Package org.joml

Interface Matrix4x3dc

All Known Implementing Classes:
Matrix4x3d, Matrix4x3dStack

public interface Matrix4x3dc
Interface to a read-only view of a 4x3 matrix of double-precision floats.
Author:
Kai Burjack
  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    Argument to the first parameter of frustumPlane(int, Vector4d) identifying the plane with equation x=-1 when using the identity matrix.
    static final int
    Argument to the first parameter of frustumPlane(int, Vector4d) identifying the plane with equation y=-1 when using the identity matrix.
    static final int
    Argument to the first parameter of frustumPlane(int, Vector4d) identifying the plane with equation z=-1 when using the identity matrix.
    static final int
    Argument to the first parameter of frustumPlane(int, Vector4d) identifying the plane with equation x=1 when using the identity matrix.
    static final int
    Argument to the first parameter of frustumPlane(int, Vector4d) identifying the plane with equation y=1 when using the identity matrix.
    static final int
    Argument to the first parameter of frustumPlane(int, Vector4d) identifying the plane with equation z=1 when using the identity matrix.
    static final byte
    Bit returned by properties() to indicate that the matrix represents the identity transformation.
    static final byte
    Bit returned by properties() to indicate that the left 3x3 submatrix represents an orthogonal matrix (i.e. orthonormal basis).
    static final byte
    Bit returned by properties() to indicate that the matrix represents a pure translation transformation.
  • Method Summary

    Modifier and Type
    Method
    Description
    add(Matrix4x3dc other, Matrix4x3d dest)
    Component-wise add this and other and store the result in dest.
    add(Matrix4x3fc other, Matrix4x3d dest)
    Component-wise add this and other and store the result in dest.
    arcball(double radius, double centerX, double centerY, double centerZ, double angleX, double angleY, Matrix4x3d 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, Matrix4x3d 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.
    Compute the cofactor matrix of the left 3x3 submatrix of this and store it into dest.
    Compute the cofactor matrix of the left 3x3 submatrix of this and store it into dest.
    double
    Return the determinant of this matrix.
    boolean
    equals(Matrix4x3dc 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.
    fma(Matrix4x3dc other, double otherFactor, Matrix4x3d dest)
    Component-wise add this and other by first multiplying each component of other by otherFactor, adding that to this and storing the final result in dest.
    fma(Matrix4x3fc other, double otherFactor, Matrix4x3d dest)
    Component-wise add this and other by first multiplying each component of other by otherFactor, adding that to this and storing the final result in dest.
    frustumPlane(int which, 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.
    double[]
    get(double[] arr)
    Store this matrix into the supplied double array in column-major order.
    double[]
    get(double[] arr, int offset)
    Store this matrix into the supplied double array in column-major order at the given offset.
    float[]
    get(float[] arr)
    Store the elements of this matrix as float values in column-major order into the supplied float array.
    float[]
    get(float[] arr, int offset)
    Store the elements of this matrix as float values in column-major order into the supplied float array at the given offset.
    get(int index, ByteBuffer buffer)
    Store this matrix in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
    get(int index, DoubleBuffer buffer)
    Store this matrix in column-major order into the supplied DoubleBuffer starting at the specified absolute buffer position/index.
    get(int index, FloatBuffer buffer)
    Store this matrix in column-major order into the supplied FloatBuffer starting at the specified absolute buffer position/index.
    get(ByteBuffer buffer)
    Store this matrix in column-major order into the supplied ByteBuffer at the current buffer position.
    get(DoubleBuffer buffer)
    Store this matrix in column-major order into the supplied DoubleBuffer at the current buffer position.
    get(FloatBuffer buffer)
    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 the upper 4x3 submatrix of dest.
    Get the current values of this matrix and store them into dest.
    double[]
    get4x4(double[] arr)
    Store a 4x4 matrix in column-major order into the supplied array, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
    double[]
    get4x4(double[] arr, int offset)
    Store a 4x4 matrix in column-major order into the supplied array at the given offset, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
    float[]
    get4x4(float[] arr)
    Store a 4x4 matrix in column-major order into the supplied array, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
    float[]
    get4x4(float[] arr, int offset)
    Store a 4x4 matrix in column-major order into the supplied array at the given offset, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
    get4x4(int index, ByteBuffer buffer)
    Store a 4x4 matrix in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
    get4x4(int index, DoubleBuffer buffer)
    Store a 4x4 matrix in column-major order into the supplied DoubleBuffer starting at the specified absolute buffer position/index, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
    Store a 4x4 matrix in column-major order into the supplied ByteBuffer at the current buffer position, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
    Store a 4x4 matrix in column-major order into the supplied DoubleBuffer at the current buffer position, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
    getColumn(int column, Vector3d dest)
    Get the column at the given column index, starting with 0.
    Extract the Euler angles from the rotation represented by the left 3x3 submatrix of this and store the extracted Euler angles in dest.
    getFloats(int index, ByteBuffer buffer)
    Store the elements of this matrix as float values in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
    Store the elements of this matrix as float values in column-major order into the supplied ByteBuffer at the current buffer position.
    Get the current values of this matrix and store the represented rotation into the given Quaterniond.
    Get the current values of this matrix and store the represented rotation into the given Quaternionf.
    getRow(int row, Vector4d dest)
    Get the row at the given row index, starting with 0.
    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.
    double[]
    getTransposed(double[] arr)
    Store this matrix into the supplied float array in row-major order.
    double[]
    getTransposed(double[] arr, int offset)
    Store this matrix into the supplied float array in row-major order at the given offset.
    getTransposed(int index, ByteBuffer buffer)
    Store this matrix in row-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
    getTransposed(int index, DoubleBuffer buffer)
    Store this matrix in row-major order into the supplied DoubleBuffer starting at the specified absolute buffer position/index.
    getTransposed(int index, FloatBuffer buffer)
    Store this matrix in row-major order into the supplied FloatBuffer starting at the specified absolute buffer position/index.
    Store this matrix in row-major order into the supplied ByteBuffer at the current buffer position.
    Store this matrix in row-major order into the supplied DoubleBuffer at the current buffer position.
    Store this matrix in row-major order into the supplied FloatBuffer at the current buffer position.
    getTransposedFloats(int index, ByteBuffer buffer)
    Store this matrix in row-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.
    Store this matrix as float values in row-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.
    Invert this matrix and store the result in dest.
    Invert this orthographic projection matrix and store the result into the given dest.
    boolean
    Determine whether all matrix elements are finite floating-point values, that is, they are not NaN and not infinity.
    lerp(Matrix4x3dc other, double t, Matrix4x3d 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, Matrix4x3d dest)
    Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.
    Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.
    lookAt(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ, Matrix4x3d 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, Matrix4x3d 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, Matrix4x3d 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.
    lookAtLH(Vector3dc eye, Vector3dc center, Vector3dc up, Matrix4x3d 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.
    double
    m01()
    Return the value of the matrix element at column 0 and row 1.
    double
    m02()
    Return the value of the matrix element at column 0 and row 2.
    double
    m10()
    Return the value of the matrix element at column 1 and row 0.
    double
    m11()
    Return the value of the matrix element at column 1 and row 1.
    double
    m12()
    Return the value of the matrix element at column 1 and row 2.
    double
    m20()
    Return the value of the matrix element at column 2 and row 0.
    double
    m21()
    Return the value of the matrix element at column 2 and row 1.
    double
    m22()
    Return the value of the matrix element at column 2 and row 2.
    double
    m30()
    Return 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.
    double
    m32()
    Return the value of the matrix element at column 3 and row 2.
    mul(Matrix4x3dc right, Matrix4x3d dest)
    Multiply this matrix by the supplied right matrix and store the result in dest.
    mul(Matrix4x3fc right, Matrix4x3d dest)
    Multiply this matrix by the supplied right matrix and store the result in dest.
    Component-wise multiply this by other and store the result in dest.
    Multiply this orthographic 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 and store the result in dest.
    Multiply this matrix, which is assumed to only contain a translation, by the supplied right matrix and store the result in dest.
    Compute a normal matrix from the left 3x3 submatrix of this and store it into dest.
    Compute a normal matrix from the left 3x3 submatrix of this and store it into the left 3x3 submatrix of dest.
    Normalize the left 3x3 submatrix of this matrix and store the result in dest.
    Normalize the 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, Matrix4x3d dest)
    Apply an oblique projection transformation to this matrix with the given values for a and b and store the result in dest.
    origin(Vector3d origin)
    Obtain the position that gets transformed to the origin by this matrix.
    ortho(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne, Matrix4x3d 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, Matrix4x3d 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, Matrix4x3d 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, Matrix4x3d dest)
    Apply an orthographic projection transformation for a left-handed coordinate system to this matrix and store the result in dest.
    orthoLH(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne, Matrix4x3d 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, Matrix4x3d 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, boolean zZeroToOne, Matrix4x3d 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, Matrix4x3d 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, boolean zZeroToOne, Matrix4x3d 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, Matrix4x3d 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.
    pick(double x, double y, double width, double height, int[] viewport, Matrix4x3d 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.
    int
     
    reflect(double nx, double ny, double nz, double px, double py, double pz, Matrix4x3d 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, Matrix4x3d 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, Matrix4x3d 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, Matrix4x3d 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.
    rotate(double ang, double x, double y, double z, Matrix4x3d 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, Matrix4x3d dest)
    Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.
    rotate(double angle, Vector3fc axis, Matrix4x3d dest)
    Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.
    rotate(AxisAngle4d axisAngle, Matrix4x3d dest)
    Apply a rotation transformation, rotating about the given AxisAngle4d and store the result in dest.
    rotate(AxisAngle4f axisAngle, Matrix4x3d dest)
    Apply a rotation transformation, rotating about the given AxisAngle4f and store the result in dest.
    Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix and store the result in dest.
    Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.
    rotateAround(Quaterniondc quat, double ox, double oy, double oz, Matrix4x3d 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.
    rotateLocal(double ang, double x, double y, double z, Matrix4x3d dest)
    Pre-multiply a rotation to this matrix by rotating the given amount of radians about the specified (x, y, z) axis and store the result in dest.
    Pre-multiply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix and store the result in dest.
    Pre-multiply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.
    rotateTowards(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix4x3d dest)
    Apply a model transformation to this matrix for a right-handed coordinate system, that aligns the -z axis with (dirX, dirY, dirZ) and store the result in dest.
    Apply a model transformation to this matrix for a right-handed coordinate system, that aligns the -z axis with dir and store the result in dest.
    rotateTranslation(double ang, double x, double y, double z, Matrix4x3d 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, Matrix4x3d 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, Matrix4x3d dest)
    Apply rotation of angleX radians about the X axis, followed by a rotation of angleY radians about the Y axis and followed by a rotation of angleZ radians about the Z axis and store the result in dest.
    rotateY(double ang, Matrix4x3d 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, Matrix4x3d dest)
    Apply rotation of angleY radians about the Y axis, followed by a rotation of angleX radians about the X axis and followed by a rotation of angleZ radians about the Z axis and store the result in dest.
    rotateZ(double ang, Matrix4x3d 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, Matrix4x3d dest)
    Apply rotation of angleZ radians about the Z axis, followed by a rotation of angleY radians about the Y axis and followed by a rotation of angleX radians about the X axis and store the result in dest.
    scale(double x, double y, double z, Matrix4x3d 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, Matrix4x3d 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 and store the result in dest.
    scaleAround(double sx, double sy, double sz, double ox, double oy, double oz, Matrix4x3d 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, Matrix4x3d 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.
    scaleLocal(double x, double y, double z, Matrix4x3d 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.
    scaleXY(double x, double y, Matrix4x3d 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.
    shadow(double lightX, double lightY, double lightZ, double lightW, double a, double b, double c, double d, Matrix4x3d 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, Matrix4x3dc planeTransform, Matrix4x3d 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, Matrix4x3d 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, Matrix4x3dc planeTransform, Matrix4x3d 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.
    sub(Matrix4x3dc subtrahend, Matrix4x3d dest)
    Component-wise subtract subtrahend from this and store the result in dest.
    sub(Matrix4x3fc subtrahend, Matrix4x3d dest)
    Component-wise subtract subtrahend from this 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 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 matrix and compute the axis-aligned box of the result whose minimum corner is stored in outMin and maximum corner stored in outMax.
    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=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.
    translate(double x, double y, double z, Matrix4x3d 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 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 and store the result in dest.
    translateLocal(double x, double y, double z, Matrix4x3d 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 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 and store the result in dest.
    Transpose only the left 3x3 submatrix of this matrix and store the result in dest.
    Transpose only the left 3x3 submatrix of this matrix and store the result in dest.
  • Field Details

  • Method Details

    • properties

      int properties()
      Returns:
      the properties of the matrix
    • m00

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

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

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

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

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

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

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

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

      double m22()
      Return the value of the matrix element at column 2 and row 2.
      Returns:
      the value of the matrix element
    • m30

      double m30()
      Return the value of the matrix element at column 3 and row 0.
      Returns:
      the value of the matrix element
    • m31

      double m31()
      Return the value of the matrix element at column 3 and row 1.
      Returns:
      the value of the matrix element
    • m32

      double m32()
      Return the value of the matrix element at column 3 and row 2.
      Returns:
      the value of the matrix element
    • get

      Matrix4d get(Matrix4d dest)
      Get the current values of this matrix and store them into the upper 4x3 submatrix of dest.

      The other elements of dest will not be modified.

      Parameters:
      dest - the destination matrix
      Returns:
      dest
      See Also:
    • mul

      Matrix4x3d mul(Matrix4x3dc right, Matrix4x3d dest)
      Multiply this matrix by the supplied right matrix and store the result in dest.

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

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

      Matrix4x3d mul(Matrix4x3fc right, Matrix4x3d dest)
      Multiply this matrix by the supplied right matrix and store the result in dest.

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

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

      Matrix4x3d mulTranslation(Matrix4x3dc right, Matrix4x3d dest)
      Multiply this matrix, which is assumed to only contain a translation, by the supplied right matrix and store the result in dest.

      This method assumes that this matrix only contains a translation.

      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
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mulTranslation

      Matrix4x3d mulTranslation(Matrix4x3fc right, Matrix4x3d dest)
      Multiply this matrix, which is assumed to only contain a translation, by the supplied right matrix and store the result in dest.

      This method assumes that this matrix only contains a translation.

      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
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • mulOrtho

      Matrix4x3d mulOrtho(Matrix4x3dc view, Matrix4x3d dest)
      Multiply this orthographic projection matrix by the supplied 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!

      Parameters:
      view - the matrix which to multiply this with
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • fma

      Matrix4x3d fma(Matrix4x3dc other, double otherFactor, Matrix4x3d dest)
      Component-wise add this and other by first multiplying each component of other 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.

      Parameters:
      other - the other matrix
      otherFactor - the factor to multiply each of the other matrix's components
      dest - will hold the result
      Returns:
      dest
    • fma

      Matrix4x3d fma(Matrix4x3fc other, double otherFactor, Matrix4x3d dest)
      Component-wise add this and other by first multiplying each component of other 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.

      Parameters:
      other - the other matrix
      otherFactor - the factor to multiply each of the other matrix's components
      dest - will hold the result
      Returns:
      dest
    • add

      Matrix4x3d add(Matrix4x3dc other, Matrix4x3d dest)
      Component-wise add this and other and store the result in dest.
      Parameters:
      other - the other addend
      dest - will hold the result
      Returns:
      dest
    • add

      Matrix4x3d add(Matrix4x3fc other, Matrix4x3d dest)
      Component-wise add this and other and store the result in dest.
      Parameters:
      other - the other addend
      dest - will hold the result
      Returns:
      dest
    • sub

      Matrix4x3d sub(Matrix4x3dc subtrahend, Matrix4x3d dest)
      Component-wise subtract subtrahend from this and store the result in dest.
      Parameters:
      subtrahend - the subtrahend
      dest - will hold the result
      Returns:
      dest
    • sub

      Matrix4x3d sub(Matrix4x3fc subtrahend, Matrix4x3d dest)
      Component-wise subtract subtrahend from this and store the result in dest.
      Parameters:
      subtrahend - the subtrahend
      dest - will hold the result
      Returns:
      dest
    • mulComponentWise

      Matrix4x3d mulComponentWise(Matrix4x3dc other, Matrix4x3d dest)
      Component-wise multiply this by other and store the result in dest.
      Parameters:
      other - the other matrix
      dest - will hold the result
      Returns:
      dest
    • determinant

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

      Matrix4x3d invert(Matrix4x3d dest)
      Invert this matrix and store the result in dest.
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • invertOrtho

      Matrix4x3d invertOrtho(Matrix4x3d dest)
      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.

      Parameters:
      dest - will hold the inverse of this
      Returns:
      dest
    • transpose3x3

      Matrix4x3d transpose3x3(Matrix4x3d dest)
      Transpose only the left 3x3 submatrix of this matrix and store the result in dest.

      All other matrix elements are left unchanged.

      Parameters:
      dest - will hold the result
      Returns:
      dest
    • transpose3x3

      Matrix3d transpose3x3(Matrix3d dest)
      Transpose only the left 3x3 submatrix of this matrix and store the result in dest.
      Parameters:
      dest - will hold the result
      Returns:
      dest
    • getTranslation

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

      Vector3d getScale(Vector3d dest)
      Get the scaling factors of this matrix for the three base axes.
      Parameters:
      dest - will hold the scaling factors for x, y and z
      Returns:
      dest
    • get

      Get the current values of this matrix and store them into dest.
      Parameters:
      dest - the destination matrix
      Returns:
      the passed in destination
    • getUnnormalizedRotation

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

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

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

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

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

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

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

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

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

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

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

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

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

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

      DoubleBuffer get(int index, DoubleBuffer buffer)
      Store this matrix 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.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

      ByteBuffer getFloats(int index, ByteBuffer buffer)
      Store the elements of this matrix as float values in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index.

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

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

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

      Matrix4x3dc getToAddress(long address)
      Store this matrix in column-major order at the given off-heap address.

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

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

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

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

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

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

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

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

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

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

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

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

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

      Parameters:
      arr - the array to write the matrix values into
      Returns:
      the passed in array
      See Also:
    • get4x4

      double[] get4x4(double[] arr, int offset)
      Store a 4x4 matrix in column-major order into the supplied array at the given offset, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
      Parameters:
      arr - the array to write the matrix values into
      offset - the offset into the array
      Returns:
      the passed in array
    • get4x4

      double[] get4x4(double[] arr)
      Store a 4x4 matrix in column-major order into the supplied array, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).

      In order to specify an explicit offset into the array, use the method get4x4(double[], int).

      Parameters:
      arr - the array to write the matrix values into
      Returns:
      the passed in array
      See Also:
    • get4x4

      float[] get4x4(float[] arr, int offset)
      Store a 4x4 matrix in column-major order into the supplied array at the given offset, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).

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

      Parameters:
      arr - the array to write the matrix values into
      offset - the offset into the array
      Returns:
      the passed in array
    • get4x4

      float[] get4x4(float[] arr)
      Store a 4x4 matrix in column-major order into the supplied array, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).

      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 get4x4(float[], int).

      Parameters:
      arr - the array to write the matrix values into
      Returns:
      the passed in array
      See Also:
    • get4x4

      DoubleBuffer get4x4(DoubleBuffer buffer)
      Store a 4x4 matrix in column-major order into the supplied DoubleBuffer at the current buffer position, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).

      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 get4x4(int, DoubleBuffer), taking the absolute position as parameter.

      Parameters:
      buffer - will receive the values of this matrix in column-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • get4x4

      DoubleBuffer get4x4(int index, DoubleBuffer buffer)
      Store a 4x4 matrix in column-major order into the supplied DoubleBuffer starting at the specified absolute buffer position/index, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).

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

      Parameters:
      index - the absolute position into the DoubleBuffer
      buffer - will receive the values of this matrix in column-major order
      Returns:
      the passed in buffer
    • get4x4

      ByteBuffer get4x4(ByteBuffer buffer)
      Store a 4x4 matrix in column-major order into the supplied ByteBuffer at the current buffer position, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).

      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 get4x4(int, ByteBuffer), taking the absolute position as parameter.

      Parameters:
      buffer - will receive the values of this matrix in column-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • get4x4

      ByteBuffer get4x4(int index, ByteBuffer buffer)
      Store a 4x4 matrix in column-major order into the supplied ByteBuffer starting at the specified absolute buffer position/index, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).

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

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

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

      Parameters:
      buffer - will receive the values of this matrix in row-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • getTransposed

      DoubleBuffer getTransposed(int index, DoubleBuffer buffer)
      Store 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.

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

      ByteBuffer getTransposed(ByteBuffer buffer)
      Store 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 getTransposed(int, ByteBuffer), taking the absolute position as parameter.

      Parameters:
      buffer - will receive the values of this matrix in row-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • getTransposed

      ByteBuffer getTransposed(int index, ByteBuffer buffer)
      Store 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.

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

      FloatBuffer getTransposed(FloatBuffer buffer)
      Store this matrix in row-major order into the supplied FloatBuffer at the current buffer position.

      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.

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

      Parameters:
      buffer - will receive the values of this matrix in row-major order at its current position
      Returns:
      the passed in buffer
      See Also:
    • getTransposed

      FloatBuffer getTransposed(int index, FloatBuffer buffer)
      Store this matrix in row-major order into the supplied FloatBuffer starting at the specified absolute buffer position/index.

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

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

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

      ByteBuffer getTransposedFloats(ByteBuffer buffer)
      Store this matrix as float values in row-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 FloatBuffer.

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

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

      ByteBuffer getTransposedFloats(int index, ByteBuffer buffer)
      Store 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.

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

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

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

      double[] getTransposed(double[] arr)
      Store this matrix into the supplied float array in row-major order.

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

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

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

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

      Vector3d transformPosition(Vector3d v)
      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.

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

      Parameters:
      v - the vector to transform and to hold the final result
      Returns:
      v
      See Also:
    • transformPosition

      Vector3d transformPosition(Vector3dc v, Vector3d 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 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.

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

      Parameters:
      v - the vector to transform
      dest - will hold the result
      Returns:
      dest
      See Also:
    • transformDirection

      Vector3d transformDirection(Vector3d v)
      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 transformDirection(Vector3dc, Vector3d).

      Parameters:
      v - the vector to transform and to hold the final result
      Returns:
      v
    • transformDirection

      Vector3d transformDirection(Vector3dc v, Vector3d 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 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 transformDirection(Vector3d).

      Parameters:
      v - the vector to transform and to hold the final result
      dest - will hold the result
      Returns:
      dest
    • scale

      Matrix4x3d scale(Vector3dc xyz, Matrix4x3d dest)
      Apply scaling to this matrix by scaling the base axes by the given xyz.x, xyz.y and xyz.z factors, respectively and store the result in dest.

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

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

      Matrix4x3d scale(double x, double y, double z, Matrix4x3d dest)
      Apply scaling to this matrix by scaling the base axes by the given x, y and z factors and store the result in dest.

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

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

      Matrix4x3d scale(double xyz, Matrix4x3d dest)
      Apply scaling to this matrix by uniformly scaling all base axes by the given xyz factor and store the result in dest.

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

      Parameters:
      xyz - the factor for all components
      dest - will hold the result
      Returns:
      dest
      See Also:
    • scaleXY

      Matrix4x3d scaleXY(double x, double y, Matrix4x3d 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.

      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
      dest - will hold the result
      Returns:
      dest
    • scaleAround

      Matrix4x3d scaleAround(double sx, double sy, double sz, double ox, double oy, double oz, Matrix4x3d 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.

      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)

      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

      Matrix4x3d scaleAround(double factor, double ox, double oy, double oz, Matrix4x3d 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.

      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)

      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

      Matrix4x3d scaleLocal(double x, double y, double z, Matrix4x3d dest)
      Pre-multiply scaling to this matrix by scaling the base axes by the given x, y and z factors and store the result in dest.

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

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

      Matrix4x3d rotate(double ang, double x, double y, double z, Matrix4x3d 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.

      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!

      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
    • rotateTranslation

      Matrix4x3d rotateTranslation(double ang, double x, double y, double z, Matrix4x3d 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!

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotateAround(Quaterniondc quat, double ox, double oy, double oz, Matrix4x3d 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.

      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

      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
    • rotateLocal

      Matrix4x3d rotateLocal(double ang, double x, double y, double z, Matrix4x3d dest)
      Pre-multiply a rotation to this matrix by rotating the given amount of radians about the specified (x, y, z) axis and store the result in dest.

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

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

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

      Reference: http://en.wikipedia.org

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

      Matrix4x3d translate(Vector3dc offset, Matrix4x3d 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!

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

      Matrix4x3d translate(Vector3fc offset, Matrix4x3d 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!

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

      Matrix4x3d translate(double x, double y, double z, Matrix4x3d 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!

      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
    • translateLocal

      Matrix4x3d translateLocal(Vector3fc offset, Matrix4x3d 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!

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

      Matrix4x3d translateLocal(Vector3dc offset, Matrix4x3d 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!

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

      Matrix4x3d translateLocal(double x, double y, double z, Matrix4x3d 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!

      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
    • rotateX

      Matrix4x3d rotateX(double ang, Matrix4x3d dest)
      Apply rotation about the X axis to this matrix by rotating the given amount of radians and store the result in dest.

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

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

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotateY(double ang, Matrix4x3d dest)
      Apply rotation about the Y axis to this matrix by rotating the given amount of radians and store the result in dest.

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

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

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotateZ(double ang, Matrix4x3d dest)
      Apply rotation about the Z axis to this matrix by rotating the given amount of radians and store the result in dest.

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

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

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotateXYZ(double angleX, double angleY, double angleZ, Matrix4x3d dest)
      Apply rotation of angleX radians about the X axis, followed by a rotation of angleY radians about the Y axis and followed by a rotation of angleZ radians about the Z axis and store the result in dest.

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

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

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

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

      Matrix4x3d rotateZYX(double angleZ, double angleY, double angleX, Matrix4x3d dest)
      Apply rotation of angleZ radians about the Z axis, followed by a rotation of angleY radians about the Y axis and followed by a rotation of angleX radians about the X axis and store the result in dest.

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

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

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

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

      Matrix4x3d rotateYXZ(double angleY, double angleX, double angleZ, Matrix4x3d dest)
      Apply rotation of angleY radians about the Y axis, followed by a rotation of angleX radians about the X axis and followed by a rotation of angleZ radians about the Z axis and store the result in dest.

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

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

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

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

      Matrix4x3d rotate(Quaterniondc quat, Matrix4x3d dest)
      Apply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix and store the result in dest.

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

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

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotate(Quaternionfc quat, Matrix4x3d dest)
      Apply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.

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

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

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotateTranslation(Quaterniondc quat, Matrix4x3d 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!

      Reference: http://en.wikipedia.org

      Parameters:
      quat - the Quaterniondc
      dest - will hold the result
      Returns:
      dest
    • rotateTranslation

      Matrix4x3d rotateTranslation(Quaternionfc quat, Matrix4x3d 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!

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotateLocal(Quaterniondc quat, Matrix4x3d dest)
      Pre-multiply the rotation - and possibly scaling - transformation of the given Quaterniondc to this matrix and store the result in dest.

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

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

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotateLocal(Quaternionfc quat, Matrix4x3d dest)
      Pre-multiply the rotation - and possibly scaling - transformation of the given Quaternionfc to this matrix and store the result in dest.

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

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

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotate(AxisAngle4f axisAngle, Matrix4x3d 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!

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotate(AxisAngle4d axisAngle, Matrix4x3d dest)
      Apply a rotation transformation, rotating about the given AxisAngle4d and store the result in dest.

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

      If M is this matrix and A the rotation matrix obtained from the given AxisAngle4d, then the new matrix will be M * A. So when transforming a vector v with the new matrix by using M * A * v, the AxisAngle4d rotation will be applied first!

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotate(double angle, Vector3dc axis, Matrix4x3d dest)
      Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.

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

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

      Reference: http://en.wikipedia.org

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

      Matrix4x3d rotate(double angle, Vector3fc axis, Matrix4x3d dest)
      Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.

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

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

      Reference: http://en.wikipedia.org

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

      Vector4d getRow(int row, Vector4d dest) throws IndexOutOfBoundsException
      Get the row at the given row index, starting with 0.
      Parameters:
      row - the row index in [0..2]
      dest - will hold the row components
      Returns:
      the passed in destination
      Throws:
      IndexOutOfBoundsException - if row is not in [0..2]
    • getColumn

      Vector3d getColumn(int column, Vector3d dest) throws IndexOutOfBoundsException
      Get the column at the given column index, starting with 0.
      Parameters:
      column - the column index in [0..3]
      dest - will hold the column components
      Returns:
      the passed in destination
      Throws:
      IndexOutOfBoundsException - if column is not in [0..3]
    • normal

      Matrix4x3d normal(Matrix4x3d dest)
      Compute a normal matrix from the left 3x3 submatrix of this and store it into the 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.

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

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

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

      Parameters:
      dest - will hold the result
      Returns:
      dest
    • cofactor3x3

      Matrix3d cofactor3x3(Matrix3d dest)
      Compute the cofactor matrix of the 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.

      Parameters:
      dest - will hold the result
      Returns:
      dest
    • cofactor3x3

      Matrix4x3d cofactor3x3(Matrix4x3d dest)
      Compute the cofactor matrix of the 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(Matrix4x3d) to transform normals when the orientation of the normals with respect to the surface should be preserved.

      Parameters:
      dest - will hold the result
      Returns:
      dest
    • normalize3x3

      Matrix4x3d normalize3x3(Matrix4x3d dest)
      Normalize the 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).

      Parameters:
      dest - will hold the result
      Returns:
      dest
    • normalize3x3

      Matrix3d normalize3x3(Matrix3d dest)
      Normalize the 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).

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

      Matrix4x3d reflect(double a, double b, double c, double d, Matrix4x3d 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.

      The vector (a, b, c) must be a unit vector.

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

      Reference: msdn.microsoft.com

      Parameters:
      a - the x factor in the plane equation
      b - the y factor in the plane equation
      c - the z factor in the plane equation
      d - the constant in the plane equation
      dest - will hold the result
      Returns:
      dest
    • reflect

      Matrix4x3d reflect(double nx, double ny, double nz, double px, double py, double pz, Matrix4x3d 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.

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

      Parameters:
      nx - the x-coordinate of the plane normal
      ny - the y-coordinate of the plane normal
      nz - the z-coordinate of the plane normal
      px - the x-coordinate of a point on the plane
      py - the y-coordinate of a point on the plane
      pz - the z-coordinate of a point on the plane
      dest - will hold the result
      Returns:
      dest
    • reflect

      Matrix4x3d reflect(Quaterniondc orientation, Vector3dc point, Matrix4x3d 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.

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

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

      Parameters:
      orientation - the plane orientation
      point - a point on the plane
      dest - will hold the result
      Returns:
      dest
    • reflect

      Matrix4x3d reflect(Vector3dc normal, Vector3dc point, Matrix4x3d 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.

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

      Parameters:
      normal - the plane normal
      point - a point on the plane
      dest - will hold the result
      Returns:
      dest
    • ortho

      Matrix4x3d ortho(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne, Matrix4x3d 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.

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

      Reference: http://www.songho.ca

      Parameters:
      left - the distance from the center to the left frustum edge
      right - the distance from the center to the right frustum edge
      bottom - the distance from the center to the bottom frustum edge
      top - the distance from the center to the top frustum edge
      zNear - near clipping plane distance
      zFar - far clipping plane distance
      zZeroToOne - whether to use Vulkan's and Direct3D's NDC z range of [0..+1] when true or whether to use OpenGL's NDC z range of [-1..+1] when false
      dest - will hold the result
      Returns:
      dest
    • ortho

      Matrix4x3d ortho(double left, double right, double bottom, double top, double zNear, double zFar, Matrix4x3d 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.

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

      Reference: http://www.songho.ca

      Parameters:
      left - the distance from the center to the left frustum edge
      right - the distance from the center to the right frustum edge
      bottom - the distance from the center to the bottom frustum edge
      top - the distance from the center to the top frustum edge
      zNear - near clipping plane distance
      zFar - far clipping plane distance
      dest - will hold the result
      Returns:
      dest
    • orthoLH

      Matrix4x3d orthoLH(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne, Matrix4x3d 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.

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

      Reference: http://www.songho.ca

      Parameters:
      left - the distance from the center to the left frustum edge
      right - the distance from the center to the right frustum edge
      bottom - the distance from the center to the bottom frustum edge
      top - the distance from the center to the top frustum edge
      zNear - near clipping plane distance
      zFar - far clipping plane distance
      zZeroToOne - whether to use Vulkan's and Direct3D's NDC z range of [0..+1] when true or whether to use OpenGL's NDC z range of [-1..+1] when false
      dest - will hold the result
      Returns:
      dest
    • orthoLH

      Matrix4x3d orthoLH(double left, double right, double bottom, double top, double zNear, double zFar, Matrix4x3d 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.

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

      Reference: http://www.songho.ca

      Parameters:
      left - the distance from the center to the left frustum edge
      right - the distance from the center to the right frustum edge
      bottom - the distance from the center to the bottom frustum edge
      top - the distance from the center to the top frustum edge
      zNear - near clipping plane distance
      zFar - far clipping plane distance
      dest - will hold the result
      Returns:
      dest
    • orthoSymmetric

      Matrix4x3d orthoSymmetric(double width, double height, double zNear, double zFar, boolean zZeroToOne, Matrix4x3d 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.

      This method is equivalent to calling ortho() with left=-width/2, right=+width/2, bottom=-height/2 and top=+height/2.

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

      Reference: http://www.songho.ca

      Parameters:
      width - the distance between the right and left frustum edges
      height - the distance between the top and bottom frustum edges
      zNear - near clipping plane distance
      zFar - far clipping plane distance
      dest - will hold the result
      zZeroToOne - whether to use Vulkan's and Direct3D's NDC z range of [0..+1] when true or whether to use OpenGL's NDC z range of [-1..+1] when false
      Returns:
      dest
    • orthoSymmetric

      Matrix4x3d orthoSymmetric(double width, double height, double zNear, double zFar, Matrix4x3d 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.

      This method is equivalent to calling ortho() with left=-width/2, right=+width/2, bottom=-height/2 and top=+height/2.

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

      Reference: http://www.songho.ca

      Parameters:
      width - the distance between the right and left frustum edges
      height - the distance between the top and bottom frustum edges
      zNear - near clipping plane distance
      zFar - far clipping plane distance
      dest - will hold the result
      Returns:
      dest
    • orthoSymmetricLH

      Matrix4x3d orthoSymmetricLH(double width, double height, double zNear, double zFar, boolean zZeroToOne, Matrix4x3d 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.

      This method is equivalent to calling orthoLH() with left=-width/2, right=+width/2, bottom=-height/2 and top=+height/2.

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

      Reference: http://www.songho.ca

      Parameters:
      width - the distance between the right and left frustum edges
      height - the distance between the top and bottom frustum edges
      zNear - near clipping plane distance
      zFar - far clipping plane distance
      dest - will hold the result
      zZeroToOne - whether to use Vulkan's and Direct3D's NDC z range of [0..+1] when true or whether to use OpenGL's NDC z range of [-1..+1] when false
      Returns:
      dest
    • orthoSymmetricLH

      Matrix4x3d orthoSymmetricLH(double width, double height, double zNear, double zFar, Matrix4x3d 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.

      This method is equivalent to calling orthoLH() with left=-width/2, right=+width/2, bottom=-height/2 and top=+height/2.

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

      Reference: http://www.songho.ca

      Parameters:
      width - the distance between the right and left frustum edges
      height - the distance between the top and bottom frustum edges
      zNear - near clipping plane distance
      zFar - far clipping plane distance
      dest - will hold the result
      Returns:
      dest
    • ortho2D

      Matrix4x3d ortho2D(double left, double right, double bottom, double top, Matrix4x3d dest)
      Apply an orthographic projection transformation for a right-handed coordinate system to this matrix and store the result in dest.

      This method is equivalent to calling ortho() with zNear=-1 and zFar=+1.

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

      Reference: http://www.songho.ca

      Parameters:
      left - the distance from the center to the left frustum edge
      right - the distance from the center to the right frustum edge
      bottom - the distance from the center to the bottom frustum edge
      top - the distance from the center to the top frustum edge
      dest - will hold the result
      Returns:
      dest
      See Also:
    • ortho2DLH

      Matrix4x3d ortho2DLH(double left, double right, double bottom, double top, Matrix4x3d dest)
      Apply an orthographic projection transformation for a left-handed coordinate system to this matrix and store the result in dest.

      This method is equivalent to calling orthoLH() with zNear=-1 and zFar=+1.

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

      Reference: http://www.songho.ca

      Parameters:
      left - the distance from the center to the left frustum edge
      right - the distance from the center to the right frustum edge
      bottom - the distance from the center to the bottom frustum edge
      top - the distance from the center to the top frustum edge
      dest - will hold the result
      Returns:
      dest
      See Also:
    • lookAlong

      Matrix4x3d lookAlong(Vector3dc dir, Vector3dc up, Matrix4x3d dest)
      Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.

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

      This is equivalent to calling lookAt with eye = (0, 0, 0) and center = dir.

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

      Matrix4x3d lookAlong(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix4x3d dest)
      Apply a rotation transformation to this matrix to make -z point along dir and store the result in dest.

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

      This is equivalent to calling lookAt() with eye = (0, 0, 0) and center = dir.

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

      Matrix4x3d lookAt(Vector3dc eye, Vector3dc center, Vector3dc up, Matrix4x3d 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.

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

      Parameters:
      eye - the position of the camera
      center - the point in space to look at
      up - the direction of 'up'
      dest - will hold the result
      Returns:
      dest
      See Also:
    • lookAt

      Matrix4x3d lookAt(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ, Matrix4x3d 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.

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

      Parameters:
      eyeX - the x-coordinate of the eye/camera location
      eyeY - the y-coordinate of the eye/camera location
      eyeZ - the z-coordinate of the eye/camera location
      centerX - the x-coordinate of the point to look at
      centerY - the y-coordinate of the point to look at
      centerZ - the z-coordinate of the point to look at
      upX - the x-coordinate of the up vector
      upY - the y-coordinate of the up vector
      upZ - the z-coordinate of the up vector
      dest - will hold the result
      Returns:
      dest
      See Also:
    • lookAtLH

      Matrix4x3d lookAtLH(Vector3dc eye, Vector3dc center, Vector3dc up, Matrix4x3d 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.

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

      Parameters:
      eye - the position of the camera
      center - the point in space to look at
      up - the direction of 'up'
      dest - will hold the result
      Returns:
      dest
      See Also:
    • lookAtLH

      Matrix4x3d lookAtLH(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ, Matrix4x3d 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.

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

      Parameters:
      eyeX - the x-coordinate of the eye/camera location
      eyeY - the y-coordinate of the eye/camera location
      eyeZ - the z-coordinate of the eye/camera location
      centerX - the x-coordinate of the point to look at
      centerY - the y-coordinate of the point to look at
      centerZ - the z-coordinate of the point to look at
      upX - the x-coordinate of the up vector
      upY - the y-coordinate of the up vector
      upZ - the z-coordinate of the up vector
      dest - will hold the result
      Returns:
      dest
      See Also:
    • frustumPlane

      Vector4d frustumPlane(int which, 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.

      Generally, this method computes the frustum plane in the local frame of any coordinate system that existed before this transformation was applied to it in order to yield homogeneous clipping space.

      The plane normal, which is (a, b, c), is directed "inwards" of the frustum. Any plane/point test using a*x + b*y + c*z + d therefore will yield a result greater than zero if the point is within the frustum (i.e. at the positive side of the frustum plane).

      Reference: Fast Extraction of Viewing Frustum Planes from the World-View-Projection Matrix

      Parameters:
      which - one of the six possible planes, given as numeric constants PLANE_NX, PLANE_PX, PLANE_NY, PLANE_PY, PLANE_NZ and PLANE_PZ
      dest - will hold the computed plane equation. The plane equation will be normalized, meaning that (a, b, c) will be a unit vector
      Returns:
      dest
    • positiveZ

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

      This method uses the rotation component of the left 3x3 submatrix to obtain the direction that is transformed to +Z by this matrix.

      This method is equivalent to the following code:

       Matrix4x3d inv = new Matrix4x3d(this).invert();
       inv.transformDirection(dir.set(0, 0, 1)).normalize();
       
      If this is already an orthogonal matrix, then consider using normalizedPositiveZ(Vector3d) instead.

      Reference: http://www.euclideanspace.com

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

      Vector3d normalizedPositiveZ(Vector3d dir)
      Obtain the direction of +Z before the transformation represented by this orthogonal matrix is applied. This method only produces correct results if this is an orthogonal matrix.

      This method uses the rotation component of the left 3x3 submatrix to obtain the direction that is transformed to +Z by this matrix.

      This method is equivalent to the following code:

       Matrix4x3d inv = new Matrix4x3d(this).transpose();
       inv.transformDirection(dir.set(0, 0, 1)).normalize();
       

      Reference: http://www.euclideanspace.com

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

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

      This method uses the rotation component of the left 3x3 submatrix to obtain the direction that is transformed to +X by this matrix.

      This method is equivalent to the following code:

       Matrix4x3d inv = new Matrix4x3d(this).invert();
       inv.transformDirection(dir.set(1, 0, 0)).normalize();
       
      If this is already an orthogonal matrix, then consider using normalizedPositiveX(Vector3d) instead.

      Reference: http://www.euclideanspace.com

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

      Vector3d normalizedPositiveX(Vector3d dir)
      Obtain the direction of +X before the transformation represented by this orthogonal matrix is applied. This method only produces correct results if this is an orthogonal matrix.

      This method uses the rotation component of the left 3x3 submatrix to obtain the direction that is transformed to +X by this matrix.

      This method is equivalent to the following code:

       Matrix4x3d inv = new Matrix4x3d(this).transpose();
       inv.transformDirection(dir.set(1, 0, 0)).normalize();
       

      Reference: http://www.euclideanspace.com

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

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

      This method uses the rotation component of the left 3x3 submatrix to obtain the direction that is transformed to +Y by this matrix.

      This method is equivalent to the following code:

       Matrix4x3d inv = new Matrix4x3d(this).invert();
       inv.transformDirection(dir.set(0, 1, 0)).normalize();
       
      If this is already an orthogonal matrix, then consider using normalizedPositiveY(Vector3d) instead.

      Reference: http://www.euclideanspace.com

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

      Vector3d normalizedPositiveY(Vector3d dir)
      Obtain the direction of +Y before the transformation represented by this orthogonal matrix is applied. This method only produces correct results if this is an orthogonal matrix.

      This method uses the rotation component of the left 3x3 submatrix to obtain the direction that is transformed to +Y by this matrix.

      This method is equivalent to the following code:

       Matrix4x3d inv = new Matrix4x3d(this).transpose();
       inv.transformDirection(dir.set(0, 1, 0)).normalize();
       

      Reference: http://www.euclideanspace.com

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

      Vector3d origin(Vector3d origin)
      Obtain the position that gets transformed to the origin by this matrix. This can be used to get the position of the "camera" from a given view transformation matrix.

      This method is equivalent to the following code:

       Matrix4x3f inv = new Matrix4x3f(this).invert();
       inv.transformPosition(origin.set(0, 0, 0));
       
      Parameters:
      origin - will hold the position transformed to the origin
      Returns:
      origin
    • shadow

      Matrix4x3d shadow(Vector4dc light, double a, double b, double c, double d, Matrix4x3d 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.

      If light.w is 0.0 the light is being treated as a directional light; if it is 1.0 it is a point light.

      If M is this matrix and S the shadow 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 shadow projection will be applied first!

      Reference: ftp.sgi.com

      Parameters:
      light - the light's vector
      a - the x factor in the plane equation
      b - the y factor in the plane equation
      c - the z factor in the plane equation
      d - the constant in the plane equation
      dest - will hold the result
      Returns:
      dest
    • shadow

      Matrix4x3d shadow(double lightX, double lightY, double lightZ, double lightW, double a, double b, double c, double d, Matrix4x3d 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.

      If lightW is 0.0 the light is being treated as a directional light; if it is 1.0 it is a point light.

      If M is this matrix and S the shadow 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 shadow projection will be applied first!

      Reference: ftp.sgi.com

      Parameters:
      lightX - the x-component of the light's vector
      lightY - the y-component of the light's vector
      lightZ - the z-component of the light's vector
      lightW - the w-component of the light's vector
      a - the x factor in the plane equation
      b - the y factor in the plane equation
      c - the z factor in the plane equation
      d - the constant in the plane equation
      dest - will hold the result
      Returns:
      dest
    • shadow

      Matrix4x3d shadow(Vector4dc light, Matrix4x3dc planeTransform, Matrix4x3d 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.

      Before the shadow projection is applied, the plane is transformed via the specified planeTransformation.

      If light.w is 0.0 the light is being treated as a directional light; if it is 1.0 it is a point light.

      If M is this matrix and S the shadow 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 shadow projection will be applied first!

      Parameters:
      light - the light's vector
      planeTransform - the transformation to transform the implied plane y = 0 before applying the projection
      dest - will hold the result
      Returns:
      dest
    • shadow

      Matrix4x3d shadow(double lightX, double lightY, double lightZ, double lightW, Matrix4x3dc planeTransform, Matrix4x3d 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.

      Before the shadow projection is applied, the plane is transformed via the specified planeTransformation.

      If lightW is 0.0 the light is being treated as a directional light; if it is 1.0 it is a point light.

      If M is this matrix and S the shadow 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 shadow projection will be applied first!

      Parameters:
      lightX - the x-component of the light vector
      lightY - the y-component of the light vector
      lightZ - the z-component of the light vector
      lightW - the w-component of the light vector
      planeTransform - the transformation to transform the implied plane y = 0 before applying the projection
      dest - will hold the result
      Returns:
      dest
    • pick

      Matrix4x3d pick(double x, double y, double width, double height, int[] viewport, Matrix4x3d 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.
      Parameters:
      x - the x coordinate of the picking region center in window coordinates
      y - the y coordinate of the picking region center in window coordinates
      width - the width of the picking region in window coordinates
      height - the height of the picking region in window coordinates
      viewport - the viewport described by [x, y, width, height]
      dest - the destination matrix, which will hold the result
      Returns:
      dest
    • arcball

      Matrix4x3d arcball(double radius, double centerX, double centerY, double centerZ, double angleX, double angleY, Matrix4x3d 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.

      This method is equivalent to calling: translate(0, 0, -radius, dest).rotateX(angleX).rotateY(angleY).translate(-centerX, -centerY, -centerZ)

      Parameters:
      radius - the arcball radius
      centerX - the x coordinate of the center position of the arcball
      centerY - the y coordinate of the center position of the arcball
      centerZ - the z coordinate of the center position of the arcball
      angleX - the rotation angle around the X axis in radians
      angleY - the rotation angle around the Y axis in radians
      dest - will hold the result
      Returns:
      dest
    • arcball

      Matrix4x3d arcball(double radius, Vector3dc center, double angleX, double angleY, Matrix4x3d 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.

      This method is equivalent to calling: translate(0, 0, -radius).rotateX(angleX).rotateY(angleY).translate(-center.x, -center.y, -center.z)

      Parameters:
      radius - the arcball radius
      center - the center position of the arcball
      angleX - the rotation angle around the X axis in radians
      angleY - the rotation angle around the Y axis in radians
      dest - will hold the result
      Returns:
      dest
    • transformAab

      Matrix4x3d 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 matrix and compute the axis-aligned box of the result whose minimum corner is stored in outMin and maximum corner stored in outMax.

      Reference: http://dev.theomader.com

      Parameters:
      minX - the x coordinate of the minimum corner of the axis-aligned box
      minY - the y coordinate of the minimum corner of the axis-aligned box
      minZ - the z coordinate of the minimum corner of the axis-aligned box
      maxX - the x coordinate of the maximum corner of the axis-aligned box
      maxY - the y coordinate of the maximum corner of the axis-aligned box
      maxZ - the y coordinate of the maximum corner of the axis-aligned box
      outMin - will hold the minimum corner of the resulting axis-aligned box
      outMax - will hold the maximum corner of the resulting axis-aligned box
      Returns:
      this
    • transformAab

      Matrix4x3d 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 matrix and compute the axis-aligned box of the result whose minimum corner is stored in outMin and maximum corner stored in outMax.
      Parameters:
      min - the minimum corner of the axis-aligned box
      max - the maximum corner of the axis-aligned box
      outMin - will hold the minimum corner of the resulting axis-aligned box
      outMax - will hold the maximum corner of the resulting axis-aligned box
      Returns:
      this
    • lerp

      Matrix4x3d lerp(Matrix4x3dc other, double t, Matrix4x3d dest)
      Linearly interpolate this and other using the given interpolation factor t and store the result in dest.

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

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

      Matrix4x3d rotateTowards(Vector3dc dir, Vector3dc up, Matrix4x3d dest)
      Apply a model transformation to this matrix for a right-handed coordinate system, that aligns the -z axis with dir and store the result in dest.

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

      This method is equivalent to calling: mul(new Matrix4x3d().lookAt(new Vector3d(), new Vector3d(dir).negate(), up).invert(), dest)

      Parameters:
      dir - the direction to rotate towards
      up - the up vector
      dest - will hold the result
      Returns:
      dest
      See Also:
    • rotateTowards

      Matrix4x3d rotateTowards(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix4x3d dest)
      Apply a model transformation to this matrix for a right-handed coordinate system, that aligns the -z axis with (dirX, dirY, dirZ) and store the result in dest.

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

      This method is equivalent to calling: mul(new Matrix4x3d().lookAt(0, 0, 0, -dirX, -dirY, -dirZ, upX, upY, upZ).invert(), dest)

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

      Vector3d getEulerAnglesZYX(Vector3d dest)
      Extract the Euler angles from the rotation represented by the left 3x3 submatrix of this and store the extracted Euler angles in dest.

      This method assumes that the left 3x3 submatrix of this only represents a rotation without scaling.

      Note that the returned Euler angles must be applied in the order Z * Y * X to obtain the identical matrix. This means that calling Matrix4x3d.rotateZYX(double, double, double) using the obtained Euler angles will yield the same rotation as the original matrix from which the Euler angles were obtained, so in the below code the matrix m2 should be identical to m (disregarding possible floating-point inaccuracies).

       Matrix4x3d m = ...; // <- matrix only representing rotation
       Matrix4x3d n = new Matrix4x3d();
       n.rotateZYX(m.getEulerAnglesZYX(new Vector3d()));
       

      Reference: http://nghiaho.com/

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

      Matrix4x3d obliqueZ(double a, double b, Matrix4x3d dest)
      Apply an oblique projection transformation to this matrix with the given values for a and b and store the result in dest.

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

      The oblique transformation is defined as:

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

      boolean equals(Matrix4x3dc m, double delta)
      Compare the matrix elements of this matrix with the given matrix using the given delta and return whether all of them are equal within a maximum difference of delta.

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

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

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