dest.
        Parameters:
        dest - will hold the result
        Returns:
        dest
      • get

        Matrix3f get​(Matrix3f dest)
        Get the current values of this matrix and store them into dest.
        Parameters:
        dest - the destination matrix
        Returns:
        the passed in destination
      • get

        Matrix4f get​(Matrix4f dest)
        Get the current values of this matrix and store them as the rotational component of dest. All other values of dest will be set to identity.
        Parameters:
        dest - the destination matrix
        Returns:
        the passed in destination
        See Also:
        Matrix4f.set(Matrix3fc)
      • getUnnormalizedRotation

        Quaternionf getUnnormalizedRotation​(Quaternionf dest)
        Get the current values of this matrix and store the represented rotation into the given Quaternionf.

        This method assumes that the three column vectors of this matrix are not normalized and thus allows to ignore any additional scaling factor that is applied to the matrix.

        Parameters:
        dest - the destination Quaternionf
        Returns:
        the passed in destination
        See Also:
        Quaternionf.setFromUnnormalized(Matrix3fc)
      • getUnnormalizedRotation

        Quaterniond getUnnormalizedRotation​(Quaterniond dest)
        Get the current values of this matrix and store the represented rotation into the given Quaterniond.

        This method assumes that the three column vectors of this matrix are not normalized and thus allows to ignore any additional scaling factor that is applied to the matrix.

        Parameters:
        dest - the destination Quaterniond
        Returns:
        the passed in destination
        See Also:
        Quaterniond.setFromUnnormalized(Matrix3fc)
      • get

        java.nio.FloatBuffer get​(java.nio.FloatBuffer buffer)
        Store this matrix in column-major order into the supplied FloatBuffer at the current buffer position.

        This method will not increment the position of the given FloatBuffer.

        In order to specify the offset into the FloatBuffer at which the matrix is stored, use get(int, FloatBuffer), taking the absolute position as parameter.

        Parameters:
        buffer - will receive the values of this matrix in column-major order at its current position
        Returns:
        the passed in buffer
        See Also:
        get(int, FloatBuffer)
      • get

        java.nio.FloatBuffer get​(int index,
                                 java.nio.FloatBuffer buffer)
        Store this matrix in column-major order into the supplied FloatBuffer starting at the specified absolute buffer position/index.

        This method will not increment the position of the given FloatBuffer.

        Parameters:
        index - the absolute position into the FloatBuffer
        buffer - will receive the values of this matrix in column-major order
        Returns:
        the passed in buffer
      • get

        java.nio.ByteBuffer get​(java.nio.ByteBuffer buffer)
        Store this matrix in column-major order into the supplied ByteBuffer at the current buffer position.

        This method will not increment the position of the given ByteBuffer.

        In order to specify the offset into the ByteBuffer at which the matrix is stored, use get(int, ByteBuffer), taking the absolute position as parameter.

        Parameters:
        buffer - will receive the values of this matrix in column-major order at its current position
        Returns:
        the passed in buffer
        See Also:
        get(int, ByteBuffer)
      • get

        java.nio.ByteBuffer get​(int index,
                                java.nio.ByteBuffer buffer)
        Store this matrix in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.

        This method will not increment the position of the given ByteBuffer.

        Parameters:
        index - the absolute position into the ByteBuffer
        buffer - will receive the values of this matrix in column-major order
        Returns:
        the passed in buffer
      • getTransposed

        java.nio.FloatBuffer getTransposed​(java.nio.FloatBuffer buffer)
        Store the transpose of this matrix in column-major order into the supplied FloatBuffer at the current buffer position.

        This method will not increment the position of the given FloatBuffer.

        In order to specify the offset into the FloatBuffer at which the matrix is stored, use getTransposed(int, FloatBuffer), taking the absolute position as parameter.

        Parameters:
        buffer - will receive the values of this matrix in column-major order at its current position
        Returns:
        the passed in buffer
        See Also:
        getTransposed(int, FloatBuffer)
      • getTransposed

        java.nio.FloatBuffer getTransposed​(int index,
                                           java.nio.FloatBuffer buffer)
        Store the transpose of this matrix in column-major order into the supplied FloatBuffer starting at the specified absolute buffer position/index.

        This method will not increment the position of the given FloatBuffer.

        Parameters:
        index - the absolute position into the FloatBuffer
        buffer - will receive the values of this matrix in column-major order
        Returns:
        the passed in buffer
      • getTransposed

        java.nio.ByteBuffer getTransposed​(java.nio.ByteBuffer buffer)
        Store the transpose of this matrix in column-major order into the supplied ByteBuffer at the current buffer position.

        This method will not increment the position of the given ByteBuffer.

        In order to specify the offset into the ByteBuffer at which the matrix is stored, use getTransposed(int, ByteBuffer), taking the absolute position as parameter.

        Parameters:
        buffer - will receive the values of this matrix in column-major order at its current position
        Returns:
        the passed in buffer
        See Also:
        getTransposed(int, ByteBuffer)
      • getTransposed

        java.nio.ByteBuffer getTransposed​(int index,
                                          java.nio.ByteBuffer buffer)
        Store the transpose of this matrix in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.

        This method will not increment the position of the given ByteBuffer.

        Parameters:
        index - the absolute position into the ByteBuffer
        buffer - will receive the values of this matrix in column-major order
        Returns:
        the passed in buffer
      • getToAddress

        Matrix3fc getToAddress​(long address)
        Store this matrix in column-major order at the given off-heap address.

        This method will throw an UnsupportedOperationException when JOML is used with `-Djoml.nounsafe`.

        This method is unsafe as it can result in a crash of the JVM process when the specified address range does not belong to this process.

        Parameters:
        address - the off-heap address where to store this matrix
        Returns:
        this
      • get

        float[] get​(float[] arr,
                    int offset)
        Store this matrix into the supplied float array in column-major order at the given offset.
        Parameters:
        arr - the array to write the matrix values into
        offset - the offset into the array
        Returns:
        the passed in array
      • get

        float[] get​(float[] arr)
        Store this matrix into the supplied float array in column-major order.

        In order to specify an explicit offset into the array, use the method get(float[], int).

        Parameters:
        arr - the array to write the matrix values into
        Returns:
        the passed in array
        See Also:
        get(float[], int)
      • scale

        Matrix3f scale​(Vector3fc xyz,
                       Matrix3f dest)
        Apply scaling to this matrix by scaling the base axes by the given xyz.x, xyz.y and xyz.z factors, respectively and store the result in dest.

        If M is this matrix and S the scaling matrix, then the new matrix will be M * S. So when transforming a vector v with the new matrix by using M * S * v , the scaling will be applied first!

        Parameters:
        xyz - the factors of the x, y and z component, respectively
        dest - will hold the result
        Returns:
        dest
      • scale

        Matrix3f scale​(float x,
                       float y,
                       float z,
                       Matrix3f dest)
        Apply scaling to this matrix by scaling the base axes by the given x, y and z factors and store the result in dest.

        If M is this matrix and S the scaling matrix, then the new matrix will be M * S. So when transforming a vector v with the new matrix by using M * S * v , the scaling will be applied first!

        Parameters:
        x - the factor of the x component
        y - the factor of the y component
        z - the factor of the z component
        dest - will hold the result
        Returns:
        dest
      • scale

        Matrix3f scale​(float xyz,
                       Matrix3f dest)
        Apply scaling to this matrix by uniformly scaling all base axes by the given xyz factor and store the result in dest.

        If M is this matrix and S the scaling matrix, then the new matrix will be M * S. So when transforming a vector v with the new matrix by using M * S * v , the scaling will be applied first!

        Parameters:
        xyz - the factor for all components
        dest - will hold the result
        Returns:
        dest
        See Also:
        scale(float, float, float, Matrix3f)
      • scaleLocal

        Matrix3f scaleLocal​(float x,
                            float y,
                            float z,
                            Matrix3f dest)
        Pre-multiply scaling to this matrix by scaling the base axes by the given x, y and z factors and store the result in dest.

        If M is this matrix and S the scaling matrix, then the new matrix will be S * M. So when transforming a vector v with the new matrix by using S * M * v , the scaling will be applied last!

        Parameters:
        x - the factor of the x component
        y - the factor of the y component
        z - the factor of the z component
        dest - will hold the result
        Returns:
        dest
      • transform

        Vector3f transform​(Vector3f v)
        Transform the given vector by this matrix.
        Parameters:
        v - the vector to transform
        Returns:
        v
      • transform

        Vector3f transform​(Vector3fc v,
                           Vector3f dest)
        Transform the given vector by this matrix and store the result in dest.
        Parameters:
        v - the vector to transform
        dest - will hold the result
        Returns:
        dest
      • transform

        Vector3f transform​(float x,
                           float y,
                           float z,
                           Vector3f dest)
        Transform the vector (x, y, z) by this matrix and store the result in dest.
        Parameters:
        x - the x coordinate of the vector to transform
        y - the y coordinate of the vector to transform
        z - the z coordinate of the vector to transform
        dest - will hold the result
        Returns:
        dest
      • transformTranspose

        Vector3f transformTranspose​(Vector3f v)
        Transform the given vector by the transpose of this matrix.
        Parameters:
        v - the vector to transform
        Returns:
        v
      • transformTranspose

        Vector3f transformTranspose​(Vector3fc v,
                                    Vector3f dest)
        Transform the given vector by the transpose of this matrix and store the result in dest.
        Parameters:
        v - the vector to transform
        dest - will hold the result
        Returns:
        dest
      • transformTranspose

        Vector3f transformTranspose​(float x,
                                    float y,
                                    float z,
                                    Vector3f dest)
        Transform the vector (x, y, z) by the transpose of this matrix and store the result in dest.
        Parameters:
        x - the x coordinate of the vector to transform
        y - the y coordinate of the vector to transform
        z - the z coordinate of the vector to transform
        dest - will hold the result
        Returns:
        dest
      • rotateX

        Matrix3f rotateX​(float ang,
                         Matrix3f dest)
        Apply rotation about the X axis to this matrix by rotating the given amount of radians and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be M * R. So when transforming a vector v with the new matrix by using M * R * v , the rotation will be applied first!

        Reference: http://en.wikipedia.org

        Parameters:
        ang - the angle in radians
        dest - will hold the result
        Returns:
        dest
      • rotateY

        Matrix3f rotateY​(float ang,
                         Matrix3f dest)
        Apply rotation about the Y axis to this matrix by rotating the given amount of radians and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be M * R. So when transforming a vector v with the new matrix by using M * R * v , the rotation will be applied first!

        Reference: http://en.wikipedia.org

        Parameters:
        ang - the angle in radians
        dest - will hold the result
        Returns:
        dest
      • rotateZ

        Matrix3f rotateZ​(float ang,
                         Matrix3f dest)
        Apply rotation about the Z axis to this matrix by rotating the given amount of radians and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be M * R. So when transforming a vector v with the new matrix by using M * R * v , the rotation will be applied first!

        Reference: http://en.wikipedia.org

        Parameters:
        ang - the angle in radians
        dest - will hold the result
        Returns:
        dest
      • rotateXYZ

        Matrix3f rotateXYZ​(float angleX,
                           float angleY,
                           float angleZ,
                           Matrix3f dest)
        Apply rotation of angleX radians about the X axis, followed by a rotation of angleY radians about the Y axis and followed by a rotation of angleZ radians about the Z axis and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be M * R. So when transforming a vector v with the new matrix by using M * R * v, the rotation will be applied first!

        This method is equivalent to calling: rotateX(angleX, dest).rotateY(angleY).rotateZ(angleZ)

        Parameters:
        angleX - the angle to rotate about X
        angleY - the angle to rotate about Y
        angleZ - the angle to rotate about Z
        dest - will hold the result
        Returns:
        dest
      • rotateZYX

        Matrix3f rotateZYX​(float angleZ,
                           float angleY,
                           float angleX,
                           Matrix3f dest)
        Apply rotation of angleZ radians about the Z axis, followed by a rotation of angleY radians about the Y axis and followed by a rotation of angleX radians about the X axis and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be M * R. So when transforming a vector v with the new matrix by using M * R * v, the rotation will be applied first!

        This method is equivalent to calling: rotateZ(angleZ, dest).rotateY(angleY).rotateX(angleX)

        Parameters:
        angleZ - the angle to rotate about Z
        angleY - the angle to rotate about Y
        angleX - the angle to rotate about X
        dest - will hold the result
        Returns:
        dest
      • rotateYXZ

        Matrix3f rotateYXZ​(float angleY,
                           float angleX,
                           float angleZ,
                           Matrix3f dest)
        Apply rotation of angleY radians about the Y axis, followed by a rotation of angleX radians about the X axis and followed by a rotation of angleZ radians about the Z axis and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be M * R. So when transforming a vector v with the new matrix by using M * R * v, the rotation will be applied first!

        This method is equivalent to calling: rotateY(angleY, dest).rotateX(angleX).rotateZ(angleZ)

        Parameters:
        angleY - the angle to rotate about Y
        angleX - the angle to rotate about X
        angleZ - the angle to rotate about Z
        dest - will hold the result
        Returns:
        dest
      • rotate

        Matrix3f rotate​(float ang,
                        float x,
                        float y,
                        float z,
                        Matrix3f dest)
        Apply rotation to this matrix by rotating the given amount of radians about the given axis specified as x, y and z components, and store the result in dest.

        The axis described by the three components needs to be a unit vector.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be M * R. So when transforming a vector v with the new matrix by using M * R * v , the rotation will be applied first!

        Reference: http://en.wikipedia.org

        Parameters:
        ang - the angle in radians
        x - the x component of the axis
        y - the y component of the axis
        z - the z component of the axis
        dest - will hold the result
        Returns:
        dest
      • rotateLocal

        Matrix3f rotateLocal​(float ang,
                             float x,
                             float y,
                             float z,
                             Matrix3f dest)
        Pre-multiply a rotation to this matrix by rotating the given amount of radians about the specified (x, y, z) axis and store the result in dest.

        The axis described by the three components needs to be a unit vector.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be R * M. So when transforming a vector v with the new matrix by using R * M * v, the rotation will be applied last!

        Reference: http://en.wikipedia.org

        Parameters:
        ang - the angle in radians
        x - the x component of the axis
        y - the y component of the axis
        z - the z component of the axis
        dest - will hold the result
        Returns:
        dest
      • rotateLocalX

        Matrix3f rotateLocalX​(float ang,
                              Matrix3f dest)
        Pre-multiply a rotation around the X axis to this matrix by rotating the given amount of radians about the X axis and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be R * M. So when transforming a vector v with the new matrix by using R * M * v, the rotation will be applied last!

        Reference: http://en.wikipedia.org

        Parameters:
        ang - the angle in radians to rotate about the X axis
        dest - will hold the result
        Returns:
        dest
      • rotateLocalY

        Matrix3f rotateLocalY​(float ang,
                              Matrix3f dest)
        Pre-multiply a rotation around the Y axis to this matrix by rotating the given amount of radians about the Y axis and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be R * M. So when transforming a vector v with the new matrix by using R * M * v, the rotation will be applied last!

        Reference: http://en.wikipedia.org

        Parameters:
        ang - the angle in radians to rotate about the Y axis
        dest - will hold the result
        Returns:
        dest
      • rotateLocalZ

        Matrix3f rotateLocalZ​(float ang,
                              Matrix3f dest)
        Pre-multiply a rotation around the Z axis to this matrix by rotating the given amount of radians about the Z axis and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and R the rotation matrix, then the new matrix will be R * M. So when transforming a vector v with the new matrix by using R * M * v, the rotation will be applied last!

        Reference: http://en.wikipedia.org

        Parameters:
        ang - the angle in radians to rotate about the Z axis
        dest - will hold the result
        Returns:
        dest
      • rotate

        Matrix3f rotate​(Quaternionfc quat,
                        Matrix3f dest)
        Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and Q the rotation matrix obtained from the given quaternion, then the new matrix will be M * Q. So when transforming a vector v with the new matrix by using M * Q * v, the quaternion rotation will be applied first!

        Reference: http://en.wikipedia.org

        Parameters:
        quat - the Quaternionfc
        dest - will hold the result
        Returns:
        dest
      • rotateLocal

        Matrix3f rotateLocal​(Quaternionfc quat,
                             Matrix3f dest)
        Pre-multiply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and Q the rotation matrix obtained from the given quaternion, then the new matrix will be Q * M. So when transforming a vector v with the new matrix by using Q * M * v, the quaternion rotation will be applied last!

        Reference: http://en.wikipedia.org

        Parameters:
        quat - the Quaternionfc
        dest - will hold the result
        Returns:
        dest
      • rotate

        Matrix3f rotate​(AxisAngle4f axisAngle,
                        Matrix3f dest)
        Apply a rotation transformation, rotating about the given AxisAngle4f and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and A the rotation matrix obtained from the given AxisAngle4f, then the new matrix will be M * A. So when transforming a vector v with the new matrix by using M * A * v, the AxisAngle4f rotation will be applied first!

        Reference: http://en.wikipedia.org

        Parameters:
        axisAngle - the AxisAngle4f (needs to be normalized)
        dest - will hold the result
        Returns:
        dest
        See Also:
        rotate(float, float, float, float, Matrix3f)
      • rotate

        Matrix3f rotate​(float angle,
                        Vector3fc axis,
                        Matrix3f dest)
        Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.

        When used with a right-handed coordinate system, the produced rotation will rotate a vector counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin. When used with a left-handed coordinate system, the rotation is clockwise.

        If M is this matrix and A the rotation matrix obtained from the given angle and axis, then the new matrix will be M * A. So when transforming a vector v with the new matrix by using M * A * v, the axis-angle rotation will be applied first!

        Reference: http://en.wikipedia.org

        Parameters:
        angle - the angle in radians
        axis - the rotation axis (needs to be normalized)
        dest - will hold the result
        Returns:
        dest
        See Also:
        rotate(float, float, float, float, Matrix3f)
      • lookAlong

        Matrix3f lookAlong​(Vector3fc dir,
                           Vector3fc up,
                           Matrix3f dest)
        Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.

        If M is this matrix and L the lookalong rotation matrix, then the new matrix will be M * L. So when transforming a vector v with the new matrix by using M * L * v, the lookalong rotation transformation will be applied first!

        Parameters:
        dir - the direction in space to look along
        up - the direction of 'up'
        dest - will hold the result
        Returns:
        dest
        See Also:
        lookAlong(float, float, float, float, float, float, Matrix3f)
      • lookAlong

        Matrix3f lookAlong​(float dirX,
                           float dirY,
                           float dirZ,
                           float upX,
                           float upY,
                           float upZ,
                           Matrix3f dest)
        Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.

        If M is this matrix and L the lookalong rotation matrix, then the new matrix will be M * L. So when transforming a vector v with the new matrix by using M * L * v, the lookalong rotation transformation will be applied first!

        Parameters:
        dirX - the x-coordinate of the direction to look along
        dirY - the y-coordinate of the direction to look along
        dirZ - the z-coordinate of the direction to look along
        upX - the x-coordinate of the up vector
        upY - the y-coordinate of the up vector
        upZ - the z-coordinate of the up vector
        dest - will hold the result
        Returns:
        dest
      • getRow

        Vector3f getRow​(int row,
                        Vector3f dest)
                 throws java.lang.IndexOutOfBoundsException
        Get the row at the given row index, starting with 0.
        Parameters:
        row - the row index in [0..2]
        dest - will hold the row components
        Returns:
        the passed in destination
        Throws:
        java.lang.IndexOutOfBoundsException - if row is not in [0..2]
      • getColumn

        Vector3f getColumn​(int column,
                           Vector3f dest)
                    throws java.lang.IndexOutOfBoundsException
        Get the column at the given column index, starting with 0.
        Parameters:
        column - the column index in [0..2]
        dest - will hold the column components
        Returns:
        the passed in destination
        Throws:
        java.lang.IndexOutOfBoundsException - if column is not in [0..2]
      • get

        float get​(int column,
                  int row)
        Get the matrix element value at the given column and row.
        Parameters:
        column - the colum index in [0..2]
        row - the row index in [0..2]
        Returns:
        the element value
      • normal

        Matrix3f normal​(Matrix3f dest)
        Compute a normal matrix from this matrix and store it into dest.
        Parameters:
        dest - will hold the result
        Returns:
        dest
      • getScale

        Vector3f getScale​(Vector3f dest)
        Get the scaling factors of this matrix for the three base axes.
        Parameters:
        dest - will hold the scaling factors for x, y and z
        Returns:
        dest
      • positiveZ

        Vector3f positiveZ​(Vector3f dir)
        Obtain the direction of +Z before the transformation represented by this matrix is applied.

        This method is equivalent to the following code:

         Matrix3f inv = new Matrix3f(this).invert();
         inv.transform(dir.set(0, 0, 1)).normalize();
         
        If this is already an orthogonal matrix, then consider using normalizedPositiveZ(Vector3f) instead.

        Reference: http://www.euclideanspace.com

        Parameters:
        dir - will hold the direction of +Z
        Returns:
        dir
      • normalizedPositiveZ

        Vector3f normalizedPositiveZ​(Vector3f dir)
        Obtain the direction of +Z before the transformation represented by this orthogonal matrix is applied. This method only produces correct results if this is an orthogonal matrix.

        This method is equivalent to the following code:

         Matrix3f inv = new Matrix3f(this).transpose();
         inv.transform(dir.set(0, 0, 1));
         

        Reference: http://www.euclideanspace.com

        Parameters:
        dir - will hold the direction of +Z
        Returns:
        dir
      • positiveX

        Vector3f positiveX​(Vector3f dir)
        Obtain the direction of +X before the transformation represented by this matrix is applied.

        This method is equivalent to the following code:

         Matrix3f inv = new Matrix3f(this).invert();
         inv.transform(dir.set(1, 0, 0)).normalize();
         
        If this is already an orthogonal matrix, then consider using normalizedPositiveX(Vector3f) instead.

        Reference: http://www.euclideanspace.com

        Parameters:
        dir - will hold the direction of +X
        Returns:
        dir
      • normalizedPositiveX

        Vector3f normalizedPositiveX​(Vector3f dir)
        Obtain the direction of +X before the transformation represented by this orthogonal matrix is applied. This method only produces correct results if this is an orthogonal matrix.

        This method is equivalent to the following code:

         Matrix3f inv = new Matrix3f(this).transpose();
         inv.transform(dir.set(1, 0, 0));
         

        Reference: http://www.euclideanspace.com

        Parameters:
        dir - will hold the direction of +X
        Returns:
        dir
      • positiveY

        Vector3f positiveY​(Vector3f dir)
        Obtain the direction of +Y before the transformation represented by this matrix is applied.

        This method is equivalent to the following code:

         Matrix3f inv = new Matrix3f(this).invert();
         inv.transform(dir.set(0, 1, 0)).normalize();
         
        If this is already an orthogonal matrix, then consider using normalizedPositiveY(Vector3f) instead.

        Reference: http://www.euclideanspace.com

        Parameters:
        dir - will hold the direction of +Y
        Returns:
        dir
      • normalizedPositiveY

        Vector3f normalizedPositiveY​(Vector3f dir)
        Obtain the direction of +Y before the transformation represented by this orthogonal matrix is applied. This method only produces correct results if this is an orthogonal matrix.

        This method is equivalent to the following code:

         Matrix3f inv = new Matrix3f(this).transpose();
         inv.transform(dir.set(0, 1, 0));
         

        Reference: http://www.euclideanspace.com

        Parameters:
        dir - will hold the direction of +Y
        Returns:
        dir
      • add

        Matrix3f add​(Matrix3fc other,
                     Matrix3f dest)
        Component-wise add this and other and store the result in dest.
        Parameters:
        other - the other addend
        dest - will hold the result
        Returns:
        dest
      • sub

        Matrix3f sub​(Matrix3fc subtrahend,
                     Matrix3f dest)
        Component-wise subtract subtrahend from this and store the result in dest.
        Parameters:
        subtrahend - the subtrahend
        dest - will hold the result
        Returns:
        dest
      • mulComponentWise

        Matrix3f mulComponentWise​(Matrix3fc other,
                                  Matrix3f dest)
        Component-wise multiply this by other and store the result in dest.
        Parameters:
        other - the other matrix
        dest - will hold the result
        Returns:
        dest
      • lerp

        Matrix3f lerp​(Matrix3fc other,
                      float t,
                      Matrix3f dest)
        Linearly interpolate this and other using the given interpolation factor t and store the result in dest.

        If t is 0.0 then the result is this. If the interpolation factor is 1.0 then the result is other.

        Parameters:
        other - the other matrix
        t - the interpolation factor between 0.0 and 1.0
        dest - will hold the result
        Returns:
        dest
      • rotateTowards

        Matrix3f rotateTowards​(Vector3fc direction,
                               Vector3fc up,
                               Matrix3f dest)
        Apply a model transformation to this matrix for a right-handed coordinate system, that aligns the local +Z axis with direction and store the result in dest.

        If M is this matrix and L the lookat matrix, then the new matrix will be M * L. So when transforming a vector v with the new matrix by using M * L * v, the lookat transformation will be applied first!

        This method is equivalent to calling: mul(new Matrix3f().lookAlong(new Vector3f(dir).negate(), up).invert(), dest)

        Parameters:
        direction - the direction to rotate towards
        up - the model's up vector
        dest - will hold the result
        Returns:
        dest
        See Also:
        rotateTowards(float, float, float, float, float, float, Matrix3f)
      • rotateTowards

        Matrix3f rotateTowards​(float dirX,
                               float dirY,
                               float dirZ,
                               float upX,
                               float upY,
                               float upZ,
                               Matrix3f dest)
        Apply a model transformation to this matrix for a right-handed coordinate system, that aligns the local +Z axis with dir and store the result in dest.

        If M is this matrix and L the lookat matrix, then the new matrix will be M * L. So when transforming a vector v with the new matrix by using M * L * v, the lookat transformation will be applied first!

        This method is equivalent to calling: mul(new Matrix3f().lookAlong(-dirX, -dirY, -dirZ, upX, upY, upZ).invert(), dest)

        Parameters:
        dirX - the x-coordinate of the direction to rotate towards
        dirY - the y-coordinate of the direction to rotate towards
        dirZ - the z-coordinate of the direction to rotate towards
        upX - the x-coordinate of the up vector
        upY - the y-coordinate of the up vector
        upZ - the z-coordinate of the up vector
        dest - will hold the result
        Returns:
        dest
        See Also:
        rotateTowards(Vector3fc, Vector3fc, Matrix3f)
      • getEulerAnglesZYX

        Vector3f getEulerAnglesZYX​(Vector3f dest)
        Extract the Euler angles from the rotation represented by this matrix and store the extracted Euler angles in dest.

        This method assumes that this matrix only represents a rotation without scaling.

        Note that the returned Euler angles must be applied in the order Z * Y * X to obtain the identical matrix. This means that calling rotateZYX(float, float, float, Matrix3f) using the obtained Euler angles will yield the same rotation as the original matrix from which the Euler angles were obtained, so in the below code the matrix m2 should be identical to m (disregarding possible floating-point inaccuracies).

         Matrix3f m = ...; // <- matrix only representing rotation
         Matrix3f n = new Matrix3f();
         n.rotateZYX(m.getEulerAnglesZYX(new Vector3f()));
         

        Reference: http://nghiaho.com/

        Parameters:
        dest - will hold the extracted Euler angles
        Returns:
        dest
      • obliqueZ

        Matrix3f obliqueZ​(float a,
                          float b,
                          Matrix3f dest)
        Apply an oblique projection transformation to this matrix with the given values for a and b and store the result in dest.

        If M is this matrix and O the oblique transformation matrix, then the new matrix will be M * O. So when transforming a vector v with the new matrix by using M * O * v, the oblique transformation will be applied first!

        The oblique transformation is defined as:

         x' = x + a*z
         y' = y + a*z
         z' = z
         
        or in matrix form:
         1 0 a
         0 1 b
         0 0 1
         
        Parameters:
        a - the value for the z factor that applies to x
        b - the value for the z factor that applies to y
        dest - will hold the result
        Returns:
        dest
      • equals

        boolean equals​(Matrix3fc m,
                       float delta)
        Compare the matrix elements of this matrix with the given matrix using the given delta and return whether all of them are equal within a maximum difference of delta.

        Please note that this method is not used by any data structure such as ArrayList HashSet or HashMap and their operations, such as ArrayList.contains(Object) or HashSet.remove(Object), since those data structures only use the Object.equals(Object) and Object.hashCode() methods.

        Parameters:
        m - the other matrix
        delta - the allowed maximum difference
        Returns:
        true whether all of the matrix elements are equal; false otherwise