Package org.joml

Interface Matrix3dc

All Known Implementing Classes:
Matrix3d, Matrix3dStack

public interface Matrix3dc
Interface to a read-only view of a 3x3 matrix of double-precision floats.
Author:
Kai Burjack
  • Method Summary

    Modifier and Type
    Method
    Description
    add(Matrix3dc other, Matrix3d dest)
    Component-wise add this and other and store the result in dest.
    Compute the cofactor matrix of this and store it into dest.
    double
    Return the determinant of this matrix.
    boolean
    equals(Matrix3dc m, double 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.
    double[]
    get(double[] arr)
    Store this matrix into the supplied double array in column-major order.
    double[]
    get(double[] arr, int offset)
    Store this matrix into the supplied double array in column-major order at the given offset.
    float[]
    get(float[] arr)
    Store the elements of this matrix as float values in column-major order into the supplied float array.
    float[]
    get(float[] arr, int offset)
    Store the elements of this matrix as float values in column-major order into the supplied float array at the given offset.
    double
    get(int column, int row)
    Get the matrix element value at the given column and row.
    get(int index, ByteBuffer buffer)
    Store this matrix in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
    get(int index, DoubleBuffer buffer)
    Store this matrix into the supplied DoubleBuffer starting at the specified absolute buffer position/index using column-major order.
    get(int index, FloatBuffer buffer)
    Store this matrix in column-major order into the supplied FloatBuffer starting at the specified absolute buffer position/index.
    get(ByteBuffer buffer)
    Store this matrix in column-major order into the supplied ByteBuffer at the current buffer position.
    get(DoubleBuffer buffer)
    Store this matrix into the supplied DoubleBuffer at the current buffer position using column-major order.
    get(FloatBuffer buffer)
    Store this matrix in column-major order into the supplied FloatBuffer at the current buffer position.
    get(Matrix3d dest)
    Get the current values of this matrix and store them into dest.
    getColumn(int column, Vector3d dest)
    Get the column at the given column index, starting with 0.
    Extract the Euler angles from the rotation represented by this matrix and store the extracted Euler angles in dest.
    getFloats(int index, ByteBuffer buffer)
    Store the elements of this matrix as float values in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
    Store the elements of this matrix as float values in column-major order into the supplied ByteBuffer at the current buffer position.
    Get the current values of this matrix and store the represented rotation into the given Quaterniond.
    Get the current values of this matrix and store the represented rotation into the given Quaternionf.
    Get the current values of this matrix and store the represented rotation into the given AxisAngle4f.
    getRow(int row, Vector3d dest)
    Get the row at the given row index, starting with 0.
    double
    getRowColumn(int row, int column)
    Get the matrix element value at the given row and column.
    Get the scaling factors of this matrix for the three base axes.
    getToAddress(long address)
    Store this matrix in column-major order at the given off-heap address.
    Get the current values of this matrix and store the represented rotation into the given Quaterniond.
    Get the current values of this matrix and store the represented rotation into the given Quaternionf.
    Invert this matrix and store the result in dest.
    boolean
    Determine whether all matrix elements are finite floating-point values, that is, they are not NaN and not infinity.
    lerp(Matrix3dc other, double t, Matrix3d dest)
    Linearly interpolate this and other using the given interpolation factor t and store the result in dest.
    lookAlong(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix3d dest)
    Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.
    Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.
    double
    m00()
    Return the value of the matrix element at column 0 and row 0.
    double
    m01()
    Return the value of the matrix element at column 0 and row 1.
    double
    m02()
    Return the value of the matrix element at column 0 and row 2.
    double
    m10()
    Return the value of the matrix element at column 1 and row 0.
    double
    m11()
    Return the value of the matrix element at column 1 and row 1.
    double
    m12()
    Return the value of the matrix element at column 1 and row 2.
    double
    m20()
    Return the value of the matrix element at column 2 and row 0.
    double
    m21()
    Return the value of the matrix element at column 2 and row 1.
    double
    m22()
    Return the value of the matrix element at column 2 and row 2.
    mul(Matrix3dc right, Matrix3d dest)
    Multiply this matrix by the supplied matrix and store the result in dest.
    mul(Matrix3fc right, Matrix3d dest)
    Multiply this matrix by the supplied matrix and store the result in dest.
    Component-wise multiply this by other and store the result in dest.
    Pre-multiply this matrix by the supplied left matrix and store the result in dest.
    Compute a normal matrix from this matrix and store it into dest.
    Obtain the direction of +X before the transformation represented by this orthogonal matrix is applied.
    Obtain the direction of +Y before the transformation represented by this orthogonal matrix is applied.
    Obtain the direction of +Z before the transformation represented by this orthogonal matrix is applied.
    obliqueZ(double a, double b, Matrix3d dest)
    Apply an oblique projection transformation to this matrix with the given values for a and b and store the result in dest.
    Obtain the direction of +X before the transformation represented by this matrix is applied.
    Obtain the direction of +Y before the transformation represented by this matrix is applied.
    Obtain the direction of +Z before the transformation represented by this matrix is applied.
    double
    quadraticFormProduct(double x, double y, double z)
    Compute (x, y, z)^T * this * (x, y, z).
    double
    Compute v^T * this * v.
    double
    Compute v^T * this * v.
    reflect(double nx, double ny, double nz, Matrix3d dest)
    Apply a mirror/reflection transformation to this matrix that reflects through the given plane specified via the plane normal (nx, ny, nz), and store the result in dest.
    reflect(Quaterniondc orientation, Matrix3d dest)
    Apply a mirror/reflection transformation to this matrix that reflects through a plane specified via the plane orientation, and store the result in dest.
    reflect(Vector3dc normal, Matrix3d dest)
    Apply a mirror/reflection transformation to this matrix that reflects through the given plane specified via the plane normal, and store the result in dest.
    rotate(double ang, double x, double y, double z, Matrix3d 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.
    rotate(double angle, Vector3dc axis, Matrix3d dest)
    Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.
    rotate(double angle, Vector3fc axis, Matrix3d dest)
    Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.
    rotate(AxisAngle4d axisAngle, Matrix3d dest)
    Apply a rotation transformation, rotating about the given AxisAngle4d and store the result in dest.
    rotate(AxisAngle4f axisAngle, Matrix3d dest)
    Apply a rotation transformation, rotating about the given AxisAngle4f and store the result in dest.
    Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix and store the result in dest.
    Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.
    rotateLocal(double ang, double x, double y, double z, Matrix3d 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.
    Pre-multiply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix and store the result in dest.
    Pre-multiply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.
    rotateLocalX(double ang, Matrix3d 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.
    rotateLocalY(double ang, Matrix3d 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.
    rotateLocalZ(double ang, Matrix3d 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.
    rotateTowards(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix3d 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.
    rotateTowards(Vector3dc direction, Vector3dc up, Matrix3d 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.
    rotateX(double ang, Matrix3d dest)
    Apply rotation about the X axis to this matrix by rotating the given amount of radians and store the result in dest.
    rotateXYZ(double angleX, double angleY, double angleZ, Matrix3d 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.
    rotateY(double ang, Matrix3d dest)
    Apply rotation about the Y axis to this matrix by rotating the given amount of radians and store the result in dest.
    rotateYXZ(double angleY, double angleX, double angleZ, Matrix3d 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.
    rotateZ(double ang, Matrix3d dest)
    Apply rotation about the Z axis to this matrix by rotating the given amount of radians and store the result in dest.
    rotateZYX(double angleZ, double angleY, double angleX, Matrix3d 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.
    scale(double x, double y, double z, Matrix3d 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.
    scale(double xyz, Matrix3d dest)
    Apply scaling to this matrix by uniformly scaling all base axes by the given xyz factor and store the result in dest.
    scale(Vector3dc xyz, Matrix3d 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.
    scaleLocal(double x, double y, double z, Matrix3d 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.
    sub(Matrix3dc subtrahend, Matrix3d dest)
    Component-wise subtract subtrahend from this and store the result in dest.
    transform(double x, double y, double z, Vector3d dest)
    Transform the vector (x, y, z) by this matrix and store the result in dest.
    Transform the given vector by this matrix.
    Transform the given vector by this matrix and store the result in dest.
    Transform the given vector by this matrix.
    Transform the given vector by this matrix and store the result in dest.
    transformTranspose(double x, double y, double z, Vector3d dest)
    Transform the vector (x, y, z) by the transpose of this matrix and store the result in dest.
    Transform the given vector by the transpose of this matrix.
    Transform the given vector by the transpose of this matrix and store the result in dest.
    Transpose this matrix and store the result in dest.
  • Method Details

    • m00

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

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

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

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

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

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

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

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

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

      Matrix3d mul(Matrix3dc right, Matrix3d dest)
      Multiply this matrix by the supplied matrix and store the result in dest. This matrix will be the left one.

      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
      dest - will hold the result
      Returns:
      dest
    • mulLocal

      Matrix3d mulLocal(Matrix3dc left, Matrix3d 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
    • mul

      Matrix3d mul(Matrix3fc right, Matrix3d dest)
      Multiply this matrix by the supplied matrix and store the result in dest. This matrix will be the left one.

      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
      dest - will hold the result
      Returns:
      dest
    • determinant

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

      Matrix3d invert(Matrix3d dest)
      Invert this matrix and store the result in dest.
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • transpose

      Matrix3d transpose(Matrix3d dest)
      Transpose this matrix and store the result in dest.
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • get

      Matrix3d get(Matrix3d dest)
      Get the current values of this matrix and store them into dest.
      Parameters:
      dest - the destination matrix
      Returns:
      the passed in destination
    • getRotation

      AxisAngle4f getRotation(AxisAngle4f dest)
      Get the current values of this matrix and store the represented rotation into the given AxisAngle4f.
      Parameters:
      dest - the destination AxisAngle4f
      Returns:
      the passed in destination
      See Also:
    • 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:
    • getNormalizedRotation

      Quaternionf getNormalizedRotation(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 normalized.

      Parameters:
      dest - the destination Quaternionf
      Returns:
      the passed in destination
      See Also:
    • 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:
    • getNormalizedRotation

      Quaterniond getNormalizedRotation(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 normalized.

      Parameters:
      dest - the destination Quaterniond
      Returns:
      the passed in destination
      See Also:
    • get

      Store this matrix into the supplied DoubleBuffer at the current buffer position using column-major order.

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

      In order to specify the offset into the DoubleBuffer} at which the matrix is stored, use get(int, DoubleBuffer), 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

      DoubleBuffer get(int index, DoubleBuffer buffer)
      Store this matrix into the supplied DoubleBuffer starting at the specified absolute buffer position/index using column-major order.

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

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

      FloatBuffer get(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.

      Please note that due to this matrix storing double values those values will potentially lose precision when they are converted to float values before being put into the given FloatBuffer.

      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

      FloatBuffer get(int index, 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.

      Please note that due to this matrix storing double values those values will potentially lose precision when they are converted to float values before being put into 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

      ByteBuffer get(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

      ByteBuffer get(int index, 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
    • getFloats

      ByteBuffer getFloats(ByteBuffer buffer)
      Store the elements of this matrix as float values in column-major order into the supplied ByteBuffer at the current buffer position.

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

      Please note that due to this matrix storing double values those values will potentially lose precision when they are converted to float values before being put into the given ByteBuffer.

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

      Parameters:
      buffer - will receive the elements of this matrix as float values in column-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • getFloats

      ByteBuffer getFloats(int index, ByteBuffer buffer)
      Store the elements of this matrix as float values 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.

      Please note that due to this matrix storing double values those values will potentially lose precision when they are converted to float values before being put into the given ByteBuffer.

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

      Matrix3dc 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

      double[] get(double[] arr, int offset)
      Store this matrix into the supplied double 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

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

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

      Parameters:
      arr - the array to write the matrix values into
      Returns:
      the passed in array
      See Also:
    • get

      float[] get(float[] arr, int offset)
      Store the elements of this matrix as float values in column-major order into the supplied float array at the given offset.

      Please note that due to this matrix storing double values those values will potentially lose precision when they are converted to float values before being put into the given float array.

      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 the elements of this matrix as float values in column-major order into the supplied float array.

      Please note that due to this matrix storing double values those values will potentially lose precision when they are converted to float values before being put into the given float array.

      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:
    • scale

      Matrix3d scale(Vector3dc xyz, Matrix3d 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

      Matrix3d scale(double x, double y, double z, Matrix3d 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

      Matrix3d scale(double xyz, Matrix3d 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:
    • scaleLocal

      Matrix3d scaleLocal(double x, double y, double z, Matrix3d 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

      Vector3d transform(Vector3d v)
      Transform the given vector by this matrix.
      Parameters:
      v - the vector to transform
      Returns:
      v
    • transform

      Vector3d transform(Vector3dc v, Vector3d 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(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

      Vector3d transform(double x, double y, double z, Vector3d 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

      Vector3d transformTranspose(Vector3d v)
      Transform the given vector by the transpose of this matrix.
      Parameters:
      v - the vector to transform
      Returns:
      v
    • transformTranspose

      Vector3d transformTranspose(Vector3dc v, Vector3d 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

      Vector3d transformTranspose(double x, double y, double z, Vector3d 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

      Matrix3d rotateX(double ang, Matrix3d 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

      Matrix3d rotateY(double ang, Matrix3d 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

      Matrix3d rotateZ(double ang, Matrix3d 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

      Matrix3d rotateXYZ(double angleX, double angleY, double angleZ, Matrix3d 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

      Matrix3d rotateZYX(double angleZ, double angleY, double angleX, Matrix3d 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

      Matrix3d rotateYXZ(double angleY, double angleX, double angleZ, Matrix3d 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

      Matrix3d rotate(double ang, double x, double y, double z, Matrix3d 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

      Matrix3d rotateLocal(double ang, double x, double y, double z, Matrix3d 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

      Matrix3d rotateLocalX(double ang, Matrix3d 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

      Matrix3d rotateLocalY(double ang, Matrix3d 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

      Matrix3d rotateLocalZ(double ang, Matrix3d 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
    • rotateLocal

      Matrix3d rotateLocal(Quaterniondc quat, Matrix3d dest)
      Pre-multiply the rotation - and possibly scaling - transformation of the given Quaterniondc 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 Quaterniondc
      dest - will hold the result
      Returns:
      dest
    • rotateLocal

      Matrix3d rotateLocal(Quaternionfc quat, Matrix3d 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

      Matrix3d rotate(Quaterniondc quat, Matrix3d dest)
      Apply the rotation - and possibly scaling - transformation of the given Quaterniondc 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 Quaterniondc
      dest - will hold the result
      Returns:
      dest
    • rotate

      Matrix3d rotate(Quaternionfc quat, Matrix3d 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
    • rotate

      Matrix3d rotate(AxisAngle4f axisAngle, Matrix3d 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

      Matrix3d rotate(AxisAngle4d axisAngle, Matrix3d dest)
      Apply a rotation transformation, rotating about the given AxisAngle4d 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 AxisAngle4d, then the new matrix will be M * A. So when transforming a vector v with the new matrix by using M * A * v, the AxisAngle4d rotation will be applied first!

      Reference: http://en.wikipedia.org

      Parameters:
      axisAngle - the AxisAngle4d (needs to be normalized)
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotate

      Matrix3d rotate(double angle, Vector3dc axis, Matrix3d dest)
      Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.

      The axis described by the axis vector 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 A the rotation matrix obtained from the given axis and angle, 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

      Matrix3d rotate(double angle, Vector3fc axis, Matrix3d dest)
      Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.

      The axis described by the axis vector 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 A the rotation matrix obtained from the given axis and angle, 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:
    • getRow

      Vector3d getRow(int row, Vector3d dest) throws 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:
      IndexOutOfBoundsException - if row is not in [0..2]
    • getColumn

      Vector3d getColumn(int column, Vector3d dest) throws 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:
      IndexOutOfBoundsException - if column is not in [0..2]
    • get

      double 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
    • getRowColumn

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

      Matrix3d normal(Matrix3d dest)
      Compute a normal matrix from this matrix and store it into dest.

      The normal matrix of m is the transpose of the inverse of m.

      Parameters:
      dest - will hold the result
      Returns:
      dest
    • cofactor

      Matrix3d cofactor(Matrix3d dest)
      Compute the cofactor matrix of this and store it into dest.

      The cofactor matrix can be used instead of normal(Matrix3d) to transform normals when the orientation of the normals with respect to the surface should be preserved.

      Parameters:
      dest - will hold the result
      Returns:
      dest
    • lookAlong

      Matrix3d lookAlong(Vector3dc dir, Vector3dc up, Matrix3d 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

      Matrix3d lookAlong(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix3d 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
    • getScale

      Vector3d getScale(Vector3d 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

      Vector3d positiveZ(Vector3d dir)
      Obtain the direction of +Z before the transformation represented by this matrix is applied.

      This method is equivalent to the following code:

       Matrix3d inv = new Matrix3d(this).invert();
       inv.transform(dir.set(0, 0, 1)).normalize();
       
      If this is already an orthogonal matrix, then consider using normalizedPositiveZ(Vector3d) instead.

      Reference: http://www.euclideanspace.com

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

      Vector3d normalizedPositiveZ(Vector3d 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:

       Matrix3d inv = new Matrix3d(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

      Vector3d positiveX(Vector3d dir)
      Obtain the direction of +X before the transformation represented by this matrix is applied.

      This method is equivalent to the following code:

       Matrix3d inv = new Matrix3d(this).invert();
       inv.transform(dir.set(1, 0, 0)).normalize();
       
      If this is already an orthogonal matrix, then consider using normalizedPositiveX(Vector3d) instead.

      Reference: http://www.euclideanspace.com

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

      Vector3d normalizedPositiveX(Vector3d 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:

       Matrix3d inv = new Matrix3d(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

      Vector3d positiveY(Vector3d dir)
      Obtain the direction of +Y before the transformation represented by this matrix is applied.

      This method is equivalent to the following code:

       Matrix3d inv = new Matrix3d(this).invert();
       inv.transform(dir.set(0, 1, 0)).normalize();
       
      If this is already an orthogonal matrix, then consider using normalizedPositiveY(Vector3d) instead.

      Reference: http://www.euclideanspace.com

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

      Vector3d normalizedPositiveY(Vector3d 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:

       Matrix3d inv = new Matrix3d(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

      Matrix3d add(Matrix3dc other, Matrix3d 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

      Matrix3d sub(Matrix3dc subtrahend, Matrix3d 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

      Matrix3d mulComponentWise(Matrix3dc other, Matrix3d 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

      Matrix3d lerp(Matrix3dc other, double t, Matrix3d 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

      Matrix3d rotateTowards(Vector3dc direction, Vector3dc up, Matrix3d 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 Matrix3d().lookAlong(new Vector3d(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

      Matrix3d rotateTowards(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix3d 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 Matrix3d().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:
    • getEulerAnglesZYX

      Vector3d getEulerAnglesZYX(Vector3d 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(double, double, double, Matrix3d) 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).

       Matrix3d m = ...; // <- matrix only representing rotation
       Matrix3d n = new Matrix3d();
       n.rotateZYX(m.getEulerAnglesZYX(new Vector3d()));
       

      Reference: http://nghiaho.com/

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

      Matrix3d obliqueZ(double a, double b, Matrix3d 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(Matrix3dc m, double 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
    • reflect

      Matrix3d reflect(double nx, double ny, double nz, Matrix3d dest)
      Apply a mirror/reflection transformation to this matrix that reflects through the given plane specified via the plane normal (nx, ny, nz), and store the result in dest.

      If M is this matrix and R the reflection 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 reflection will be applied first!

      Parameters:
      nx - the x-coordinate of the plane normal
      ny - the y-coordinate of the plane normal
      nz - the z-coordinate of the plane normal
      dest - will hold the result
      Returns:
      this
    • reflect

      Matrix3d reflect(Quaterniondc orientation, Matrix3d dest)
      Apply a mirror/reflection transformation to this matrix that reflects through a plane specified via the plane orientation, and store the result in dest.

      This method can be used to build a reflection transformation based on the orientation of a mirror object in the scene. It is assumed that the default mirror plane's normal is (0, 0, 1). So, if the given Quaterniondc is the identity (does not apply any additional rotation), the reflection plane will be z=0.

      If M is this matrix and R the reflection 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 reflection will be applied first!

      Parameters:
      orientation - the plane orientation
      dest - will hold the result
      Returns:
      this
    • reflect

      Matrix3d reflect(Vector3dc normal, Matrix3d dest)
      Apply a mirror/reflection transformation to this matrix that reflects through the given plane specified via the plane normal, and store the result in dest.

      If M is this matrix and R the reflection 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 reflection will be applied first!

      Parameters:
      normal - the plane normal
      dest - will hold the result
      Returns:
      this
    • isFinite

      boolean isFinite()
      Determine whether all matrix elements are finite floating-point values, that is, they are not NaN and not infinity.
      Returns:
      true if all components are finite floating-point values; false otherwise
    • quadraticFormProduct

      double quadraticFormProduct(double x, double y, double z)
      Compute (x, y, z)^T * this * (x, y, z).
      Parameters:
      x - the x coordinate of the vector to multiply
      y - the y coordinate of the vector to multiply
      z - the z coordinate of the vector to multiply
      Returns:
      the result
    • quadraticFormProduct

      double quadraticFormProduct(Vector3dc v)
      Compute v^T * this * v.
      Parameters:
      v - the vector to multiply
      Returns:
      the result
    • quadraticFormProduct

      double quadraticFormProduct(Vector3fc v)
      Compute v^T * this * v.
      Parameters:
      v - the vector to multiply
      Returns:
      the result