Matrix3 and Vector3 for your three dimensional pleasures.
This commit is contained in:
Michael Bayne
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//
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// Pythagoras - a collection of geometry classes
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// http://github.com/samskivert/pythagoras
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package pythagoras.d;
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import java.nio.DoubleBuffer;
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import pythagoras.util.Platform;
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import pythagoras.util.SingularMatrixException;
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/**
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* Provides most of the implementation of {@link IMatrix3}, obtaining only the components from the
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* derived class.
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*/
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public abstract class AbstractMatrix3 implements IMatrix3
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{
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@Override // from IVector3
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public Matrix3 transpose () {
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return transpose(new Matrix3());
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}
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@Override // from IVector3
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public Matrix3 transpose (Matrix3 result) {
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return result.set(
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m00(), m01(), m02(),
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m10(), m11(), m12(),
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m20(), m21(), m22());
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}
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@Override // from IVector3
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public Matrix3 mult (IMatrix3 other) {
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return mult(other, new Matrix3());
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}
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@Override // from IVector3
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public Matrix3 mult (IMatrix3 other, Matrix3 result) {
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double m00 = m00(), m01 = m01(), m02 = m02();
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double m10 = m10(), m11 = m11(), m12 = m12();
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double m20 = m20(), m21 = m21(), m22 = m22();
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double om00 = other.m00(), om01 = other.m01(), om02 = other.m02();
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double om10 = other.m10(), om11 = other.m11(), om12 = other.m12();
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double om20 = other.m20(), om21 = other.m21(), om22 = other.m22();
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return result.set(
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m00*om00 + m10*om01 + m20*om02,
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m00*om10 + m10*om11 + m20*om12,
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m00*om20 + m10*om21 + m20*om22,
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m01*om00 + m11*om01 + m21*om02,
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m01*om10 + m11*om11 + m21*om12,
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m01*om20 + m11*om21 + m21*om22,
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m02*om00 + m12*om01 + m22*om02,
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m02*om10 + m12*om11 + m22*om12,
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m02*om20 + m12*om21 + m22*om22);
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}
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@Override // from IVector3
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public boolean isAffine () {
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return (m02() == 0f && m12() == 0f && m22() == 1f);
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}
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@Override // from IVector3
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public Matrix3 multAffine (IMatrix3 other) {
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return multAffine(other, new Matrix3());
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}
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@Override // from IVector3
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public Matrix3 multAffine (IMatrix3 other, Matrix3 result) {
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double m00 = m00(), m01 = m01(), m02 = m02();
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double m10 = m10(), m11 = m11(), m12 = m12();
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double m20 = m20(), m21 = m21(), m22 = m22();
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double om00 = other.m00(), om01 = other.m01(), om02 = other.m02();
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double om10 = other.m10(), om11 = other.m11(), om12 = other.m12();
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double om20 = other.m20(), om21 = other.m21(), om22 = other.m22();
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return result.set(
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m00*om00 + m10*om01,
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m00*om10 + m10*om11,
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m00*om20 + m10*om21 + m20,
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m01*om00 + m11*om01,
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m01*om10 + m11*om11,
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m01*om20 + m11*om21 + m21,
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0f, 0f, 1f);
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}
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@Override // from IVector3
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public Matrix3 invert () {
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return invert(new Matrix3());
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}
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/**
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* Inverts this matrix and places the result in the given object. This code is based on the
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* examples in the <a href="http://www.j3d.org/matrix_faq/matrfaq_latest.html">Matrix and
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* Quaternion FAQ</a>.
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*
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* @return a reference to the result matrix, for chaining.
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*/
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public Matrix3 invert (Matrix3 result) throws SingularMatrixException {
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double m00 = m00(), m01 = m01(), m02 = m02();
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double m10 = m10(), m11 = m11(), m12 = m12();
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double m20 = m20(), m21 = m21(), m22 = m22();
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// compute the determinant, storing the subdeterminants for later use
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double sd00 = m11*m22 - m21*m12;
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double sd10 = m01*m22 - m21*m02;
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double sd20 = m01*m12 - m11*m02;
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double det = m00*sd00 + m20*sd20 - m10*sd10;
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if (Math.abs(det) == 0f) {
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// determinant is zero; matrix is not invertible
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throw new SingularMatrixException(this.toString());
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}
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double rdet = 1f / det;
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return result.set(
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+sd00 * rdet,
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-(m10*m22 - m20*m12) * rdet,
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+(m10*m21 - m20*m11) * rdet,
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-sd10 * rdet,
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+(m00*m22 - m20*m02) * rdet,
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-(m00*m21 - m20*m01) * rdet,
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+sd20 * rdet,
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-(m00*m12 - m10*m02) * rdet,
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+(m00*m11 - m10*m01) * rdet);
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}
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@Override // from IVector3
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public Matrix3 invertAffine () {
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return invertAffine(new Matrix3());
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}
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@Override // from IVector3
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public Matrix3 invertAffine (Matrix3 result) throws SingularMatrixException {
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double m00 = m00(), m01 = m01(), m02 = m02();
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double m10 = m10(), m11 = m11(), m12 = m12();
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double m20 = m20(), m21 = m21(), m22 = m22();
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// compute the determinant, storing the subdeterminants for later use
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double det = m00*m11 - m10*m01;
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if (Math.abs(det) == 0f) {
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// determinant is zero; matrix is not invertible
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throw new SingularMatrixException(this.toString());
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}
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double rdet = 1f / det;
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return result.set(
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+m11 * rdet,
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-m10 * rdet,
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+(m10*m21 - m20*m11) * rdet,
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-m01 * rdet,
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+m00 * rdet,
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-(m00*m21 - m20*m01) * rdet,
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0f, 0f, 1f);
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}
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@Override // from IVector3
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public Matrix3 lerp (IMatrix3 other, double t) {
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return lerp(other, t, new Matrix3());
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}
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@Override // from IVector3
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public Matrix3 lerp (IMatrix3 other, double t, Matrix3 result) {
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double m00 = m00(), m01 = m01(), m02 = m02();
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double m10 = m10(), m11 = m11(), m12 = m12();
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double m20 = m20(), m21 = m21(), m22 = m22();
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double om00 = other.m00(), om01 = other.m01(), om02 = other.m02();
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double om10 = other.m10(), om11 = other.m11(), om12 = other.m12();
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double om20 = other.m20(), om21 = other.m21(), om22 = other.m22();
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return result.set(
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m00 + t*(om00 - m00),
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m10 + t*(om10 - m10),
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m20 + t*(om20 - m20),
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m01 + t*(om01 - m01),
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m11 + t*(om11 - m11),
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m21 + t*(om21 - m21),
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m02 + t*(om02 - m02),
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m12 + t*(om12 - m12),
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m22 + t*(om22 - m22));
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}
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@Override // from IVector3
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public Matrix3 lerpAffine (IMatrix3 other, double t) {
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return lerpAffine(other, t, new Matrix3());
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}
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@Override // from IVector3
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public Matrix3 lerpAffine (IMatrix3 other, double t, Matrix3 result) {
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double m00 = m00(), m01 = m01(), m02 = m02();
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double m10 = m10(), m11 = m11(), m12 = m12();
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double m20 = m20(), m21 = m21(), m22 = m22();
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double om00 = other.m00(), om01 = other.m01(), om02 = other.m02();
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double om10 = other.m10(), om11 = other.m11(), om12 = other.m12();
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double om20 = other.m20(), om21 = other.m21(), om22 = other.m22();
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return result.set(
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m00 + t*(om00 - m00),
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m10 + t*(om10 - m10),
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m20 + t*(om20 - m20),
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m01 + t*(om01 - m01),
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m11 + t*(om11 - m11),
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m21 + t*(om21 - m21),
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0f, 0f, 1f);
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}
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@Override // from IVector3
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public DoubleBuffer get (DoubleBuffer buf) {
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buf.put(m00()).put(m01()).put(m02());
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buf.put(m10()).put(m11()).put(m12());
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buf.put(m20()).put(m21()).put(m22());
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return buf;
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}
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@Override // from IVector3
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public Vector3 transformLocal (Vector3 vector) {
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return transform(vector, vector);
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}
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@Override // from IVector3
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public Vector3 transform (IVector3 vector) {
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return transform(vector, new Vector3());
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}
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@Override // from IVector3
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public Vector3 transform (IVector3 vector, Vector3 result) {
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double vx = vector.x(), vy = vector.y(), vz = vector.z();
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return result.set(
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m00()*vx + m10()*vy + m20()*vz,
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m01()*vx + m11()*vy + m21()*vz,
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m02()*vx + m12()*vy + m22()*vz);
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}
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@Override // from IVector3
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public Vector transformPointLocal (Vector point) {
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return transformPoint(point, point);
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}
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@Override // from IVector3
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public Vector transformPoint (IVector point) {
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return transformPoint(point, new Vector());
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}
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@Override // from IVector3
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public Vector transformPoint (IVector point, Vector result) {
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double px = point.x(), py = point.y();
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return result.set(m00()*px + m10()*py + m20(), m01()*px + m11()*py + m21());
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}
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@Override // from IVector3
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public Vector transformVectorLocal (Vector vector) {
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return transformVector(vector, vector);
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}
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@Override // from IVector3
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public Vector transformVector (IVector vector) {
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return transformVector(vector, new Vector());
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}
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@Override // from IVector3
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public Vector transformVector (IVector vector, Vector result) {
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double vx = vector.x(), vy = vector.y();
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return result.set(m00()*vx + m10()*vy, m01()*vx + m11()*vy);
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}
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@Override // from IVector3
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public double extractRotation () {
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// start with the contents of the upper 2x2 portion of the matrix
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double n00 = m00(), n10 = m10();
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double n01 = m01(), n11 = m11();
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for (int ii = 0; ii < 10; ii++) {
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// store the results of the previous iteration
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double o00 = n00, o10 = n10;
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double o01 = n01, o11 = n11;
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// compute average of the matrix with its inverse transpose
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double det = o00*o11 - o10*o01;
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if (Math.abs(det) == 0f) {
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// determinant is zero; matrix is not invertible
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throw new SingularMatrixException(this.toString());
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}
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double hrdet = 0.5f / det;
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n00 = +o11 * hrdet + o00*0.5f;
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n10 = -o01 * hrdet + o10*0.5f;
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n01 = -o10 * hrdet + o01*0.5f;
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n11 = +o00 * hrdet + o11*0.5f;
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// compute the difference; if it's small enough, we're done
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double d00 = n00 - o00, d10 = n10 - o10;
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double d01 = n01 - o01, d11 = n11 - o11;
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if (d00*d00 + d10*d10 + d01*d01 + d11*d11 < MathUtil.EPSILON) {
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break;
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}
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}
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// now that we have a nice orthogonal matrix, we can extract the rotation
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return Math.atan2(n01, n00);
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}
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@Override // from IVector3
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public Vector extractScale () {
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return extractScale(new Vector());
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}
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@Override // from IVector3
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public Vector extractScale (Vector result) {
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double m00 = m00(), m01 = m01(), m10 = m10(), m11 = m11();
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return result.set(
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Math.sqrt(m00*m00 + m01*m01),
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Math.sqrt(m10*m10 + m11*m11));
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}
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@Override // from IVector3
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public double approximateUniformScale () {
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double cp = m00()*m11() - m01()*m10();
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return (cp < 0f) ? -Math.sqrt(-cp) : Math.sqrt(cp);
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}
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@Override
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public String toString () {
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return "[[" + m00() + ", " + m10() + ", " + m20() + "], " +
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"[" + m01() + ", " + m11() + ", " + m21() + "], " +
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"[" + m02() + ", " + m12() + ", " + m22() + "]]";
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}
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@Override
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public int hashCode () {
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return Platform.hashCode(m00()) ^ Platform.hashCode(m10()) ^ Platform.hashCode(m20()) ^
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Platform.hashCode(m01()) ^ Platform.hashCode(m11()) ^ Platform.hashCode(m21()) ^
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Platform.hashCode(m02()) ^ Platform.hashCode(m12()) ^ Platform.hashCode(m22());
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}
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@Override
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public boolean equals (Object other) {
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if (!(other instanceof AbstractMatrix3)) {
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return false;
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}
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AbstractMatrix3 omat = (AbstractMatrix3)other;
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return
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m00() == omat.m00() && m10() == omat.m10() && m20() == omat.m20() &&
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m01() == omat.m01() && m11() == omat.m11() && m21() == omat.m21() &&
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m02() == omat.m02() && m12() == omat.m12() && m22() == omat.m22();
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}
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}
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@@ -0,0 +1,204 @@
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//
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// Pythagoras - a collection of geometry classes
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// http://github.com/samskivert/pythagoras
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package pythagoras.d;
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import java.nio.DoubleBuffer;
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import pythagoras.util.Platform;
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/**
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* Provides most of the implementation of {@link IVector3}, obtaining only x, y and z from the
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* derived class.
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*/
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public abstract class AbstractVector3 implements IVector3
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{
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@Override // from interface IVector3
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public double dot (IVector3 other) {
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return x()*other.x() + y()*other.y() + z()*other.z();
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}
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@Override // from interface IVector3
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public Vector3 cross (IVector3 other) {
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return cross(other, new Vector3());
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}
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@Override // from interface IVector3
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public Vector3 cross (IVector3 other, Vector3 result) {
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double x = x(), y = y(), z = z();
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double ox = other.x(), oy = other.y(), oz = other.z();
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return result.set(y*oz - z*oy, z*ox - x*oz, x*oy - y*ox);
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}
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@Override // from interface IVector3
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public double triple (IVector3 b, IVector3 c) {
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double bx = b.x(), by = b.y(), bz = b.z();
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double cx = c.x(), cy = c.y(), cz = c.z();
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return x()*(by*cz - bz*cy) + y()*(bz*cx - bx*cz) + z()*(bx*cy - by*cx);
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}
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@Override // from interface IVector3
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public Vector3 negate () {
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return negate(new Vector3());
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}
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@Override // from interface IVector3
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public Vector3 negate (Vector3 result) {
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return result.set(-x(), -y(), -z());
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}
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@Override // from interface IVector3
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public Vector3 normalize () {
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return normalize(new Vector3());
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}
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@Override // from interface IVector3
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public Vector3 normalize (Vector3 result) {
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return mult(1f / length(), result);
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}
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@Override // from interface IVector3
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public double angle (IVector3 other) {
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return Math.acos(dot(other) / (length() * other.length()));
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}
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@Override // from interface IVector3
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public double length () {
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return Math.sqrt(lengthSquared());
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}
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@Override // from interface IVector3
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public double lengthSquared () {
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double x = x(), y = y(), z = z();
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return (x*x + y*y + z*z);
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}
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@Override // from interface IVector3
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public double distance (IVector3 other) {
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return Math.sqrt(distanceSquared(other));
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}
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@Override // from interface IVector3
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public double distanceSquared (IVector3 other) {
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double dx = x() - other.x(), dy = y() - other.y(), dz = z() - other.z();
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return dx*dx + dy*dy + dz*dz;
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}
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@Override // from interface IVector3
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public double manhattanDistance (IVector3 other) {
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return Math.abs(x() - other.x()) + Math.abs(y() - other.y()) + Math.abs(z() - other.z());
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}
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@Override // from interface IVector3
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public Vector3 mult (double v) {
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return mult(v, new Vector3());
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}
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@Override // from interface IVector3
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public Vector3 mult (double v, Vector3 result) {
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return result.set(x()*v, y()*v, z()*v);
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}
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@Override // from interface IVector3
|
||||
public Vector3 mult (IVector3 other) {
|
||||
return mult(other, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 mult (IVector3 other, Vector3 result) {
|
||||
return result.set(x()*other.x(), y()*other.y(), z()*other.z());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 add (IVector3 other) {
|
||||
return add(other, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 add (IVector3 other, Vector3 result) {
|
||||
return add(other.x(), other.y(), other.z(), result);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 subtract (IVector3 other) {
|
||||
return subtract(other, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 subtract (IVector3 other, Vector3 result) {
|
||||
return add(-other.x(), -other.y(), -other.z(), result);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 add (double x, double y, double z) {
|
||||
return add(x, y, z, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 add (double x, double y, double z, Vector3 result) {
|
||||
return result.set(x() + x, y() + y, z() + z);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 addScaled (IVector3 other, double v) {
|
||||
return addScaled(other, v, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 addScaled (IVector3 other, double v, Vector3 result) {
|
||||
return result.set(x() + other.x()*v, y() + other.y()*v, z() + other.z()*v);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 lerp (IVector3 other, double t) {
|
||||
return lerp(other, t, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 lerp (IVector3 other, double t, Vector3 result) {
|
||||
double x = x(), y = y(), z = z();
|
||||
return result.set(x + t*(other.x() - x), y + t*(other.y() - y), z + t*(other.z() - z));
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public double get (int idx) {
|
||||
switch (idx) {
|
||||
case 0: return x();
|
||||
case 1: return y();
|
||||
case 2: return z();
|
||||
}
|
||||
throw new IndexOutOfBoundsException(String.valueOf(idx));
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public void get (double[] values) {
|
||||
values[0] = x();
|
||||
values[1] = y();
|
||||
values[2] = z();
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public DoubleBuffer get (DoubleBuffer buf) {
|
||||
return buf.put(x()).put(y()).put(z());
|
||||
}
|
||||
|
||||
@Override
|
||||
public String toString () {
|
||||
return "[" + x() + ", " + y() + ", " + z() + "]";
|
||||
}
|
||||
|
||||
@Override
|
||||
public int hashCode () {
|
||||
return Platform.hashCode(x()) ^ Platform.hashCode(y()) ^ Platform.hashCode(z());
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean equals (Object other) {
|
||||
if (!(other instanceof AbstractVector3)) {
|
||||
return false;
|
||||
}
|
||||
AbstractVector3 ovec = (AbstractVector3)other;
|
||||
return (x() == ovec.x() && y() == ovec.y() && z() == ovec.z());
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,250 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.d;
|
||||
|
||||
import java.nio.DoubleBuffer;
|
||||
|
||||
import pythagoras.util.SingularMatrixException;
|
||||
|
||||
/**
|
||||
* Provides read-only access to a {@link Matrix3}.
|
||||
*/
|
||||
interface IMatrix3
|
||||
{
|
||||
/** Returns the (0,0)th component of the matrix. */
|
||||
double m00 ();
|
||||
|
||||
/** Returns the (1,0)th component of the matrix. */
|
||||
double m10 ();
|
||||
|
||||
/** Returns the (2,0)th component of the matrix. */
|
||||
double m20 ();
|
||||
|
||||
/** Returns the (0,1)th component of the matrix. */
|
||||
double m01 ();
|
||||
|
||||
/** Returns the (1,1)th component of the matrix. */
|
||||
double m11 ();
|
||||
|
||||
/** Returns the (2,1)th component of the matrix. */
|
||||
double m21 ();
|
||||
|
||||
/** Returns the (0,2)th component of the matrix. */
|
||||
double m02 ();
|
||||
|
||||
/** Returns the (1,2)th component of the matrix. */
|
||||
double m12 ();
|
||||
|
||||
/** Returns the (2,2)th component of the matrix. */
|
||||
double m22 ();
|
||||
|
||||
/**
|
||||
* Transposes this matrix.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 transpose ();
|
||||
|
||||
/**
|
||||
* Transposes this matrix, storing the result in the provided object.
|
||||
*
|
||||
* @return the result matrix, for chaining.
|
||||
*/
|
||||
Matrix3 transpose (Matrix3 result);
|
||||
|
||||
/**
|
||||
* Multiplies this matrix by another.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 mult (IMatrix3 other);
|
||||
|
||||
/**
|
||||
* Multiplies this matrix by another and stores the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result matrix, for chaining.
|
||||
*/
|
||||
Matrix3 mult (IMatrix3 other, Matrix3 result);
|
||||
|
||||
/**
|
||||
* Determines whether this matrix represents an affine transformation.
|
||||
*/
|
||||
boolean isAffine ();
|
||||
|
||||
/**
|
||||
* Multiplies this matrix by another, treating the matrices as affine.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 multAffine (IMatrix3 other);
|
||||
|
||||
/**
|
||||
* Multiplies this matrix by another, treating the matrices as affine, and stores the result
|
||||
* in the object provided.
|
||||
*
|
||||
* @return a reference to the result matrix, for chaining.
|
||||
*/
|
||||
Matrix3 multAffine (IMatrix3 other, Matrix3 result);
|
||||
|
||||
/**
|
||||
* Inverts this matrix.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 invert ();
|
||||
|
||||
/**
|
||||
* Inverts this matrix and places the result in the given object. This code is based on the
|
||||
* examples in the <a href="http://www.j3d.org/matrix_faq/matrfaq_latest.html">Matrix and
|
||||
* Quaternion FAQ</a>.
|
||||
*
|
||||
* @return a reference to the result matrix, for chaining.
|
||||
*/
|
||||
Matrix3 invert (Matrix3 result) throws SingularMatrixException;
|
||||
|
||||
/**
|
||||
* Inverts this matrix as an affine matrix.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 invertAffine ();
|
||||
|
||||
/**
|
||||
* Inverts this matrix as an affine matrix and places the result in the given object.
|
||||
*
|
||||
* @return a reference to the result matrix, for chaining.
|
||||
*/
|
||||
Matrix3 invertAffine (Matrix3 result) throws SingularMatrixException;
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other matrix.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 lerp (IMatrix3 other, double t);
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other matrix, placing the result in
|
||||
* the object provided.
|
||||
*
|
||||
* @return a reference to the result object, for chaining.
|
||||
*/
|
||||
Matrix3 lerp (IMatrix3 other, double t, Matrix3 result);
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other matrix, treating the matrices as
|
||||
* affine.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 lerpAffine (IMatrix3 other, double t);
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other matrix (treating the matrices as
|
||||
* affine), placing the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result object, for chaining.
|
||||
*/
|
||||
Matrix3 lerpAffine (IMatrix3 other, double t, Matrix3 result);
|
||||
|
||||
/**
|
||||
* Places the contents of this matrix into the given buffer in the standard OpenGL order.
|
||||
*
|
||||
* @return a reference to the buffer, for chaining.
|
||||
*/
|
||||
DoubleBuffer get (DoubleBuffer buf);
|
||||
|
||||
/**
|
||||
* Transforms a vector in-place by the inner 3x3 part of this matrix.
|
||||
*
|
||||
* @return a reference to the vector, for chaining.
|
||||
*/
|
||||
Vector3 transformLocal (Vector3 vector);
|
||||
|
||||
/**
|
||||
* Transforms a vector by this matrix.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 transform (IVector3 vector);
|
||||
|
||||
/**
|
||||
* Transforms a vector by this matrix and places the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 transform (IVector3 vector, Vector3 result);
|
||||
|
||||
/**
|
||||
* Transforms a point in-place by this matrix.
|
||||
*
|
||||
* @return a reference to the point, for chaining.
|
||||
*/
|
||||
Vector transformPointLocal (Vector point);
|
||||
|
||||
/**
|
||||
* Transforms a point by this matrix.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector transformPoint (IVector point);
|
||||
|
||||
/**
|
||||
* Transforms a point by this matrix and places the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector transformPoint (IVector point, Vector result);
|
||||
|
||||
/**
|
||||
* Transforms a vector in-place by the inner 2x2 part of this matrix.
|
||||
*
|
||||
* @return a reference to the vector, for chaining.
|
||||
*/
|
||||
Vector transformVectorLocal (Vector vector);
|
||||
|
||||
/**
|
||||
* Transforms a vector by this inner 2x2 part of this matrix.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector transformVector (IVector vector);
|
||||
|
||||
/**
|
||||
* Transforms a vector by the inner 2x2 part of this matrix and places the result in the object
|
||||
* provided.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector transformVector (IVector vector, Vector result);
|
||||
|
||||
/**
|
||||
* Extracts the rotation component of the matrix. This uses the iterative polar decomposition
|
||||
* algorithm described by
|
||||
* <a href="http://www.cs.wisc.edu/graphics/Courses/838-s2002/Papers/polar-decomp.pdf">Ken
|
||||
* Shoemake</a>.
|
||||
*/
|
||||
double extractRotation ();
|
||||
|
||||
/**
|
||||
* Extracts the scale component of the matrix.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector extractScale ();
|
||||
|
||||
/**
|
||||
* Extracts the scale component of the matrix and places it in the provided result vector.
|
||||
*
|
||||
* @return a reference to the result vector, for chaining.
|
||||
*/
|
||||
Vector extractScale (Vector result);
|
||||
|
||||
/**
|
||||
* Returns an approximation of the uniform scale for this matrix (the square root of the
|
||||
* signed area of the parallelogram spanned by the axis vectors).
|
||||
*/
|
||||
double approximateUniformScale ();
|
||||
}
|
||||
@@ -0,0 +1,221 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.d;
|
||||
|
||||
import java.nio.DoubleBuffer;
|
||||
|
||||
/**
|
||||
* Provides read-only access to a {@link Vector3}.
|
||||
*/
|
||||
public interface IVector3
|
||||
{
|
||||
/** Returns the x-component of this vector. */
|
||||
double x ();
|
||||
|
||||
/** Returns the y-component of this vector. */
|
||||
double y ();
|
||||
|
||||
/** Returns the z-component of this vector. */
|
||||
double z ();
|
||||
|
||||
/**
|
||||
* Computes and returns the dot product of this and the specified other vector.
|
||||
*/
|
||||
double dot (IVector3 other);
|
||||
|
||||
/**
|
||||
* Computes the cross product of this and the specified other vector.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 cross (IVector3 other);
|
||||
|
||||
/**
|
||||
* Computes the cross product of this and the specified other vector, placing the result
|
||||
* in the object supplied.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 cross (IVector3 other, Vector3 result);
|
||||
|
||||
/**
|
||||
* Computes the triple product of this and the specified other vectors, which is equal to
|
||||
* <code>this.dot(b.cross(c))</code>.
|
||||
*/
|
||||
double triple (IVector3 b, IVector3 c);
|
||||
|
||||
/**
|
||||
* Negates this vector.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 negate ();
|
||||
|
||||
/**
|
||||
* Negates this vector, storing the result in the supplied object.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 negate (Vector3 result);
|
||||
|
||||
/**
|
||||
* Normalizes this vector.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 normalize ();
|
||||
|
||||
/**
|
||||
* Normalizes this vector, storing the result in the object supplied.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 normalize (Vector3 result);
|
||||
|
||||
/**
|
||||
* Returns the angle between this vector and the specified other vector.
|
||||
*/
|
||||
double angle (IVector3 other);
|
||||
|
||||
/**
|
||||
* Returns the length of this vector.
|
||||
*/
|
||||
double length ();
|
||||
|
||||
/**
|
||||
* Returns the squared length of this vector.
|
||||
*/
|
||||
double lengthSquared ();
|
||||
|
||||
/**
|
||||
* Returns the distance from this vector to the specified other vector.
|
||||
*/
|
||||
double distance (IVector3 other);
|
||||
|
||||
/**
|
||||
* Returns the squared distance from this vector to the specified other.
|
||||
*/
|
||||
double distanceSquared (IVector3 other);
|
||||
|
||||
/**
|
||||
* Returns the Manhattan distance between this vector and the specified other.
|
||||
*/
|
||||
double manhattanDistance (IVector3 other);
|
||||
|
||||
/**
|
||||
* Multiplies this vector by a scalar.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 mult (double v);
|
||||
|
||||
/**
|
||||
* Multiplies this vector by a scalar and places the result in the supplied object.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 mult (double v, Vector3 result);
|
||||
|
||||
/**
|
||||
* Multiplies this vector by another.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 mult (IVector3 other);
|
||||
|
||||
/**
|
||||
* Multiplies this vector by another, storing the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result vector, for chaining.
|
||||
*/
|
||||
Vector3 mult (IVector3 other, Vector3 result);
|
||||
|
||||
/**
|
||||
* Adds a vector to this one.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 add (IVector3 other);
|
||||
/**
|
||||
* Adds a vector to this one, storing the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
public IVector3 add (IVector3 other, Vector3 result);
|
||||
|
||||
/**
|
||||
* Subtracts a vector from this one.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 subtract (IVector3 other);
|
||||
|
||||
/**
|
||||
* Subtracts a vector from this one and places the result in the supplied object.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 subtract (IVector3 other, Vector3 result);
|
||||
|
||||
/**
|
||||
* Adds a vector to this one.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 add (double x, double y, double z);
|
||||
|
||||
/**
|
||||
* Adds a vector to this one and stores the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 add (double x, double y, double z, Vector3 result);
|
||||
|
||||
/**
|
||||
* Adds a scaled vector to this one.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 addScaled (IVector3 other, double v);
|
||||
|
||||
/**
|
||||
* Adds a scaled vector to this one and stores the result in the supplied vector.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 addScaled (IVector3 other, double v, Vector3 result);
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other vector by the supplied amount.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 lerp (IVector3 other, double t);
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the supplied other vector by the supplied amount,
|
||||
* storing the result in the supplied object.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 lerp (IVector3 other, double t, Vector3 result);
|
||||
|
||||
/**
|
||||
* Returns the element at the idx'th position of the vector.
|
||||
*/
|
||||
double get (int idx);
|
||||
|
||||
/**
|
||||
* Populates the supplied array with the contents of this vector.
|
||||
*/
|
||||
void get (double[] values);
|
||||
|
||||
/**
|
||||
* Populates the supplied buffer with the contents of this vector.
|
||||
*
|
||||
* @return a reference to the buffer, for chaining.
|
||||
*/
|
||||
DoubleBuffer get (DoubleBuffer buf);
|
||||
}
|
||||
@@ -0,0 +1,406 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.d;
|
||||
|
||||
import java.nio.DoubleBuffer;
|
||||
|
||||
/**
|
||||
* A 3x3 column-major matrix.
|
||||
*/
|
||||
public class Matrix3 extends AbstractMatrix3
|
||||
{
|
||||
/** The identity matrix. */
|
||||
public static final Matrix3 IDENTITY = new Matrix3();
|
||||
|
||||
/** The values of the matrix. */
|
||||
public double m00, m10, m20;
|
||||
public double m01, m11, m21;
|
||||
public double m02, m12, m22;
|
||||
|
||||
/**
|
||||
* Creates a matrix from its components.
|
||||
*/
|
||||
public Matrix3 (double m00, double m10, double m20,
|
||||
double m01, double m11, double m21,
|
||||
double m02, double m12, double m22) {
|
||||
set(m00, m10, m20,
|
||||
m01, m11, m21,
|
||||
m02, m12, m22);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates a matrix from an array of values.
|
||||
*/
|
||||
public Matrix3 (double[] values) {
|
||||
set(values);
|
||||
}
|
||||
|
||||
/**
|
||||
* Copy constructor.
|
||||
*/
|
||||
public Matrix3 (Matrix3 other) {
|
||||
set(other);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an identity matrix.
|
||||
*/
|
||||
public Matrix3 () {
|
||||
setToIdentity();
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this matrix to the identity matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToIdentity () {
|
||||
return set(
|
||||
1f, 0f, 0f,
|
||||
0f, 1f, 0f,
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a rotation matrix that rotates one vector onto another.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToRotation (IVector3 from, IVector3 to) {
|
||||
double angle = from.angle(to);
|
||||
return (angle < 0.0001f) ?
|
||||
setToIdentity() : setToRotation(angle, from.cross(to).normalizeLocal());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a rotation matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToRotation (double angle, IVector3 axis) {
|
||||
return setToRotation(angle, axis.x(), axis.y(), axis.z());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a rotation matrix. The formula comes from the OpenGL documentation for the
|
||||
* glRotatef function.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToRotation (double angle, double x, double y, double z) {
|
||||
double c = Math.cos(angle), s = Math.sin(angle), omc = 1f - c;
|
||||
double xs = x*s, ys = y*s, zs = z*s, xy = x*y, xz = x*z, yz = y*z;
|
||||
return set(
|
||||
x*x*omc + c, xy*omc - zs, xz*omc + ys,
|
||||
xy*omc + zs, y*y*omc + c, yz*omc - xs,
|
||||
xz*omc - ys, yz*omc + xs, z*z*omc + c);
|
||||
}
|
||||
|
||||
// /**
|
||||
// * Sets this to a rotation matrix. The formula comes from the
|
||||
// * <a href="http://www.j3d.org/matrix_faq/matrfaq_latest.html">Matrix and Quaternion FAQ</a>.
|
||||
// *
|
||||
// * @return a reference to this matrix, for chaining.
|
||||
// */
|
||||
// public Matrix3 setToRotation (Quaternion quat) {
|
||||
// double xx = quat.x*quat.x, yy = quat.y*quat.y, zz = quat.z*quat.z;
|
||||
// double xy = quat.x*quat.y, xz = quat.x*quat.z, xw = quat.x*quat.w;
|
||||
// double yz = quat.y*quat.z, yw = quat.y*quat.w, zw = quat.z*quat.w;
|
||||
// return set(
|
||||
// 1f - 2f*(yy + zz), 2f*(xy - zw), 2f*(xz + yw),
|
||||
// 2f*(xy + zw), 1f - 2f*(xx + zz), 2f*(yz - xw),
|
||||
// 2f*(xz - yw), 2f*(yz + xw), 1f - 2f*(xx + yy));
|
||||
// }
|
||||
|
||||
/**
|
||||
* Sets this to a scale matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToScale (IVector3 scale) {
|
||||
return setToScale(scale.x(), scale.y(), scale.z());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a uniform scale matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToScale (double s) {
|
||||
return setToScale(s, s, s);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a scale matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToScale (double x, double y, double z) {
|
||||
return set(
|
||||
x, 0f, 0f,
|
||||
0f, y, 0f,
|
||||
0f, 0f, z);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a reflection across a plane intersecting the origin with the supplied normal.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToReflection (IVector3 normal) {
|
||||
return setToReflection(normal.x(), normal.y(), normal.z());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a reflection across a plane intersecting the origin with the supplied normal.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToReflection (double x, double y, double z) {
|
||||
double x2 = -2f*x, y2 = -2f*y, z2 = -2f*z;
|
||||
double xy2 = x2*y, xz2 = x2*z, yz2 = y2*z;
|
||||
return set(
|
||||
1f + x2*x, xy2, xz2,
|
||||
xy2, 1f + y2*y, yz2,
|
||||
xz2, yz2, 1f + z2*z);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a matrix that first rotates, then translates.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToTransform (IVector translation, double rotation) {
|
||||
return setToRotation(rotation).setTranslation(translation);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a matrix that first scales, then rotates, then translates.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToTransform (IVector translation, double rotation, double scale) {
|
||||
return setToRotation(rotation).set(
|
||||
m00 * scale, m10 * scale, translation.x(),
|
||||
m01 * scale, m11 * scale, translation.y(),
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a matrix that first scales, then rotates, then translates.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToTransform (IVector translation, double rotation, IVector scale) {
|
||||
double sx = scale.x(), sy = scale.y();
|
||||
return setToRotation(rotation).set(
|
||||
m00 * sx, m10 * sy, translation.x(),
|
||||
m01 * sx, m11 * sy, translation.y(),
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a translation matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToTranslation (IVector translation) {
|
||||
return setToTranslation(translation.x(), translation.y());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a translation matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToTranslation (double x, double y) {
|
||||
return set(
|
||||
1f, 0f, x,
|
||||
0f, 1f, y,
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the translation component of this matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setTranslation (IVector translation) {
|
||||
return setTranslation(translation.x(), translation.y());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the translation component of this matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setTranslation (double x, double y) {
|
||||
m20 = x;
|
||||
m21 = y;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a rotation matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToRotation (double angle) {
|
||||
double sina = Math.sin(angle), cosa = Math.cos(angle);
|
||||
return set(
|
||||
cosa, -sina, 0f,
|
||||
sina, cosa, 0f,
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Transposes this matrix in-place.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 transposeLocal () {
|
||||
return transpose(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Multiplies this matrix in-place by another.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 multLocal (IMatrix3 other) {
|
||||
return mult(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Multiplies this matrix in-place by another, treating the matricees as affine.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 multAffineLocal (IMatrix3 other) {
|
||||
return multAffine(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Inverts this matrix in-place.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 invertLocal () {
|
||||
return invert(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Inverts this matrix in-place as an affine matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 invertAffineLocal () {
|
||||
return invertAffine(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Linearly interpolates between the this and the specified other matrix, placing the result in
|
||||
* this matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 lerpLocal (IMatrix3 other, double t) {
|
||||
return lerp(other, t, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other matrix (treating the matrices as
|
||||
* affine), placing the result in this matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 lerpAffineLocal (IMatrix3 other, double t) {
|
||||
return lerpAffine(other, t, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Copies the contents of another matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 set (IMatrix3 other) {
|
||||
return set(
|
||||
other.m00(), other.m10(), other.m20(),
|
||||
other.m01(), other.m11(), other.m21(),
|
||||
other.m02(), other.m12(), other.m22());
|
||||
}
|
||||
|
||||
/**
|
||||
* Copies the elements of an array.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 set (double[] values) {
|
||||
return set(
|
||||
values[0], values[1], values[2],
|
||||
values[3], values[4], values[5],
|
||||
values[6], values[7], values[8]);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets all of the matrix's components at once.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 set (
|
||||
double m00, double m10, double m20,
|
||||
double m01, double m11, double m21,
|
||||
double m02, double m12, double m22) {
|
||||
this.m00 = m00; this.m01 = m01; this.m02 = m02;
|
||||
this.m10 = m10; this.m11 = m11; this.m12 = m12;
|
||||
this.m20 = m20; this.m21 = m21; this.m22 = m22;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public double m00 () {
|
||||
return m00;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public double m10 () {
|
||||
return m10;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public double m20 () {
|
||||
return m20;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public double m01 () {
|
||||
return m01;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public double m11 () {
|
||||
return m11;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public double m21 () {
|
||||
return m21;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public double m02 () {
|
||||
return m02;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public double m12 () {
|
||||
return m12;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public double m22 () {
|
||||
return m22;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,206 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.d;
|
||||
|
||||
import java.io.Serializable;
|
||||
|
||||
/**
|
||||
* A three element vector.
|
||||
*/
|
||||
public class Vector3 extends AbstractVector3 implements Serializable
|
||||
{
|
||||
/** A unit vector in the X+ direction. */
|
||||
public static final IVector3 UNIT_X = new Vector3(1f, 0f, 0f);
|
||||
|
||||
/** A unit vector in the Y+ direction. */
|
||||
public static final IVector3 UNIT_Y = new Vector3(0f, 1f, 0f);
|
||||
|
||||
/** A unit vector in the Z+ direction. */
|
||||
public static final IVector3 UNIT_Z = new Vector3(0f, 0f, 1f);
|
||||
|
||||
/** A vector containing unity for all components. */
|
||||
public static final IVector3 UNIT_XYZ = new Vector3(1f, 1f, 1f);
|
||||
|
||||
/** A normalized version of UNIT_XYZ. */
|
||||
public static final IVector3 NORMAL_XYZ = UNIT_XYZ.normalize();
|
||||
|
||||
/** The zero vector. */
|
||||
public static final IVector3 ZERO = new Vector3(0f, 0f, 0f);
|
||||
|
||||
/** A vector containing the minimum doubleing point value for all components
|
||||
* (note: the components are -{@link Float#MAX_VALUE}, not {@link Float#MIN_VALUE}). */
|
||||
public static final IVector3 MIN_VALUE =
|
||||
new Vector3(-Float.MAX_VALUE, -Float.MAX_VALUE, -Float.MAX_VALUE);
|
||||
|
||||
/** A vector containing the maximum doubleing point value for all components. */
|
||||
public static final IVector3 MAX_VALUE =
|
||||
new Vector3(Float.MAX_VALUE, Float.MAX_VALUE, Float.MAX_VALUE);
|
||||
|
||||
/** The components of the vector. */
|
||||
public double x, y, z;
|
||||
|
||||
/**
|
||||
* Creates a vector from three components.
|
||||
*/
|
||||
public Vector3 (double x, double y, double z) {
|
||||
set(x, y, z);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates a vector from an array of values.
|
||||
*/
|
||||
public Vector3 (double[] values) {
|
||||
set(values);
|
||||
}
|
||||
|
||||
/**
|
||||
* Copy constructor.
|
||||
*/
|
||||
public Vector3 (IVector3 other) {
|
||||
set(other);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates a zero vector.
|
||||
*/
|
||||
public Vector3 () {
|
||||
}
|
||||
|
||||
/**
|
||||
* Computes the cross product of this and the specified other vector, storing the result
|
||||
* in this vector.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 crossLocal (IVector3 other) {
|
||||
return cross(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Negates this vector in-place.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 negateLocal () {
|
||||
return negate(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Normalizes this vector in-place.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 normalizeLocal () {
|
||||
return normalize(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Multiplies this vector in-place by a scalar.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 multLocal (double v) {
|
||||
return mult(v, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Multiplies this vector in-place by another.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 multLocal (IVector3 other) {
|
||||
return mult(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Adds a vector in-place to this one.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 addLocal (IVector3 other) {
|
||||
return add(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Subtracts a vector in-place from this one.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 subtractLocal (IVector3 other) {
|
||||
return subtract(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Adds a vector in-place to this one.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 addLocal (double x, double y, double z) {
|
||||
return add(x, y, z, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Adds a scaled vector in-place to this one.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 addScaledLocal (IVector3 other, double v) {
|
||||
return addScaled(other, v, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other vector in-place by the supplied
|
||||
* amount.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 lerpLocal (IVector3 other, double t) {
|
||||
return lerp(other, t, this);
|
||||
}
|
||||
/**
|
||||
* Copies the elements of another vector.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 set (IVector3 other) {
|
||||
return set(other.x(), other.y(), other.z());
|
||||
}
|
||||
|
||||
/**
|
||||
* Copies the elements of an array.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 set (double[] values) {
|
||||
return set(values[0], values[1], values[2]);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets all of the elements of the vector.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 set (double x, double y, double z) {
|
||||
this.x = x;
|
||||
this.y = y;
|
||||
this.z = z;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override // from AbstractVector3
|
||||
public double x () {
|
||||
return x;
|
||||
}
|
||||
|
||||
@Override // from AbstractVector3
|
||||
public double y () {
|
||||
return y;
|
||||
}
|
||||
|
||||
@Override // from AbstractVector3
|
||||
public double z () {
|
||||
return z;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,346 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.f;
|
||||
|
||||
import java.nio.FloatBuffer;
|
||||
|
||||
import pythagoras.util.Platform;
|
||||
import pythagoras.util.SingularMatrixException;
|
||||
|
||||
/**
|
||||
* Provides most of the implementation of {@link IMatrix3}, obtaining only the components from the
|
||||
* derived class.
|
||||
*/
|
||||
public abstract class AbstractMatrix3 implements IMatrix3
|
||||
{
|
||||
@Override // from IVector3
|
||||
public Matrix3 transpose () {
|
||||
return transpose(new Matrix3());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 transpose (Matrix3 result) {
|
||||
return result.set(
|
||||
m00(), m01(), m02(),
|
||||
m10(), m11(), m12(),
|
||||
m20(), m21(), m22());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 mult (IMatrix3 other) {
|
||||
return mult(other, new Matrix3());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 mult (IMatrix3 other, Matrix3 result) {
|
||||
float m00 = m00(), m01 = m01(), m02 = m02();
|
||||
float m10 = m10(), m11 = m11(), m12 = m12();
|
||||
float m20 = m20(), m21 = m21(), m22 = m22();
|
||||
float om00 = other.m00(), om01 = other.m01(), om02 = other.m02();
|
||||
float om10 = other.m10(), om11 = other.m11(), om12 = other.m12();
|
||||
float om20 = other.m20(), om21 = other.m21(), om22 = other.m22();
|
||||
return result.set(
|
||||
m00*om00 + m10*om01 + m20*om02,
|
||||
m00*om10 + m10*om11 + m20*om12,
|
||||
m00*om20 + m10*om21 + m20*om22,
|
||||
|
||||
m01*om00 + m11*om01 + m21*om02,
|
||||
m01*om10 + m11*om11 + m21*om12,
|
||||
m01*om20 + m11*om21 + m21*om22,
|
||||
|
||||
m02*om00 + m12*om01 + m22*om02,
|
||||
m02*om10 + m12*om11 + m22*om12,
|
||||
m02*om20 + m12*om21 + m22*om22);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public boolean isAffine () {
|
||||
return (m02() == 0f && m12() == 0f && m22() == 1f);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 multAffine (IMatrix3 other) {
|
||||
return multAffine(other, new Matrix3());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 multAffine (IMatrix3 other, Matrix3 result) {
|
||||
float m00 = m00(), m01 = m01(), m02 = m02();
|
||||
float m10 = m10(), m11 = m11(), m12 = m12();
|
||||
float m20 = m20(), m21 = m21(), m22 = m22();
|
||||
float om00 = other.m00(), om01 = other.m01(), om02 = other.m02();
|
||||
float om10 = other.m10(), om11 = other.m11(), om12 = other.m12();
|
||||
float om20 = other.m20(), om21 = other.m21(), om22 = other.m22();
|
||||
return result.set(
|
||||
m00*om00 + m10*om01,
|
||||
m00*om10 + m10*om11,
|
||||
m00*om20 + m10*om21 + m20,
|
||||
|
||||
m01*om00 + m11*om01,
|
||||
m01*om10 + m11*om11,
|
||||
m01*om20 + m11*om21 + m21,
|
||||
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 invert () {
|
||||
return invert(new Matrix3());
|
||||
}
|
||||
|
||||
/**
|
||||
* Inverts this matrix and places the result in the given object. This code is based on the
|
||||
* examples in the <a href="http://www.j3d.org/matrix_faq/matrfaq_latest.html">Matrix and
|
||||
* Quaternion FAQ</a>.
|
||||
*
|
||||
* @return a reference to the result matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 invert (Matrix3 result) throws SingularMatrixException {
|
||||
float m00 = m00(), m01 = m01(), m02 = m02();
|
||||
float m10 = m10(), m11 = m11(), m12 = m12();
|
||||
float m20 = m20(), m21 = m21(), m22 = m22();
|
||||
// compute the determinant, storing the subdeterminants for later use
|
||||
float sd00 = m11*m22 - m21*m12;
|
||||
float sd10 = m01*m22 - m21*m02;
|
||||
float sd20 = m01*m12 - m11*m02;
|
||||
float det = m00*sd00 + m20*sd20 - m10*sd10;
|
||||
if (Math.abs(det) == 0f) {
|
||||
// determinant is zero; matrix is not invertible
|
||||
throw new SingularMatrixException(this.toString());
|
||||
}
|
||||
float rdet = 1f / det;
|
||||
return result.set(
|
||||
+sd00 * rdet,
|
||||
-(m10*m22 - m20*m12) * rdet,
|
||||
+(m10*m21 - m20*m11) * rdet,
|
||||
|
||||
-sd10 * rdet,
|
||||
+(m00*m22 - m20*m02) * rdet,
|
||||
-(m00*m21 - m20*m01) * rdet,
|
||||
|
||||
+sd20 * rdet,
|
||||
-(m00*m12 - m10*m02) * rdet,
|
||||
+(m00*m11 - m10*m01) * rdet);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 invertAffine () {
|
||||
return invertAffine(new Matrix3());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 invertAffine (Matrix3 result) throws SingularMatrixException {
|
||||
float m00 = m00(), m01 = m01(), m02 = m02();
|
||||
float m10 = m10(), m11 = m11(), m12 = m12();
|
||||
float m20 = m20(), m21 = m21(), m22 = m22();
|
||||
// compute the determinant, storing the subdeterminants for later use
|
||||
float det = m00*m11 - m10*m01;
|
||||
if (Math.abs(det) == 0f) {
|
||||
// determinant is zero; matrix is not invertible
|
||||
throw new SingularMatrixException(this.toString());
|
||||
}
|
||||
float rdet = 1f / det;
|
||||
return result.set(
|
||||
+m11 * rdet,
|
||||
-m10 * rdet,
|
||||
+(m10*m21 - m20*m11) * rdet,
|
||||
|
||||
-m01 * rdet,
|
||||
+m00 * rdet,
|
||||
-(m00*m21 - m20*m01) * rdet,
|
||||
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 lerp (IMatrix3 other, float t) {
|
||||
return lerp(other, t, new Matrix3());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 lerp (IMatrix3 other, float t, Matrix3 result) {
|
||||
float m00 = m00(), m01 = m01(), m02 = m02();
|
||||
float m10 = m10(), m11 = m11(), m12 = m12();
|
||||
float m20 = m20(), m21 = m21(), m22 = m22();
|
||||
float om00 = other.m00(), om01 = other.m01(), om02 = other.m02();
|
||||
float om10 = other.m10(), om11 = other.m11(), om12 = other.m12();
|
||||
float om20 = other.m20(), om21 = other.m21(), om22 = other.m22();
|
||||
return result.set(
|
||||
m00 + t*(om00 - m00),
|
||||
m10 + t*(om10 - m10),
|
||||
m20 + t*(om20 - m20),
|
||||
|
||||
m01 + t*(om01 - m01),
|
||||
m11 + t*(om11 - m11),
|
||||
m21 + t*(om21 - m21),
|
||||
|
||||
m02 + t*(om02 - m02),
|
||||
m12 + t*(om12 - m12),
|
||||
m22 + t*(om22 - m22));
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 lerpAffine (IMatrix3 other, float t) {
|
||||
return lerpAffine(other, t, new Matrix3());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Matrix3 lerpAffine (IMatrix3 other, float t, Matrix3 result) {
|
||||
float m00 = m00(), m01 = m01(), m02 = m02();
|
||||
float m10 = m10(), m11 = m11(), m12 = m12();
|
||||
float m20 = m20(), m21 = m21(), m22 = m22();
|
||||
float om00 = other.m00(), om01 = other.m01(), om02 = other.m02();
|
||||
float om10 = other.m10(), om11 = other.m11(), om12 = other.m12();
|
||||
float om20 = other.m20(), om21 = other.m21(), om22 = other.m22();
|
||||
return result.set(
|
||||
m00 + t*(om00 - m00),
|
||||
m10 + t*(om10 - m10),
|
||||
m20 + t*(om20 - m20),
|
||||
|
||||
m01 + t*(om01 - m01),
|
||||
m11 + t*(om11 - m11),
|
||||
m21 + t*(om21 - m21),
|
||||
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public FloatBuffer get (FloatBuffer buf) {
|
||||
buf.put(m00()).put(m01()).put(m02());
|
||||
buf.put(m10()).put(m11()).put(m12());
|
||||
buf.put(m20()).put(m21()).put(m22());
|
||||
return buf;
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector3 transformLocal (Vector3 vector) {
|
||||
return transform(vector, vector);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector3 transform (IVector3 vector) {
|
||||
return transform(vector, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector3 transform (IVector3 vector, Vector3 result) {
|
||||
float vx = vector.x(), vy = vector.y(), vz = vector.z();
|
||||
return result.set(
|
||||
m00()*vx + m10()*vy + m20()*vz,
|
||||
m01()*vx + m11()*vy + m21()*vz,
|
||||
m02()*vx + m12()*vy + m22()*vz);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector transformPointLocal (Vector point) {
|
||||
return transformPoint(point, point);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector transformPoint (IVector point) {
|
||||
return transformPoint(point, new Vector());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector transformPoint (IVector point, Vector result) {
|
||||
float px = point.x(), py = point.y();
|
||||
return result.set(m00()*px + m10()*py + m20(), m01()*px + m11()*py + m21());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector transformVectorLocal (Vector vector) {
|
||||
return transformVector(vector, vector);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector transformVector (IVector vector) {
|
||||
return transformVector(vector, new Vector());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector transformVector (IVector vector, Vector result) {
|
||||
float vx = vector.x(), vy = vector.y();
|
||||
return result.set(m00()*vx + m10()*vy, m01()*vx + m11()*vy);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public float extractRotation () {
|
||||
// start with the contents of the upper 2x2 portion of the matrix
|
||||
float n00 = m00(), n10 = m10();
|
||||
float n01 = m01(), n11 = m11();
|
||||
for (int ii = 0; ii < 10; ii++) {
|
||||
// store the results of the previous iteration
|
||||
float o00 = n00, o10 = n10;
|
||||
float o01 = n01, o11 = n11;
|
||||
|
||||
// compute average of the matrix with its inverse transpose
|
||||
float det = o00*o11 - o10*o01;
|
||||
if (Math.abs(det) == 0f) {
|
||||
// determinant is zero; matrix is not invertible
|
||||
throw new SingularMatrixException(this.toString());
|
||||
}
|
||||
float hrdet = 0.5f / det;
|
||||
n00 = +o11 * hrdet + o00*0.5f;
|
||||
n10 = -o01 * hrdet + o10*0.5f;
|
||||
|
||||
n01 = -o10 * hrdet + o01*0.5f;
|
||||
n11 = +o00 * hrdet + o11*0.5f;
|
||||
|
||||
// compute the difference; if it's small enough, we're done
|
||||
float d00 = n00 - o00, d10 = n10 - o10;
|
||||
float d01 = n01 - o01, d11 = n11 - o11;
|
||||
if (d00*d00 + d10*d10 + d01*d01 + d11*d11 < MathUtil.EPSILON) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
// now that we have a nice orthogonal matrix, we can extract the rotation
|
||||
return FloatMath.atan2(n01, n00);
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector extractScale () {
|
||||
return extractScale(new Vector());
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public Vector extractScale (Vector result) {
|
||||
float m00 = m00(), m01 = m01(), m10 = m10(), m11 = m11();
|
||||
return result.set(
|
||||
FloatMath.sqrt(m00*m00 + m01*m01),
|
||||
FloatMath.sqrt(m10*m10 + m11*m11));
|
||||
}
|
||||
|
||||
@Override // from IVector3
|
||||
public float approximateUniformScale () {
|
||||
float cp = m00()*m11() - m01()*m10();
|
||||
return (cp < 0f) ? -FloatMath.sqrt(-cp) : FloatMath.sqrt(cp);
|
||||
}
|
||||
|
||||
@Override
|
||||
public String toString () {
|
||||
return "[[" + m00() + ", " + m10() + ", " + m20() + "], " +
|
||||
"[" + m01() + ", " + m11() + ", " + m21() + "], " +
|
||||
"[" + m02() + ", " + m12() + ", " + m22() + "]]";
|
||||
}
|
||||
|
||||
@Override
|
||||
public int hashCode () {
|
||||
return Platform.hashCode(m00()) ^ Platform.hashCode(m10()) ^ Platform.hashCode(m20()) ^
|
||||
Platform.hashCode(m01()) ^ Platform.hashCode(m11()) ^ Platform.hashCode(m21()) ^
|
||||
Platform.hashCode(m02()) ^ Platform.hashCode(m12()) ^ Platform.hashCode(m22());
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean equals (Object other) {
|
||||
if (!(other instanceof AbstractMatrix3)) {
|
||||
return false;
|
||||
}
|
||||
AbstractMatrix3 omat = (AbstractMatrix3)other;
|
||||
return
|
||||
m00() == omat.m00() && m10() == omat.m10() && m20() == omat.m20() &&
|
||||
m01() == omat.m01() && m11() == omat.m11() && m21() == omat.m21() &&
|
||||
m02() == omat.m02() && m12() == omat.m12() && m22() == omat.m22();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,204 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.f;
|
||||
|
||||
import java.nio.FloatBuffer;
|
||||
|
||||
import pythagoras.util.Platform;
|
||||
|
||||
/**
|
||||
* Provides most of the implementation of {@link IVector3}, obtaining only x, y and z from the
|
||||
* derived class.
|
||||
*/
|
||||
public abstract class AbstractVector3 implements IVector3
|
||||
{
|
||||
@Override // from interface IVector3
|
||||
public float dot (IVector3 other) {
|
||||
return x()*other.x() + y()*other.y() + z()*other.z();
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 cross (IVector3 other) {
|
||||
return cross(other, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 cross (IVector3 other, Vector3 result) {
|
||||
float x = x(), y = y(), z = z();
|
||||
float ox = other.x(), oy = other.y(), oz = other.z();
|
||||
return result.set(y*oz - z*oy, z*ox - x*oz, x*oy - y*ox);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public float triple (IVector3 b, IVector3 c) {
|
||||
float bx = b.x(), by = b.y(), bz = b.z();
|
||||
float cx = c.x(), cy = c.y(), cz = c.z();
|
||||
return x()*(by*cz - bz*cy) + y()*(bz*cx - bx*cz) + z()*(bx*cy - by*cx);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 negate () {
|
||||
return negate(new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 negate (Vector3 result) {
|
||||
return result.set(-x(), -y(), -z());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 normalize () {
|
||||
return normalize(new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 normalize (Vector3 result) {
|
||||
return mult(1f / length(), result);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public float angle (IVector3 other) {
|
||||
return FloatMath.acos(dot(other) / (length() * other.length()));
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public float length () {
|
||||
return FloatMath.sqrt(lengthSquared());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public float lengthSquared () {
|
||||
float x = x(), y = y(), z = z();
|
||||
return (x*x + y*y + z*z);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public float distance (IVector3 other) {
|
||||
return FloatMath.sqrt(distanceSquared(other));
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public float distanceSquared (IVector3 other) {
|
||||
float dx = x() - other.x(), dy = y() - other.y(), dz = z() - other.z();
|
||||
return dx*dx + dy*dy + dz*dz;
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public float manhattanDistance (IVector3 other) {
|
||||
return Math.abs(x() - other.x()) + Math.abs(y() - other.y()) + Math.abs(z() - other.z());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 mult (float v) {
|
||||
return mult(v, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 mult (float v, Vector3 result) {
|
||||
return result.set(x()*v, y()*v, z()*v);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 mult (IVector3 other) {
|
||||
return mult(other, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 mult (IVector3 other, Vector3 result) {
|
||||
return result.set(x()*other.x(), y()*other.y(), z()*other.z());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 add (IVector3 other) {
|
||||
return add(other, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 add (IVector3 other, Vector3 result) {
|
||||
return add(other.x(), other.y(), other.z(), result);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 subtract (IVector3 other) {
|
||||
return subtract(other, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 subtract (IVector3 other, Vector3 result) {
|
||||
return add(-other.x(), -other.y(), -other.z(), result);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 add (float x, float y, float z) {
|
||||
return add(x, y, z, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 add (float x, float y, float z, Vector3 result) {
|
||||
return result.set(x() + x, y() + y, z() + z);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 addScaled (IVector3 other, float v) {
|
||||
return addScaled(other, v, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 addScaled (IVector3 other, float v, Vector3 result) {
|
||||
return result.set(x() + other.x()*v, y() + other.y()*v, z() + other.z()*v);
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 lerp (IVector3 other, float t) {
|
||||
return lerp(other, t, new Vector3());
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public Vector3 lerp (IVector3 other, float t, Vector3 result) {
|
||||
float x = x(), y = y(), z = z();
|
||||
return result.set(x + t*(other.x() - x), y + t*(other.y() - y), z + t*(other.z() - z));
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public float get (int idx) {
|
||||
switch (idx) {
|
||||
case 0: return x();
|
||||
case 1: return y();
|
||||
case 2: return z();
|
||||
}
|
||||
throw new IndexOutOfBoundsException(String.valueOf(idx));
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public void get (float[] values) {
|
||||
values[0] = x();
|
||||
values[1] = y();
|
||||
values[2] = z();
|
||||
}
|
||||
|
||||
@Override // from interface IVector3
|
||||
public FloatBuffer get (FloatBuffer buf) {
|
||||
return buf.put(x()).put(y()).put(z());
|
||||
}
|
||||
|
||||
@Override
|
||||
public String toString () {
|
||||
return "[" + x() + ", " + y() + ", " + z() + "]";
|
||||
}
|
||||
|
||||
@Override
|
||||
public int hashCode () {
|
||||
return Platform.hashCode(x()) ^ Platform.hashCode(y()) ^ Platform.hashCode(z());
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean equals (Object other) {
|
||||
if (!(other instanceof AbstractVector3)) {
|
||||
return false;
|
||||
}
|
||||
AbstractVector3 ovec = (AbstractVector3)other;
|
||||
return (x() == ovec.x() && y() == ovec.y() && z() == ovec.z());
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,250 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.f;
|
||||
|
||||
import java.nio.FloatBuffer;
|
||||
|
||||
import pythagoras.util.SingularMatrixException;
|
||||
|
||||
/**
|
||||
* Provides read-only access to a {@link Matrix3}.
|
||||
*/
|
||||
interface IMatrix3
|
||||
{
|
||||
/** Returns the (0,0)th component of the matrix. */
|
||||
float m00 ();
|
||||
|
||||
/** Returns the (1,0)th component of the matrix. */
|
||||
float m10 ();
|
||||
|
||||
/** Returns the (2,0)th component of the matrix. */
|
||||
float m20 ();
|
||||
|
||||
/** Returns the (0,1)th component of the matrix. */
|
||||
float m01 ();
|
||||
|
||||
/** Returns the (1,1)th component of the matrix. */
|
||||
float m11 ();
|
||||
|
||||
/** Returns the (2,1)th component of the matrix. */
|
||||
float m21 ();
|
||||
|
||||
/** Returns the (0,2)th component of the matrix. */
|
||||
float m02 ();
|
||||
|
||||
/** Returns the (1,2)th component of the matrix. */
|
||||
float m12 ();
|
||||
|
||||
/** Returns the (2,2)th component of the matrix. */
|
||||
float m22 ();
|
||||
|
||||
/**
|
||||
* Transposes this matrix.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 transpose ();
|
||||
|
||||
/**
|
||||
* Transposes this matrix, storing the result in the provided object.
|
||||
*
|
||||
* @return the result matrix, for chaining.
|
||||
*/
|
||||
Matrix3 transpose (Matrix3 result);
|
||||
|
||||
/**
|
||||
* Multiplies this matrix by another.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 mult (IMatrix3 other);
|
||||
|
||||
/**
|
||||
* Multiplies this matrix by another and stores the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result matrix, for chaining.
|
||||
*/
|
||||
Matrix3 mult (IMatrix3 other, Matrix3 result);
|
||||
|
||||
/**
|
||||
* Determines whether this matrix represents an affine transformation.
|
||||
*/
|
||||
boolean isAffine ();
|
||||
|
||||
/**
|
||||
* Multiplies this matrix by another, treating the matrices as affine.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 multAffine (IMatrix3 other);
|
||||
|
||||
/**
|
||||
* Multiplies this matrix by another, treating the matrices as affine, and stores the result
|
||||
* in the object provided.
|
||||
*
|
||||
* @return a reference to the result matrix, for chaining.
|
||||
*/
|
||||
Matrix3 multAffine (IMatrix3 other, Matrix3 result);
|
||||
|
||||
/**
|
||||
* Inverts this matrix.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 invert ();
|
||||
|
||||
/**
|
||||
* Inverts this matrix and places the result in the given object. This code is based on the
|
||||
* examples in the <a href="http://www.j3d.org/matrix_faq/matrfaq_latest.html">Matrix and
|
||||
* Quaternion FAQ</a>.
|
||||
*
|
||||
* @return a reference to the result matrix, for chaining.
|
||||
*/
|
||||
Matrix3 invert (Matrix3 result) throws SingularMatrixException;
|
||||
|
||||
/**
|
||||
* Inverts this matrix as an affine matrix.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 invertAffine ();
|
||||
|
||||
/**
|
||||
* Inverts this matrix as an affine matrix and places the result in the given object.
|
||||
*
|
||||
* @return a reference to the result matrix, for chaining.
|
||||
*/
|
||||
Matrix3 invertAffine (Matrix3 result) throws SingularMatrixException;
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other matrix.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 lerp (IMatrix3 other, float t);
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other matrix, placing the result in
|
||||
* the object provided.
|
||||
*
|
||||
* @return a reference to the result object, for chaining.
|
||||
*/
|
||||
Matrix3 lerp (IMatrix3 other, float t, Matrix3 result);
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other matrix, treating the matrices as
|
||||
* affine.
|
||||
*
|
||||
* @return a new matrix containing the result.
|
||||
*/
|
||||
Matrix3 lerpAffine (IMatrix3 other, float t);
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other matrix (treating the matrices as
|
||||
* affine), placing the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result object, for chaining.
|
||||
*/
|
||||
Matrix3 lerpAffine (IMatrix3 other, float t, Matrix3 result);
|
||||
|
||||
/**
|
||||
* Places the contents of this matrix into the given buffer in the standard OpenGL order.
|
||||
*
|
||||
* @return a reference to the buffer, for chaining.
|
||||
*/
|
||||
FloatBuffer get (FloatBuffer buf);
|
||||
|
||||
/**
|
||||
* Transforms a vector in-place by the inner 3x3 part of this matrix.
|
||||
*
|
||||
* @return a reference to the vector, for chaining.
|
||||
*/
|
||||
Vector3 transformLocal (Vector3 vector);
|
||||
|
||||
/**
|
||||
* Transforms a vector by this matrix.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 transform (IVector3 vector);
|
||||
|
||||
/**
|
||||
* Transforms a vector by this matrix and places the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 transform (IVector3 vector, Vector3 result);
|
||||
|
||||
/**
|
||||
* Transforms a point in-place by this matrix.
|
||||
*
|
||||
* @return a reference to the point, for chaining.
|
||||
*/
|
||||
Vector transformPointLocal (Vector point);
|
||||
|
||||
/**
|
||||
* Transforms a point by this matrix.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector transformPoint (IVector point);
|
||||
|
||||
/**
|
||||
* Transforms a point by this matrix and places the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector transformPoint (IVector point, Vector result);
|
||||
|
||||
/**
|
||||
* Transforms a vector in-place by the inner 2x2 part of this matrix.
|
||||
*
|
||||
* @return a reference to the vector, for chaining.
|
||||
*/
|
||||
Vector transformVectorLocal (Vector vector);
|
||||
|
||||
/**
|
||||
* Transforms a vector by this inner 2x2 part of this matrix.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector transformVector (IVector vector);
|
||||
|
||||
/**
|
||||
* Transforms a vector by the inner 2x2 part of this matrix and places the result in the object
|
||||
* provided.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector transformVector (IVector vector, Vector result);
|
||||
|
||||
/**
|
||||
* Extracts the rotation component of the matrix. This uses the iterative polar decomposition
|
||||
* algorithm described by
|
||||
* <a href="http://www.cs.wisc.edu/graphics/Courses/838-s2002/Papers/polar-decomp.pdf">Ken
|
||||
* Shoemake</a>.
|
||||
*/
|
||||
float extractRotation ();
|
||||
|
||||
/**
|
||||
* Extracts the scale component of the matrix.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector extractScale ();
|
||||
|
||||
/**
|
||||
* Extracts the scale component of the matrix and places it in the provided result vector.
|
||||
*
|
||||
* @return a reference to the result vector, for chaining.
|
||||
*/
|
||||
Vector extractScale (Vector result);
|
||||
|
||||
/**
|
||||
* Returns an approximation of the uniform scale for this matrix (the square root of the
|
||||
* signed area of the parallelogram spanned by the axis vectors).
|
||||
*/
|
||||
float approximateUniformScale ();
|
||||
}
|
||||
@@ -0,0 +1,221 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.f;
|
||||
|
||||
import java.nio.FloatBuffer;
|
||||
|
||||
/**
|
||||
* Provides read-only access to a {@link Vector3}.
|
||||
*/
|
||||
public interface IVector3
|
||||
{
|
||||
/** Returns the x-component of this vector. */
|
||||
float x ();
|
||||
|
||||
/** Returns the y-component of this vector. */
|
||||
float y ();
|
||||
|
||||
/** Returns the z-component of this vector. */
|
||||
float z ();
|
||||
|
||||
/**
|
||||
* Computes and returns the dot product of this and the specified other vector.
|
||||
*/
|
||||
float dot (IVector3 other);
|
||||
|
||||
/**
|
||||
* Computes the cross product of this and the specified other vector.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 cross (IVector3 other);
|
||||
|
||||
/**
|
||||
* Computes the cross product of this and the specified other vector, placing the result
|
||||
* in the object supplied.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 cross (IVector3 other, Vector3 result);
|
||||
|
||||
/**
|
||||
* Computes the triple product of this and the specified other vectors, which is equal to
|
||||
* <code>this.dot(b.cross(c))</code>.
|
||||
*/
|
||||
float triple (IVector3 b, IVector3 c);
|
||||
|
||||
/**
|
||||
* Negates this vector.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 negate ();
|
||||
|
||||
/**
|
||||
* Negates this vector, storing the result in the supplied object.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 negate (Vector3 result);
|
||||
|
||||
/**
|
||||
* Normalizes this vector.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 normalize ();
|
||||
|
||||
/**
|
||||
* Normalizes this vector, storing the result in the object supplied.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 normalize (Vector3 result);
|
||||
|
||||
/**
|
||||
* Returns the angle between this vector and the specified other vector.
|
||||
*/
|
||||
float angle (IVector3 other);
|
||||
|
||||
/**
|
||||
* Returns the length of this vector.
|
||||
*/
|
||||
float length ();
|
||||
|
||||
/**
|
||||
* Returns the squared length of this vector.
|
||||
*/
|
||||
float lengthSquared ();
|
||||
|
||||
/**
|
||||
* Returns the distance from this vector to the specified other vector.
|
||||
*/
|
||||
float distance (IVector3 other);
|
||||
|
||||
/**
|
||||
* Returns the squared distance from this vector to the specified other.
|
||||
*/
|
||||
float distanceSquared (IVector3 other);
|
||||
|
||||
/**
|
||||
* Returns the Manhattan distance between this vector and the specified other.
|
||||
*/
|
||||
float manhattanDistance (IVector3 other);
|
||||
|
||||
/**
|
||||
* Multiplies this vector by a scalar.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 mult (float v);
|
||||
|
||||
/**
|
||||
* Multiplies this vector by a scalar and places the result in the supplied object.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 mult (float v, Vector3 result);
|
||||
|
||||
/**
|
||||
* Multiplies this vector by another.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 mult (IVector3 other);
|
||||
|
||||
/**
|
||||
* Multiplies this vector by another, storing the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result vector, for chaining.
|
||||
*/
|
||||
Vector3 mult (IVector3 other, Vector3 result);
|
||||
|
||||
/**
|
||||
* Adds a vector to this one.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 add (IVector3 other);
|
||||
/**
|
||||
* Adds a vector to this one, storing the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
public IVector3 add (IVector3 other, Vector3 result);
|
||||
|
||||
/**
|
||||
* Subtracts a vector from this one.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 subtract (IVector3 other);
|
||||
|
||||
/**
|
||||
* Subtracts a vector from this one and places the result in the supplied object.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 subtract (IVector3 other, Vector3 result);
|
||||
|
||||
/**
|
||||
* Adds a vector to this one.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 add (float x, float y, float z);
|
||||
|
||||
/**
|
||||
* Adds a vector to this one and stores the result in the object provided.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 add (float x, float y, float z, Vector3 result);
|
||||
|
||||
/**
|
||||
* Adds a scaled vector to this one.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 addScaled (IVector3 other, float v);
|
||||
|
||||
/**
|
||||
* Adds a scaled vector to this one and stores the result in the supplied vector.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 addScaled (IVector3 other, float v, Vector3 result);
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other vector by the supplied amount.
|
||||
*
|
||||
* @return a new vector containing the result.
|
||||
*/
|
||||
Vector3 lerp (IVector3 other, float t);
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the supplied other vector by the supplied amount,
|
||||
* storing the result in the supplied object.
|
||||
*
|
||||
* @return a reference to the result, for chaining.
|
||||
*/
|
||||
Vector3 lerp (IVector3 other, float t, Vector3 result);
|
||||
|
||||
/**
|
||||
* Returns the element at the idx'th position of the vector.
|
||||
*/
|
||||
float get (int idx);
|
||||
|
||||
/**
|
||||
* Populates the supplied array with the contents of this vector.
|
||||
*/
|
||||
void get (float[] values);
|
||||
|
||||
/**
|
||||
* Populates the supplied buffer with the contents of this vector.
|
||||
*
|
||||
* @return a reference to the buffer, for chaining.
|
||||
*/
|
||||
FloatBuffer get (FloatBuffer buf);
|
||||
}
|
||||
@@ -0,0 +1,406 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.f;
|
||||
|
||||
import java.nio.FloatBuffer;
|
||||
|
||||
/**
|
||||
* A 3x3 column-major matrix.
|
||||
*/
|
||||
public class Matrix3 extends AbstractMatrix3
|
||||
{
|
||||
/** The identity matrix. */
|
||||
public static final Matrix3 IDENTITY = new Matrix3();
|
||||
|
||||
/** The values of the matrix. */
|
||||
public float m00, m10, m20;
|
||||
public float m01, m11, m21;
|
||||
public float m02, m12, m22;
|
||||
|
||||
/**
|
||||
* Creates a matrix from its components.
|
||||
*/
|
||||
public Matrix3 (float m00, float m10, float m20,
|
||||
float m01, float m11, float m21,
|
||||
float m02, float m12, float m22) {
|
||||
set(m00, m10, m20,
|
||||
m01, m11, m21,
|
||||
m02, m12, m22);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates a matrix from an array of values.
|
||||
*/
|
||||
public Matrix3 (float[] values) {
|
||||
set(values);
|
||||
}
|
||||
|
||||
/**
|
||||
* Copy constructor.
|
||||
*/
|
||||
public Matrix3 (Matrix3 other) {
|
||||
set(other);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an identity matrix.
|
||||
*/
|
||||
public Matrix3 () {
|
||||
setToIdentity();
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this matrix to the identity matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToIdentity () {
|
||||
return set(
|
||||
1f, 0f, 0f,
|
||||
0f, 1f, 0f,
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a rotation matrix that rotates one vector onto another.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToRotation (IVector3 from, IVector3 to) {
|
||||
float angle = from.angle(to);
|
||||
return (angle < 0.0001f) ?
|
||||
setToIdentity() : setToRotation(angle, from.cross(to).normalizeLocal());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a rotation matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToRotation (float angle, IVector3 axis) {
|
||||
return setToRotation(angle, axis.x(), axis.y(), axis.z());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a rotation matrix. The formula comes from the OpenGL documentation for the
|
||||
* glRotatef function.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToRotation (float angle, float x, float y, float z) {
|
||||
float c = FloatMath.cos(angle), s = FloatMath.sin(angle), omc = 1f - c;
|
||||
float xs = x*s, ys = y*s, zs = z*s, xy = x*y, xz = x*z, yz = y*z;
|
||||
return set(
|
||||
x*x*omc + c, xy*omc - zs, xz*omc + ys,
|
||||
xy*omc + zs, y*y*omc + c, yz*omc - xs,
|
||||
xz*omc - ys, yz*omc + xs, z*z*omc + c);
|
||||
}
|
||||
|
||||
// /**
|
||||
// * Sets this to a rotation matrix. The formula comes from the
|
||||
// * <a href="http://www.j3d.org/matrix_faq/matrfaq_latest.html">Matrix and Quaternion FAQ</a>.
|
||||
// *
|
||||
// * @return a reference to this matrix, for chaining.
|
||||
// */
|
||||
// public Matrix3 setToRotation (Quaternion quat) {
|
||||
// float xx = quat.x*quat.x, yy = quat.y*quat.y, zz = quat.z*quat.z;
|
||||
// float xy = quat.x*quat.y, xz = quat.x*quat.z, xw = quat.x*quat.w;
|
||||
// float yz = quat.y*quat.z, yw = quat.y*quat.w, zw = quat.z*quat.w;
|
||||
// return set(
|
||||
// 1f - 2f*(yy + zz), 2f*(xy - zw), 2f*(xz + yw),
|
||||
// 2f*(xy + zw), 1f - 2f*(xx + zz), 2f*(yz - xw),
|
||||
// 2f*(xz - yw), 2f*(yz + xw), 1f - 2f*(xx + yy));
|
||||
// }
|
||||
|
||||
/**
|
||||
* Sets this to a scale matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToScale (IVector3 scale) {
|
||||
return setToScale(scale.x(), scale.y(), scale.z());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a uniform scale matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToScale (float s) {
|
||||
return setToScale(s, s, s);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a scale matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToScale (float x, float y, float z) {
|
||||
return set(
|
||||
x, 0f, 0f,
|
||||
0f, y, 0f,
|
||||
0f, 0f, z);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a reflection across a plane intersecting the origin with the supplied normal.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToReflection (IVector3 normal) {
|
||||
return setToReflection(normal.x(), normal.y(), normal.z());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a reflection across a plane intersecting the origin with the supplied normal.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToReflection (float x, float y, float z) {
|
||||
float x2 = -2f*x, y2 = -2f*y, z2 = -2f*z;
|
||||
float xy2 = x2*y, xz2 = x2*z, yz2 = y2*z;
|
||||
return set(
|
||||
1f + x2*x, xy2, xz2,
|
||||
xy2, 1f + y2*y, yz2,
|
||||
xz2, yz2, 1f + z2*z);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a matrix that first rotates, then translates.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToTransform (IVector translation, float rotation) {
|
||||
return setToRotation(rotation).setTranslation(translation);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a matrix that first scales, then rotates, then translates.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToTransform (IVector translation, float rotation, float scale) {
|
||||
return setToRotation(rotation).set(
|
||||
m00 * scale, m10 * scale, translation.x(),
|
||||
m01 * scale, m11 * scale, translation.y(),
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a matrix that first scales, then rotates, then translates.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToTransform (IVector translation, float rotation, IVector scale) {
|
||||
float sx = scale.x(), sy = scale.y();
|
||||
return setToRotation(rotation).set(
|
||||
m00 * sx, m10 * sy, translation.x(),
|
||||
m01 * sx, m11 * sy, translation.y(),
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a translation matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToTranslation (IVector translation) {
|
||||
return setToTranslation(translation.x(), translation.y());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a translation matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToTranslation (float x, float y) {
|
||||
return set(
|
||||
1f, 0f, x,
|
||||
0f, 1f, y,
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the translation component of this matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setTranslation (IVector translation) {
|
||||
return setTranslation(translation.x(), translation.y());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the translation component of this matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setTranslation (float x, float y) {
|
||||
m20 = x;
|
||||
m21 = y;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets this to a rotation matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 setToRotation (float angle) {
|
||||
float sina = FloatMath.sin(angle), cosa = FloatMath.cos(angle);
|
||||
return set(
|
||||
cosa, -sina, 0f,
|
||||
sina, cosa, 0f,
|
||||
0f, 0f, 1f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Transposes this matrix in-place.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 transposeLocal () {
|
||||
return transpose(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Multiplies this matrix in-place by another.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 multLocal (IMatrix3 other) {
|
||||
return mult(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Multiplies this matrix in-place by another, treating the matricees as affine.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 multAffineLocal (IMatrix3 other) {
|
||||
return multAffine(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Inverts this matrix in-place.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 invertLocal () {
|
||||
return invert(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Inverts this matrix in-place as an affine matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 invertAffineLocal () {
|
||||
return invertAffine(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Linearly interpolates between the this and the specified other matrix, placing the result in
|
||||
* this matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 lerpLocal (IMatrix3 other, float t) {
|
||||
return lerp(other, t, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other matrix (treating the matrices as
|
||||
* affine), placing the result in this matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 lerpAffineLocal (IMatrix3 other, float t) {
|
||||
return lerpAffine(other, t, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Copies the contents of another matrix.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 set (IMatrix3 other) {
|
||||
return set(
|
||||
other.m00(), other.m10(), other.m20(),
|
||||
other.m01(), other.m11(), other.m21(),
|
||||
other.m02(), other.m12(), other.m22());
|
||||
}
|
||||
|
||||
/**
|
||||
* Copies the elements of an array.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 set (float[] values) {
|
||||
return set(
|
||||
values[0], values[1], values[2],
|
||||
values[3], values[4], values[5],
|
||||
values[6], values[7], values[8]);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets all of the matrix's components at once.
|
||||
*
|
||||
* @return a reference to this matrix, for chaining.
|
||||
*/
|
||||
public Matrix3 set (
|
||||
float m00, float m10, float m20,
|
||||
float m01, float m11, float m21,
|
||||
float m02, float m12, float m22) {
|
||||
this.m00 = m00; this.m01 = m01; this.m02 = m02;
|
||||
this.m10 = m10; this.m11 = m11; this.m12 = m12;
|
||||
this.m20 = m20; this.m21 = m21; this.m22 = m22;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public float m00 () {
|
||||
return m00;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public float m10 () {
|
||||
return m10;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public float m20 () {
|
||||
return m20;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public float m01 () {
|
||||
return m01;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public float m11 () {
|
||||
return m11;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public float m21 () {
|
||||
return m21;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public float m02 () {
|
||||
return m02;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public float m12 () {
|
||||
return m12;
|
||||
}
|
||||
|
||||
@Override // from AbstractMatrix3
|
||||
public float m22 () {
|
||||
return m22;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,206 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.f;
|
||||
|
||||
import java.io.Serializable;
|
||||
|
||||
/**
|
||||
* A three element vector.
|
||||
*/
|
||||
public class Vector3 extends AbstractVector3 implements Serializable
|
||||
{
|
||||
/** A unit vector in the X+ direction. */
|
||||
public static final IVector3 UNIT_X = new Vector3(1f, 0f, 0f);
|
||||
|
||||
/** A unit vector in the Y+ direction. */
|
||||
public static final IVector3 UNIT_Y = new Vector3(0f, 1f, 0f);
|
||||
|
||||
/** A unit vector in the Z+ direction. */
|
||||
public static final IVector3 UNIT_Z = new Vector3(0f, 0f, 1f);
|
||||
|
||||
/** A vector containing unity for all components. */
|
||||
public static final IVector3 UNIT_XYZ = new Vector3(1f, 1f, 1f);
|
||||
|
||||
/** A normalized version of UNIT_XYZ. */
|
||||
public static final IVector3 NORMAL_XYZ = UNIT_XYZ.normalize();
|
||||
|
||||
/** The zero vector. */
|
||||
public static final IVector3 ZERO = new Vector3(0f, 0f, 0f);
|
||||
|
||||
/** A vector containing the minimum floating point value for all components
|
||||
* (note: the components are -{@link Float#MAX_VALUE}, not {@link Float#MIN_VALUE}). */
|
||||
public static final IVector3 MIN_VALUE =
|
||||
new Vector3(-Float.MAX_VALUE, -Float.MAX_VALUE, -Float.MAX_VALUE);
|
||||
|
||||
/** A vector containing the maximum floating point value for all components. */
|
||||
public static final IVector3 MAX_VALUE =
|
||||
new Vector3(Float.MAX_VALUE, Float.MAX_VALUE, Float.MAX_VALUE);
|
||||
|
||||
/** The components of the vector. */
|
||||
public float x, y, z;
|
||||
|
||||
/**
|
||||
* Creates a vector from three components.
|
||||
*/
|
||||
public Vector3 (float x, float y, float z) {
|
||||
set(x, y, z);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates a vector from an array of values.
|
||||
*/
|
||||
public Vector3 (float[] values) {
|
||||
set(values);
|
||||
}
|
||||
|
||||
/**
|
||||
* Copy constructor.
|
||||
*/
|
||||
public Vector3 (IVector3 other) {
|
||||
set(other);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates a zero vector.
|
||||
*/
|
||||
public Vector3 () {
|
||||
}
|
||||
|
||||
/**
|
||||
* Computes the cross product of this and the specified other vector, storing the result
|
||||
* in this vector.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 crossLocal (IVector3 other) {
|
||||
return cross(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Negates this vector in-place.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 negateLocal () {
|
||||
return negate(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Normalizes this vector in-place.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 normalizeLocal () {
|
||||
return normalize(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Multiplies this vector in-place by a scalar.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 multLocal (float v) {
|
||||
return mult(v, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Multiplies this vector in-place by another.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 multLocal (IVector3 other) {
|
||||
return mult(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Adds a vector in-place to this one.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 addLocal (IVector3 other) {
|
||||
return add(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Subtracts a vector in-place from this one.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 subtractLocal (IVector3 other) {
|
||||
return subtract(other, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Adds a vector in-place to this one.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 addLocal (float x, float y, float z) {
|
||||
return add(x, y, z, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Adds a scaled vector in-place to this one.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 addScaledLocal (IVector3 other, float v) {
|
||||
return addScaled(other, v, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Linearly interpolates between this and the specified other vector in-place by the supplied
|
||||
* amount.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 lerpLocal (IVector3 other, float t) {
|
||||
return lerp(other, t, this);
|
||||
}
|
||||
/**
|
||||
* Copies the elements of another vector.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 set (IVector3 other) {
|
||||
return set(other.x(), other.y(), other.z());
|
||||
}
|
||||
|
||||
/**
|
||||
* Copies the elements of an array.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 set (float[] values) {
|
||||
return set(values[0], values[1], values[2]);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets all of the elements of the vector.
|
||||
*
|
||||
* @return a reference to this vector, for chaining.
|
||||
*/
|
||||
public Vector3 set (float x, float y, float z) {
|
||||
this.x = x;
|
||||
this.y = y;
|
||||
this.z = z;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override // from AbstractVector3
|
||||
public float x () {
|
||||
return x;
|
||||
}
|
||||
|
||||
@Override // from AbstractVector3
|
||||
public float y () {
|
||||
return y;
|
||||
}
|
||||
|
||||
@Override // from AbstractVector3
|
||||
public float z () {
|
||||
return z;
|
||||
}
|
||||
}
|
||||
@@ -8,7 +8,7 @@ package pythagoras.util;
|
||||
* An exception thrown by {@code Transform} when a request for an inverse transform cannot be
|
||||
* satisfied.
|
||||
*/
|
||||
public class NoninvertibleTransformException extends java.lang.RuntimeException
|
||||
public class NoninvertibleTransformException extends RuntimeException
|
||||
{
|
||||
public NoninvertibleTransformException (String s) {
|
||||
super(s);
|
||||
|
||||
@@ -0,0 +1,24 @@
|
||||
//
|
||||
// Pythagoras - a collection of geometry classes
|
||||
// http://github.com/samskivert/pythagoras
|
||||
|
||||
package pythagoras.util;
|
||||
|
||||
/**
|
||||
* Thrown when inversion is attempted on a singular (non-invertible) matrix.
|
||||
*/
|
||||
public class SingularMatrixException extends RuntimeException
|
||||
{
|
||||
/**
|
||||
* Creates a new exception.
|
||||
*/
|
||||
public SingularMatrixException () {
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates a new exception with the provided message.
|
||||
*/
|
||||
public SingularMatrixException (String message) {
|
||||
super(message);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user