Package org.joml

Class Matrix4d

java.lang.Object
org.joml.Matrix4d
All Implemented Interfaces:
Externalizable, Serializable, Cloneable, Matrix4dc
Direct Known Subclasses:
Matrix4dStack

public class Matrix4d extends Object implements Externalizable, Cloneable, Matrix4dc
Contains the definition of a 4x4 Matrix of doubles, and associated functions to transform it. The matrix is column-major to match OpenGL's interpretation, and it looks like this:

m00 m10 m20 m30
m01 m11 m21 m31
m02 m12 m22 m32
m03 m13 m23 m33

Author:
Richard Greenlees, Kai Burjack
See Also:
  • Field Summary

  • Constructor Summary

    Constructors
    Constructor
    Description
    Create a new Matrix4d and set it to identity.
    Matrix4d(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
    Create a new 4x4 matrix using the supplied double values.
    Create a new Matrix4d by reading its 16 double components from the given DoubleBuffer at the buffer's current position.
    Create a new Matrix4d by setting its uppper left 3x3 submatrix to the values of the given Matrix3dc and the rest to identity.
    Create a new Matrix4d and make it a copy of the given matrix.
    Create a new Matrix4d and make it a copy of the given matrix.
    Create a new Matrix4d and set its upper 4x3 submatrix to the given matrix mat and all other elements to identity.
    Create a new Matrix4d and set its upper 4x3 submatrix to the given matrix mat and all other elements to identity.
    Matrix4d(Vector4d col0, Vector4d col1, Vector4d col2, Vector4d col3)
    Create a new Matrix4d and initialize its four columns using the supplied vectors.
  • Method Summary

    Modifier and Type
    Method
    Description
    add(Matrix4dc other)
    Component-wise add this and other.
    add(Matrix4dc other, Matrix4d dest)
    Component-wise add this and other and store the result in dest.
    Component-wise add the upper 4x3 submatrices of this and other.
    add4x3(Matrix4dc other, Matrix4d dest)
    Component-wise add the upper 4x3 submatrices of this and other and store the result in dest.
    Component-wise add the upper 4x3 submatrices of this and other.
    add4x3(Matrix4fc other, Matrix4d dest)
    Component-wise add the upper 4x3 submatrices of this and other and store the result in dest.
    affineSpan(Vector3d corner, Vector3d xDir, Vector3d yDir, Vector3d zDir)
    Compute the extents of the coordinate system before this affine transformation was applied and store the resulting corner coordinates in corner and the span vectors in xDir, yDir and zDir.
    arcball(double radius, double centerX, double centerY, double centerZ, double angleX, double angleY)
    Apply an arcball view transformation to this matrix with the given radius and center (centerX, centerY, centerZ) position of the arcball and the specified X and Y rotation angles.
    arcball(double radius, double centerX, double centerY, double centerZ, double angleX, double angleY, Matrix4d dest)
    Apply an arcball view transformation to this matrix with the given radius and center (centerX, centerY, centerZ) position of the arcball and the specified X and Y rotation angles, and store the result in dest.
    arcball(double radius, Vector3dc center, double angleX, double angleY)
    Apply an arcball view transformation to this matrix with the given radius and center position of the arcball and the specified X and Y rotation angles.
    arcball(double radius, Vector3dc center, double angleX, double angleY, Matrix4d dest)
    Apply an arcball view transformation to this matrix with the given radius and center position of the arcball and the specified X and Y rotation angles, and store the result in dest.
    assume(int properties)
    Assume the given properties about this matrix.
    Set this matrix to a cylindrical billboard transformation that rotates the local +Z axis of a given object with position objPos towards a target position at targetPos while constraining a cylindrical rotation around the given up vector.
    Set this matrix to a spherical billboard transformation that rotates the local +Z axis of a given object with position objPos towards a target position at targetPos using a shortest arc rotation by not preserving any up vector of the object.
    Set this matrix to a spherical billboard transformation that rotates the local +Z axis of a given object with position objPos towards a target position at targetPos.
     
    Compute the cofactor matrix of the upper left 3x3 submatrix of this.
    Compute the cofactor matrix of the upper left 3x3 submatrix of this and store it into dest.
    Compute the cofactor matrix of the upper left 3x3 submatrix of this and store it into dest.
    double
    Return the determinant of this matrix.
    double
    Return the determinant of the upper left 3x3 submatrix of this matrix.
    double
    Return the determinant of this matrix by assuming that it represents an affine transformation and thus its last row is equal to (0, 0, 0, 1).
    Compute and set the matrix properties returned by properties() based on the current matrix element values.
    boolean
     
    boolean
    equals(Matrix4dc 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.
    fma4x3(Matrix4dc other, double otherFactor)
    Component-wise add the upper 4x3 submatrices of this and other by first multiplying each component of other's 4x3 submatrix by otherFactor and adding that result to this.
    fma4x3(Matrix4dc other, double otherFactor, Matrix4d dest)
    Component-wise add the upper 4x3 submatrices of this and other by first multiplying each component of other's 4x3 submatrix by otherFactor, adding that to this and storing the final result in dest.
    frustum(double left, double right, double bottom, double top, double zNear, double zFar)
    Apply an arbitrary perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix.
    frustum(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne)
    Apply an arbitrary perspective projection frustum transformation for a right-handed coordinate system using the given NDC z range to this matrix.
    frustum(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne, Matrix4d dest)
    Apply an arbitrary perspective projection frustum transformation for a right-handed coordinate system using the given NDC z range to this matrix and store the result in dest.
    frustum(double left, double right, double bottom, double top, double zNear, double zFar, Matrix4d dest)
    Apply an arbitrary perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
    Compute the axis-aligned bounding box of the frustum described by this matrix and store the minimum corner coordinates in the given min and the maximum corner coordinates in the given max vector.
    frustumCorner(int corner, Vector3d dest)
    Compute the corner coordinates of the frustum defined by this matrix, which can be a projection matrix or a combined modelview-projection matrix, and store the result in the given point.
    frustumLH(double left, double right, double bottom, double top, double zNear, double zFar)
    Apply an arbitrary perspective projection frustum transformation for a left-handed coordinate system using the given NDC z range to this matrix.
    frustumLH(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne)
    Apply an arbitrary perspective projection frustum transformation for a left-handed coordinate system using the given NDC z range to this matrix.
    frustumLH(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne, Matrix4d dest)
    Apply an arbitrary perspective projection frustum transformation for a left-handed coordinate system using the given NDC z range to this matrix and store the result in dest.
    frustumLH(double left, double right, double bottom, double top, double zNear, double zFar, Matrix4d dest)
    Apply an arbitrary perspective projection frustum transformation for a left-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
    frustumPlane(int plane, Vector4d dest)
    Calculate a frustum plane of this matrix, which can be a projection matrix or a combined modelview-projection matrix, and store the result in the given dest.
    frustumRayDir(double x, double y, Vector3d dest)
    Obtain the direction of a ray starting at the center of the coordinate system and going through the near frustum plane.
    double[]
    get(double[] dest)
    Store this matrix into the supplied double array in column-major order.
    double[]
    get(double[] dest, int offset)
    Store this matrix into the supplied double array in column-major order at the given offset.
    float[]
    get(float[] dest)
    Store the elements of this matrix as float values in column-major order into the supplied float array.
    float[]
    get(float[] dest, 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 dest)
    Store this matrix in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
    get(int index, DoubleBuffer dest)
    Store this matrix in column-major order into the supplied DoubleBuffer starting at the specified absolute buffer position/index.
    get(int index, FloatBuffer dest)
    Store this matrix in column-major order into the supplied FloatBuffer starting at the specified absolute buffer position/index.
    Store this matrix in column-major order into the supplied ByteBuffer at the current buffer position.
    Store this matrix in column-major order into the supplied DoubleBuffer at the current buffer position.
    Store this matrix in column-major order into the supplied FloatBuffer at the current buffer position.
    get(Matrix4d dest)
    Get the current values of this matrix and store them into dest.
    Get the current values of the upper left 3x3 submatrix of this matrix and store them into dest.
    Get the current values of the upper 4x3 submatrix of this matrix and store them into dest.
    get4x3Transposed(int index, ByteBuffer dest)
    Store the upper 4x3 submatrix of this matrix in row-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
    get4x3Transposed(int index, DoubleBuffer dest)
    Store the upper 4x3 submatrix of this matrix in row-major order into the supplied DoubleBuffer starting at the specified absolute buffer position/index.
    Store the upper 4x3 submatrix of this matrix in row-major order into the supplied ByteBuffer at the current buffer position.
    Store the upper 4x3 submatrix of this matrix in row-major order into the supplied DoubleBuffer at the current buffer position.
    getColumn(int column, Vector3d dest)
    Get the first three components of the column at the given column index, starting with 0.
    getColumn(int column, Vector4d dest)
    Get the column at the given column index, starting with 0.
    Extract the Euler angles from the rotation represented by the upper left 3x3 submatrix of this and store the extracted Euler angles in dest.
    getFloats(int index, ByteBuffer dest)
    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.
    getRow(int row, Vector3d dest)
    Get the first three components of the row at the given row index, starting with 0.
    getRow(int row, Vector4d 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 only the translation components (m30, m31, m32) of this matrix and store them in the given vector xyz.
    getTransposed(int index, ByteBuffer dest)
    Store the transpose of this matrix in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
    getTransposed(int index, DoubleBuffer dest)
    Store the transpose of this matrix in column-major order into the supplied DoubleBuffer starting at the specified absolute buffer position/index.
    Store the transpose of this matrix in column-major order into the supplied ByteBuffer at the current buffer position.
    Store the transpose of this matrix in column-major order into the supplied DoubleBuffer 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.
    int
     
    Reset this matrix to the identity.
    Invert this matrix.
    Invert this matrix and store the result in dest.
    Invert this matrix by assuming that it is an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)).
    Invert this matrix by assuming that it is an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and write the result into dest.
    If this is an arbitrary perspective projection matrix obtained via one of the frustum() methods or via setFrustum(), then this method builds the inverse of this.
    If this is an arbitrary perspective projection matrix obtained via one of the frustum() methods, then this method builds the inverse of this and stores it into the given dest.
    Invert this orthographic projection matrix.
    Invert this orthographic projection matrix and store the result into the given dest.
    If this is a perspective projection matrix obtained via one of the perspective() methods or via setPerspective(), that is, if this is a symmetrical perspective frustum transformation, then this method builds the inverse of this.
    If this is a perspective projection matrix obtained via one of the perspective() methods, that is, if this is a symmetrical perspective frustum transformation, then this method builds the inverse of this and stores it into the given dest.
    If this is a perspective projection matrix obtained via one of the perspective() methods, that is, if this is a symmetrical perspective frustum transformation and the given view matrix is affine and has unit scaling (for example by being obtained via lookAt()), then this method builds the inverse of this * view and stores it into the given dest.
    If this is a perspective projection matrix obtained via one of the perspective() methods, that is, if this is a symmetrical perspective frustum transformation and the given view matrix has unit scaling, then this method builds the inverse of this * view and stores it into the given dest.
    boolean
    Determine whether this matrix describes an affine transformation.
    boolean
    Determine whether all matrix elements are finite floating-point values, that is, they are not NaN and not infinity.
    lerp(Matrix4dc other, double t)
    Linearly interpolate this and other using the given interpolation factor t and store the result in this.
    lerp(Matrix4dc other, double t, Matrix4d 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)
    Apply a rotation transformation to this matrix to make -z point along dir.
    lookAlong(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix4d 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.
    Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.
    lookAt(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ)
    Apply a "lookat" transformation to this matrix for a right-handed coordinate system, that aligns -z with center - eye.
    lookAt(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ, Matrix4d dest)
    Apply a "lookat" transformation to this matrix for a right-handed coordinate system, that aligns -z with center - eye and store the result in dest.
    lookAt(Vector3dc eye, Vector3dc center, Vector3dc up)
    Apply a "lookat" transformation to this matrix for a right-handed coordinate system, that aligns -z with center - eye.
    lookAt(Vector3dc eye, Vector3dc center, Vector3dc up, Matrix4d dest)
    Apply a "lookat" transformation to this matrix for a right-handed coordinate system, that aligns -z with center - eye and store the result in dest.
    lookAtLH(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ)
    Apply a "lookat" transformation to this matrix for a left-handed coordinate system, that aligns +z with center - eye.
    lookAtLH(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ, Matrix4d dest)
    Apply a "lookat" transformation to this matrix for a left-handed coordinate system, that aligns +z with center - eye and store the result in dest.
    Apply a "lookat" transformation to this matrix for a left-handed coordinate system, that aligns +z with center - eye.
    lookAtLH(Vector3dc eye, Vector3dc center, Vector3dc up, Matrix4d dest)
    Apply a "lookat" transformation to this matrix for a left-handed coordinate system, that aligns +z with center - eye and store the result in dest.
    lookAtPerspective(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ, Matrix4d dest)
    Apply a "lookat" transformation to this matrix for a right-handed coordinate system, that aligns -z with center - eye and store the result in dest.
    lookAtPerspectiveLH(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ, Matrix4d dest)
    Apply a "lookat" transformation to this matrix for a left-handed coordinate system, that aligns +z with center - eye and store the result in dest.
    double
    m00()
    Return the value of the matrix element at column 0 and row 0.
    m00(double m00)
    Set 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.
    m01(double m01)
    Set 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.
    m02(double m02)
    Set the value of the matrix element at column 0 and row 2.
    double
    m03()
    Return the value of the matrix element at column 0 and row 3.
    m03(double m03)
    Set the value of the matrix element at column 0 and row 3.
    double
    m10()
    Return the value of the matrix element at column 1 and row 0.
    m10(double m10)
    Set 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.
    m11(double m11)
    Set 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.
    m12(double m12)
    Set the value of the matrix element at column 1 and row 2.
    double
    m13()
    Return the value of the matrix element at column 1 and row 3.
    m13(double m13)
    Set the value of the matrix element at column 1 and row 3.
    double
    m20()
    Return the value of the matrix element at column 2 and row 0.
    m20(double m20)
    Set 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.
    m21(double m21)
    Set 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.
    m22(double m22)
    Set the value of the matrix element at column 2 and row 2.
    double
    m23()
    Return the value of the matrix element at column 2 and row 3.
    m23(double m23)
    Set the value of the matrix element at column 2 and row 3.
    double
    m30()
    Return the value of the matrix element at column 3 and row 0.
    m30(double m30)
    Set the value of the matrix element at column 3 and row 0.
    double
    m31()
    Return the value of the matrix element at column 3 and row 1.
    m31(double m31)
    Set the value of the matrix element at column 3 and row 1.
    double
    m32()
    Return the value of the matrix element at column 3 and row 2.
    m32(double m32)
    Set the value of the matrix element at column 3 and row 2.
    double
    m33()
    Return the value of the matrix element at column 3 and row 3.
    m33(double m33)
    Set the value of the matrix element at column 3 and row 3.
    mul(double r00, double r01, double r02, double r03, double r10, double r11, double r12, double r13, double r20, double r21, double r22, double r23, double r30, double r31, double r32, double r33)
    Multiply this matrix by the matrix with the supplied elements.
    mul(double r00, double r01, double r02, double r03, double r10, double r11, double r12, double r13, double r20, double r21, double r22, double r23, double r30, double r31, double r32, double r33, Matrix4d dest)
    Multiply this matrix by the matrix with the supplied elements and store the result in dest.
    Multiply this matrix by the supplied right matrix and store the result in this.
    mul(Matrix3x2dc right, Matrix4d dest)
    Multiply this matrix by the supplied right matrix and store the result in dest.
    Multiply this matrix by the supplied right matrix and store the result in this.
    mul(Matrix3x2fc right, Matrix4d dest)
    Multiply this matrix by the supplied right matrix and store the result in dest.
    mul(Matrix4dc right)
    Multiply this matrix by the supplied right matrix.
    mul(Matrix4dc right, Matrix4d dest)
    Multiply this matrix by the supplied right matrix and store the result in dest.
    mul(Matrix4f right)
    Multiply this matrix by the supplied parameter matrix.
    mul(Matrix4fc right, Matrix4d dest)
    Multiply this matrix by the supplied parameter matrix and store the result in dest.
    Multiply this matrix by the supplied right matrix.
    mul(Matrix4x3dc right, Matrix4d dest)
    Multiply this matrix by the supplied right matrix and store the result in dest.
    mul(Matrix4x3fc right, Matrix4d dest)
    Multiply this matrix by the supplied right matrix and store the result in dest.
    mul0(Matrix4dc right)
    Multiply this matrix by the supplied right matrix.
    mul0(Matrix4dc right, Matrix4d dest)
    Multiply this matrix by the supplied right matrix and store the result in dest.
    mul3x3(double r00, double r01, double r02, double r10, double r11, double r12, double r20, double r21, double r22)
    Multiply this matrix by the 3x3 matrix with the supplied elements expanded to a 4x4 matrix with all other matrix elements set to identity.
    mul3x3(double r00, double r01, double r02, double r10, double r11, double r12, double r20, double r21, double r22, Matrix4d dest)
    Multiply this matrix by the 3x3 matrix with the supplied elements expanded to a 4x4 matrix with all other matrix elements set to identity, and store the result in dest.
    Component-wise multiply the upper 4x3 submatrices of this by other.
    Component-wise multiply the upper 4x3 submatrices of this by other and store the result in dest.
    Multiply this matrix by the supplied right matrix, both of which are assumed to be affine, and store the result in this.
    Multiply this matrix by the supplied right matrix, both of which are assumed to be affine, and store the result in dest.
    Multiply this matrix by the supplied right matrix, which is assumed to be affine, and store the result in this.
    Multiply this matrix by the supplied right matrix, which is assumed to be affine, and store the result in dest.
    Component-wise multiply this by other.
    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 this.
    Pre-multiply this matrix by the supplied left matrix and store the result in dest.
    Pre-multiply this matrix by the supplied left matrix, both of which are assumed to be affine, and store the result in this.
    Pre-multiply this matrix by the supplied left matrix, both of which are assumed to be affine, and store the result in dest.
    Multiply this orthographic projection matrix by the supplied affine view matrix.
    Multiply this orthographic projection matrix by the supplied affine view matrix and store the result in dest.
    Multiply this symmetric perspective projection matrix by the supplied affine view matrix.
    Multiply this symmetric perspective projection matrix by the supplied affine view matrix and store the result in dest.
    Multiply this symmetric perspective projection matrix by the supplied view matrix and store the result in dest.
    Multiply this matrix, which is assumed to only contain a translation, by the supplied right matrix, which is assumed to be affine, and store the result in dest.
    Compute a normal matrix from the upper left 3x3 submatrix of this and store it into the upper left 3x3 submatrix of this.
    Compute a normal matrix from the upper left 3x3 submatrix of this and store it into dest.
    Compute a normal matrix from the upper left 3x3 submatrix of this and store it into the upper left 3x3 submatrix of dest.
    Normalize the upper left 3x3 submatrix of this matrix.
    Normalize the upper left 3x3 submatrix of this matrix and store the result in dest.
    Normalize the upper left 3x3 submatrix of this matrix and store the result in 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)
    Apply an oblique projection transformation to this matrix with the given values for a and b.
    obliqueZ(double a, double b, Matrix4d 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 position that gets transformed to the origin by this matrix.
    Obtain the position that gets transformed to the origin by this affine matrix.
    ortho(double left, double right, double bottom, double top, double zNear, double zFar)
    Apply an orthographic projection transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix.
    ortho(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne)
    Apply an orthographic projection transformation for a right-handed coordinate system using the given NDC z range to this matrix.
    ortho(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne, Matrix4d dest)
    Apply an orthographic projection transformation for a right-handed coordinate system using the given NDC z range to this matrix and store the result in dest.
    ortho(double left, double right, double bottom, double top, double zNear, double zFar, Matrix4d dest)
    Apply an orthographic projection transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
    ortho2D(double left, double right, double bottom, double top)
    Apply an orthographic projection transformation for a right-handed coordinate system to this matrix.
    ortho2D(double left, double right, double bottom, double top, Matrix4d dest)
    Apply an orthographic projection transformation for a right-handed coordinate system to this matrix and store the result in dest.
    ortho2DLH(double left, double right, double bottom, double top)
    Apply an orthographic projection transformation for a left-handed coordinate system to this matrix.
    ortho2DLH(double left, double right, double bottom, double top, Matrix4d dest)
    Apply an orthographic projection transformation for a left-handed coordinate system to this matrix and store the result in dest.
    Build an ortographic projection transformation that fits the view-projection transformation represented by this into the given affine view transformation.
    orthoLH(double left, double right, double bottom, double top, double zNear, double zFar)
    Apply an orthographic projection transformation for a left-handed coordiante system using OpenGL's NDC z range of [-1..+1] to this matrix.
    orthoLH(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne)
    Apply an orthographic projection transformation for a left-handed coordiante system using the given NDC z range to this matrix.
    orthoLH(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne, Matrix4d dest)
    Apply an orthographic projection transformation for a left-handed coordiante system using the given NDC z range to this matrix and store the result in dest.
    orthoLH(double left, double right, double bottom, double top, double zNear, double zFar, Matrix4d dest)
    Apply an orthographic projection transformation for a left-handed coordiante system using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
    orthoSymmetric(double width, double height, double zNear, double zFar)
    Apply a symmetric orthographic projection transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix.
    orthoSymmetric(double width, double height, double zNear, double zFar, boolean zZeroToOne)
    Apply a symmetric orthographic projection transformation for a right-handed coordinate system using the given NDC z range to this matrix.
    orthoSymmetric(double width, double height, double zNear, double zFar, boolean zZeroToOne, Matrix4d dest)
    Apply a symmetric orthographic projection transformation for a right-handed coordinate system using the given NDC z range to this matrix and store the result in dest.
    orthoSymmetric(double width, double height, double zNear, double zFar, Matrix4d dest)
    Apply a symmetric orthographic projection transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
    orthoSymmetricLH(double width, double height, double zNear, double zFar)
    Apply a symmetric orthographic projection transformation for a left-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix.
    orthoSymmetricLH(double width, double height, double zNear, double zFar, boolean zZeroToOne)
    Apply a symmetric orthographic projection transformation for a left-handed coordinate system using the given NDC z range to this matrix.
    orthoSymmetricLH(double width, double height, double zNear, double zFar, boolean zZeroToOne, Matrix4d dest)
    Apply a symmetric orthographic projection transformation for a left-handed coordinate system using the given NDC z range to this matrix and store the result in dest.
    orthoSymmetricLH(double width, double height, double zNear, double zFar, Matrix4d dest)
    Apply a symmetric orthographic projection transformation for a left-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
    perspective(double fovy, double aspect, double zNear, double zFar)
    Apply a symmetric perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix.
    perspective(double fovy, double aspect, double zNear, double zFar, boolean zZeroToOne)
    Apply a symmetric perspective projection frustum transformation using for a right-handed coordinate system the given NDC z range to this matrix.
    perspective(double fovy, double aspect, double zNear, double zFar, boolean zZeroToOne, Matrix4d dest)
    Apply a symmetric perspective projection frustum transformation for a right-handed coordinate system using the given NDC z range to this matrix and store the result in dest.
    perspective(double fovy, double aspect, double zNear, double zFar, Matrix4d dest)
    Apply a symmetric perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
    double
    Extract the far clip plane distance from this perspective projection matrix.
    double
    Return the vertical field-of-view angle in radians of this perspective transformation matrix.
    perspectiveFrustumSlice(double near, double far, Matrix4d dest)
    Change the near and far clip plane distances of this perspective frustum transformation matrix and store the result in dest.
    Compute the eye/origin of the inverse of the perspective frustum transformation defined by this matrix, which can be the inverse of a projection matrix or the inverse of a combined modelview-projection matrix, and store the result in the given dest.
    perspectiveLH(double fovy, double aspect, double zNear, double zFar)
    Apply a symmetric perspective projection frustum transformation for a left-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix.
    perspectiveLH(double fovy, double aspect, double zNear, double zFar, boolean zZeroToOne)
    Apply a symmetric perspective projection frustum transformation for a left-handed coordinate system using the given NDC z range to this matrix.
    perspectiveLH(double fovy, double aspect, double zNear, double zFar, boolean zZeroToOne, Matrix4d dest)
    Apply a symmetric perspective projection frustum transformation for a left-handed coordinate system using the given NDC z range to this matrix and store the result in dest.
    perspectiveLH(double fovy, double aspect, double zNear, double zFar, Matrix4d dest)
    Apply a symmetric perspective projection frustum transformation for a left-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
    double
    Extract the near clip plane distance from this perspective projection matrix.
    perspectiveOffCenter(double fovy, double offAngleX, double offAngleY, double aspect, double zNear, double zFar)
    Apply an asymmetric off-center perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix.
    perspectiveOffCenter(double fovy, double offAngleX, double offAngleY, double aspect, double zNear, double zFar, boolean zZeroToOne)
    Apply an asymmetric off-center perspective projection frustum transformation using for a right-handed coordinate system the given NDC z range to this matrix.
    perspectiveOffCenter(double fovy, double offAngleX, double offAngleY, double aspect, double zNear, double zFar, boolean zZeroToOne, Matrix4d dest)
    Apply an asymmetric off-center perspective projection frustum transformation for a right-handed coordinate system using the given NDC z range to this matrix and store the result in dest.
    perspectiveOffCenter(double fovy, double offAngleX, double offAngleY, double aspect, double zNear, double zFar, Matrix4d dest)
    Apply an asymmetric off-center perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
    Compute the eye/origin of the perspective frustum transformation defined by this matrix, which can be a projection matrix or a combined modelview-projection matrix, and store the result in the given origin.
    perspectiveRect(double width, double height, double zNear, double zFar)
    Apply a symmetric perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix.
    perspectiveRect(double width, double height, double zNear, double zFar, boolean zZeroToOne)
    Apply a symmetric perspective projection frustum transformation using for a right-handed coordinate system the given NDC z range to this matrix.
    perspectiveRect(double width, double height, double zNear, double zFar, boolean zZeroToOne, Matrix4d dest)
    Apply a symmetric perspective projection frustum transformation for a right-handed coordinate system using the given NDC z range to this matrix and store the result in dest.
    perspectiveRect(double width, double height, double zNear, double zFar, Matrix4d dest)
    Apply a symmetric perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
    pick(double x, double y, double width, double height, int[] viewport)
    Apply a picking transformation to this matrix using the given window coordinates (x, y) as the pick center and the given (width, height) as the size of the picking region in window coordinates.
    pick(double x, double y, double width, double height, int[] viewport, Matrix4d dest)
    Apply a picking transformation to this matrix using the given window coordinates (x, y) as the pick center and the given (width, height) as the size of the picking region in window coordinates, 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.
    project(double x, double y, double z, int[] viewport, Vector3d winCoordsDest)
    Project the given (x, y, z) position via this matrix using the specified viewport and store the resulting window coordinates in winCoordsDest.
    project(double x, double y, double z, int[] viewport, Vector4d winCoordsDest)
    Project the given (x, y, z) position via this matrix using the specified viewport and store the resulting window coordinates in winCoordsDest.
    project(Vector3dc position, int[] viewport, Vector3d dest)
    Project the given position via this matrix using the specified viewport and store the resulting window coordinates in winCoordsDest.
    project(Vector3dc position, int[] viewport, Vector4d dest)
    Project the given position via this matrix using the specified viewport and store the resulting window coordinates in winCoordsDest.
    projectedGridRange(Matrix4dc projector, double sLower, double sUpper, Matrix4d dest)
    Compute the range matrix for the Projected Grid transformation as described in chapter "2.4.2 Creating the range conversion matrix" of the paper Real-time water rendering - Introducing the projected grid concept based on the inverse of the view-projection matrix which is assumed to be this, and store that range matrix into dest.
    static void
    projViewFromRectangle(Vector3d eye, Vector3d p, Vector3d x, Vector3d y, double nearFarDist, boolean zeroToOne, Matrix4d projDest, Matrix4d viewDest)
    Create a view and projection matrix from a given eye position, a given bottom left corner position p of the near plane rectangle and the extents of the near plane rectangle along its local x and y axes, and store the resulting matrices in projDest and viewDest.
    int
    Return the assumed properties of this matrix.
    void
     
    reflect(double a, double b, double c, double d)
    Apply a mirror/reflection transformation to this matrix that reflects about the given plane specified via the equation x*a + y*b + z*c + d = 0.
    reflect(double nx, double ny, double nz, double px, double py, double pz)
    Apply a mirror/reflection transformation to this matrix that reflects about the given plane specified via the plane normal and a point on the plane.
    reflect(double nx, double ny, double nz, double px, double py, double pz, Matrix4d dest)
    Apply a mirror/reflection transformation to this matrix that reflects about the given plane specified via the plane normal and a point on the plane, and store the result in dest.
    reflect(double a, double b, double c, double d, Matrix4d dest)
    Apply a mirror/reflection transformation to this matrix that reflects about the given plane specified via the equation x*a + y*b + z*c + d = 0 and store the result in dest.
    reflect(Quaterniondc orientation, Vector3dc point)
    Apply a mirror/reflection transformation to this matrix that reflects about a plane specified via the plane orientation and a point on the plane.
    reflect(Quaterniondc orientation, Vector3dc point, Matrix4d dest)
    Apply a mirror/reflection transformation to this matrix that reflects about a plane specified via the plane orientation and a point on the plane, and store the result in dest.
    reflect(Vector3dc normal, Vector3dc point)
    Apply a mirror/reflection transformation to this matrix that reflects about the given plane specified via the plane normal and a point on the plane.
    reflect(Vector3dc normal, Vector3dc point, Matrix4d dest)
    Apply a mirror/reflection transformation to this matrix that reflects about the given plane specified via the plane normal and a point on the plane, and store the result in dest.
    reflection(double a, double b, double c, double d)
    Set this matrix to a mirror/reflection transformation that reflects about the given plane specified via the equation x*a + y*b + z*c + d = 0.
    reflection(double nx, double ny, double nz, double px, double py, double pz)
    Set this matrix to a mirror/reflection transformation that reflects about the given plane specified via the plane normal and a point on the plane.
    reflection(Quaterniondc orientation, Vector3dc point)
    Set this matrix to a mirror/reflection transformation that reflects about a plane specified via the plane orientation and a point on the plane.
    reflection(Vector3dc normal, Vector3dc point)
    Set this matrix to a mirror/reflection transformation that reflects about the given plane specified via the plane normal and a point on the plane.
    rotate(double ang, double x, double y, double z)
    Apply rotation to this matrix by rotating the given amount of radians about the given axis specified as x, y and z components.
    rotate(double ang, double x, double y, double z, Matrix4d 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)
    Apply a rotation transformation, rotating the given radians about the specified axis, to this matrix.
    rotate(double angle, Vector3dc axis, Matrix4d dest)
    Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.
    rotate(double angle, Vector3fc axis)
    Apply a rotation transformation, rotating the given radians about the specified axis, to this matrix.
    rotate(double angle, Vector3fc axis, Matrix4d dest)
    Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.
    rotate(AxisAngle4d axisAngle)
    Apply a rotation transformation, rotating about the given AxisAngle4d, to this matrix.
    rotate(AxisAngle4d axisAngle, Matrix4d dest)
    Apply a rotation transformation, rotating about the given AxisAngle4d and store the result in dest.
    rotate(AxisAngle4f axisAngle)
    Apply a rotation transformation, rotating about the given AxisAngle4f, to this matrix.
    rotate(AxisAngle4f axisAngle, Matrix4d 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.
    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.
    Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.
    rotateAffine(double ang, double x, double y, double z)
    Apply rotation to this affine matrix by rotating the given amount of radians about the specified (x, y, z) axis.
    rotateAffine(double ang, double x, double y, double z, Matrix4d dest)
    Apply rotation to this affine matrix by rotating the given amount of radians about the specified (x, y, z) axis and store the result in dest.
    Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix.
    Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this affine matrix and store the result in dest.
    Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix.
    Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this affine matrix and store the result in dest.
    rotateAffineXYZ(double angleX, double angleY, double angleZ)
    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.
    rotateAffineXYZ(double angleX, double angleY, double angleZ, Matrix4d 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.
    rotateAffineYXZ(double angleY, double angleX, double angleZ)
    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.
    rotateAffineYXZ(double angleY, double angleX, double angleZ, Matrix4d 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.
    rotateAffineZYX(double angleZ, double angleY, double angleX)
    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.
    rotateAffineZYX(double angleZ, double angleY, double angleX, Matrix4d 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.
    rotateAround(Quaterniondc quat, double ox, double oy, double oz)
    Apply the rotation transformation of the given Quaterniondc to this matrix while using (ox, oy, oz) as the rotation origin.
    rotateAround(Quaterniondc quat, double ox, double oy, double oz, Matrix4d dest)
    Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix while using (ox, oy, oz) as the rotation origin, and store the result in dest.
    rotateAroundAffine(Quaterniondc quat, double ox, double oy, double oz, Matrix4d dest)
    Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this affine matrix while using (ox, oy, oz) as the rotation origin, and store the result in dest.
    rotateAroundLocal(Quaterniondc quat, double ox, double oy, double oz)
    Pre-multiply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix while using (ox, oy, oz) as the rotation origin.
    rotateAroundLocal(Quaterniondc quat, double ox, double oy, double oz, Matrix4d dest)
    Pre-multiply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix while using (ox, oy, oz) as the rotation origin, and store the result in dest.
    rotateLocal(double ang, double x, double y, double z)
    Pre-multiply a rotation to this matrix by rotating the given amount of radians about the specified (x, y, z) axis.
    rotateLocal(double ang, double x, double y, double z, Matrix4d 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.
    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.
    Pre-multiply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.
    rotateLocalX(double ang)
    Pre-multiply a rotation to this matrix by rotating the given amount of radians about the X axis.
    rotateLocalX(double ang, Matrix4d 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)
    Pre-multiply a rotation to this matrix by rotating the given amount of radians about the Y axis.
    rotateLocalY(double ang, Matrix4d 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)
    Pre-multiply a rotation to this matrix by rotating the given amount of radians about the Z axis.
    rotateLocalZ(double ang, Matrix4d 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)
    Apply a model transformation to this matrix for a right-handed coordinate system, that aligns the local +Z axis with (dirX, dirY, dirZ).
    rotateTowards(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix4d 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.
    Apply a model transformation to this matrix for a right-handed coordinate system, that aligns the local +Z axis with direction.
    rotateTowards(Vector3dc direction, Vector3dc up, Matrix4d 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.
    rotateTowardsXY(double dirX, double dirY)
    Apply rotation about the Z axis to align the local +X towards (dirX, dirY).
    rotateTowardsXY(double dirX, double dirY, Matrix4d dest)
    Apply rotation about the Z axis to align the local +X towards (dirX, dirY) and store the result in dest.
    rotateTranslation(double ang, double x, double y, double z, Matrix4d dest)
    Apply rotation to this matrix, which is assumed to only contain a translation, by rotating the given amount of radians about the specified (x, y, z) axis and store the result in dest.
    Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix, which is assumed to only contain a translation, and store the result in dest.
    Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix, which is assumed to only contain a translation, and store the result in dest.
    rotateX(double ang)
    Apply rotation about the X axis to this matrix by rotating the given amount of radians.
    rotateX(double ang, Matrix4d 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)
    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.
    rotateXYZ(double angleX, double angleY, double angleZ, Matrix4d 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.
    Apply rotation of angles.x radians about the X axis, followed by a rotation of angles.y radians about the Y axis and followed by a rotation of angles.z radians about the Z axis.
    rotateY(double ang)
    Apply rotation about the Y axis to this matrix by rotating the given amount of radians.
    rotateY(double ang, Matrix4d 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)
    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.
    rotateYXZ(double angleY, double angleX, double angleZ, Matrix4d 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.
    Apply rotation of angles.y radians about the Y axis, followed by a rotation of angles.x radians about the X axis and followed by a rotation of angles.z radians about the Z axis.
    rotateZ(double ang)
    Apply rotation about the Z axis to this matrix by rotating the given amount of radians.
    rotateZ(double ang, Matrix4d 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)
    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.
    rotateZYX(double angleZ, double angleY, double angleX, Matrix4d 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.
    Apply rotation of angles.z radians about the Z axis, followed by a rotation of angles.y radians about the Y axis and followed by a rotation of angles.x radians about the X axis.
    rotation(double angle, double x, double y, double z)
    Set this matrix to a rotation matrix which rotates the given radians about a given axis.
    rotation(double angle, Vector3dc axis)
    Set this matrix to a rotation matrix which rotates the given radians about a given axis.
    rotation(double angle, Vector3fc axis)
    Set this matrix to a rotation matrix which rotates the given radians about a given axis.
    rotation(AxisAngle4d angleAxis)
    Set this matrix to a rotation transformation using the given AxisAngle4d.
    rotation(AxisAngle4f angleAxis)
    Set this matrix to a rotation transformation using the given AxisAngle4f.
    Set this matrix to the rotation - and possibly scaling - transformation of the given Quaterniondc.
    Set this matrix to the rotation - and possibly scaling - transformation of the given Quaternionfc.
    rotationAround(Quaterniondc quat, double ox, double oy, double oz)
    Set this matrix to a transformation composed of a rotation of the specified Quaterniondc while using (ox, oy, oz) as the rotation origin.
    rotationTowards(double dirX, double dirY, double dirZ, double upX, double upY, double upZ)
    Set this matrix to a model transformation for a right-handed coordinate system, that aligns the local -z axis with dir.
    Set this matrix to a model transformation for a right-handed coordinate system, that aligns the local -z axis with dir.
    rotationTowardsXY(double dirX, double dirY)
    Set this matrix to a rotation transformation about the Z axis to align the local +X towards (dirX, dirY).
    rotationX(double ang)
    Set this matrix to a rotation transformation about the X axis.
    rotationXYZ(double angleX, double angleY, double angleZ)
    Set this matrix to a 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.
    rotationY(double ang)
    Set this matrix to a rotation transformation about the Y axis.
    rotationYXZ(double angleY, double angleX, double angleZ)
    Set this matrix to a 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.
    rotationZ(double ang)
    Set this matrix to a rotation transformation about the Z axis.
    rotationZYX(double angleZ, double angleY, double angleX)
    Set this matrix to a 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.
    scale(double xyz)
    Apply scaling to this matrix by uniformly scaling all base axes by the given xyz factor.
    scale(double x, double y, double z)
    Apply scaling to this matrix by scaling the base axes by the given x, y and z factors.
    scale(double x, double y, double z, Matrix4d 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, Matrix4d dest)
    Apply scaling to this matrix by uniformly scaling all base axes by the given xyz factor and store the result in dest.
    Apply scaling to this matrix by scaling the base axes by the given xyz.x, xyz.y and xyz.z factors, respectively.
    scale(Vector3dc xyz, Matrix4d 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.
    scaleAround(double factor, double ox, double oy, double oz)
    Apply scaling to this matrix by scaling all three base axes by the given factor while using (ox, oy, oz) as the scaling origin.
    scaleAround(double sx, double sy, double sz, double ox, double oy, double oz)
    Apply scaling to this matrix by scaling the base axes by the given sx, sy and sz factors while using (ox, oy, oz) as the scaling origin.
    scaleAround(double sx, double sy, double sz, double ox, double oy, double oz, Matrix4d dest)
    Apply scaling to this matrix by scaling the base axes by the given sx, sy and sz factors while using (ox, oy, oz) as the scaling origin, and store the result in dest.
    scaleAround(double factor, double ox, double oy, double oz, Matrix4d dest)
    Apply scaling to this matrix by scaling all three base axes by the given factor while using (ox, oy, oz) as the scaling origin, and store the result in dest.
    scaleAroundLocal(double factor, double ox, double oy, double oz)
    Pre-multiply scaling to this matrix by scaling all three base axes by the given factor while using (ox, oy, oz) as the scaling origin.
    scaleAroundLocal(double sx, double sy, double sz, double ox, double oy, double oz)
    Pre-multiply scaling to this matrix by scaling the base axes by the given sx, sy and sz factors while using (ox, oy, oz) as the scaling origin.
    scaleAroundLocal(double sx, double sy, double sz, double ox, double oy, double oz, Matrix4d dest)
    Pre-multiply scaling to this matrix by scaling the base axes by the given sx, sy and sz factors while using the given (ox, oy, oz) as the scaling origin, and store the result in dest.
    scaleAroundLocal(double factor, double ox, double oy, double oz, Matrix4d dest)
    Pre-multiply scaling to this matrix by scaling all three base axes by the given factor while using (ox, oy, oz) as the scaling origin, and store the result in dest.
    scaleLocal(double xyz)
    Pre-multiply scaling to this matrix by scaling the base axes by the given xyz factor.
    scaleLocal(double x, double y, double z)
    Pre-multiply scaling to this matrix by scaling the base axes by the given x, y and z factors.
    scaleLocal(double x, double y, double z, Matrix4d 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.
    scaleLocal(double xyz, Matrix4d dest)
    Pre-multiply scaling to this matrix by scaling all base axes by the given xyz factor, and store the result in dest.
    scaleXY(double x, double y)
    Apply scaling to this matrix by scaling the X axis by x and the Y axis by y.
    scaleXY(double x, double y, Matrix4d dest)
    Apply scaling to this matrix by by scaling the X axis by x and the Y axis by y and store the result in dest.
    scaling(double factor)
    Set this matrix to be a simple scale matrix, which scales all axes uniformly by the given factor.
    scaling(double x, double y, double z)
    Set this matrix to be a simple scale matrix.
    Set this matrix to be a simple scale matrix which scales the base axes by xyz.x, xyz.y and xyz.z, respectively.
    set(double[] m)
    Set the values in the matrix using a double array that contains the matrix elements in column-major order.
    set(double[] m, int off)
    Set the values in the matrix using a double array that contains the matrix elements in column-major order.
    set(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
    Set the values within this matrix to the supplied double values.
    set(float[] m)
    Set the values in the matrix using a float array that contains the matrix elements in column-major order.
    set(float[] m, int off)
    Set the values in the matrix using a float array that contains the matrix elements in column-major order.
    set(int column, int row, double value)
    Set the matrix element at the given column and row to the specified value.
    set(int index, ByteBuffer buffer)
    Set the values of this matrix by reading 16 double values from the given ByteBuffer in column-major order, starting at the specified absolute buffer position/index.
    set(int index, DoubleBuffer buffer)
    Set the values of this matrix by reading 16 double values from the given DoubleBuffer in column-major order, starting at the specified absolute buffer position/index.
    set(int index, FloatBuffer buffer)
    Set the values of this matrix by reading 16 float values from the given FloatBuffer in column-major order, starting at the specified absolute buffer position/index.
    set(ByteBuffer buffer)
    Set the values of this matrix by reading 16 double values from the given ByteBuffer in column-major order, starting at its current position.
    set(DoubleBuffer buffer)
    Set the values of this matrix by reading 16 double values from the given DoubleBuffer in column-major order, starting at its current position.
    set(FloatBuffer buffer)
    Set the values of this matrix by reading 16 float values from the given FloatBuffer in column-major order, starting at its current position.
    set(AxisAngle4d axisAngle)
    Set this matrix to be equivalent to the rotation specified by the given AxisAngle4d.
    set(AxisAngle4f axisAngle)
    Set this matrix to be equivalent to the rotation specified by the given AxisAngle4f.
    Set the upper left 3x3 submatrix of this Matrix4d to the given Matrix3dc and the rest to identity.
    Store the values of the given matrix m into this matrix.
    Store the values of the given matrix m into this matrix.
    Store the values of the given matrix m into this matrix and set the other matrix elements to identity.
    Store the values of the given matrix m into this matrix and set the other matrix elements to identity.
    Set this matrix to be equivalent to the rotation - and possibly scaling - specified by the given Quaterniondc.
    Set this matrix to be equivalent to the rotation - and possibly scaling - specified by the given Quaternionfc.
    set(Vector4d col0, Vector4d col1, Vector4d col2, Vector4d col3)
    Set the four columns of this matrix to the supplied vectors, respectively.
    Set the upper left 3x3 submatrix of this Matrix4d to the given Matrix3dc and don't change the other elements.
    Set the upper left 3x3 submatrix of this Matrix4d to that of the given Matrix4dc and don't change the other elements.
    Set the upper 4x3 submatrix of this Matrix4d to the upper 4x3 submatrix of the given Matrix4dc and don't change the other elements.
    Set the upper 4x3 submatrix of this Matrix4d to the given Matrix4x3dc and don't change the other elements.
    Set the upper 4x3 submatrix of this Matrix4d to the given Matrix4x3fc and don't change the other elements.
    setColumn(int column, Vector4dc src)
    Set the column at the given column index, starting with 0.
    setFloats(int index, ByteBuffer buffer)
    Set the values of this matrix by reading 16 float values from the given ByteBuffer in column-major order, starting at the specified absolute buffer position/index.
    Set the values of this matrix by reading 16 float values from the given ByteBuffer in column-major order, starting at its current position.
    setFromAddress(long address)
    Set the values of this matrix by reading 16 double values from off-heap memory in column-major order, starting at the given address.
    setFromIntrinsic(double alphaX, double alphaY, double gamma, double u0, double v0, int imgWidth, int imgHeight, double near, double far)
    Set this matrix to represent a perspective projection equivalent to the given intrinsic camera calibration parameters.
    setFrustum(double left, double right, double bottom, double top, double zNear, double zFar)
    Set this matrix to be an arbitrary perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setFrustum(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne)
    Set this matrix to be an arbitrary perspective projection frustum transformation for a right-handed coordinate system using the given NDC z range.
    setFrustumLH(double left, double right, double bottom, double top, double zNear, double zFar)
    Set this matrix to be an arbitrary perspective projection frustum transformation for a left-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setFrustumLH(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne)
    Set this matrix to be an arbitrary perspective projection frustum transformation for a left-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setLookAlong(double dirX, double dirY, double dirZ, double upX, double upY, double upZ)
    Set this matrix to a rotation transformation to make -z point along dir.
    Set this matrix to a rotation transformation to make -z point along dir.
    setLookAt(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ)
    Set this matrix to be a "lookat" transformation for a right-handed coordinate system, that aligns -z with center - eye.
    Set this matrix to be a "lookat" transformation for a right-handed coordinate system, that aligns -z with center - eye.
    setLookAtLH(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ)
    Set this matrix to be a "lookat" transformation for a left-handed coordinate system, that aligns +z with center - eye.
    Set this matrix to be a "lookat" transformation for a left-handed coordinate system, that aligns +z with center - eye.
    setOrtho(double left, double right, double bottom, double top, double zNear, double zFar)
    Set this matrix to be an orthographic projection transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setOrtho(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne)
    Set this matrix to be an orthographic projection transformation for a right-handed coordinate system using the given NDC z range.
    setOrtho2D(double left, double right, double bottom, double top)
    Set this matrix to be an orthographic projection transformation for a right-handed coordinate system.
    setOrtho2DLH(double left, double right, double bottom, double top)
    Set this matrix to be an orthographic projection transformation for a left-handed coordinate system.
    setOrthoLH(double left, double right, double bottom, double top, double zNear, double zFar)
    Set this matrix to be an orthographic projection transformation for a left-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setOrthoLH(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne)
    Set this matrix to be an orthographic projection transformation for a left-handed coordinate system using the given NDC z range.
    setOrthoSymmetric(double width, double height, double zNear, double zFar)
    Set this matrix to be a symmetric orthographic projection transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setOrthoSymmetric(double width, double height, double zNear, double zFar, boolean zZeroToOne)
    Set this matrix to be a symmetric orthographic projection transformation for a right-handed coordinate system using the given NDC z range.
    setOrthoSymmetricLH(double width, double height, double zNear, double zFar)
    Set this matrix to be a symmetric orthographic projection transformation for a left-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setOrthoSymmetricLH(double width, double height, double zNear, double zFar, boolean zZeroToOne)
    Set this matrix to be a symmetric orthographic projection transformation for a left-handed coordinate system using the given NDC z range.
    setPerspective(double fovy, double aspect, double zNear, double zFar)
    Set this matrix to be a symmetric perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setPerspective(double fovy, double aspect, double zNear, double zFar, boolean zZeroToOne)
    Set this matrix to be a symmetric perspective projection frustum transformation for a right-handed coordinate system using the given NDC z range.
    setPerspectiveLH(double fovy, double aspect, double zNear, double zFar)
    Set this matrix to be a symmetric perspective projection frustum transformation for a left-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setPerspectiveLH(double fovy, double aspect, double zNear, double zFar, boolean zZeroToOne)
    Set this matrix to be a symmetric perspective projection frustum transformation for a left-handed coordinate system using the given NDC z range of [-1..+1].
    setPerspectiveOffCenter(double fovy, double offAngleX, double offAngleY, double aspect, double zNear, double zFar)
    Set this matrix to be an asymmetric off-center perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setPerspectiveOffCenter(double fovy, double offAngleX, double offAngleY, double aspect, double zNear, double zFar, boolean zZeroToOne)
    Set this matrix to be an asymmetric off-center perspective projection frustum transformation for a right-handed coordinate system using the given NDC z range.
    setPerspectiveRect(double width, double height, double zNear, double zFar)
    Set this matrix to be a symmetric perspective projection frustum transformation for a right-handed coordinate system using OpenGL's NDC z range of [-1..+1].
    setPerspectiveRect(double width, double height, double zNear, double zFar, boolean zZeroToOne)
    Set this matrix to be a symmetric perspective projection frustum transformation for a right-handed coordinate system using the given NDC z range.
    setRotationXYZ(double angleX, double angleY, double angleZ)
    Set only the upper left 3x3 submatrix of this matrix to a 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.
    setRotationYXZ(double angleY, double angleX, double angleZ)
    Set only the upper left 3x3 submatrix of this matrix to a 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.
    setRotationZYX(double angleZ, double angleY, double angleX)
    Set only the upper left 3x3 submatrix of this matrix to a 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.
    setRow(int row, Vector4dc src)
    Set the row at the given row index, starting with 0.
    setRowColumn(int row, int column, double value)
    Set the matrix element at the given row and column to the specified value.
    setTranslation(double x, double y, double z)
    Set only the translation components (m30, m31, m32) of this matrix to the given values (x, y, z).
    Set only the translation components (m30, m31, m32) of this matrix to the given values (xyz.x, xyz.y, xyz.z).
    Store the values of the transpose of the given matrix m into this matrix.
    shadow(double lightX, double lightY, double lightZ, double lightW, double a, double b, double c, double d)
    Apply a projection transformation to this matrix that projects onto the plane specified via the general plane equation x*a + y*b + z*c + d = 0 as if casting a shadow from a given light position/direction (lightX, lightY, lightZ, lightW).
    shadow(double lightX, double lightY, double lightZ, double lightW, double a, double b, double c, double d, Matrix4d dest)
    Apply a projection transformation to this matrix that projects onto the plane specified via the general plane equation x*a + y*b + z*c + d = 0 as if casting a shadow from a given light position/direction (lightX, lightY, lightZ, lightW) and store the result in dest.
    shadow(double lightX, double lightY, double lightZ, double lightW, Matrix4dc planeTransform)
    Apply a projection transformation to this matrix that projects onto the plane with the general plane equation y = 0 as if casting a shadow from a given light position/direction (lightX, lightY, lightZ, lightW).
    shadow(double lightX, double lightY, double lightZ, double lightW, Matrix4dc planeTransform, Matrix4d dest)
    Apply a projection transformation to this matrix that projects onto the plane with the general plane equation y = 0 as if casting a shadow from a given light position/direction (lightX, lightY, lightZ, lightW) and store the result in dest.
    shadow(Vector4dc light, double a, double b, double c, double d)
    Apply a projection transformation to this matrix that projects onto the plane specified via the general plane equation x*a + y*b + z*c + d = 0 as if casting a shadow from a given light position/direction light.
    shadow(Vector4dc light, double a, double b, double c, double d, Matrix4d dest)
    Apply a projection transformation to this matrix that projects onto the plane specified via the general plane equation x*a + y*b + z*c + d = 0 as if casting a shadow from a given light position/direction light and store the result in dest.
    shadow(Vector4dc light, Matrix4dc planeTransform, Matrix4d dest)
    Apply a projection transformation to this matrix that projects onto the plane with the general plane equation y = 0 as if casting a shadow from a given light position/direction light and store the result in dest.
    shadow(Vector4d light, Matrix4d planeTransform)
    Apply a projection transformation to this matrix that projects onto the plane with the general plane equation y = 0 as if casting a shadow from a given light position/direction light.
    sub(Matrix4dc subtrahend)
    Component-wise subtract subtrahend from this.
    sub(Matrix4dc subtrahend, Matrix4d dest)
    Component-wise subtract subtrahend from this and store the result in dest.
    sub4x3(Matrix4dc subtrahend)
    Component-wise subtract the upper 4x3 submatrices of subtrahend from this.
    sub4x3(Matrix4dc subtrahend, Matrix4d dest)
    Component-wise subtract the upper 4x3 submatrices of subtrahend from this and store the result in dest.
    swap(Matrix4d other)
    Exchange the values of this matrix with the given other matrix.
    boolean
    testAab(double minX, double minY, double minZ, double maxX, double maxY, double maxZ)
    Test whether the given axis-aligned box is partly or completely within or outside of the frustum defined by this matrix.
    boolean
    testPoint(double x, double y, double z)
    Test whether the given point (x, y, z) is within the frustum defined by this matrix.
    boolean
    testSphere(double x, double y, double z, double r)
    Test whether the given sphere is partly or completely within or outside of the frustum defined by this matrix.
    Return a string representation of this matrix.
    Return a string representation of this matrix by formatting the matrix elements with the given NumberFormat.
    transform(double x, double y, double z, double w, Vector4d dest)
    Transform/multiply the vector (x, y, z, w) by this matrix and store the result in dest.
    Transform/multiply the given vector by this matrix and store the result in that vector.
    Transform/multiply the given vector by this matrix and store the result in dest.
    transformAab(double minX, double minY, double minZ, double maxX, double maxY, double maxZ, Vector3d outMin, Vector3d outMax)
    Transform the axis-aligned box given as the minimum corner (minX, minY, minZ) and maximum corner (maxX, maxY, maxZ) by this affine matrix and compute the axis-aligned box of the result whose minimum corner is stored in outMin and maximum corner stored in outMax.
    transformAab(Vector3dc min, Vector3dc max, Vector3d outMin, Vector3d outMax)
    Transform the axis-aligned box given as the minimum corner min and maximum corner max by this affine matrix and compute the axis-aligned box of the result whose minimum corner is stored in outMin and maximum corner stored in outMax.
    transformAffine(double x, double y, double z, double w, Vector4d dest)
    Transform/multiply the 4D-vector (x, y, z, w) by assuming that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and store the result in dest.
    Transform/multiply the given 4D-vector by assuming that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)).
    Transform/multiply the given 4D-vector by assuming that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and store the result in dest.
    transformDirection(double x, double y, double z, Vector3d dest)
    Transform/multiply the 3D-vector (x, y, z), as if it was a 4D-vector with w=0, by this matrix and store the result in dest.
    transformDirection(double x, double y, double z, Vector3f dest)
    Transform/multiply the 3D-vector (x, y, z), as if it was a 4D-vector with w=0, by this matrix and store the result in dest.
    Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=0, by this matrix and store the result in that vector.
    Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=0, by this matrix and store the result in dest.
    Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=0, by this matrix and store the result in that vector.
    Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=0, by this matrix and store the result in dest.
    transformPosition(double x, double y, double z, Vector3d dest)
    Transform/multiply the 3D-vector (x, y, z), as if it was a 4D-vector with w=1, by this matrix and store the result in dest.
    Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=1, by this matrix and store the result in that vector.
    Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=1, by this matrix and store the result in dest.
    transformProject(double x, double y, double z, double w, Vector3d dest)
    Transform/multiply the vector (x, y, z, w) by this matrix, perform perspective divide and store (x, y, z) of the result in dest.
    transformProject(double x, double y, double z, double w, Vector4d dest)
    Transform/multiply the vector (x, y, z, w) by this matrix, perform perspective divide and store the result in dest.
    transformProject(double x, double y, double z, Vector3d dest)
    Transform/multiply the vector (x, y, z) by this matrix, perform perspective divide and store the result in dest.
    Transform/multiply the given vector by this matrix, perform perspective divide and store the result in that vector.
    Transform/multiply the given vector by this matrix, perform perspective divide and store the result in dest.
    Transform/multiply the given vector by this matrix, perform perspective divide and store the result in that vector.
    Transform/multiply the given vector by this matrix, perform perspective divide and store the x, y and z components of the result in dest.
    Transform/multiply the given vector by this matrix, perform perspective divide and store the result in dest.
    transformTranspose(double x, double y, double z, double w, Vector4d dest)
    Transform/multiply the vector (x, y, z, w) by the transpose of this matrix and store the result in dest.
    Transform/multiply the given vector by the transpose of this matrix and store the result in that vector.
    Transform/multiply the given vector by the transpose of this matrix and store the result in dest.
    translate(double x, double y, double z)
    Apply a translation to this matrix by translating by the given number of units in x, y and z.
    translate(double x, double y, double z, Matrix4d dest)
    Apply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.
    Apply a translation to this matrix by translating by the given number of units in x, y and z.
    translate(Vector3dc offset, Matrix4d dest)
    Apply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.
    Apply a translation to this matrix by translating by the given number of units in x, y and z.
    translate(Vector3fc offset, Matrix4d dest)
    Apply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.
    translateLocal(double x, double y, double z)
    Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z.
    translateLocal(double x, double y, double z, Matrix4d dest)
    Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.
    Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z.
    Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.
    Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z.
    Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.
    translation(double x, double y, double z)
    Set this matrix to be a simple translation matrix.
    Set this matrix to be a simple translation matrix.
    Set this matrix to be a simple translation matrix.
    translationRotate(double tx, double ty, double tz, double qx, double qy, double qz, double qw)
    Set this matrix to T * R, where T is a translation by the given (tx, ty, tz) and R is a rotation - and possibly scaling - transformation specified by the quaternion (qx, qy, qz, qw).
    translationRotate(double tx, double ty, double tz, Quaterniondc quat)
    Set this matrix to T * R, where T is a translation by the given (tx, ty, tz) and R is a rotation - and possibly scaling - transformation specified by the given quaternion.
    translationRotateScale(double tx, double ty, double tz, double qx, double qy, double qz, double qw, double scale)
    Set this matrix to T * R * S, where T is a translation by the given (tx, ty, tz), R is a rotation transformation specified by the quaternion (qx, qy, qz, qw), and S is a scaling transformation which scales all three axes by scale.
    translationRotateScale(double tx, double ty, double tz, double qx, double qy, double qz, double qw, double sx, double sy, double sz)
    Set this matrix to T * R * S, where T is a translation by the given (tx, ty, tz), R is a rotation transformation specified by the quaternion (qx, qy, qz, qw), and S is a scaling transformation which scales the three axes x, y and z by (sx, sy, sz).
    translationRotateScale(Vector3dc translation, Quaterniondc quat, double scale)
    Set this matrix to T * R * S, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales all three axes by scale.
    Set this matrix to T * R * S, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales the axes by scale.
    translationRotateScale(Vector3fc translation, Quaternionfc quat, double scale)
    Set this matrix to T * R * S, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales all three axes by scale.
    Set this matrix to T * R * S, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales the axes by scale.
    translationRotateScaleInvert(double tx, double ty, double tz, double qx, double qy, double qz, double qw, double sx, double sy, double sz)
    Set this matrix to (T * R * S)-1, where T is a translation by the given (tx, ty, tz), R is a rotation transformation specified by the quaternion (qx, qy, qz, qw), and S is a scaling transformation which scales the three axes x, y and z by (sx, sy, sz).
    translationRotateScaleInvert(Vector3dc translation, Quaterniondc quat, double scale)
    Set this matrix to (T * R * S)-1, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales all three axes by scale.
    Set this matrix to (T * R * S)-1, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales the axes by scale.
    translationRotateScaleInvert(Vector3fc translation, Quaternionfc quat, double scale)
    Set this matrix to (T * R * S)-1, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales all three axes by scale.
    Set this matrix to (T * R * S)-1, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales the axes by scale.
    translationRotateScaleMulAffine(double tx, double ty, double tz, double qx, double qy, double qz, double qw, double sx, double sy, double sz, Matrix4d m)
    Set this matrix to T * R * S * M, where T is a translation by the given (tx, ty, tz), R is a rotation - and possibly scaling - transformation specified by the quaternion (qx, qy, qz, qw), S is a scaling transformation which scales the three axes x, y and z by (sx, sy, sz) and M is an affine matrix.
    Set this matrix to T * R * S * M, where T is the given translation, R is a rotation - and possibly scaling - transformation specified by the given quaternion, S is a scaling transformation which scales the axes by scale and M is an affine matrix.
    translationRotateTowards(double posX, double posY, double posZ, double dirX, double dirY, double dirZ, double upX, double upY, double upZ)
    Set this matrix to a model transformation for a right-handed coordinate system, that translates to the given (posX, posY, posZ) and aligns the local -z axis with (dirX, dirY, dirZ).
    Set this matrix to a model transformation for a right-handed coordinate system, that translates to the given pos and aligns the local -z axis with dir.
    Transpose this matrix.
    Transpose this matrix and store the result into dest.
    Transpose only the upper left 3x3 submatrix of this matrix.
    Transpose only the upper left 3x3 submatrix of this matrix and store the result in dest.
    Transpose only the upper left 3x3 submatrix of this matrix and store the result in dest.
    trapezoidCrop(double p0x, double p0y, double p1x, double p1y, double p2x, double p2y, double p3x, double p3y)
    Set this matrix to a perspective transformation that maps the trapezoid spanned by the four corner coordinates (p0x, p0y), (p1x, p1y), (p2x, p2y) and (p3x, p3y) to the unit square [(-1, -1)..(+1, +1)].
    unproject(double winX, double winY, double winZ, int[] viewport, Vector3d dest)
    Unproject the given window coordinates (winX, winY, winZ) by this matrix using the specified viewport.
    unproject(double winX, double winY, double winZ, int[] viewport, Vector4d dest)
    Unproject the given window coordinates (winX, winY, winZ) by this matrix using the specified viewport.
    unproject(Vector3dc winCoords, int[] viewport, Vector3d dest)
    Unproject the given window coordinates winCoords by this matrix using the specified viewport.
    unproject(Vector3dc winCoords, int[] viewport, Vector4d dest)
    Unproject the given window coordinates winCoords by this matrix using the specified viewport.
    unprojectInv(double winX, double winY, double winZ, int[] viewport, Vector3d dest)
    Unproject the given window coordinates (winX, winY, winZ) by this matrix using the specified viewport.
    unprojectInv(double winX, double winY, double winZ, int[] viewport, Vector4d dest)
    Unproject the given window coordinates (winX, winY, winZ) by this matrix using the specified viewport.
    unprojectInv(Vector3dc winCoords, int[] viewport, Vector3d dest)
    Unproject the given window coordinates winCoords by this matrix using the specified viewport.
    unprojectInv(Vector3dc winCoords, int[] viewport, Vector4d dest)
    Unproject the given window coordinates winCoords by this matrix using the specified viewport.
    unprojectInvRay(double winX, double winY, int[] viewport, Vector3d originDest, Vector3d dirDest)
    Unproject the given 2D window coordinates (winX, winY) by this matrix using the specified viewport and compute the origin and the direction of the resulting ray which starts at NDC z = -1.0 and goes through NDC z = +1.0.
    unprojectInvRay(Vector2dc winCoords, int[] viewport, Vector3d originDest, Vector3d dirDest)
    Unproject the given window coordinates winCoords by this matrix using the specified viewport and compute the origin and the direction of the resulting ray which starts at NDC z = -1.0 and goes through NDC z = +1.0.
    unprojectRay(double winX, double winY, int[] viewport, Vector3d originDest, Vector3d dirDest)
    Unproject the given 2D window coordinates (winX, winY) by this matrix using the specified viewport and compute the origin and the direction of the resulting ray which starts at NDC z = -1.0 and goes through NDC z = +1.0.
    unprojectRay(Vector2dc winCoords, int[] viewport, Vector3d originDest, Vector3d dirDest)
    Unproject the given 2D window coordinates winCoords by this matrix using the specified viewport and compute the origin and the direction of the resulting ray which starts at NDC z = -1.0 and goes through NDC z = +1.0.
    withLookAtUp(double upX, double upY, double upZ)
    Apply a transformation to this matrix to ensure that the local Y axis (as obtained by positiveY(Vector3d)) will be coplanar to the plane spanned by the local Z axis (as obtained by positiveZ(Vector3d)) and the given vector (upX, upY, upZ).
    withLookAtUp(double upX, double upY, double upZ, Matrix4d dest)
    Apply a transformation to this matrix to ensure that the local Y axis (as obtained by Matrix4dc.positiveY(Vector3d)) will be coplanar to the plane spanned by the local Z axis (as obtained by Matrix4dc.positiveZ(Vector3d)) and the given vector (upX, upY, upZ), and store the result in dest.
    Apply a transformation to this matrix to ensure that the local Y axis (as obtained by positiveY(Vector3d)) will be coplanar to the plane spanned by the local Z axis (as obtained by positiveZ(Vector3d)) and the given vector up.
    Apply a transformation to this matrix to ensure that the local Y axis (as obtained by Matrix4dc.positiveY(Vector3d)) will be coplanar to the plane spanned by the local Z axis (as obtained by Matrix4dc.positiveZ(Vector3d)) and the given vector up, and store the result in dest.
    void
     
    Set all the values within this matrix to 0.

    Methods inherited from class java.lang.Object

    finalize, getClass, notify, notifyAll, wait, wait, wait
  • Constructor Details

    • Matrix4d

      public Matrix4d()
      Create a new Matrix4d and set it to identity.
    • Matrix4d

      public Matrix4d(Matrix4dc mat)
      Create a new Matrix4d and make it a copy of the given matrix.
      Parameters:
      mat - the Matrix4dc to copy the values from
    • Matrix4d

      public Matrix4d(Matrix4fc mat)
      Create a new Matrix4d and make it a copy of the given matrix.
      Parameters:
      mat - the Matrix4fc to copy the values from
    • Matrix4d

      public Matrix4d(Matrix4x3dc mat)
      Create a new Matrix4d and set its upper 4x3 submatrix to the given matrix mat and all other elements to identity.
      Parameters:
      mat - the Matrix4x3dc to copy the values from
    • Matrix4d

      public Matrix4d(Matrix4x3fc mat)
      Create a new Matrix4d and set its upper 4x3 submatrix to the given matrix mat and all other elements to identity.
      Parameters:
      mat - the Matrix4x3fc to copy the values from
    • Matrix4d

      public Matrix4d(Matrix3dc mat)
      Create a new Matrix4d by setting its uppper left 3x3 submatrix to the values of the given Matrix3dc and the rest to identity.
      Parameters:
      mat - the Matrix3dc
    • Matrix4d

      public Matrix4d(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
      Create a new 4x4 matrix using the supplied double values.

      The matrix layout will be:

      m00, m10, m20, m30
      m01, m11, m21, m31
      m02, m12, m22, m32
      m03, m13, m23, m33

      Parameters:
      m00 - the value of m00
      m01 - the value of m01
      m02 - the value of m02
      m03 - the value of m03
      m10 - the value of m10
      m11 - the value of m11
      m12 - the value of m12
      m13 - the value of m13
      m20 - the value of m20
      m21 - the value of m21
      m22 - the value of m22
      m23 - the value of m23
      m30 - the value of m30
      m31 - the value of m31
      m32 - the value of m32
      m33 - the value of m33
    • Matrix4d

      public Matrix4d(DoubleBuffer buffer)
      Create a new Matrix4d by reading its 16 double components from the given DoubleBuffer at the buffer's current position.

      That DoubleBuffer is expected to hold the values in column-major order.

      The buffer's position will not be changed by this method.

      Parameters:
      buffer - the DoubleBuffer to read the matrix values from
    • Matrix4d

      public Matrix4d(Vector4d col0, Vector4d col1, Vector4d col2, Vector4d col3)
      Create a new Matrix4d and initialize its four columns using the supplied vectors.
      Parameters:
      col0 - the first column
      col1 - the second column
      col2 - the third column
      col3 - the fourth column
  • Method Details

    • assume

      public Matrix4d assume(int properties)
      Parameters:
      properties - bitset of the properties to assume about this matrix
      Returns:
      this
    • determineProperties

      public Matrix4d determineProperties()
      Compute and set the matrix properties returned by properties() based on the current matrix element values.
      Returns:
      this
    • properties

      public int properties()
      Description copied from interface: Matrix4dc
      Return the assumed properties of this matrix. This is a bit-combination of Matrix4dc.PROPERTY_IDENTITY, Matrix4dc.PROPERTY_AFFINE, Matrix4dc.PROPERTY_TRANSLATION and Matrix4dc.PROPERTY_PERSPECTIVE.
      Specified by:
      properties in interface Matrix4dc
      Returns:
      the properties of the matrix
    • m00

      public double m00()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 0 and row 0.
      Specified by:
      m00 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m01

      public double m01()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 0 and row 1.
      Specified by:
      m01 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m02

      public double m02()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 0 and row 2.
      Specified by:
      m02 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m03

      public double m03()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 0 and row 3.
      Specified by:
      m03 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m10

      public double m10()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 1 and row 0.
      Specified by:
      m10 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m11

      public double m11()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 1 and row 1.
      Specified by:
      m11 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m12

      public double m12()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 1 and row 2.
      Specified by:
      m12 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m13

      public double m13()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 1 and row 3.
      Specified by:
      m13 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m20

      public double m20()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 2 and row 0.
      Specified by:
      m20 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m21

      public double m21()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 2 and row 1.
      Specified by:
      m21 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m22

      public double m22()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 2 and row 2.
      Specified by:
      m22 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m23

      public double m23()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 2 and row 3.
      Specified by:
      m23 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m30

      public double m30()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 3 and row 0.
      Specified by:
      m30 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m31

      public double m31()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 3 and row 1.
      Specified by:
      m31 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m32

      public double m32()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 3 and row 2.
      Specified by:
      m32 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m33

      public double m33()
      Description copied from interface: Matrix4dc
      Return the value of the matrix element at column 3 and row 3.
      Specified by:
      m33 in interface Matrix4dc
      Returns:
      the value of the matrix element
    • m00

      public Matrix4d m00(double m00)
      Set the value of the matrix element at column 0 and row 0.
      Parameters:
      m00 - the new value
      Returns:
      this
    • m01

      public Matrix4d m01(double m01)
      Set the value of the matrix element at column 0 and row 1.
      Parameters:
      m01 - the new value
      Returns:
      this
    • m02

      public Matrix4d m02(double m02)
      Set the value of the matrix element at column 0 and row 2.
      Parameters:
      m02 - the new value
      Returns:
      this
    • m03

      public Matrix4d m03(double m03)
      Set the value of the matrix element at column 0 and row 3.
      Parameters:
      m03 - the new value
      Returns:
      this
    • m10

      public Matrix4d m10(double m10)
      Set the value of the matrix element at column 1 and row 0.
      Parameters:
      m10 - the new value
      Returns:
      this
    • m11

      public Matrix4d m11(double m11)
      Set the value of the matrix element at column 1 and row 1.
      Parameters:
      m11 - the new value
      Returns:
      this
    • m12

      public Matrix4d m12(double m12)
      Set the value of the matrix element at column 1 and row 2.
      Parameters:
      m12 - the new value
      Returns:
      this
    • m13

      public Matrix4d m13(double m13)
      Set the value of the matrix element at column 1 and row 3.
      Parameters:
      m13 - the new value
      Returns:
      this
    • m20

      public Matrix4d m20(double m20)
      Set the value of the matrix element at column 2 and row 0.
      Parameters:
      m20 - the new value
      Returns:
      this
    • m21

      public Matrix4d m21(double m21)
      Set the value of the matrix element at column 2 and row 1.
      Parameters:
      m21 - the new value
      Returns:
      this
    • m22

      public Matrix4d m22(double m22)
      Set the value of the matrix element at column 2 and row 2.
      Parameters:
      m22 - the new value
      Returns:
      this
    • m23

      public Matrix4d m23(double m23)
      Set the value of the matrix element at column 2 and row 3.
      Parameters:
      m23 - the new value
      Returns:
      this
    • m30

      public Matrix4d m30(double m30)
      Set the value of the matrix element at column 3 and row 0.
      Parameters:
      m30 - the new value
      Returns:
      this
    • m31

      public Matrix4d m31(double m31)
      Set the value of the matrix element at column 3 and row 1.
      Parameters:
      m31 - the new value
      Returns:
      this
    • m32

      public Matrix4d m32(double m32)
      Set the value of the matrix element at column 3 and row 2.
      Parameters:
      m32 - the new value
      Returns:
      this
    • m33

      public Matrix4d m33(double m33)
      Set the value of the matrix element at column 3 and row 3.
      Parameters:
      m33 - the new value
      Returns:
      this
    • identity

      public Matrix4d identity()
      Reset this matrix to the identity.

      Please note that if a call to identity() is immediately followed by a call to: translate, rotate, scale, perspective, frustum, ortho, ortho2D, lookAt, lookAlong, or any of their overloads, then the call to identity() can be omitted and the subsequent call replaced with: translation, rotation, scaling, setPerspective, setFrustum, setOrtho, setOrtho2D, setLookAt, setLookAlong, or any of their overloads.

      Returns:
      this
    • set

      public Matrix4d set(Matrix4dc m)
      Store the values of the given matrix m into this matrix.
      Parameters:
      m - the matrix to copy the values from
      Returns:
      this
      See Also:
    • set

      public Matrix4d set(Matrix4fc m)
      Store the values of the given matrix m into this matrix.
      Parameters:
      m - the matrix to copy the values from
      Returns:
      this
      See Also:
    • setTransposed

      public Matrix4d setTransposed(Matrix4dc m)
      Store the values of the transpose of the given matrix m into this matrix.
      Parameters:
      m - the matrix to copy the transposed values from
      Returns:
      this
    • set

      public Matrix4d set(Matrix4x3dc m)
      Store the values of the given matrix m into this matrix and set the other matrix elements to identity.
      Parameters:
      m - the matrix to copy the values from
      Returns:
      this
      See Also:
    • set

      public Matrix4d set(Matrix4x3fc m)
      Store the values of the given matrix m into this matrix and set the other matrix elements to identity.
      Parameters:
      m - the matrix to copy the values from
      Returns:
      this
      See Also:
    • set

      public Matrix4d set(Matrix3dc mat)
      Set the upper left 3x3 submatrix of this Matrix4d to the given Matrix3dc and the rest to identity.
      Parameters:
      mat - the Matrix3dc
      Returns:
      this
      See Also:
    • set3x3

      public Matrix4d set3x3(Matrix4dc mat)
      Set the upper left 3x3 submatrix of this Matrix4d to that of the given Matrix4dc and don't change the other elements.
      Parameters:
      mat - the Matrix4dc
      Returns:
      this
    • set4x3

      public Matrix4d set4x3(Matrix4x3dc mat)
      Set the upper 4x3 submatrix of this Matrix4d to the given Matrix4x3dc and don't change the other elements.
      Parameters:
      mat - the Matrix4x3dc
      Returns:
      this
      See Also:
    • set4x3

      public Matrix4d set4x3(Matrix4x3fc mat)
      Set the upper 4x3 submatrix of this Matrix4d to the given Matrix4x3fc and don't change the other elements.
      Parameters:
      mat - the Matrix4x3fc
      Returns:
      this
      See Also:
    • set4x3

      public Matrix4d set4x3(Matrix4dc mat)
      Set the upper 4x3 submatrix of this Matrix4d to the upper 4x3 submatrix of the given Matrix4dc and don't change the other elements.
      Parameters:
      mat - the Matrix4dc
      Returns:
      this
    • set

      public Matrix4d set(AxisAngle4f axisAngle)
      Set this matrix to be equivalent to the rotation specified by the given AxisAngle4f.
      Parameters:
      axisAngle - the AxisAngle4f
      Returns:
      this
    • set

      public Matrix4d set(AxisAngle4d axisAngle)
      Set this matrix to be equivalent to the rotation specified by the given AxisAngle4d.
      Parameters:
      axisAngle - the AxisAngle4d
      Returns:
      this
    • set

      public Matrix4d set(Quaternionfc q)
      Set this matrix to be equivalent to the rotation - and possibly scaling - specified by the given Quaternionfc.

      This method is equivalent to calling: rotation(q)

      Reference: http://www.euclideanspace.com/

      Parameters:
      q - the Quaternionfc
      Returns:
      this
      See Also:
    • set

      public Matrix4d set(Quaterniondc q)
      Set this matrix to be equivalent to the rotation - and possibly scaling - specified by the given Quaterniondc.

      This method is equivalent to calling: rotation(q)

      Reference: http://www.euclideanspace.com/

      Parameters:
      q - the Quaterniondc
      Returns:
      this
      See Also:
    • mul

      public Matrix4d mul(Matrix4dc right)
      Multiply this matrix by the supplied right matrix.

      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 multiplication
      Returns:
      this
    • mul

      public Matrix4d mul(Matrix4dc right, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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!

      Specified by:
      mul in interface Matrix4dc
      Parameters:
      right - the right operand of the multiplication
      dest - will hold the result
      Returns:
      dest
    • mul0

      public Matrix4d mul0(Matrix4dc right)
      Multiply this matrix by the supplied right matrix.

      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!

      This method neither assumes nor checks for any matrix properties of this or right and will always perform a complete 4x4 matrix multiplication. This method should only be used whenever the multiplied matrices do not have any properties for which there are optimized multiplication methods available.

      Parameters:
      right - the right operand of the matrix multiplication
      Returns:
      this
    • mul0

      public Matrix4d mul0(Matrix4dc right, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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!

      This method neither assumes nor checks for any matrix properties of this or right and will always perform a complete 4x4 matrix multiplication. This method should only be used whenever the multiplied matrices do not have any properties for which there are optimized multiplication methods available.

      Specified by:
      mul0 in interface Matrix4dc
      Parameters:
      right - the right operand of the matrix multiplication
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mul

      public Matrix4d mul(double r00, double r01, double r02, double r03, double r10, double r11, double r12, double r13, double r20, double r21, double r22, double r23, double r30, double r31, double r32, double r33)
      Multiply this matrix by the matrix with the supplied elements.

      If M is this matrix and R the right matrix whose elements are supplied via the parameters, 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:
      r00 - the m00 element of the right matrix
      r01 - the m01 element of the right matrix
      r02 - the m02 element of the right matrix
      r03 - the m03 element of the right matrix
      r10 - the m10 element of the right matrix
      r11 - the m11 element of the right matrix
      r12 - the m12 element of the right matrix
      r13 - the m13 element of the right matrix
      r20 - the m20 element of the right matrix
      r21 - the m21 element of the right matrix
      r22 - the m22 element of the right matrix
      r23 - the m23 element of the right matrix
      r30 - the m30 element of the right matrix
      r31 - the m31 element of the right matrix
      r32 - the m32 element of the right matrix
      r33 - the m33 element of the right matrix
      Returns:
      this
    • mul

      public Matrix4d mul(double r00, double r01, double r02, double r03, double r10, double r11, double r12, double r13, double r20, double r21, double r22, double r23, double r30, double r31, double r32, double r33, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this matrix by the matrix with the supplied elements and store the result in dest.

      If M is this matrix and R the right matrix whose elements are supplied via the parameters, 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!

      Specified by:
      mul in interface Matrix4dc
      Parameters:
      r00 - the m00 element of the right matrix
      r01 - the m01 element of the right matrix
      r02 - the m02 element of the right matrix
      r03 - the m03 element of the right matrix
      r10 - the m10 element of the right matrix
      r11 - the m11 element of the right matrix
      r12 - the m12 element of the right matrix
      r13 - the m13 element of the right matrix
      r20 - the m20 element of the right matrix
      r21 - the m21 element of the right matrix
      r22 - the m22 element of the right matrix
      r23 - the m23 element of the right matrix
      r30 - the m30 element of the right matrix
      r31 - the m31 element of the right matrix
      r32 - the m32 element of the right matrix
      r33 - the m33 element of the right matrix
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mul3x3

      public Matrix4d mul3x3(double r00, double r01, double r02, double r10, double r11, double r12, double r20, double r21, double r22)
      Multiply this matrix by the 3x3 matrix with the supplied elements expanded to a 4x4 matrix with all other matrix elements set to identity.

      If M is this matrix and R the right matrix whose elements are supplied via the parameters, 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:
      r00 - the m00 element of the right matrix
      r01 - the m01 element of the right matrix
      r02 - the m02 element of the right matrix
      r10 - the m10 element of the right matrix
      r11 - the m11 element of the right matrix
      r12 - the m12 element of the right matrix
      r20 - the m20 element of the right matrix
      r21 - the m21 element of the right matrix
      r22 - the m22 element of the right matrix
      Returns:
      this
    • mul3x3

      public Matrix4d mul3x3(double r00, double r01, double r02, double r10, double r11, double r12, double r20, double r21, double r22, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this matrix by the 3x3 matrix with the supplied elements expanded to a 4x4 matrix with all other matrix elements set to identity, and store the result in dest.

      If M is this matrix and R the right matrix whose elements are supplied via the parameters, 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!

      Specified by:
      mul3x3 in interface Matrix4dc
      Parameters:
      r00 - the m00 element of the right matrix
      r01 - the m01 element of the right matrix
      r02 - the m02 element of the right matrix
      r10 - the m10 element of the right matrix
      r11 - the m11 element of the right matrix
      r12 - the m12 element of the right matrix
      r20 - the m20 element of the right matrix
      r21 - the m21 element of the right matrix
      r22 - the m22 element of the right matrix
      dest - the destination matrix, which will hold the result
      Returns:
      this
    • mulLocal

      public Matrix4d mulLocal(Matrix4dc left)
      Pre-multiply this matrix by the supplied left matrix and store the result in this.

      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
      Returns:
      this
    • mulLocal

      public Matrix4d mulLocal(Matrix4dc left, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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!

      Specified by:
      mulLocal in interface Matrix4dc
      Parameters:
      left - the left operand of the matrix multiplication
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mulLocalAffine

      public Matrix4d mulLocalAffine(Matrix4dc left)
      Pre-multiply this matrix by the supplied left matrix, both of which are assumed to be affine, and store the result in this.

      This method assumes that this matrix and the given left matrix both represent an affine transformation (i.e. their last rows are equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrices only represent affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      This method will not modify either the last row of this or the last row of left.

      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 (the last row is assumed to be (0, 0, 0, 1))
      Returns:
      this
    • mulLocalAffine

      public Matrix4d mulLocalAffine(Matrix4dc left, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Pre-multiply this matrix by the supplied left matrix, both of which are assumed to be affine, and store the result in dest.

      This method assumes that this matrix and the given left matrix both represent an affine transformation (i.e. their last rows are equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrices only represent affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      This method will not modify either the last row of this or the last row of left.

      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!

      Specified by:
      mulLocalAffine in interface Matrix4dc
      Parameters:
      left - the left operand of the matrix multiplication (the last row is assumed to be (0, 0, 0, 1))
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mul

      public Matrix4d mul(Matrix4x3dc right)
      Multiply this matrix by the supplied right matrix.

      The last row of the right matrix is assumed to be (0, 0, 0, 1).

      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
      Returns:
      this
    • mul

      public Matrix4d mul(Matrix4x3dc right, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this matrix by the supplied right matrix and store the result in dest.

      The last row of the right matrix is assumed to be (0, 0, 0, 1).

      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!

      Specified by:
      mul in interface Matrix4dc
      Parameters:
      right - the right operand of the matrix multiplication
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mulPerspectiveAffine

      public Matrix4d mulPerspectiveAffine(Matrix4x3dc view, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this symmetric perspective projection matrix by the supplied view matrix and store the result in dest.

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

      Specified by:
      mulPerspectiveAffine in interface Matrix4dc
      Parameters:
      view - the matrix to multiply this symmetric perspective projection matrix by
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mul

      public Matrix4d mul(Matrix4x3fc right, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this matrix by the supplied right matrix and store the result in dest.

      The last row of the right matrix is assumed to be (0, 0, 0, 1).

      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!

      Specified by:
      mul in interface Matrix4dc
      Parameters:
      right - the right operand of the matrix multiplication
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mul

      public Matrix4d mul(Matrix3x2dc right)
      Multiply this matrix by the supplied right matrix and store the result in this.

      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
      Returns:
      this
    • mul

      public Matrix4d mul(Matrix3x2dc right, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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!

      Specified by:
      mul in interface Matrix4dc
      Parameters:
      right - the right operand of the matrix multiplication
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mul

      public Matrix4d mul(Matrix3x2fc right)
      Multiply this matrix by the supplied right matrix and store the result in this.

      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
      Returns:
      this
    • mul

      public Matrix4d mul(Matrix3x2fc right, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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!

      Specified by:
      mul in interface Matrix4dc
      Parameters:
      right - the right operand of the matrix multiplication
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mul

      public Matrix4d mul(Matrix4f right)
      Multiply this matrix by the supplied parameter matrix.

      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 multiplication
      Returns:
      this
    • mul

      public Matrix4d mul(Matrix4fc right, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this matrix by the supplied parameter 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!

      Specified by:
      mul in interface Matrix4dc
      Parameters:
      right - the right operand of the multiplication
      dest - will hold the result
      Returns:
      dest
    • mulPerspectiveAffine

      public Matrix4d mulPerspectiveAffine(Matrix4dc view)
      Multiply this symmetric perspective projection matrix by the supplied affine view matrix.

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

      Parameters:
      view - the affine matrix to multiply this symmetric perspective projection matrix by
      Returns:
      this
    • mulPerspectiveAffine

      public Matrix4d mulPerspectiveAffine(Matrix4dc view, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this symmetric perspective projection matrix by the supplied affine view matrix and store the result in dest.

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

      Specified by:
      mulPerspectiveAffine in interface Matrix4dc
      Parameters:
      view - the affine matrix to multiply this symmetric perspective projection matrix by
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mulAffineR

      public Matrix4d mulAffineR(Matrix4dc right)
      Multiply this matrix by the supplied right matrix, which is assumed to be affine, and store the result in this.

      This method assumes that the given right matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrix only represents affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      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 (the last row is assumed to be (0, 0, 0, 1))
      Returns:
      this
    • mulAffineR

      public Matrix4d mulAffineR(Matrix4dc right, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this matrix by the supplied right matrix, which is assumed to be affine, and store the result in dest.

      This method assumes that the given right matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrix only represents affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      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!

      Specified by:
      mulAffineR in interface Matrix4dc
      Parameters:
      right - the right operand of the matrix multiplication (the last row is assumed to be (0, 0, 0, 1))
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mulAffine

      public Matrix4d mulAffine(Matrix4dc right)
      Multiply this matrix by the supplied right matrix, both of which are assumed to be affine, and store the result in this.

      This method assumes that this matrix and the given right matrix both represent an affine transformation (i.e. their last rows are equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrices only represent affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      This method will not modify either the last row of this or the last row of right.

      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 (the last row is assumed to be (0, 0, 0, 1))
      Returns:
      this
    • mulAffine

      public Matrix4d mulAffine(Matrix4dc right, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this matrix by the supplied right matrix, both of which are assumed to be affine, and store the result in dest.

      This method assumes that this matrix and the given right matrix both represent an affine transformation (i.e. their last rows are equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrices only represent affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      This method will not modify either the last row of this or the last row of right.

      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!

      Specified by:
      mulAffine in interface Matrix4dc
      Parameters:
      right - the right operand of the matrix multiplication (the last row is assumed to be (0, 0, 0, 1))
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mulTranslationAffine

      public Matrix4d mulTranslationAffine(Matrix4dc right, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this matrix, which is assumed to only contain a translation, by the supplied right matrix, which is assumed to be affine, and store the result in dest.

      This method assumes that this matrix only contains a translation, and that the given right matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)).

      This method will not modify either the last row of this or the last row of right.

      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!

      Specified by:
      mulTranslationAffine in interface Matrix4dc
      Parameters:
      right - the right operand of the matrix multiplication (the last row is assumed to be (0, 0, 0, 1))
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mulOrthoAffine

      public Matrix4d mulOrthoAffine(Matrix4dc view)
      Multiply this orthographic projection matrix by the supplied affine view matrix.

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

      Parameters:
      view - the affine matrix which to multiply this with
      Returns:
      this
    • mulOrthoAffine

      public Matrix4d mulOrthoAffine(Matrix4dc view, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Multiply this orthographic projection matrix by the supplied affine view matrix and store the result in dest.

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

      Specified by:
      mulOrthoAffine in interface Matrix4dc
      Parameters:
      view - the affine matrix which to multiply this with
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • fma4x3

      public Matrix4d fma4x3(Matrix4dc other, double otherFactor)
      Component-wise add the upper 4x3 submatrices of this and other by first multiplying each component of other's 4x3 submatrix by otherFactor and adding that result to this.

      The matrix other will not be changed.

      Parameters:
      other - the other matrix
      otherFactor - the factor to multiply each of the other matrix's 4x3 components
      Returns:
      this
    • fma4x3

      public Matrix4d fma4x3(Matrix4dc other, double otherFactor, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Component-wise add the upper 4x3 submatrices of this and other by first multiplying each component of other's 4x3 submatrix by otherFactor, adding that to this and storing the final result in dest.

      The other components of dest will be set to the ones of this.

      The matrices this and other will not be changed.

      Specified by:
      fma4x3 in interface Matrix4dc
      Parameters:
      other - the other matrix
      otherFactor - the factor to multiply each of the other matrix's 4x3 components
      dest - will hold the result
      Returns:
      dest
    • add

      public Matrix4d add(Matrix4dc other)
      Component-wise add this and other.
      Parameters:
      other - the other addend
      Returns:
      this
    • add

      public Matrix4d add(Matrix4dc other, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Component-wise add this and other and store the result in dest.
      Specified by:
      add in interface Matrix4dc
      Parameters:
      other - the other addend
      dest - will hold the result
      Returns:
      dest
    • sub

      public Matrix4d sub(Matrix4dc subtrahend)
      Component-wise subtract subtrahend from this.
      Parameters:
      subtrahend - the subtrahend
      Returns:
      this
    • sub

      public Matrix4d sub(Matrix4dc subtrahend, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Component-wise subtract subtrahend from this and store the result in dest.
      Specified by:
      sub in interface Matrix4dc
      Parameters:
      subtrahend - the subtrahend
      dest - will hold the result
      Returns:
      dest
    • mulComponentWise

      public Matrix4d mulComponentWise(Matrix4dc other)
      Component-wise multiply this by other.
      Parameters:
      other - the other matrix
      Returns:
      this
    • mulComponentWise

      public Matrix4d mulComponentWise(Matrix4dc other, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Component-wise multiply this by other and store the result in dest.
      Specified by:
      mulComponentWise in interface Matrix4dc
      Parameters:
      other - the other matrix
      dest - will hold the result
      Returns:
      dest
    • add4x3

      public Matrix4d add4x3(Matrix4dc other)
      Component-wise add the upper 4x3 submatrices of this and other.
      Parameters:
      other - the other addend
      Returns:
      this
    • add4x3

      public Matrix4d add4x3(Matrix4dc other, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Component-wise add the upper 4x3 submatrices of this and other and store the result in dest.

      The other components of dest will be set to the ones of this.

      Specified by:
      add4x3 in interface Matrix4dc
      Parameters:
      other - the other addend
      dest - will hold the result
      Returns:
      dest
    • add4x3

      public Matrix4d add4x3(Matrix4fc other)
      Component-wise add the upper 4x3 submatrices of this and other.
      Parameters:
      other - the other addend
      Returns:
      this
    • add4x3

      public Matrix4d add4x3(Matrix4fc other, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Component-wise add the upper 4x3 submatrices of this and other and store the result in dest.

      The other components of dest will be set to the ones of this.

      Specified by:
      add4x3 in interface Matrix4dc
      Parameters:
      other - the other addend
      dest - will hold the result
      Returns:
      dest
    • sub4x3

      public Matrix4d sub4x3(Matrix4dc subtrahend)
      Component-wise subtract the upper 4x3 submatrices of subtrahend from this.
      Parameters:
      subtrahend - the subtrahend
      Returns:
      this
    • sub4x3

      public Matrix4d sub4x3(Matrix4dc subtrahend, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Component-wise subtract the upper 4x3 submatrices of subtrahend from this and store the result in dest.

      The other components of dest will be set to the ones of this.

      Specified by:
      sub4x3 in interface Matrix4dc
      Parameters:
      subtrahend - the subtrahend
      dest - will hold the result
      Returns:
      dest
    • mul4x3ComponentWise

      public Matrix4d mul4x3ComponentWise(Matrix4dc other)
      Component-wise multiply the upper 4x3 submatrices of this by other.
      Parameters:
      other - the other matrix
      Returns:
      this
    • mul4x3ComponentWise

      public Matrix4d mul4x3ComponentWise(Matrix4dc other, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Component-wise multiply the upper 4x3 submatrices of this by other and store the result in dest.

      The other components of dest will be set to the ones of this.

      Specified by:
      mul4x3ComponentWise in interface Matrix4dc
      Parameters:
      other - the other matrix
      dest - will hold the result
      Returns:
      dest
    • set

      public Matrix4d set(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
      Set the values within this matrix to the supplied double values. The matrix will look like this:

      m00, m10, m20, m30
      m01, m11, m21, m31
      m02, m12, m22, m32
      m03, m13, m23, m33
      Parameters:
      m00 - the new value of m00
      m01 - the new value of m01
      m02 - the new value of m02
      m03 - the new value of m03
      m10 - the new value of m10
      m11 - the new value of m11
      m12 - the new value of m12
      m13 - the new value of m13
      m20 - the new value of m20
      m21 - the new value of m21
      m22 - the new value of m22
      m23 - the new value of m23
      m30 - the new value of m30
      m31 - the new value of m31
      m32 - the new value of m32
      m33 - the new value of m33
      Returns:
      this
    • set

      public Matrix4d set(double[] m, int off)
      Set the values in the matrix using a double array that contains the matrix elements in column-major order.

      The results will look like this:

      0, 4, 8, 12
      1, 5, 9, 13
      2, 6, 10, 14
      3, 7, 11, 15

      Parameters:
      m - the array to read the matrix values from
      off - the offset into the array
      Returns:
      this
      See Also:
    • set

      public Matrix4d set(double[] m)
      Set the values in the matrix using a double array that contains the matrix elements in column-major order.

      The results will look like this:

      0, 4, 8, 12
      1, 5, 9, 13
      2, 6, 10, 14
      3, 7, 11, 15

      Parameters:
      m - the array to read the matrix values from
      Returns:
      this
      See Also:
    • set

      public Matrix4d set(float[] m, int off)
      Set the values in the matrix using a float array that contains the matrix elements in column-major order.

      The results will look like this:

      0, 4, 8, 12
      1, 5, 9, 13
      2, 6, 10, 14
      3, 7, 11, 15

      Parameters:
      m - the array to read the matrix values from
      off - the offset into the array
      Returns:
      this
      See Also:
    • set

      public Matrix4d set(float[] m)
      Set the values in the matrix using a float array that contains the matrix elements in column-major order.

      The results will look like this:

      0, 4, 8, 12
      1, 5, 9, 13
      2, 6, 10, 14
      3, 7, 11, 15

      Parameters:
      m - the array to read the matrix values from
      Returns:
      this
      See Also:
    • set

      public Matrix4d set(DoubleBuffer buffer)
      Set the values of this matrix by reading 16 double values from the given DoubleBuffer in column-major order, starting at its current position.

      The DoubleBuffer is expected to contain the values in column-major order.

      The position of the DoubleBuffer will not be changed by this method.

      Parameters:
      buffer - the DoubleBuffer to read the matrix values from in column-major order
      Returns:
      this
    • set

      public Matrix4d set(FloatBuffer buffer)
      Set the values of this matrix by reading 16 float values from the given FloatBuffer in column-major order, starting at its current position.

      The FloatBuffer is expected to contain the values in column-major order.

      The position of the FloatBuffer will not be changed by this method.

      Parameters:
      buffer - the FloatBuffer to read the matrix values from in column-major order
      Returns:
      this
    • set

      public Matrix4d set(ByteBuffer buffer)
      Set the values of this matrix by reading 16 double values from the given ByteBuffer in column-major order, starting at its current position.

      The ByteBuffer is expected to contain the values in column-major order.

      The position of the ByteBuffer will not be changed by this method.

      Parameters:
      buffer - the ByteBuffer to read the matrix values from in column-major order
      Returns:
      this
    • set

      public Matrix4d set(int index, DoubleBuffer buffer)
      Set the values of this matrix by reading 16 double values from the given DoubleBuffer in column-major order, starting at the specified absolute buffer position/index.

      The DoubleBuffer is expected to contain the values in column-major order.

      The position of the DoubleBuffer will not be changed by this method.

      Parameters:
      index - the absolute position into the DoubleBuffer
      buffer - the DoubleBuffer to read the matrix values from in column-major order
      Returns:
      this
    • set

      public Matrix4d set(int index, FloatBuffer buffer)
      Set the values of this matrix by reading 16 float values from the given FloatBuffer in column-major order, starting at the specified absolute buffer position/index.

      The FloatBuffer is expected to contain the values in column-major order.

      The position of the FloatBuffer will not be changed by this method.

      Parameters:
      index - the absolute position into the FloatBuffer
      buffer - the FloatBuffer to read the matrix values from in column-major order
      Returns:
      this
    • set

      public Matrix4d set(int index, ByteBuffer buffer)
      Set the values of this matrix by reading 16 double values from the given ByteBuffer in column-major order, starting at the specified absolute buffer position/index.

      The ByteBuffer is expected to contain the values in column-major order.

      The position of the ByteBuffer will not be changed by this method.

      Parameters:
      index - the absolute position into the ByteBuffer
      buffer - the ByteBuffer to read the matrix values from in column-major order
      Returns:
      this
    • setFloats

      public Matrix4d setFloats(ByteBuffer buffer)
      Set the values of this matrix by reading 16 float values from the given ByteBuffer in column-major order, starting at its current position.

      The ByteBuffer is expected to contain the values in column-major order.

      The position of the ByteBuffer will not be changed by this method.

      Parameters:
      buffer - the ByteBuffer to read the matrix values from in column-major order
      Returns:
      this
    • setFloats

      public Matrix4d setFloats(int index, ByteBuffer buffer)
      Set the values of this matrix by reading 16 float values from the given ByteBuffer in column-major order, starting at the specified absolute buffer position/index.

      The ByteBuffer is expected to contain the values in column-major order.

      The position of the ByteBuffer will not be changed by this method.

      Parameters:
      index - the absolute position into the ByteBuffer
      buffer - the ByteBuffer to read the matrix values from in column-major order
      Returns:
      this
    • setFromAddress

      public Matrix4d setFromAddress(long address)
      Set the values of this matrix by reading 16 double values from off-heap memory in column-major order, starting at the given 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 memory address to read the matrix values from in column-major order
      Returns:
      this
    • set

      public Matrix4d set(Vector4d col0, Vector4d col1, Vector4d col2, Vector4d col3)
      Set the four columns of this matrix to the supplied vectors, respectively.
      Parameters:
      col0 - the first column
      col1 - the second column
      col2 - the third column
      col3 - the fourth column
      Returns:
      this
    • determinant

      public double determinant()
      Description copied from interface: Matrix4dc
      Return the determinant of this matrix.

      If this matrix represents an affine transformation, such as translation, rotation, scaling and shearing, and thus its last row is equal to (0, 0, 0, 1), then Matrix4dc.determinantAffine() can be used instead of this method.

      Specified by:
      determinant in interface Matrix4dc
      Returns:
      the determinant
      See Also:
    • determinant3x3

      public double determinant3x3()
      Description copied from interface: Matrix4dc
      Return the determinant of the upper left 3x3 submatrix of this matrix.
      Specified by:
      determinant3x3 in interface Matrix4dc
      Returns:
      the determinant
    • determinantAffine

      public double determinantAffine()
      Description copied from interface: Matrix4dc
      Return the determinant of this matrix by assuming that it represents an affine transformation and thus its last row is equal to (0, 0, 0, 1).
      Specified by:
      determinantAffine in interface Matrix4dc
      Returns:
      the determinant
    • invert

      public Matrix4d invert()
      Invert this matrix.

      If this matrix represents an affine transformation, such as translation, rotation, scaling and shearing, and thus its last row is equal to (0, 0, 0, 1), then invertAffine() can be used instead of this method.

      Returns:
      this
      See Also:
    • invert

      public Matrix4d invert(Matrix4d dest)
      Description copied from interface: Matrix4dc
      Invert this matrix and store the result in dest.

      If this matrix represents an affine transformation, such as translation, rotation, scaling and shearing, and thus its last row is equal to (0, 0, 0, 1), then Matrix4dc.invertAffine(Matrix4d) can be used instead of this method.

      Specified by:
      invert in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
      See Also:
    • invertPerspective

      public Matrix4d invertPerspective(Matrix4d dest)
      Description copied from interface: Matrix4dc
      If this is a perspective projection matrix obtained via one of the perspective() methods, that is, if this is a symmetrical perspective frustum transformation, then this method builds the inverse of this and stores it into the given dest.

      This method can be used to quickly obtain the inverse of a perspective projection matrix when being obtained via perspective().

      Specified by:
      invertPerspective in interface Matrix4dc
      Parameters:
      dest - will hold the inverse of this
      Returns:
      dest
      See Also:
    • invertPerspective

      public Matrix4d invertPerspective()
      If this is a perspective projection matrix obtained via one of the perspective() methods or via setPerspective(), that is, if this is a symmetrical perspective frustum transformation, then this method builds the inverse of this.

      This method can be used to quickly obtain the inverse of a perspective projection matrix when being obtained via perspective().

      Returns:
      this
      See Also:
    • invertFrustum

      public Matrix4d invertFrustum(Matrix4d dest)
      Description copied from interface: Matrix4dc
      If this is an arbitrary perspective projection matrix obtained via one of the frustum() methods, then this method builds the inverse of this and stores it into the given dest.

      This method can be used to quickly obtain the inverse of a perspective projection matrix.

      If this matrix represents a symmetric perspective frustum transformation, as obtained via perspective(), then Matrix4dc.invertPerspective(Matrix4d) should be used instead.

      Specified by:
      invertFrustum in interface Matrix4dc
      Parameters:
      dest - will hold the inverse of this
      Returns:
      dest
      See Also:
    • invertFrustum

      public Matrix4d invertFrustum()
      If this is an arbitrary perspective projection matrix obtained via one of the frustum() methods or via setFrustum(), then this method builds the inverse of this.

      This method can be used to quickly obtain the inverse of a perspective projection matrix.

      If this matrix represents a symmetric perspective frustum transformation, as obtained via perspective(), then invertPerspective() should be used instead.

      Returns:
      this
      See Also:
    • invertOrtho

      public Matrix4d invertOrtho(Matrix4d dest)
      Description copied from interface: Matrix4dc
      Invert this orthographic projection matrix and store the result into the given dest.

      This method can be used to quickly obtain the inverse of an orthographic projection matrix.

      Specified by:
      invertOrtho in interface Matrix4dc
      Parameters:
      dest - will hold the inverse of this
      Returns:
      dest
    • invertOrtho

      public Matrix4d invertOrtho()
      Invert this orthographic projection matrix.

      This method can be used to quickly obtain the inverse of an orthographic projection matrix.

      Returns:
      this
    • invertPerspectiveView

      public Matrix4d invertPerspectiveView(Matrix4dc view, Matrix4d dest)
      Description copied from interface: Matrix4dc
      If this is a perspective projection matrix obtained via one of the perspective() methods, that is, if this is a symmetrical perspective frustum transformation and the given view matrix is affine and has unit scaling (for example by being obtained via lookAt()), then this method builds the inverse of this * view and stores it into the given dest.

      This method can be used to quickly obtain the inverse of the combination of the view and projection matrices, when both were obtained via the common methods perspective() and lookAt() or other methods, that build affine matrices, such as translate and Matrix4dc.rotate(double, double, double, double, Matrix4d), except for scale().

      For the special cases of the matrices this and view mentioned above, this method is equivalent to the following code:

       dest.set(this).mul(view).invert();
       
      Specified by:
      invertPerspectiveView in interface Matrix4dc
      Parameters:
      view - the view transformation (must be affine and have unit scaling)
      dest - will hold the inverse of this * view
      Returns:
      dest
    • invertPerspectiveView

      public Matrix4d invertPerspectiveView(Matrix4x3dc view, Matrix4d dest)
      Description copied from interface: Matrix4dc
      If this is a perspective projection matrix obtained via one of the perspective() methods, that is, if this is a symmetrical perspective frustum transformation and the given view matrix has unit scaling, then this method builds the inverse of this * view and stores it into the given dest.

      This method can be used to quickly obtain the inverse of the combination of the view and projection matrices, when both were obtained via the common methods perspective() and lookAt() or other methods, that build affine matrices, such as translate and Matrix4dc.rotate(double, double, double, double, Matrix4d), except for scale().

      For the special cases of the matrices this and view mentioned above, this method is equivalent to the following code:

       dest.set(this).mul(view).invert();
       
      Specified by:
      invertPerspectiveView in interface Matrix4dc
      Parameters:
      view - the view transformation (must have unit scaling)
      dest - will hold the inverse of this * view
      Returns:
      dest
    • invertAffine

      public Matrix4d invertAffine(Matrix4d dest)
      Description copied from interface: Matrix4dc
      Invert this matrix by assuming that it is an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and write the result into dest.
      Specified by:
      invertAffine in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • invertAffine

      public Matrix4d invertAffine()
      Invert this matrix by assuming that it is an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)).
      Returns:
      this
    • transpose

      public Matrix4d transpose()
      Transpose this matrix.
      Returns:
      this
    • transpose

      public Matrix4d transpose(Matrix4d dest)
      Description copied from interface: Matrix4dc
      Transpose this matrix and store the result into dest.
      Specified by:
      transpose in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • transpose3x3

      public Matrix4d transpose3x3()
      Transpose only the upper left 3x3 submatrix of this matrix.

      All other matrix elements are left unchanged.

      Returns:
      this
    • transpose3x3

      public Matrix4d transpose3x3(Matrix4d dest)
      Description copied from interface: Matrix4dc
      Transpose only the upper left 3x3 submatrix of this matrix and store the result in dest.

      All other matrix elements are left unchanged.

      Specified by:
      transpose3x3 in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • transpose3x3

      public Matrix3d transpose3x3(Matrix3d dest)
      Description copied from interface: Matrix4dc
      Transpose only the upper left 3x3 submatrix of this matrix and store the result in dest.
      Specified by:
      transpose3x3 in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • translation

      public Matrix4d translation(double x, double y, double z)
      Set this matrix to be a simple translation matrix.

      The resulting matrix can be multiplied against another transformation matrix to obtain an additional translation.

      Parameters:
      x - the offset to translate in x
      y - the offset to translate in y
      z - the offset to translate in z
      Returns:
      this
    • translation

      public Matrix4d translation(Vector3fc offset)
      Set this matrix to be a simple translation matrix.

      The resulting matrix can be multiplied against another transformation matrix to obtain an additional translation.

      Parameters:
      offset - the offsets in x, y and z to translate
      Returns:
      this
    • translation

      public Matrix4d translation(Vector3dc offset)
      Set this matrix to be a simple translation matrix.

      The resulting matrix can be multiplied against another transformation matrix to obtain an additional translation.

      Parameters:
      offset - the offsets in x, y and z to translate
      Returns:
      this
    • setTranslation

      public Matrix4d setTranslation(double x, double y, double z)
      Set only the translation components (m30, m31, m32) of this matrix to the given values (x, y, z).

      To build a translation matrix instead, use translation(double, double, double). To apply a translation, use translate(double, double, double).

      Parameters:
      x - the units to translate in x
      y - the units to translate in y
      z - the units to translate in z
      Returns:
      this
      See Also:
    • setTranslation

      public Matrix4d setTranslation(Vector3dc xyz)
      Set only the translation components (m30, m31, m32) of this matrix to the given values (xyz.x, xyz.y, xyz.z).

      To build a translation matrix instead, use translation(Vector3dc). To apply a translation, use translate(Vector3dc).

      Parameters:
      xyz - the units to translate in (x, y, z)
      Returns:
      this
      See Also:
    • getTranslation

      public Vector3d getTranslation(Vector3d dest)
      Description copied from interface: Matrix4dc
      Get only the translation components (m30, m31, m32) of this matrix and store them in the given vector xyz.
      Specified by:
      getTranslation in interface Matrix4dc
      Parameters:
      dest - will hold the translation components of this matrix
      Returns:
      dest
    • getScale

      public Vector3d getScale(Vector3d dest)
      Description copied from interface: Matrix4dc
      Get the scaling factors of this matrix for the three base axes.
      Specified by:
      getScale in interface Matrix4dc
      Parameters:
      dest - will hold the scaling factors for x, y and z
      Returns:
      dest
    • toString

      public String toString()
      Return a string representation of this matrix.

      This method creates a new DecimalFormat on every invocation with the format string "0.000E0;-".

      Overrides:
      toString in class Object
      Returns:
      the string representation
    • toString

      public String toString(NumberFormat formatter)
      Return a string representation of this matrix by formatting the matrix elements with the given NumberFormat.
      Parameters:
      formatter - the NumberFormat used to format the matrix values with
      Returns:
      the string representation
    • get

      public Matrix4d get(Matrix4d dest)
      Description copied from interface: Matrix4dc
      Get the current values of this matrix and store them into dest.
      Specified by:
      get in interface Matrix4dc
      Parameters:
      dest - the destination matrix
      Returns:
      the passed in destination
    • get4x3

      public Matrix4x3d get4x3(Matrix4x3d dest)
      Description copied from interface: Matrix4dc
      Get the current values of the upper 4x3 submatrix of this matrix and store them into dest.
      Specified by:
      get4x3 in interface Matrix4dc
      Parameters:
      dest - the destination matrix
      Returns:
      the passed in destination
    • get3x3

      public Matrix3d get3x3(Matrix3d dest)
      Description copied from interface: Matrix4dc
      Get the current values of the upper left 3x3 submatrix of this matrix and store them into dest.
      Specified by:
      get3x3 in interface Matrix4dc
      Parameters:
      dest - the destination matrix
      Returns:
      the passed in destination
    • getUnnormalizedRotation

      public Quaternionf getUnnormalizedRotation(Quaternionf dest)
      Description copied from interface: Matrix4dc
      Get the current values of this matrix and store the represented rotation into the given Quaternionf.

      This method assumes that the first three column vectors of the upper left 3x3 submatrix are not normalized and thus allows to ignore any additional scaling factor that is applied to the matrix.

      Specified by:
      getUnnormalizedRotation in interface Matrix4dc
      Parameters:
      dest - the destination Quaternionf
      Returns:
      the passed in destination
      See Also:
    • getNormalizedRotation

      public Quaternionf getNormalizedRotation(Quaternionf dest)
      Description copied from interface: Matrix4dc
      Get the current values of this matrix and store the represented rotation into the given Quaternionf.

      This method assumes that the first three column vectors of the upper left 3x3 submatrix are normalized.

      Specified by:
      getNormalizedRotation in interface Matrix4dc
      Parameters:
      dest - the destination Quaternionf
      Returns:
      the passed in destination
      See Also:
    • getUnnormalizedRotation

      public Quaterniond getUnnormalizedRotation(Quaterniond dest)
      Description copied from interface: Matrix4dc
      Get the current values of this matrix and store the represented rotation into the given Quaterniond.

      This method assumes that the first three column vectors of the upper left 3x3 submatrix are not normalized and thus allows to ignore any additional scaling factor that is applied to the matrix.

      Specified by:
      getUnnormalizedRotation in interface Matrix4dc
      Parameters:
      dest - the destination Quaterniond
      Returns:
      the passed in destination
      See Also:
    • getNormalizedRotation

      public Quaterniond getNormalizedRotation(Quaterniond dest)
      Description copied from interface: Matrix4dc
      Get the current values of this matrix and store the represented rotation into the given Quaterniond.

      This method assumes that the first three column vectors of the upper left 3x3 submatrix are normalized.

      Specified by:
      getNormalizedRotation in interface Matrix4dc
      Parameters:
      dest - the destination Quaterniond
      Returns:
      the passed in destination
      See Also:
    • get

      public DoubleBuffer get(DoubleBuffer dest)
      Description copied from interface: Matrix4dc
      Store this matrix in column-major order into the supplied DoubleBuffer at the current buffer position.

      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 Matrix4dc.get(int, DoubleBuffer), taking the absolute position as parameter.

      Specified by:
      get in interface Matrix4dc
      Parameters:
      dest - will receive the values of this matrix in column-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • get

      public DoubleBuffer get(int index, DoubleBuffer dest)
      Description copied from interface: Matrix4dc
      Store this matrix in column-major order into the supplied DoubleBuffer starting at the specified absolute buffer position/index.

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

      Specified by:
      get in interface Matrix4dc
      Parameters:
      index - the absolute position into the DoubleBuffer
      dest - will receive the values of this matrix in column-major order
      Returns:
      the passed in buffer
    • get

      public FloatBuffer get(FloatBuffer dest)
      Description copied from interface: Matrix4dc
      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 Matrix4dc.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.

      Specified by:
      get in interface Matrix4dc
      Parameters:
      dest - will receive the values of this matrix in column-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • get

      public FloatBuffer get(int index, FloatBuffer dest)
      Description copied from interface: Matrix4dc
      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.

      Specified by:
      get in interface Matrix4dc
      Parameters:
      index - the absolute position into the FloatBuffer
      dest - will receive the values of this matrix in column-major order
      Returns:
      the passed in buffer
    • get

      public ByteBuffer get(ByteBuffer dest)
      Description copied from interface: Matrix4dc
      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 Matrix4dc.get(int, ByteBuffer), taking the absolute position as parameter.

      Specified by:
      get in interface Matrix4dc
      Parameters:
      dest - will receive the values of this matrix in column-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • get

      public ByteBuffer get(int index, ByteBuffer dest)
      Description copied from interface: Matrix4dc
      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.

      Specified by:
      get in interface Matrix4dc
      Parameters:
      index - the absolute position into the ByteBuffer
      dest - will receive the values of this matrix in column-major order
      Returns:
      the passed in buffer
    • getFloats

      public ByteBuffer getFloats(ByteBuffer dest)
      Description copied from interface: Matrix4dc
      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 Matrix4dc.getFloats(int, ByteBuffer), taking the absolute position as parameter.

      Specified by:
      getFloats in interface Matrix4dc
      Parameters:
      dest - 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

      public ByteBuffer getFloats(int index, ByteBuffer dest)
      Description copied from interface: Matrix4dc
      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.

      Specified by:
      getFloats in interface Matrix4dc
      Parameters:
      index - the absolute position into the ByteBuffer
      dest - will receive the elements of this matrix as float values in column-major order
      Returns:
      the passed in buffer
    • getToAddress

      public Matrix4dc getToAddress(long address)
      Description copied from interface: Matrix4dc
      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.

      Specified by:
      getToAddress in interface Matrix4dc
      Parameters:
      address - the off-heap address where to store this matrix
      Returns:
      this
    • get

      public double[] get(double[] dest, int offset)
      Description copied from interface: Matrix4dc
      Store this matrix into the supplied double array in column-major order at the given offset.
      Specified by:
      get in interface Matrix4dc
      Parameters:
      dest - the array to write the matrix values into
      offset - the offset into the array
      Returns:
      the passed in array
    • get

      public double[] get(double[] dest)
      Description copied from interface: Matrix4dc
      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 Matrix4dc.get(double[], int).

      Specified by:
      get in interface Matrix4dc
      Parameters:
      dest - the array to write the matrix values into
      Returns:
      the passed in array
      See Also:
    • get

      public float[] get(float[] dest, int offset)
      Description copied from interface: Matrix4dc
      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.

      Specified by:
      get in interface Matrix4dc
      Parameters:
      dest - the array to write the matrix values into
      offset - the offset into the array
      Returns:
      the passed in array
    • get

      public float[] get(float[] dest)
      Description copied from interface: Matrix4dc
      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 Matrix4dc.get(float[], int).

      Specified by:
      get in interface Matrix4dc
      Parameters:
      dest - the array to write the matrix values into
      Returns:
      the passed in array
      See Also:
    • getTransposed

      public DoubleBuffer getTransposed(DoubleBuffer dest)
      Description copied from interface: Matrix4dc
      Store the transpose of this matrix in column-major order into the supplied DoubleBuffer at the current buffer position.

      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 Matrix4dc.getTransposed(int, DoubleBuffer), taking the absolute position as parameter.

      Specified by:
      getTransposed in interface Matrix4dc
      Parameters:
      dest - will receive the values of this matrix in column-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • getTransposed

      public DoubleBuffer getTransposed(int index, DoubleBuffer dest)
      Description copied from interface: Matrix4dc
      Store the transpose of this matrix in column-major order into the supplied DoubleBuffer starting at the specified absolute buffer position/index.

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

      Specified by:
      getTransposed in interface Matrix4dc
      Parameters:
      index - the absolute position into the DoubleBuffer
      dest - will receive the values of this matrix in column-major order
      Returns:
      the passed in buffer
    • getTransposed

      public ByteBuffer getTransposed(ByteBuffer dest)
      Description copied from interface: Matrix4dc
      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 Matrix4dc.getTransposed(int, ByteBuffer), taking the absolute position as parameter.

      Specified by:
      getTransposed in interface Matrix4dc
      Parameters:
      dest - will receive the values of this matrix in column-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • getTransposed

      public ByteBuffer getTransposed(int index, ByteBuffer dest)
      Description copied from interface: Matrix4dc
      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.

      Specified by:
      getTransposed in interface Matrix4dc
      Parameters:
      index - the absolute position into the ByteBuffer
      dest - will receive the values of this matrix in column-major order
      Returns:
      the passed in buffer
    • get4x3Transposed

      public DoubleBuffer get4x3Transposed(DoubleBuffer dest)
      Description copied from interface: Matrix4dc
      Store the upper 4x3 submatrix of this matrix in row-major order into the supplied DoubleBuffer at the current buffer position.

      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 Matrix4dc.get4x3Transposed(int, DoubleBuffer), taking the absolute position as parameter.

      Specified by:
      get4x3Transposed in interface Matrix4dc
      Parameters:
      dest - will receive the values of the upper 4x3 submatrix in row-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • get4x3Transposed

      public DoubleBuffer get4x3Transposed(int index, DoubleBuffer dest)
      Description copied from interface: Matrix4dc
      Store the upper 4x3 submatrix of this matrix in row-major order into the supplied DoubleBuffer starting at the specified absolute buffer position/index.

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

      Specified by:
      get4x3Transposed in interface Matrix4dc
      Parameters:
      index - the absolute position into the DoubleBuffer
      dest - will receive the values of the upper 4x3 submatrix in row-major order
      Returns:
      the passed in buffer
    • get4x3Transposed

      public ByteBuffer get4x3Transposed(ByteBuffer dest)
      Description copied from interface: Matrix4dc
      Store the upper 4x3 submatrix of this matrix in row-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 Matrix4dc.get4x3Transposed(int, ByteBuffer), taking the absolute position as parameter.

      Specified by:
      get4x3Transposed in interface Matrix4dc
      Parameters:
      dest - will receive the values of the upper 4x3 submatrix in row-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • get4x3Transposed

      public ByteBuffer get4x3Transposed(int index, ByteBuffer dest)
      Description copied from interface: Matrix4dc
      Store the upper 4x3 submatrix of this matrix in row-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.

      Specified by:
      get4x3Transposed in interface Matrix4dc
      Parameters:
      index - the absolute position into the ByteBuffer
      dest - will receive the values of the upper 4x3 submatrix in row-major order
      Returns:
      the passed in buffer
    • zero

      public Matrix4d zero()
      Set all the values within this matrix to 0.
      Returns:
      this
    • scaling

      public Matrix4d scaling(double factor)
      Set this matrix to be a simple scale matrix, which scales all axes uniformly by the given factor.

      The resulting matrix can be multiplied against another transformation matrix to obtain an additional scaling.

      In order to post-multiply a scaling transformation directly to a matrix, use scale() instead.

      Parameters:
      factor - the scale factor in x, y and z
      Returns:
      this
      See Also:
    • scaling

      public Matrix4d scaling(double x, double y, double z)
      Set this matrix to be a simple scale matrix.
      Parameters:
      x - the scale in x
      y - the scale in y
      z - the scale in z
      Returns:
      this
    • scaling

      public Matrix4d scaling(Vector3dc xyz)
      Set this matrix to be a simple scale matrix which scales the base axes by xyz.x, xyz.y and xyz.z, respectively.

      The resulting matrix can be multiplied against another transformation matrix to obtain an additional scaling.

      In order to post-multiply a scaling transformation directly to a matrix use scale() instead.

      Parameters:
      xyz - the scale in x, y and z, respectively
      Returns:
      this
      See Also:
    • rotation

      public Matrix4d rotation(double angle, double x, double y, double z)
      Set this matrix to a rotation matrix which rotates the given radians about a given axis.

      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.

      From Wikipedia

      Parameters:
      angle - the angle in radians
      x - the x-coordinate of the axis to rotate about
      y - the y-coordinate of the axis to rotate about
      z - the z-coordinate of the axis to rotate about
      Returns:
      this
    • rotationX

      public Matrix4d rotationX(double ang)
      Set this matrix to a rotation transformation about the X axis.

      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.

      Reference: http://en.wikipedia.org

      Parameters:
      ang - the angle in radians
      Returns:
      this
    • rotationY

      public Matrix4d rotationY(double ang)
      Set this matrix to a rotation transformation about the Y axis.

      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.

      Reference: http://en.wikipedia.org

      Parameters:
      ang - the angle in radians
      Returns:
      this
    • rotationZ

      public Matrix4d rotationZ(double ang)
      Set this matrix to a rotation transformation about the Z axis.

      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.

      Reference: http://en.wikipedia.org

      Parameters:
      ang - the angle in radians
      Returns:
      this
    • rotationTowardsXY

      public Matrix4d rotationTowardsXY(double dirX, double dirY)
      Set this matrix to a rotation transformation about the Z axis to align the local +X towards (dirX, dirY).

      The vector (dirX, dirY) must be a unit vector.

      Parameters:
      dirX - the x component of the normalized direction
      dirY - the y component of the normalized direction
      Returns:
      this
    • rotationXYZ

      public Matrix4d rotationXYZ(double angleX, double angleY, double angleZ)
      Set this matrix to a 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.

      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.

      This method is equivalent to calling: rotationX(angleX).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
      Returns:
      this
    • rotationZYX

      public Matrix4d rotationZYX(double angleZ, double angleY, double angleX)
      Set this matrix to a 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.

      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.

      This method is equivalent to calling: rotationZ(angleZ).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
      Returns:
      this
    • rotationYXZ

      public Matrix4d rotationYXZ(double angleY, double angleX, double angleZ)
      Set this matrix to a 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.

      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.

      This method is equivalent to calling: rotationY(angleY).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
      Returns:
      this
    • setRotationXYZ

      public Matrix4d setRotationXYZ(double angleX, double angleY, double angleZ)
      Set only the upper left 3x3 submatrix of this matrix to a 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.

      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.

      Parameters:
      angleX - the angle to rotate about X
      angleY - the angle to rotate about Y
      angleZ - the angle to rotate about Z
      Returns:
      this
    • setRotationZYX

      public Matrix4d setRotationZYX(double angleZ, double angleY, double angleX)
      Set only the upper left 3x3 submatrix of this matrix to a 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.

      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.

      Parameters:
      angleZ - the angle to rotate about Z
      angleY - the angle to rotate about Y
      angleX - the angle to rotate about X
      Returns:
      this
    • setRotationYXZ

      public Matrix4d setRotationYXZ(double angleY, double angleX, double angleZ)
      Set only the upper left 3x3 submatrix of this matrix to a 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.

      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.

      Parameters:
      angleY - the angle to rotate about Y
      angleX - the angle to rotate about X
      angleZ - the angle to rotate about Z
      Returns:
      this
    • rotation

      public Matrix4d rotation(double angle, Vector3dc axis)
      Set this matrix to a rotation matrix which rotates the given radians about a given axis.

      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.

      Parameters:
      angle - the angle in radians
      axis - the axis to rotate about
      Returns:
      this
    • rotation

      public Matrix4d rotation(double angle, Vector3fc axis)
      Set this matrix to a rotation matrix which rotates the given radians about a given axis.

      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.

      Parameters:
      angle - the angle in radians
      axis - the axis to rotate about
      Returns:
      this
    • transform

      public Vector4d transform(Vector4d v)
      Description copied from interface: Matrix4dc
      Transform/multiply the given vector by this matrix and store the result in that vector.
      Specified by:
      transform in interface Matrix4dc
      Parameters:
      v - the vector to transform and to hold the final result
      Returns:
      v
      See Also:
    • transform

      public Vector4d transform(Vector4dc v, Vector4d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given vector by this matrix and store the result in dest.
      Specified by:
      transform in interface Matrix4dc
      Parameters:
      v - the vector to transform
      dest - will contain the result
      Returns:
      dest
      See Also:
    • transform

      public Vector4d transform(double x, double y, double z, double w, Vector4d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the vector (x, y, z, w) by this matrix and store the result in dest.
      Specified by:
      transform in interface Matrix4dc
      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
      w - the w coordinate of the vector to transform
      dest - will contain the result
      Returns:
      dest
    • transformTranspose

      public Vector4d transformTranspose(Vector4d v)
      Description copied from interface: Matrix4dc
      Transform/multiply the given vector by the transpose of this matrix and store the result in that vector.
      Specified by:
      transformTranspose in interface Matrix4dc
      Parameters:
      v - the vector to transform and to hold the final result
      Returns:
      v
      See Also:
    • transformTranspose

      public Vector4d transformTranspose(Vector4dc v, Vector4d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given vector by the transpose of this matrix and store the result in dest.
      Specified by:
      transformTranspose in interface Matrix4dc
      Parameters:
      v - the vector to transform and to hold the final result
      dest - will contain the result
      Returns:
      dest
      See Also:
    • transformTranspose

      public Vector4d transformTranspose(double x, double y, double z, double w, Vector4d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the vector (x, y, z, w) by the transpose of this matrix and store the result in dest.
      Specified by:
      transformTranspose in interface Matrix4dc
      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
      w - the w coordinate of the vector to transform
      dest - will contain the result
      Returns:
      dest
    • transformProject

      public Vector4d transformProject(Vector4d v)
      Description copied from interface: Matrix4dc
      Transform/multiply the given vector by this matrix, perform perspective divide and store the result in that vector.
      Specified by:
      transformProject in interface Matrix4dc
      Parameters:
      v - the vector to transform and to hold the final result
      Returns:
      v
      See Also:
    • transformProject

      public Vector4d transformProject(Vector4dc v, Vector4d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given vector by this matrix, perform perspective divide and store the result in dest.
      Specified by:
      transformProject in interface Matrix4dc
      Parameters:
      v - the vector to transform
      dest - will contain the result
      Returns:
      dest
      See Also:
    • transformProject

      public Vector4d transformProject(double x, double y, double z, double w, Vector4d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the vector (x, y, z, w) by this matrix, perform perspective divide and store the result in dest.
      Specified by:
      transformProject in interface Matrix4dc
      Parameters:
      x - the x coordinate of the direction to transform
      y - the y coordinate of the direction to transform
      z - the z coordinate of the direction to transform
      w - the w coordinate of the direction to transform
      dest - will contain the result
      Returns:
      dest
    • transformProject

      public Vector3d transformProject(Vector3d v)
      Description copied from interface: Matrix4dc
      Transform/multiply the given vector by this matrix, perform perspective divide and store the result in that vector.

      This method uses w=1.0 as the fourth vector component.

      Specified by:
      transformProject in interface Matrix4dc
      Parameters:
      v - the vector to transform and to hold the final result
      Returns:
      v
      See Also:
    • transformProject

      public Vector3d transformProject(Vector3dc v, Vector3d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given vector by this matrix, perform perspective divide and store the result in dest.

      This method uses w=1.0 as the fourth vector component.

      Specified by:
      transformProject in interface Matrix4dc
      Parameters:
      v - the vector to transform
      dest - will contain the result
      Returns:
      dest
      See Also:
    • transformProject

      public Vector3d transformProject(double x, double y, double z, Vector3d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the vector (x, y, z) by this matrix, perform perspective divide and store the result in dest.

      This method uses w=1.0 as the fourth vector component.

      Specified by:
      transformProject in interface Matrix4dc
      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 contain the result
      Returns:
      dest
    • transformProject

      public Vector3d transformProject(Vector4dc v, Vector3d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given vector by this matrix, perform perspective divide and store the x, y and z components of the result in dest.
      Specified by:
      transformProject in interface Matrix4dc
      Parameters:
      v - the vector to transform
      dest - will contain the result
      Returns:
      dest
      See Also:
    • transformProject

      public Vector3d transformProject(double x, double y, double z, double w, Vector3d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the vector (x, y, z, w) by this matrix, perform perspective divide and store (x, y, z) of the result in dest.
      Specified by:
      transformProject in interface Matrix4dc
      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
      w - the w coordinate of the vector to transform
      dest - will contain the (x, y, z) components of the result
      Returns:
      dest
    • transformPosition

      public Vector3d transformPosition(Vector3d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=1, by this matrix and store the result in that vector.

      The given 3D-vector is treated as a 4D-vector with its w-component being 1.0, so it will represent a position/location in 3D-space rather than a direction. This method is therefore not suited for perspective projection transformations as it will not save the w component of the transformed vector. For perspective projection use Matrix4dc.transform(Vector4d) or Matrix4dc.transformProject(Vector3d) when perspective divide should be applied, too.

      In order to store the result in another vector, use Matrix4dc.transformPosition(Vector3dc, Vector3d).

      Specified by:
      transformPosition in interface Matrix4dc
      Parameters:
      dest - the vector to transform and to hold the final result
      Returns:
      v
      See Also:
    • transformPosition

      public Vector3d transformPosition(Vector3dc v, Vector3d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=1, by this matrix and store the result in dest.

      The given 3D-vector is treated as a 4D-vector with its w-component being 1.0, so it will represent a position/location in 3D-space rather than a direction. This method is therefore not suited for perspective projection transformations as it will not save the w component of the transformed vector. For perspective projection use Matrix4dc.transform(Vector4dc, Vector4d) or Matrix4dc.transformProject(Vector3dc, Vector3d) when perspective divide should be applied, too.

      In order to store the result in the same vector, use Matrix4dc.transformPosition(Vector3d).

      Specified by:
      transformPosition in interface Matrix4dc
      Parameters:
      v - the vector to transform
      dest - will hold the result
      Returns:
      dest
      See Also:
    • transformPosition

      public Vector3d transformPosition(double x, double y, double z, Vector3d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the 3D-vector (x, y, z), as if it was a 4D-vector with w=1, by this matrix and store the result in dest.

      The given 3D-vector is treated as a 4D-vector with its w-component being 1.0, so it will represent a position/location in 3D-space rather than a direction. This method is therefore not suited for perspective projection transformations as it will not save the w component of the transformed vector. For perspective projection use Matrix4dc.transform(double, double, double, double, Vector4d) or Matrix4dc.transformProject(double, double, double, Vector3d) when perspective divide should be applied, too.

      Specified by:
      transformPosition in interface Matrix4dc
      Parameters:
      x - the x coordinate of the position
      y - the y coordinate of the position
      z - the z coordinate of the position
      dest - will hold the result
      Returns:
      dest
      See Also:
    • transformDirection

      public Vector3d transformDirection(Vector3d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=0, by this matrix and store the result in that vector.

      The given 3D-vector is treated as a 4D-vector with its w-component being 0.0, so it will represent a direction in 3D-space rather than a position. This method will therefore not take the translation part of the matrix into account.

      In order to store the result in another vector, use Matrix4dc.transformDirection(Vector3dc, Vector3d).

      Specified by:
      transformDirection in interface Matrix4dc
      Parameters:
      dest - the vector to transform and to hold the final result
      Returns:
      v
    • transformDirection

      public Vector3d transformDirection(Vector3dc v, Vector3d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=0, by this matrix and store the result in dest.

      The given 3D-vector is treated as a 4D-vector with its w-component being 0.0, so it will represent a direction in 3D-space rather than a position. This method will therefore not take the translation part of the matrix into account.

      In order to store the result in the same vector, use Matrix4dc.transformDirection(Vector3d).

      Specified by:
      transformDirection in interface Matrix4dc
      Parameters:
      v - the vector to transform and to hold the final result
      dest - will hold the result
      Returns:
      dest
    • transformDirection

      public Vector3d transformDirection(double x, double y, double z, Vector3d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the 3D-vector (x, y, z), as if it was a 4D-vector with w=0, by this matrix and store the result in dest.

      The given 3D-vector is treated as a 4D-vector with its w-component being 0.0, so it will represent a direction in 3D-space rather than a position. This method will therefore not take the translation part of the matrix into account.

      Specified by:
      transformDirection in interface Matrix4dc
      Parameters:
      x - the x coordinate of the direction to transform
      y - the y coordinate of the direction to transform
      z - the z coordinate of the direction to transform
      dest - will hold the result
      Returns:
      dest
    • transformDirection

      public Vector3f transformDirection(Vector3f dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=0, by this matrix and store the result in that vector.

      The given 3D-vector is treated as a 4D-vector with its w-component being 0.0, so it will represent a direction in 3D-space rather than a position. This method will therefore not take the translation part of the matrix into account.

      In order to store the result in another vector, use Matrix4dc.transformDirection(Vector3fc, Vector3f).

      Specified by:
      transformDirection in interface Matrix4dc
      Parameters:
      dest - the vector to transform and to hold the final result
      Returns:
      v
    • transformDirection

      public Vector3f transformDirection(Vector3fc v, Vector3f dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=0, by this matrix and store the result in dest.

      The given 3D-vector is treated as a 4D-vector with its w-component being 0.0, so it will represent a direction in 3D-space rather than a position. This method will therefore not take the translation part of the matrix into account.

      In order to store the result in the same vector, use Matrix4dc.transformDirection(Vector3f).

      Specified by:
      transformDirection in interface Matrix4dc
      Parameters:
      v - the vector to transform and to hold the final result
      dest - will hold the result
      Returns:
      dest
    • transformDirection

      public Vector3f transformDirection(double x, double y, double z, Vector3f dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the 3D-vector (x, y, z), as if it was a 4D-vector with w=0, by this matrix and store the result in dest.

      The given 3D-vector is treated as a 4D-vector with its w-component being 0.0, so it will represent a direction in 3D-space rather than a position. This method will therefore not take the translation part of the matrix into account.

      Specified by:
      transformDirection in interface Matrix4dc
      Parameters:
      x - the x coordinate of the direction to transform
      y - the y coordinate of the direction to transform
      z - the z coordinate of the direction to transform
      dest - will hold the result
      Returns:
      dest
    • transformAffine

      public Vector4d transformAffine(Vector4d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given 4D-vector by assuming that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)).

      In order to store the result in another vector, use Matrix4dc.transformAffine(Vector4dc, Vector4d).

      Specified by:
      transformAffine in interface Matrix4dc
      Parameters:
      dest - the vector to transform and to hold the final result
      Returns:
      v
      See Also:
    • transformAffine

      public Vector4d transformAffine(Vector4dc v, Vector4d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the given 4D-vector by assuming that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and store the result in dest.

      In order to store the result in the same vector, use Matrix4dc.transformAffine(Vector4d).

      Specified by:
      transformAffine in interface Matrix4dc
      Parameters:
      v - the vector to transform and to hold the final result
      dest - will hold the result
      Returns:
      dest
      See Also:
    • transformAffine

      public Vector4d transformAffine(double x, double y, double z, double w, Vector4d dest)
      Description copied from interface: Matrix4dc
      Transform/multiply the 4D-vector (x, y, z, w) by assuming that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and store the result in dest.
      Specified by:
      transformAffine in interface Matrix4dc
      Parameters:
      x - the x coordinate of the direction to transform
      y - the y coordinate of the direction to transform
      z - the z coordinate of the direction to transform
      w - the w coordinate of the direction to transform
      dest - will hold the result
      Returns:
      dest
    • set3x3

      public Matrix4d set3x3(Matrix3dc mat)
      Set the upper left 3x3 submatrix of this Matrix4d to the given Matrix3dc and don't change the other elements.
      Parameters:
      mat - the 3x3 matrix
      Returns:
      this
    • scale

      public Matrix4d scale(Vector3dc xyz, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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!

      Specified by:
      scale in interface Matrix4dc
      Parameters:
      xyz - the factors of the x, y and z component, respectively
      dest - will hold the result
      Returns:
      dest
    • scale

      public Matrix4d scale(Vector3dc xyz)
      Apply scaling to this matrix by scaling the base axes by the given xyz.x, xyz.y and xyz.z factors, respectively.

      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
      Returns:
      this
    • scale

      public Matrix4d scale(double x, double y, double z, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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!

      Specified by:
      scale in interface Matrix4dc
      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

      public Matrix4d scale(double x, double y, double z)
      Apply scaling to this matrix by scaling the base axes by the given x, y and z factors.

      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
      Returns:
      this
    • scale

      public Matrix4d scale(double xyz, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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!

      Specified by:
      scale in interface Matrix4dc
      Parameters:
      xyz - the factor for all components
      dest - will hold the result
      Returns:
      dest
      See Also:
    • scale

      public Matrix4d scale(double xyz)
      Apply scaling to this matrix by uniformly scaling all base axes by the given xyz factor.

      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
      Returns:
      this
      See Also:
    • scaleXY

      public Matrix4d scaleXY(double x, double y, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Apply scaling to this matrix by by scaling the X axis by x and the Y axis by y 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!

      Specified by:
      scaleXY in interface Matrix4dc
      Parameters:
      x - the factor of the x component
      y - the factor of the y component
      dest - will hold the result
      Returns:
      dest
    • scaleXY

      public Matrix4d scaleXY(double x, double y)
      Apply scaling to this matrix by scaling the X axis by x and the Y axis by y.

      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
      Returns:
      this
    • scaleAround

      public Matrix4d scaleAround(double sx, double sy, double sz, double ox, double oy, double oz, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Apply scaling to this matrix by scaling the base axes by the given sx, sy and sz factors while using (ox, oy, oz) as the scaling origin, 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!

      This method is equivalent to calling: translate(ox, oy, oz, dest).scale(sx, sy, sz).translate(-ox, -oy, -oz)

      Specified by:
      scaleAround in interface Matrix4dc
      Parameters:
      sx - the scaling factor of the x component
      sy - the scaling factor of the y component
      sz - the scaling factor of the z component
      ox - the x coordinate of the scaling origin
      oy - the y coordinate of the scaling origin
      oz - the z coordinate of the scaling origin
      dest - will hold the result
      Returns:
      dest
    • scaleAround

      public Matrix4d scaleAround(double sx, double sy, double sz, double ox, double oy, double oz)
      Apply scaling to this matrix by scaling the base axes by the given sx, sy and sz factors while using (ox, oy, oz) as the scaling origin.

      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!

      This method is equivalent to calling: translate(ox, oy, oz).scale(sx, sy, sz).translate(-ox, -oy, -oz)

      Parameters:
      sx - the scaling factor of the x component
      sy - the scaling factor of the y component
      sz - the scaling factor of the z component
      ox - the x coordinate of the scaling origin
      oy - the y coordinate of the scaling origin
      oz - the z coordinate of the scaling origin
      Returns:
      this
    • scaleAround

      public Matrix4d scaleAround(double factor, double ox, double oy, double oz)
      Apply scaling to this matrix by scaling all three base axes by the given factor while using (ox, oy, oz) as the scaling origin.

      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!

      This method is equivalent to calling: translate(ox, oy, oz).scale(factor).translate(-ox, -oy, -oz)

      Parameters:
      factor - the scaling factor for all three axes
      ox - the x coordinate of the scaling origin
      oy - the y coordinate of the scaling origin
      oz - the z coordinate of the scaling origin
      Returns:
      this
    • scaleAround

      public Matrix4d scaleAround(double factor, double ox, double oy, double oz, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Apply scaling to this matrix by scaling all three base axes by the given factor while using (ox, oy, oz) as the scaling origin, 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!

      This method is equivalent to calling: translate(ox, oy, oz, dest).scale(factor).translate(-ox, -oy, -oz)

      Specified by:
      scaleAround in interface Matrix4dc
      Parameters:
      factor - the scaling factor for all three axes
      ox - the x coordinate of the scaling origin
      oy - the y coordinate of the scaling origin
      oz - the z coordinate of the scaling origin
      dest - will hold the result
      Returns:
      this
    • scaleLocal

      public Matrix4d scaleLocal(double x, double y, double z, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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!

      Specified by:
      scaleLocal in interface Matrix4dc
      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
    • scaleLocal

      public Matrix4d scaleLocal(double xyz, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Pre-multiply scaling to this matrix by 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 S * M. So when transforming a vector v with the new matrix by using S * M * v , the scaling will be applied last!

      Specified by:
      scaleLocal in interface Matrix4dc
      Parameters:
      xyz - the factor to scale all three base axes by
      dest - will hold the result
      Returns:
      dest
    • scaleLocal

      public Matrix4d scaleLocal(double xyz)
      Pre-multiply scaling to this matrix by scaling the base axes by the given xyz factor.

      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:
      xyz - the factor of the x, y and z component
      Returns:
      this
    • scaleLocal

      public Matrix4d scaleLocal(double x, double y, double z)
      Pre-multiply scaling to this matrix by scaling the base axes by the given x, y and z factors.

      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
      Returns:
      this
    • scaleAroundLocal

      public Matrix4d scaleAroundLocal(double sx, double sy, double sz, double ox, double oy, double oz, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Pre-multiply scaling to this matrix by scaling the base axes by the given sx, sy and sz factors while using the given (ox, oy, oz) as the scaling origin, 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!

      This method is equivalent to calling: new Matrix4d().translate(ox, oy, oz).scale(sx, sy, sz).translate(-ox, -oy, -oz).mul(this, dest)

      Specified by:
      scaleAroundLocal in interface Matrix4dc
      Parameters:
      sx - the scaling factor of the x component
      sy - the scaling factor of the y component
      sz - the scaling factor of the z component
      ox - the x coordinate of the scaling origin
      oy - the y coordinate of the scaling origin
      oz - the z coordinate of the scaling origin
      dest - will hold the result
      Returns:
      dest
    • scaleAroundLocal

      public Matrix4d scaleAroundLocal(double sx, double sy, double sz, double ox, double oy, double oz)
      Pre-multiply scaling to this matrix by scaling the base axes by the given sx, sy and sz factors while using (ox, oy, oz) as the scaling origin.

      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!

      This method is equivalent to calling: new Matrix4d().translate(ox, oy, oz).scale(sx, sy, sz).translate(-ox, -oy, -oz).mul(this, this)

      Parameters:
      sx - the scaling factor of the x component
      sy - the scaling factor of the y component
      sz - the scaling factor of the z component
      ox - the x coordinate of the scaling origin
      oy - the y coordinate of the scaling origin
      oz - the z coordinate of the scaling origin
      Returns:
      this
    • scaleAroundLocal

      public Matrix4d scaleAroundLocal(double factor, double ox, double oy, double oz)
      Pre-multiply scaling to this matrix by scaling all three base axes by the given factor while using (ox, oy, oz) as the scaling origin.

      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!

      This method is equivalent to calling: new Matrix4d().translate(ox, oy, oz).scale(factor).translate(-ox, -oy, -oz).mul(this, this)

      Parameters:
      factor - the scaling factor for all three axes
      ox - the x coordinate of the scaling origin
      oy - the y coordinate of the scaling origin
      oz - the z coordinate of the scaling origin
      Returns:
      this
    • scaleAroundLocal

      public Matrix4d scaleAroundLocal(double factor, double ox, double oy, double oz, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Pre-multiply scaling to this matrix by scaling all three base axes by the given factor while using (ox, oy, oz) as the scaling origin, 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!

      This method is equivalent to calling: new Matrix4d().translate(ox, oy, oz).scale(factor).translate(-ox, -oy, -oz).mul(this, dest)

      Specified by:
      scaleAroundLocal in interface Matrix4dc
      Parameters:
      factor - the scaling factor for all three axes
      ox - the x coordinate of the scaling origin
      oy - the y coordinate of the scaling origin
      oz - the z coordinate of the scaling origin
      dest - will hold the result
      Returns:
      this
    • rotate

      public Matrix4d rotate(double ang, double x, double y, double z, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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.

      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!

      Specified by:
      rotate in interface Matrix4dc
      Parameters:
      ang - the angle is 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
    • rotate

      public Matrix4d rotate(double ang, double x, double y, double z)
      Apply rotation to this matrix by rotating the given amount of radians about the given axis specified as x, y and z components.

      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!

      In order to set the matrix to a rotation matrix without post-multiplying the rotation transformation, use rotation().

      Parameters:
      ang - the angle is in radians
      x - the x component of the axis
      y - the y component of the axis
      z - the z component of the axis
      Returns:
      this
      See Also:
    • rotateTranslation

      public Matrix4d rotateTranslation(double ang, double x, double y, double z, Matrix4d dest)
      Apply rotation to this matrix, which is assumed to only contain a translation, by rotating the given amount of radians about the specified (x, y, z) axis and store the result in dest.

      This method assumes this to only contain a translation.

      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!

      In order to set the matrix to a rotation matrix without post-multiplying the rotation transformation, use rotation().

      Reference: http://en.wikipedia.org

      Specified by:
      rotateTranslation in interface Matrix4dc
      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
      See Also:
    • rotateAffine

      public Matrix4d rotateAffine(double ang, double x, double y, double z, Matrix4d dest)
      Apply rotation to this affine matrix by rotating the given amount of radians about the specified (x, y, z) axis and store the result in dest.

      This method assumes this to be affine.

      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!

      In order to set the matrix to a rotation matrix without post-multiplying the rotation transformation, use rotation().

      Reference: http://en.wikipedia.org

      Specified by:
      rotateAffine in interface Matrix4dc
      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
      See Also:
    • rotateAffine

      public Matrix4d rotateAffine(double ang, double x, double y, double z)
      Apply rotation to this affine matrix by rotating the given amount of radians about the specified (x, y, z) axis.

      This method assumes this to be affine.

      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!

      In order to set the matrix to a rotation matrix without post-multiplying the rotation transformation, use rotation().

      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
      Returns:
      this
      See Also:
    • rotateAround

      public Matrix4d rotateAround(Quaterniondc quat, double ox, double oy, double oz)
      Apply the rotation transformation of the given Quaterniondc to this matrix while using (ox, oy, oz) as the rotation origin.

      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!

      This method is equivalent to calling: translate(ox, oy, oz).rotate(quat).translate(-ox, -oy, -oz)

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaterniondc
      ox - the x coordinate of the rotation origin
      oy - the y coordinate of the rotation origin
      oz - the z coordinate of the rotation origin
      Returns:
      this
    • rotateAroundAffine

      public Matrix4d rotateAroundAffine(Quaterniondc quat, double ox, double oy, double oz, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this affine matrix while using (ox, oy, oz) as the rotation origin, 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!

      This method is only applicable if this is an affine matrix.

      This method is equivalent to calling: translate(ox, oy, oz, dest).rotate(quat).translate(-ox, -oy, -oz)

      Reference: http://en.wikipedia.org

      Specified by:
      rotateAroundAffine in interface Matrix4dc
      Parameters:
      quat - the Quaterniondc
      ox - the x coordinate of the rotation origin
      oy - the y coordinate of the rotation origin
      oz - the z coordinate of the rotation origin
      dest - will hold the result
      Returns:
      dest
    • rotateAround

      public Matrix4d rotateAround(Quaterniondc quat, double ox, double oy, double oz, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix while using (ox, oy, oz) as the rotation origin, 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!

      This method is equivalent to calling: translate(ox, oy, oz, dest).rotate(quat).translate(-ox, -oy, -oz)

      Reference: http://en.wikipedia.org

      Specified by:
      rotateAround in interface Matrix4dc
      Parameters:
      quat - the Quaterniondc
      ox - the x coordinate of the rotation origin
      oy - the y coordinate of the rotation origin
      oz - the z coordinate of the rotation origin
      dest - will hold the result
      Returns:
      dest
    • rotationAround

      public Matrix4d rotationAround(Quaterniondc quat, double ox, double oy, double oz)
      Set this matrix to a transformation composed of a rotation of the specified Quaterniondc while using (ox, oy, oz) as the rotation origin.

      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.

      This method is equivalent to calling: translation(ox, oy, oz).rotate(quat).translate(-ox, -oy, -oz)

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaterniondc
      ox - the x coordinate of the rotation origin
      oy - the y coordinate of the rotation origin
      oz - the z coordinate of the rotation origin
      Returns:
      this
    • rotateLocal

      public Matrix4d rotateLocal(double ang, double x, double y, double z, Matrix4d 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!

      In order to set the matrix to a rotation matrix without pre-multiplying the rotation transformation, use rotation().

      Reference: http://en.wikipedia.org

      Specified by:
      rotateLocal in interface Matrix4dc
      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
      See Also:
    • rotateLocal

      public Matrix4d rotateLocal(double ang, double x, double y, double z)
      Pre-multiply a rotation to this matrix by rotating the given amount of radians about the specified (x, y, z) axis.

      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!

      In order to set the matrix to a rotation matrix without pre-multiplying the rotation transformation, use rotation().

      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
      Returns:
      this
      See Also:
    • rotateAroundLocal

      public Matrix4d rotateAroundLocal(Quaterniondc quat, double ox, double oy, double oz, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Pre-multiply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix while using (ox, oy, oz) as the rotation origin, 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!

      This method is equivalent to calling: translateLocal(-ox, -oy, -oz, dest).rotateLocal(quat).translateLocal(ox, oy, oz)

      Reference: http://en.wikipedia.org

      Specified by:
      rotateAroundLocal in interface Matrix4dc
      Parameters:
      quat - the Quaterniondc
      ox - the x coordinate of the rotation origin
      oy - the y coordinate of the rotation origin
      oz - the z coordinate of the rotation origin
      dest - will hold the result
      Returns:
      dest
    • rotateAroundLocal

      public Matrix4d rotateAroundLocal(Quaterniondc quat, double ox, double oy, double oz)
      Pre-multiply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix while using (ox, oy, oz) as the rotation origin.

      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!

      This method is equivalent to calling: translateLocal(-ox, -oy, -oz).rotateLocal(quat).translateLocal(ox, oy, oz)

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaterniondc
      ox - the x coordinate of the rotation origin
      oy - the y coordinate of the rotation origin
      oz - the z coordinate of the rotation origin
      Returns:
      this
    • translate

      public Matrix4d translate(Vector3dc offset)
      Apply a translation to this matrix by translating by the given number of units in x, y and z.

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

      In order to set the matrix to a translation transformation without post-multiplying it, use translation(Vector3dc).

      Parameters:
      offset - the number of units in x, y and z by which to translate
      Returns:
      this
      See Also:
    • translate

      public Matrix4d translate(Vector3dc offset, Matrix4d dest)
      Apply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.

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

      In order to set the matrix to a translation transformation without post-multiplying it, use translation(Vector3dc).

      Specified by:
      translate in interface Matrix4dc
      Parameters:
      offset - the number of units in x, y and z by which to translate
      dest - will hold the result
      Returns:
      dest
      See Also:
    • translate

      public Matrix4d translate(Vector3fc offset)
      Apply a translation to this matrix by translating by the given number of units in x, y and z.

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

      In order to set the matrix to a translation transformation without post-multiplying it, use translation(Vector3fc).

      Parameters:
      offset - the number of units in x, y and z by which to translate
      Returns:
      this
      See Also:
    • translate

      public Matrix4d translate(Vector3fc offset, Matrix4d dest)
      Apply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.

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

      In order to set the matrix to a translation transformation without post-multiplying it, use translation(Vector3fc).

      Specified by:
      translate in interface Matrix4dc
      Parameters:
      offset - the number of units in x, y and z by which to translate
      dest - will hold the result
      Returns:
      dest
      See Also:
    • translate

      public Matrix4d translate(double x, double y, double z, Matrix4d dest)
      Apply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.

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

      In order to set the matrix to a translation transformation without post-multiplying it, use translation(double, double, double).

      Specified by:
      translate in interface Matrix4dc
      Parameters:
      x - the offset to translate in x
      y - the offset to translate in y
      z - the offset to translate in z
      dest - will hold the result
      Returns:
      dest
      See Also:
    • translate

      public Matrix4d translate(double x, double y, double z)
      Apply a translation to this matrix by translating by the given number of units in x, y and z.

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

      In order to set the matrix to a translation transformation without post-multiplying it, use translation(double, double, double).

      Parameters:
      x - the offset to translate in x
      y - the offset to translate in y
      z - the offset to translate in z
      Returns:
      this
      See Also:
    • translateLocal

      public Matrix4d translateLocal(Vector3fc offset)
      Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z.

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

      In order to set the matrix to a translation transformation without pre-multiplying it, use translation(Vector3fc).

      Parameters:
      offset - the number of units in x, y and z by which to translate
      Returns:
      this
      See Also:
    • translateLocal

      public Matrix4d translateLocal(Vector3fc offset, Matrix4d dest)
      Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.

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

      In order to set the matrix to a translation transformation without pre-multiplying it, use translation(Vector3fc).

      Specified by:
      translateLocal in interface Matrix4dc
      Parameters:
      offset - the number of units in x, y and z by which to translate
      dest - will hold the result
      Returns:
      dest
      See Also:
    • translateLocal

      public Matrix4d translateLocal(Vector3dc offset)
      Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z.

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

      In order to set the matrix to a translation transformation without pre-multiplying it, use translation(Vector3dc).

      Parameters:
      offset - the number of units in x, y and z by which to translate
      Returns:
      this
      See Also:
    • translateLocal

      public Matrix4d translateLocal(Vector3dc offset, Matrix4d dest)
      Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.

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

      In order to set the matrix to a translation transformation without pre-multiplying it, use translation(Vector3dc).

      Specified by:
      translateLocal in interface Matrix4dc
      Parameters:
      offset - the number of units in x, y and z by which to translate
      dest - will hold the result
      Returns:
      dest
      See Also:
    • translateLocal

      public Matrix4d translateLocal(double x, double y, double z, Matrix4d dest)
      Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z and store the result in dest.

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

      In order to set the matrix to a translation transformation without pre-multiplying it, use translation(double, double, double).

      Specified by:
      translateLocal in interface Matrix4dc
      Parameters:
      x - the offset to translate in x
      y - the offset to translate in y
      z - the offset to translate in z
      dest - will hold the result
      Returns:
      dest
      See Also:
    • translateLocal

      public Matrix4d translateLocal(double x, double y, double z)
      Pre-multiply a translation to this matrix by translating by the given number of units in x, y and z.

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

      In order to set the matrix to a translation transformation without pre-multiplying it, use translation(double, double, double).

      Parameters:
      x - the offset to translate in x
      y - the offset to translate in y
      z - the offset to translate in z
      Returns:
      this
      See Also:
    • rotateLocalX

      public Matrix4d rotateLocalX(double ang, Matrix4d 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!

      In order to set the matrix to a rotation matrix without pre-multiplying the rotation transformation, use rotationX().

      Reference: http://en.wikipedia.org

      Specified by:
      rotateLocalX in interface Matrix4dc
      Parameters:
      ang - the angle in radians to rotate about the X axis
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotateLocalX

      public Matrix4d rotateLocalX(double ang)
      Pre-multiply a rotation to this matrix by rotating the given amount of radians about the X axis.

      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!

      In order to set the matrix to a rotation matrix without pre-multiplying the rotation transformation, use rotationX().

      Reference: http://en.wikipedia.org

      Parameters:
      ang - the angle in radians to rotate about the X axis
      Returns:
      this
      See Also:
    • rotateLocalY

      public Matrix4d rotateLocalY(double ang, Matrix4d 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!

      In order to set the matrix to a rotation matrix without pre-multiplying the rotation transformation, use rotationY().

      Reference: http://en.wikipedia.org

      Specified by:
      rotateLocalY in interface Matrix4dc
      Parameters:
      ang - the angle in radians to rotate about the Y axis
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotateLocalY

      public Matrix4d rotateLocalY(double ang)
      Pre-multiply a rotation to this matrix by rotating the given amount of radians about the Y axis.

      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!

      In order to set the matrix to a rotation matrix without pre-multiplying the rotation transformation, use rotationY().

      Reference: http://en.wikipedia.org

      Parameters:
      ang - the angle in radians to rotate about the Y axis
      Returns:
      this
      See Also:
    • rotateLocalZ

      public Matrix4d rotateLocalZ(double ang, Matrix4d 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!

      In order to set the matrix to a rotation matrix without pre-multiplying the rotation transformation, use rotationZ().

      Reference: http://en.wikipedia.org

      Specified by:
      rotateLocalZ in interface Matrix4dc
      Parameters:
      ang - the angle in radians to rotate about the Z axis
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotateLocalZ

      public Matrix4d rotateLocalZ(double ang)
      Pre-multiply a rotation to this matrix by rotating the given amount of radians about the Z axis.

      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!

      In order to set the matrix to a rotation matrix without pre-multiplying the rotation transformation, use rotationY().

      Reference: http://en.wikipedia.org

      Parameters:
      ang - the angle in radians to rotate about the Z axis
      Returns:
      this
      See Also:
    • writeExternal

      public void writeExternal(ObjectOutput out) throws IOException
      Specified by:
      writeExternal in interface Externalizable
      Throws:
      IOException
    • readExternal

      public void readExternal(ObjectInput in) throws IOException
      Specified by:
      readExternal in interface Externalizable
      Throws:
      IOException
    • rotateX

      public Matrix4d rotateX(double ang, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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

      Specified by:
      rotateX in interface Matrix4dc
      Parameters:
      ang - the angle in radians
      dest - will hold the result
      Returns:
      dest
    • rotateX

      public Matrix4d rotateX(double ang)
      Apply rotation about the X axis to this matrix by rotating the given amount of radians.

      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
      Returns:
      this
    • rotateY

      public Matrix4d rotateY(double ang, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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

      Specified by:
      rotateY in interface Matrix4dc
      Parameters:
      ang - the angle in radians
      dest - will hold the result
      Returns:
      dest
    • rotateY

      public Matrix4d rotateY(double ang)
      Apply rotation about the Y axis to this matrix by rotating the given amount of radians.

      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
      Returns:
      this
    • rotateZ

      public Matrix4d rotateZ(double ang, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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

      Specified by:
      rotateZ in interface Matrix4dc
      Parameters:
      ang - the angle in radians
      dest - will hold the result
      Returns:
      dest
    • rotateZ

      public Matrix4d rotateZ(double ang)
      Apply rotation about the Z axis to this matrix by rotating the given amount of radians.

      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
      Returns:
      this
    • rotateTowardsXY

      public Matrix4d rotateTowardsXY(double dirX, double dirY)
      Apply rotation about the Z axis to align the local +X towards (dirX, dirY).

      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!

      The vector (dirX, dirY) must be a unit vector.

      Parameters:
      dirX - the x component of the normalized direction
      dirY - the y component of the normalized direction
      Returns:
      this
    • rotateTowardsXY

      public Matrix4d rotateTowardsXY(double dirX, double dirY, Matrix4d dest)
      Description copied from interface: Matrix4dc
      Apply rotation about the Z axis to align the local +X towards (dirX, dirY) and store the result in dest.

      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!

      The vector (dirX, dirY) must be a unit vector.

      Specified by:
      rotateTowardsXY in interface Matrix4dc
      Parameters:
      dirX - the x component of the normalized direction
      dirY - the y component of the normalized direction
      dest - will hold the result
      Returns:
      this
    • rotateXYZ

      public Matrix4d rotateXYZ(Vector3d angles)
      Apply rotation of angles.x radians about the X axis, followed by a rotation of angles.y radians about the Y axis and followed by a rotation of angles.z radians about the Z axis.

      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(angles.x).rotateY(angles.y).rotateZ(angles.z)

      Parameters:
      angles - the Euler angles
      Returns:
      this
    • rotateXYZ

      public Matrix4d rotateXYZ(double angleX, double angleY, double angleZ)
      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.

      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).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
      Returns:
      this
    • rotateXYZ

      public Matrix4d rotateXYZ(double angleX, double angleY, double angleZ, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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)

      Specified by:
      rotateXYZ in interface Matrix4dc
      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
    • rotateAffineXYZ

      public Matrix4d rotateAffineXYZ(double angleX, double angleY, double angleZ)
      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.

      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.

      This method assumes that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrix only represents affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      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).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
      Returns:
      this
    • rotateAffineXYZ

      public Matrix4d rotateAffineXYZ(double angleX, double angleY, double angleZ, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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.

      This method assumes that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrix only represents affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      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!

      Specified by:
      rotateAffineXYZ in interface Matrix4dc
      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

      public Matrix4d rotateZYX(Vector3d angles)
      Apply rotation of angles.z radians about the Z axis, followed by a rotation of angles.y radians about the Y axis and followed by a rotation of angles.x radians about the X axis.

      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(angles.z).rotateY(angles.y).rotateX(angles.x)

      Parameters:
      angles - the Euler angles
      Returns:
      this
    • rotateZYX

      public Matrix4d rotateZYX(double angleZ, double angleY, double angleX)
      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.

      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).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
      Returns:
      this
    • rotateZYX

      public Matrix4d rotateZYX(double angleZ, double angleY, double angleX, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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)

      Specified by:
      rotateZYX in interface Matrix4dc
      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
    • rotateAffineZYX

      public Matrix4d rotateAffineZYX(double angleZ, double angleY, double angleX)
      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.

      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.

      This method assumes that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrix only represents affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      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!

      Parameters:
      angleZ - the angle to rotate about Z
      angleY - the angle to rotate about Y
      angleX - the angle to rotate about X
      Returns:
      this
    • rotateAffineZYX

      public Matrix4d rotateAffineZYX(double angleZ, double angleY, double angleX, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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.

      This method assumes that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrix only represents affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      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!

      Specified by:
      rotateAffineZYX in interface Matrix4dc
      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

      public Matrix4d rotateYXZ(Vector3d angles)
      Apply rotation of angles.y radians about the Y axis, followed by a rotation of angles.x radians about the X axis and followed by a rotation of angles.z radians about the Z axis.

      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(angles.y).rotateX(angles.x).rotateZ(angles.z)

      Parameters:
      angles - the Euler angles
      Returns:
      this
    • rotateYXZ

      public Matrix4d rotateYXZ(double angleY, double angleX, double angleZ)
      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.

      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).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
      Returns:
      this
    • rotateYXZ

      public Matrix4d rotateYXZ(double angleY, double angleX, double angleZ, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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)

      Specified by:
      rotateYXZ in interface Matrix4dc
      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
    • rotateAffineYXZ

      public Matrix4d rotateAffineYXZ(double angleY, double angleX, double angleZ)
      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.

      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.

      This method assumes that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrix only represents affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      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!

      Parameters:
      angleY - the angle to rotate about Y
      angleX - the angle to rotate about X
      angleZ - the angle to rotate about Z
      Returns:
      this
    • rotateAffineYXZ

      public Matrix4d rotateAffineYXZ(double angleY, double angleX, double angleZ, Matrix4d dest)
      Description copied from interface: Matrix4dc
      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.

      This method assumes that this matrix represents an affine transformation (i.e. its last row is equal to (0, 0, 0, 1)) and can be used to speed up matrix multiplication if the matrix only represents affine transformations, such as translation, rotation, scaling and shearing (in any combination).

      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!

      Specified by:
      rotateAffineYXZ in interface Matrix4dc
      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
    • rotation

      public Matrix4d rotation(AxisAngle4f angleAxis)
      Set this matrix to a rotation transformation using the given AxisAngle4f.

      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.

      The resulting matrix can be multiplied against another transformation matrix to obtain an additional rotation.

      In order to apply the rotation transformation to an existing transformation, use rotate() instead.

      Reference: http://en.wikipedia.org

      Parameters:
      angleAxis - the AxisAngle4f (needs to be normalized)
      Returns:
      this
      See Also:
    • rotation

      public Matrix4d rotation(AxisAngle4d angleAxis)
      Set this matrix to a rotation transformation using the given AxisAngle4d.

      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.

      The resulting matrix can be multiplied against another transformation matrix to obtain an additional rotation.

      In order to apply the rotation transformation to an existing transformation, use rotate() instead.

      Reference: http://en.wikipedia.org

      Parameters:
      angleAxis - the AxisAngle4d (needs to be normalized)
      Returns:
      this
      See Also:
    • rotation

      public Matrix4d rotation(Quaterniondc quat)
      Set this matrix to the rotation - and possibly scaling - transformation of the given Quaterniondc.

      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.

      The resulting matrix can be multiplied against another transformation matrix to obtain an additional rotation.

      In order to apply the rotation transformation to an existing transformation, use rotate() instead.

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaterniondc
      Returns:
      this
      See Also:
    • rotation

      public Matrix4d rotation(Quaternionfc quat)
      Set this matrix to the rotation - and possibly scaling - transformation of the given Quaternionfc.

      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.

      The resulting matrix can be multiplied against another transformation matrix to obtain an additional rotation.

      In order to apply the rotation transformation to an existing transformation, use rotate() instead.

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaternionfc
      Returns:
      this
      See Also:
    • translationRotateScale

      public Matrix4d translationRotateScale(double tx, double ty, double tz, double qx, double qy, double qz, double qw, double sx, double sy, double sz)
      Set this matrix to T * R * S, where T is a translation by the given (tx, ty, tz), R is a rotation transformation specified by the quaternion (qx, qy, qz, qw), and S is a scaling transformation which scales the three axes x, y and z by (sx, sy, sz).

      When transforming a vector by the resulting matrix the scaling transformation will be applied first, then the rotation and at last the translation.

      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.

      This method is equivalent to calling: translation(tx, ty, tz).rotate(quat).scale(sx, sy, sz)

      Parameters:
      tx - the number of units by which to translate the x-component
      ty - the number of units by which to translate the y-component
      tz - the number of units by which to translate the z-component
      qx - the x-coordinate of the vector part of the quaternion
      qy - the y-coordinate of the vector part of the quaternion
      qz - the z-coordinate of the vector part of the quaternion
      qw - the scalar part of the quaternion
      sx - the scaling factor for the x-axis
      sy - the scaling factor for the y-axis
      sz - the scaling factor for the z-axis
      Returns:
      this
      See Also:
    • translationRotateScale

      public Matrix4d translationRotateScale(Vector3fc translation, Quaternionfc quat, Vector3fc scale)
      Set this matrix to T * R * S, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales the axes by scale.

      When transforming a vector by the resulting matrix the scaling transformation will be applied first, then the rotation and at last the translation.

      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.

      This method is equivalent to calling: translation(translation).rotate(quat).scale(scale)

      Parameters:
      translation - the translation
      quat - the quaternion representing a rotation
      scale - the scaling factors
      Returns:
      this
      See Also:
    • translationRotateScale

      public Matrix4d translationRotateScale(Vector3dc translation, Quaterniondc quat, Vector3dc scale)
      Set this matrix to T * R * S, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales the axes by scale.

      When transforming a vector by the resulting matrix the scaling transformation will be applied first, then the rotation and at last the translation.

      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.

      This method is equivalent to calling: translation(translation).rotate(quat).scale(scale)

      Parameters:
      translation - the translation
      quat - the quaternion representing a rotation
      scale - the scaling factors
      Returns:
      this
      See Also:
    • translationRotateScale

      public Matrix4d translationRotateScale(double tx, double ty, double tz, double qx, double qy, double qz, double qw, double scale)
      Set this matrix to T * R * S, where T is a translation by the given (tx, ty, tz), R is a rotation transformation specified by the quaternion (qx, qy, qz, qw), and S is a scaling transformation which scales all three axes by scale.

      When transforming a vector by the resulting matrix the scaling transformation will be applied first, then the rotation and at last the translation.

      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.

      This method is equivalent to calling: translation(tx, ty, tz).rotate(quat).scale(scale)

      Parameters:
      tx - the number of units by which to translate the x-component
      ty - the number of units by which to translate the y-component
      tz - the number of units by which to translate the z-component
      qx - the x-coordinate of the vector part of the quaternion
      qy - the y-coordinate of the vector part of the quaternion
      qz - the z-coordinate of the vector part of the quaternion
      qw - the scalar part of the quaternion
      scale - the scaling factor for all three axes
      Returns:
      this
      See Also:
    • translationRotateScale

      public Matrix4d translationRotateScale(Vector3dc translation, Quaterniondc quat, double scale)
      Set this matrix to T * R * S, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales all three axes by scale.

      When transforming a vector by the resulting matrix the scaling transformation will be applied first, then the rotation and at last the translation.

      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.

      This method is equivalent to calling: translation(translation).rotate(quat).scale(scale)

      Parameters:
      translation - the translation
      quat - the quaternion representing a rotation
      scale - the scaling factors
      Returns:
      this
      See Also:
    • translationRotateScale

      public Matrix4d translationRotateScale(Vector3fc translation, Quaternionfc quat, double scale)
      Set this matrix to T * R * S, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales all three axes by scale.

      When transforming a vector by the resulting matrix the scaling transformation will be applied first, then the rotation and at last the translation.

      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.

      This method is equivalent to calling: translation(translation).rotate(quat).scale(scale)

      Parameters:
      translation - the translation
      quat - the quaternion representing a rotation
      scale - the scaling factors
      Returns:
      this
      See Also:
    • translationRotateScaleInvert

      public Matrix4d translationRotateScaleInvert(double tx, double ty, double tz, double qx, double qy, double qz, double qw, double sx, double sy, double sz)
      Set this matrix to (T * R * S)-1, where T is a translation by the given (tx, ty, tz), R is a rotation transformation specified by the quaternion (qx, qy, qz, qw), and S is a scaling transformation which scales the three axes x, y and z by (sx, sy, sz).

      This method is equivalent to calling: translationRotateScale(...).invert()

      Parameters:
      tx - the number of units by which to translate the x-component
      ty - the number of units by which to translate the y-component
      tz - the number of units by which to translate the z-component
      qx - the x-coordinate of the vector part of the quaternion
      qy - the y-coordinate of the vector part of the quaternion
      qz - the z-coordinate of the vector part of the quaternion
      qw - the scalar part of the quaternion
      sx - the scaling factor for the x-axis
      sy - the scaling factor for the y-axis
      sz - the scaling factor for the z-axis
      Returns:
      this
      See Also:
    • translationRotateScaleInvert

      public Matrix4d translationRotateScaleInvert(Vector3dc translation, Quaterniondc quat, Vector3dc scale)
      Set this matrix to (T * R * S)-1, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales the axes by scale.

      This method is equivalent to calling: translationRotateScale(...).invert()

      Parameters:
      translation - the translation
      quat - the quaternion representing a rotation
      scale - the scaling factors
      Returns:
      this
      See Also:
    • translationRotateScaleInvert

      public Matrix4d translationRotateScaleInvert(Vector3fc translation, Quaternionfc quat, Vector3fc scale)
      Set this matrix to (T * R * S)-1, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales the axes by scale.

      This method is equivalent to calling: translationRotateScale(...).invert()

      Parameters:
      translation - the translation
      quat - the quaternion representing a rotation
      scale - the scaling factors
      Returns:
      this
      See Also:
    • translationRotateScaleInvert

      public Matrix4d translationRotateScaleInvert(Vector3dc translation, Quaterniondc quat, double scale)
      Set this matrix to (T * R * S)-1, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales all three axes by scale.

      This method is equivalent to calling: translationRotateScale(...).invert()

      Parameters:
      translation - the translation
      quat - the quaternion representing a rotation
      scale - the scaling factors
      Returns:
      this
      See Also:
    • translationRotateScaleInvert

      public Matrix4d translationRotateScaleInvert(Vector3fc translation, Quaternionfc quat, double scale)
      Set this matrix to (T * R * S)-1, where T is the given translation, R is a rotation transformation specified by the given quaternion, and S is a scaling transformation which scales all three axes by scale.

      This method is equivalent to calling: translationRotateScale(...).invert()

      Parameters:
      translation - the translation
      quat - the quaternion representing a rotation
      scale - the scaling factors
      Returns:
      this
      See Also:
    • translationRotateScaleMulAffine

      public Matrix4d translationRotateScaleMulAffine(double tx, double ty, double tz, double qx, double qy, double qz, double qw, double sx, double sy, double sz, Matrix4d m)
      Set this matrix to T * R * S * M, where T is a translation by the given (tx, ty, tz), R is a rotation - and possibly scaling - transformation specified by the quaternion (qx, qy, qz, qw), S is a scaling transformation which scales the three axes x, y and z by (sx, sy, sz) and M is an affine matrix.

      When transforming a vector by the resulting matrix the transformation described by M will be applied first, then the scaling, then rotation and at last the translation.

      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.

      This method is equivalent to calling: translation(tx, ty, tz).rotate(quat).scale(sx, sy, sz).mulAffine(m)

      Parameters:
      tx - the number of units by which to translate the x-component
      ty - the number of units by which to translate the y-component
      tz - the number of units by which to translate the z-component
      qx - the x-coordinate of the vector part of the quaternion
      qy - the y-coordinate of the vector part of the quaternion
      qz - the z-coordinate of the vector part of the quaternion
      qw - the scalar part of the quaternion
      sx - the scaling factor for the x-axis
      sy - the scaling factor for the y-axis
      sz - the scaling factor for the z-axis
      m - the affine matrix to multiply by
      Returns:
      this
      See Also:
    • translationRotateScaleMulAffine

      public Matrix4d translationRotateScaleMulAffine(Vector3fc translation, Quaterniondc quat, Vector3fc scale, Matrix4d m)
      Set this matrix to T * R * S * M, where T is the given translation, R is a rotation - and possibly scaling - transformation specified by the given quaternion, S is a scaling transformation which scales the axes by scale and M is an affine matrix.

      When transforming a vector by the resulting matrix the transformation described by M will be applied first, then the scaling, then rotation and at last the translation.

      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.

      This method is equivalent to calling: translation(translation).rotate(quat).scale(scale).mulAffine(m)

      Parameters:
      translation - the translation
      quat - the quaternion representing a rotation
      scale - the scaling factors
      m - the affine matrix to multiply by
      Returns:
      this
      See Also:
    • translationRotate

      public Matrix4d translationRotate(double tx, double ty, double tz, double qx, double qy, double qz, double qw)
      Set this matrix to T * R, where T is a translation by the given (tx, ty, tz) and R is a rotation - and possibly scaling - transformation specified by the quaternion (qx, qy, qz, qw).

      When transforming a vector by the resulting matrix the rotation - and possibly scaling - transformation will be applied first and then the translation.

      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.

      This method is equivalent to calling: translation(tx, ty, tz).rotate(quat)

      Parameters:
      tx - the number of units by which to translate the x-component
      ty - the number of units by which to translate the y-component
      tz - the number of units by which to translate the z-component
      qx - the x-coordinate of the vector part of the quaternion
      qy - the y-coordinate of the vector part of the quaternion
      qz - the z-coordinate of the vector part of the quaternion
      qw - the scalar part of the quaternion
      Returns:
      this
      See Also:
    • translationRotate

      public Matrix4d translationRotate(double tx, double ty, double tz, Quaterniondc quat)
      Set this matrix to T * R, where T is a translation by the given (tx, ty, tz) and R is a rotation - and possibly scaling - transformation specified by the given quaternion.

      When transforming a vector by the resulting matrix the rotation - and possibly scaling - transformation will be applied first and then the translation.

      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.

      This method is equivalent to calling: translation(tx, ty, tz).rotate(quat)

      Parameters:
      tx - the number of units by which to translate the x-component
      ty - the number of units by which to translate the y-component
      tz - the number of units by which to translate the z-component
      quat - the quaternion representing a rotation
      Returns:
      this
      See Also:
    • rotate

      public Matrix4d rotate(Quaterniondc quat, Matrix4d 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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(Quaterniondc).

      Reference: http://en.wikipedia.org

      Specified by:
      rotate in interface Matrix4dc
      Parameters:
      quat - the Quaterniondc
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotate

      public Matrix4d rotate(Quaternionfc quat, Matrix4d 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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(Quaternionfc).

      Reference: http://en.wikipedia.org

      Specified by:
      rotate in interface Matrix4dc
      Parameters:
      quat - the Quaternionfc
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotate

      public Matrix4d rotate(Quaterniondc quat)
      Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(Quaterniondc).

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaterniondc
      Returns:
      this
      See Also:
    • rotate

      public Matrix4d rotate(Quaternionfc quat)
      Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(Quaternionfc).

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaternionfc
      Returns:
      this
      See Also:
    • rotateAffine

      public Matrix4d rotateAffine(Quaterniondc quat, Matrix4d dest)
      Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this affine matrix and store the result in dest.

      This method assumes this to be affine.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(Quaterniondc).

      Reference: http://en.wikipedia.org

      Specified by:
      rotateAffine in interface Matrix4dc
      Parameters:
      quat - the Quaterniondc
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotateAffine

      public Matrix4d rotateAffine(Quaterniondc quat)
      Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix.

      This method assumes this to be affine.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(Quaterniondc).

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaterniondc
      Returns:
      this
      See Also:
    • rotateTranslation

      public Matrix4d rotateTranslation(Quaterniondc quat, Matrix4d dest)
      Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix, which is assumed to only contain a translation, and store the result in dest.

      This method assumes this to only contain a translation.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(Quaterniondc).

      Reference: http://en.wikipedia.org

      Specified by:
      rotateTranslation in interface Matrix4dc
      Parameters:
      quat - the Quaterniondc
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotateTranslation

      public Matrix4d rotateTranslation(Quaternionfc quat, Matrix4d dest)
      Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix, which is assumed to only contain a translation, and store the result in dest.

      This method assumes this to only contain a translation.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(Quaternionfc).

      Reference: http://en.wikipedia.org

      Specified by:
      rotateTranslation in interface Matrix4dc
      Parameters:
      quat - the Quaternionfc
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotateLocal

      public Matrix4d rotateLocal(Quaterniondc quat, Matrix4d 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!

      In order to set the matrix to a rotation transformation without pre-multiplying, use rotation(Quaterniondc).

      Reference: http://en.wikipedia.org

      Specified by:
      rotateLocal in interface Matrix4dc
      Parameters:
      quat - the Quaterniondc
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotateLocal

      public Matrix4d rotateLocal(Quaterniondc quat)
      Pre-multiply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix.

      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!

      In order to set the matrix to a rotation transformation without pre-multiplying, use rotation(Quaterniondc).

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaterniondc
      Returns:
      this
      See Also:
    • rotateAffine

      public Matrix4d rotateAffine(Quaternionfc quat, Matrix4d dest)
      Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this affine matrix and store the result in dest.

      This method assumes this to be affine.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(Quaternionfc).

      Reference: http://en.wikipedia.org

      Specified by:
      rotateAffine in interface Matrix4dc
      Parameters:
      quat - the Quaternionfc
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotateAffine

      public Matrix4d rotateAffine(Quaternionfc quat)
      Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix.

      This method assumes this to be affine.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(Quaternionfc).

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaternionfc
      Returns:
      this
      See Also:
    • rotateLocal

      public Matrix4d rotateLocal(Quaternionfc quat, Matrix4d 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!

      In order to set the matrix to a rotation transformation without pre-multiplying, use rotation(Quaternionfc).

      Reference: http://en.wikipedia.org

      Specified by:
      rotateLocal in interface Matrix4dc
      Parameters:
      quat - the Quaternionfc
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotateLocal

      public Matrix4d rotateLocal(Quaternionfc quat)
      Pre-multiply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix.

      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!

      In order to set the matrix to a rotation transformation without pre-multiplying, use rotation(Quaternionfc).

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaternionfc
      Returns:
      this
      See Also:
    • rotate

      public Matrix4d rotate(AxisAngle4f axisAngle)
      Apply a rotation transformation, rotating about the given AxisAngle4f, to this matrix.

      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 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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(AxisAngle4f).

      Reference: http://en.wikipedia.org

      Parameters:
      axisAngle - the AxisAngle4f (needs to be normalized)
      Returns:
      this
      See Also:
    • rotate

      public Matrix4d rotate(AxisAngle4f axisAngle, Matrix4d dest)
      Apply a rotation transformation, rotating about the given AxisAngle4f 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 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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(AxisAngle4f).

      Reference: http://en.wikipedia.org

      Specified by:
      rotate in interface Matrix4dc
      Parameters:
      axisAngle - the AxisAngle4f (needs to be normalized)
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotate

      public Matrix4d rotate(AxisAngle4d axisAngle)
      Apply a rotation transformation, rotating about the given AxisAngle4d, to this matrix.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(AxisAngle4d).

      Reference: http://en.wikipedia.org

      Parameters:
      axisAngle - the AxisAngle4d (needs to be normalized)
      Returns:
      this
      See Also:
    • rotate

      public Matrix4d rotate(AxisAngle4d axisAngle, Matrix4d 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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(AxisAngle4d).

      Reference: http://en.wikipedia.org

      Specified by:
      rotate in interface Matrix4dc
      Parameters:
      axisAngle - the AxisAngle4d (needs to be normalized)
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotate

      public Matrix4d rotate(double angle, Vector3dc axis)
      Apply a rotation transformation, rotating the given radians about the specified axis, to this matrix.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(double, Vector3dc).

      Reference: http://en.wikipedia.org

      Parameters:
      angle - the angle in radians
      axis - the rotation axis (needs to be normalized)
      Returns:
      this
      See Also:
    • rotate

      public Matrix4d rotate(double angle, Vector3dc axis, Matrix4d 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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(double, Vector3dc).

      Reference: http://en.wikipedia.org

      Specified by:
      rotate in interface Matrix4dc
      Parameters:
      angle - the angle in radians
      axis - the rotation axis (needs to be normalized)
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotate

      public Matrix4d rotate(double angle, Vector3fc axis)
      Apply a rotation transformation, rotating the given radians about the specified axis, to this matrix.

      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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(double, Vector3fc).

      Reference: http://en.wikipedia.org

      Parameters:
      angle - the angle in radians
      axis - the rotation axis (needs to be normalized)
      Returns:
      this
      See Also:
    • rotate

      public Matrix4d rotate(double angle, Vector3fc axis, Matrix4d 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!

      In order to set the matrix to a rotation transformation without post-multiplying, use rotation(double, Vector3fc).

      Reference: http://en.wikipedia.org

      Specified by:
      rotate in interface Matrix4dc
      Parameters:
      angle - the angle in radians
      axis - the rotation axis (needs to be normalized)
      dest - will hold the result
      Returns:
      dest
      See Also:
    • getRow

      public Vector4d getRow(int row, Vector4d dest) throws IndexOutOfBoundsException
      Description copied from interface: Matrix4dc
      Get the row at the given row index, starting with 0.
      Specified by:
      getRow in interface Matrix4dc
      Parameters:
      row - the row index in [0..3]
      dest - will hold the row components
      Returns:
      the passed in destination
      Throws:
      IndexOutOfBoundsException - if row is not in [0..3]
    • getRow

      public Vector3d getRow(int row, Vector3d dest) throws IndexOutOfBoundsException
      Description copied from interface: Matrix4dc
      Get the first three components of the row at the given row index, starting with 0.
      Specified by:
      getRow in interface Matrix4dc
      Parameters:
      row - the row index in [0..3]
      dest - will hold the first three row components
      Returns:
      the passed in destination
      Throws:
      IndexOutOfBoundsException - if row is not in [0..3]
    • setRow

      public Matrix4d setRow(int row, Vector4dc src) throws IndexOutOfBoundsException
      Set the row at the given row index, starting with 0.
      Parameters:
      row - the row index in [0..3]
      src - the row components to set
      Returns:
      this
      Throws:
      IndexOutOfBoundsException - if row is not in [0..3]
    • getColumn

      public Vector4d getColumn(int column, Vector4d dest) throws IndexOutOfBoundsException
      Description copied from interface: Matrix4dc
      Get the column at the given column index, starting with 0.
      Specified by:
      getColumn in interface Matrix4dc
      Parameters:
      column - the column index in [0..3]
      dest - will hold the column components
      Returns:
      the passed in destination
      Throws:
      IndexOutOfBoundsException - if column is not in [0..3]
    • getColumn

      public Vector3d getColumn(int column, Vector3d dest) throws IndexOutOfBoundsException
      Description copied from interface: Matrix4dc
      Get the first three components of the column at the given column index, starting with 0.
      Specified by:
      getColumn in interface Matrix4dc
      Parameters:
      column - the column index in [0..3]
      dest - will hold the first three column components
      Returns:
      the passed in destination
      Throws:
      IndexOutOfBoundsException - if column is not in [0..3]
    • setColumn

      public Matrix4d setColumn(int column, Vector4dc src) throws IndexOutOfBoundsException
      Set the column at the given column index, starting with 0.
      Parameters:
      column - the column index in [0..3]
      src - the column components to set
      Returns:
      this
      Throws:
      IndexOutOfBoundsException - if column is not in [0..3]
    • get

      public double get(int column, int row)
      Description copied from interface: Matrix4dc
      Get the matrix element value at the given column and row.
      Specified by:
      get in interface Matrix4dc
      Parameters:
      column - the colum index in [0..3]
      row - the row index in [0..3]
      Returns:
      the element value
    • set

      public Matrix4d set(int column, int row, double value)
      Set the matrix element at the given column and row to the specified value.
      Parameters:
      column - the colum index in [0..3]
      row - the row index in [0..3]
      value - the value
      Returns:
      this
    • getRowColumn

      public double getRowColumn(int row, int column)
      Description copied from interface: Matrix4dc
      Get the matrix element value at the given row and column.
      Specified by:
      getRowColumn in interface Matrix4dc
      Parameters:
      row - the row index in [0..3]
      column - the colum index in [0..3]
      Returns:
      the element value
    • setRowColumn

      public Matrix4d setRowColumn(int row, int column, double value)
      Set the matrix element at the given row and column to the specified value.
      Parameters:
      row - the row index in [0..3]
      column - the colum index in [0..3]
      value - the value
      Returns:
      this
    • normal

      public Matrix4d normal()
      Compute a normal matrix from the upper left 3x3 submatrix of this and store it into the upper left 3x3 submatrix of this. All other values of this will be set to identity.

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

      Please note that, if this is an orthogonal matrix or a matrix whose columns are orthogonal vectors, then this method need not be invoked, since in that case this itself is its normal matrix. In that case, use set3x3(Matrix4dc) to set a given Matrix4f to only the upper left 3x3 submatrix of this matrix.

      Returns:
      this
      See Also:
    • normal

      public Matrix4d normal(Matrix4d dest)
      Compute a normal matrix from the upper left 3x3 submatrix of this and store it into the upper left 3x3 submatrix of dest. All other values of dest will be set to identity.

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

      Please note that, if this is an orthogonal matrix or a matrix whose columns are orthogonal vectors, then this method need not be invoked, since in that case this itself is its normal matrix. In that case, use set3x3(Matrix4dc) to set a given Matrix4d to only the upper left 3x3 submatrix of a given matrix.

      Specified by:
      normal in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
      See Also:
    • normal

      public Matrix3d normal(Matrix3d dest)
      Compute a normal matrix from the upper left 3x3 submatrix of this and store it into dest.

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

      Please note that, if this is an orthogonal matrix or a matrix whose columns are orthogonal vectors, then this method need not be invoked, since in that case this itself is its normal matrix. In that case, use Matrix3d.set(Matrix4dc) to set a given Matrix3d to only the upper left 3x3 submatrix of this matrix.

      Specified by:
      normal in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
      See Also:
    • cofactor3x3

      public Matrix4d cofactor3x3()
      Compute the cofactor matrix of the upper left 3x3 submatrix of this.

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

      Returns:
      this
    • cofactor3x3

      public Matrix3d cofactor3x3(Matrix3d dest)
      Compute the cofactor matrix of the upper left 3x3 submatrix 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.

      Specified by:
      cofactor3x3 in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • cofactor3x3

      public Matrix4d cofactor3x3(Matrix4d dest)
      Compute the cofactor matrix of the upper left 3x3 submatrix of this and store it into dest. All other values of dest will be set to identity.

      The cofactor matrix can be used instead of normal(Matrix4d) to transform normals when the orientation of the normals with respect to the surface should be preserved.

      Specified by:
      cofactor3x3 in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • normalize3x3

      public Matrix4d normalize3x3()
      Normalize the upper left 3x3 submatrix of this matrix.

      The resulting matrix will map unit vectors to unit vectors, though a pair of orthogonal input unit vectors need not be mapped to a pair of orthogonal output vectors if the original matrix was not orthogonal itself (i.e. had skewing).

      Returns:
      this
    • normalize3x3

      public Matrix4d normalize3x3(Matrix4d dest)
      Description copied from interface: Matrix4dc
      Normalize the upper left 3x3 submatrix of this matrix and store the result in dest.

      The resulting matrix will map unit vectors to unit vectors, though a pair of orthogonal input unit vectors need not be mapped to a pair of orthogonal output vectors if the original matrix was not orthogonal itself (i.e. had skewing).

      Specified by:
      normalize3x3 in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • normalize3x3

      public Matrix3d normalize3x3(Matrix3d dest)
      Description copied from interface: Matrix4dc
      Normalize the upper left 3x3 submatrix of this matrix and store the result in dest.

      The resulting matrix will map unit vectors to unit vectors, though a pair of orthogonal input unit vectors need not be mapped to a pair of orthogonal output vectors if the original matrix was not orthogonal itself (i.e. had skewing).

      Specified by:
      normalize3x3 in interface Matrix4dc
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • unproject

      public Vector4d unproject(double winX, double winY, double winZ, int[] viewport, Vector4d dest)
      Description copied from interface: Matrix4dc
      Unproject the given window coordinates (winX, winY, winZ) by this matrix using the specified viewport.

      This method first converts the given window coordinates to normalized device coordinates in the range [-1..1] and then transforms those NDC coordinates by the inverse of this matrix.

      The depth range of winZ is assumed to be [0..1], which is also the OpenGL default.

      As a necessary computation step for unprojecting, this method computes the inverse of this matrix. In order to avoid computing the matrix inverse with every invocation, the inverse of this matrix can be built once outside using Matrix4dc.invert(Matrix4d) and then the method unprojectInv() can be invoked on it.

      Specified by:
      unproject in interface Matrix4dc
      Parameters:
      winX - the x-coordinate in window coordinates (pixels)
      winY - the y-coordinate in window coordinates (pixels)
      winZ - the z-coordinate, which is the depth value in [0..1]
      viewport - the viewport described by [x, y, width, height]
      dest - will hold the unprojected position
      Returns:
      dest
      See Also:
    • unproject

      public Vector3d unproject(double winX, double winY, double winZ, int[] viewport, Vector3d dest)
      Description copied from interface: Matrix4dc
      Unproject the given window coordinates (winX, winY, winZ) by this matrix using the specified viewport.

      This method first converts the given window coordinates to normalized device coordinates in the range [-1..1] and then transforms those NDC coordinates by the inverse of this matrix.

      The depth range of winZ is assumed to be [0..1], which is also the OpenGL default.

      As a necessary computation step for unprojecting, this method computes the inverse of this matrix. In order to avoid computing the matrix inverse with every invocation, the inverse of this matrix can be built once outside using Matrix4dc.invert(Matrix4d) and then the method unprojectInv() can be invoked on it.

      Specified by:
      unproject in interface Matrix4dc
      Parameters:
      winX - the x-coordinate in window coordinates (pixels)
      winY - the y-coordinate in window coordinates (pixels)
      winZ - the z-coordinate, which is the depth value in [0..1]
      viewport - the viewport described by [x, y, width, height]
      dest - will hold the unprojected position
      Returns:
      dest
      See Also:
    • unproject

      public Vector4d unproject(Vector3dc winCoords, int[] viewport, Vector4d dest)
      Description copied from interface: Matrix4dc
      Unproject the given window coordinates winCoords by this matrix using the specified viewport.

      This method first converts the given window coordinates to normalized device coordinates in the range [-1..1] and then transforms those NDC coordinates by the inverse of this matrix.

      The depth range of winCoords.z is assumed to be [0..1], which is also the OpenGL default.

      As a necessary computation step for unprojecting, this method computes the inverse of this matrix. In order to avoid computing the matrix inverse with every invocation, the inverse of this matrix can be built once outside using Matrix4dc.invert(Matrix4d) and then the method unprojectInv() can be invoked on it.

      Specified by:
      unproject in interface Matrix4dc
      Parameters:
      winCoords - the window coordinates to unproject
      viewport - the viewport described by [x, y, width, height]
      dest - will hold the unprojected position
      Returns:
      dest
      See Also:
    • unproject

      public Vector3d unproject(Vector3dc winCoords, int[] viewport, Vector3d dest)
      Description copied from interface: Matrix4dc
      Unproject the given window coordinates winCoords by this matrix using the specified viewport.

      This method first converts the given window coordinates to normalized device coordinates in the range [-1..1] and then transforms those NDC coordinates by the inverse of this matrix.

      The depth range of winCoords.z is assumed to be [0..1], which is also the OpenGL default.

      As a necessary computation step for unprojecting, this method computes the inverse of this matrix. In order to avoid computing the matrix inverse with every invocation, the inverse of this matrix can be built once outside using Matrix4dc.invert(Matrix4d) and then the method unprojectInv() can be invoked on it.

      Specified by:
      unproject in interface Matrix4dc
      Parameters:
      winCoords - the window coordinates to unproject
      viewport - the viewport described by [x, y, width, height]
      dest - will hold the unprojected position
      Returns:
      dest
      See Also:
    • unprojectRay

      public Matrix4d unprojectRay(double winX, double winY, int[] viewport, Vector3d originDest, Vector3d dirDest)
      Description copied from interface: Matrix4dc
      Unproject the given 2D window coordinates (winX, winY) by this matrix using the specified viewport and compute the origin and the direction of the resulting ray which starts at NDC z = -1.0 and goes through NDC z = +1.0.

      This method first converts the given window coordinates to normalized device coordinates in the range [-1..1] and then transforms those NDC coordinates by the inverse of this matrix.

      As a necessary computation step for unprojecting, this method computes the inverse of this matrix. In order to avoid computing the matrix inverse with every invocation, the inverse of this matrix can be built once outside using Matrix4dc.invert(Matrix4d) and then the method unprojectInvRay() can be invoked on it.

      Specified by:
      unprojectRay in interface Matrix4dc
      Parameters:
      winX - the x-coordinate in window coordinates (pixels)
      winY - the y-coordinate in window coordinates (pixels)
      viewport - the viewport described by [x, y, width, height]
      originDest - will hold the ray origin
      dirDest - will hold the (unnormalized) ray direction
      Returns:
      this
      See Also:
    • unprojectRay

      public Matrix4d unprojectRay(Vector2dc winCoords, int[] viewport, Vector3d originDest, Vector3d dirDest)
      Description copied from interface: Matrix4dc
      Unproject the given 2D window coordinates winCoords by this matrix using the specified viewport and compute the origin and the direction of the resulting ray which starts at NDC z = -1.0 and goes through NDC z = +1.0.

      This method first converts the given window coordinates to normalized device coordinates in the range [-1..1] and then transforms those NDC coordinates by the inverse of this matrix.

      As a necessary computation step for unprojecting, this method computes the inverse of this matrix. In order to avoid computing the matrix inverse with every invocation, the inverse of this matrix can be built once outside using Matrix4dc.invert(Matrix4d) and then the method unprojectInvRay() can be invoked on it.

      Specified by:
      unprojectRay in interface Matrix4dc
      Parameters:
      winCoords - the window coordinates to unproject
      viewport - the viewport described by [x, y, width, height]
      originDest - will hold the ray origin
      dirDest - will hold the (unnormalized) ray direction
      Returns:
      this
      See Also:
    • unprojectInv

      public Vector4d unprojectInv(Vector3dc winCoords, int[] viewport, Vector4d dest)
      Description copied from interface: Matrix4dc
      Unproject the given window coordinates winCoords by this matrix using the specified viewport.

      This method differs from unproject() in that it assumes that this is already the inverse matrix of the original projection matrix. It exists to avoid recomputing the matrix inverse with every invocation.

      This method first converts the given window coordinates to normalized device coordinates in the range [-1..1] and then transforms those NDC coordinates by this matrix.

      The depth range of winCoords.z is assumed to be [0..1], which is also the OpenGL default.

      Specified by:
      unprojectInv in interface Matrix4dc
      Parameters:
      winCoords - the window coordinates to unproject
      viewport - the viewport described by [x, y, width, height]
      dest - will hold the unprojected position
      Returns:
      dest
      See Also:
    • unprojectInv

      public Vector4d unprojectInv(double winX, double winY, double winZ, int[] viewport, Vector4d dest)
      Description copied from interface: Matrix4dc
      Unproject the given window coordinates (winX, winY, winZ) by this matrix using the specified viewport.

      This method differs from unproject() in that it assumes that this is already the inverse matrix of the original projection matrix. It exists to avoid recomputing the matrix inverse with every invocation.

      This method first converts the given window coordinates to normalized device coordinates in the range [-1..1] and then transforms those NDC coordinates by this matrix.

      The depth range of winZ is assumed to be [0..1], which is also the OpenGL default.

      Specified by:
      unprojectInv in interface Matrix4dc
      Parameters:
      winX - the x-coordinate in window coordinates (pixels)
      winY - the y-coordinate in window coordinates (pixels)
      winZ - the z-coordinate, which is the depth value in [0..1]
      viewport - the viewport described by [x, y, width, height]
      dest - will hold the unprojected position
      Returns:
      dest
      See Also:
    • unprojectInv

      public Vector3d unprojectInv(Vector3dc winCoords, int[] viewport, Vector3d dest)
      Description copied from interface: Matrix4dc
      Unproject the given window coordinates winCoords by this matrix using the specified viewport.

      This method differs from unproject() in that it assumes that this is already the inverse matrix of the original projection matrix. It exists to avoid recomputing the matrix inverse with every invocation.

      This method first converts the given window coordinates to normalized device coordinates in the range [-1..1] and then transforms those NDC coordinates by this matrix.

      The depth range of winCoords.z is assumed to be [0..1], which is also the OpenGL default.

      Specified by:
      unprojectInv in interface Matrix4dc
      Parameters:
      winCoords - the window coordinates to unproject
      viewport - the viewport described by [x, y, width, height]
      dest - will hold the unprojected position
      Returns:
      dest
      See Also:
    • unprojectInv

      public Vector3d unprojectInv(double winX, double winY, double winZ, int[] viewport, Vector3d dest)
      Description copied from interface: Matrix4dc
      Unproject the given window coordinates (winX, winY, winZ) by this matrix using the specified viewport.

      This method differs from unproject() in that it assumes that this is already the inverse matrix of the original projection matrix. It exists to avoid recomputing the matrix inverse with every invocation.

      This method first converts the given window coordinates to normalized device coordinates in the range [-1..1] and then transforms those NDC coordinates by this matrix.

      The depth range of winZ is assumed to be [0..1], which is also the OpenGL default.

      Specified by:
      unprojectInv in interface Matrix4dc
      Parameters:
      winX - the x-coordinate in window coordinates (pixels)
      winY - the y-coordinate in window coordinates (pixels)
      winZ - the z-coordinate, which is the depth value in [0..1]
      viewport - the viewport described by [x, y, width, height]
      dest - will hold the unprojected position
      Returns:
      dest
      See Also:
    • unprojectInvRay

      public Matrix4d unprojectInvRay(Vector2dc winCoords, int[] viewport, Vector3d originDest, Vector3d dirDest)
      Description copied from interface: Matrix4dc
      Unproject the given window coordinates winCoords by this matrix using the specified viewport and compute the origin and the direction of the resulting ray which starts at NDC z = -1.0 and goes through NDC z = +1.0.

      This method differs from unprojectRay() in that it assumes that this is already the inverse matrix of the original projection matrix. It exists to avoid recomputing the matrix inverse with every invocation.

      Specified by:
      unprojectInvRay in interface Matrix4dc
      Parameters:
      winCoords - the window coordinates to unproject
      viewport - the viewport described by [x, y, width, height]
      originDest - will hold the ray origin
      dirDest - will hold the (unnormalized) ray direction
      Returns:
      this
      See Also:
    • unprojectInvRay