/*
* gleem -- OpenGL Extremely Easy-To-Use Manipulators.
* Copyright (C) 1998-2003 Kenneth B. Russell (kbrussel@alum.mit.edu)
*
* Copying, distribution and use of this software in source and binary
* forms, with or without modification, is permitted provided that the
* following conditions are met:
*
* Distributions of source code must reproduce the copyright notice,
* this list of conditions and the following disclaimer in the source
* code header files; and Distributions of binary code must reproduce
* the copyright notice, this list of conditions and the following
* disclaimer in the documentation, Read me file, license file and/or
* other materials provided with the software distribution.
*
* The names of Sun Microsystems, Inc. ("Sun") and/or the copyright
* holder may not be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED "AS IS," WITHOUT A WARRANTY OF ANY
* KIND. ALL EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND
* WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE, NON-INTERFERENCE, ACCURACY OF
* INFORMATIONAL CONTENT OR NON-INFRINGEMENT, ARE HEREBY EXCLUDED. THE
* COPYRIGHT HOLDER, SUN AND SUN'S LICENSORS SHALL NOT BE LIABLE FOR
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* CONSEQUENTIAL, INCIDENTAL OR PUNITIVE DAMAGES, HOWEVER CAUSED AND
* REGARDLESS OF THE THEORY OF LIABILITY, ARISING OUT OF THE USE OF OR
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* DESIGNED, LICENSED OR INTENDED FOR USE IN THE DESIGN, CONSTRUCTION,
* OPERATION OR MAINTENANCE OF ANY NUCLEAR FACILITY. THE COPYRIGHT
* HOLDER, SUN AND SUN'S LICENSORS DISCLAIM ANY EXPRESS OR IMPLIED
* WARRANTY OF FITNESS FOR SUCH USES.
*/
package gleem.linalg;
/** A (very incomplete) 4x4 matrix class. Representation assumes
multiplication by column vectors on the right. */
public class Mat4f {
private float[] data;
/** Creates new matrix initialized to the zero matrix */
public Mat4f() {
data = new float[16];
}
/** Creates new matrix initialized to argument's contents */
public Mat4f(Mat4f arg) {
this();
set(arg);
}
/** Sets this matrix to the identity matrix */
public void makeIdent() {
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
if (i == j) {
set(i, j, 1.0f);
} else {
set(i, j, 0.0f);
}
}
}
}
/** Sets this matrix to be equivalent to the given one */
public void set(Mat4f arg) {
float[] mine = data;
float[] yours = arg.data;
for (int i = 0; i < mine.length; i++) {
mine[i] = yours[i];
}
}
/** Gets the (i,j)th element of this matrix, where i is the row
index and j is the column index */
public float get(int i, int j) {
return data[4 * i + j];
}
/** Sets the (i,j)th element of this matrix, where i is the row
index and j is the column index */
public void set(int i, int j, float val) {
data[4 * i + j] = val;
}
/** Sets the translation component of this matrix (i.e., the three
top elements of the third column) without touching any of the
other parts of the matrix */
public void setTranslation(Vec3f trans) {
set(0, 3, trans.x());
set(1, 3, trans.y());
set(2, 3, trans.z());
}
/** Sets the rotation component of this matrix (i.e., the upper left
3x3) without touching any of the other parts of the matrix */
public void setRotation(Rotf rot) {
rot.toMatrix(this);
}
/** Sets the upper-left 3x3 of this matrix assuming that the given
x, y, and z vectors form an orthonormal basis */
public void setRotation(Vec3f x, Vec3f y, Vec3f z) {
set(0, 0, x.x());
set(1, 0, x.y());
set(2, 0, x.z());
set(0, 1, y.x());
set(1, 1, y.y());
set(2, 1, y.z());
set(0, 2, z.x());
set(1, 2, z.y());
set(2, 2, z.z());
}
/** Gets the upper left 3x3 of this matrix as a rotation. Currently
does not work if there are scales. Ignores translation
component. */
public void getRotation(Rotf rot) {
rot.fromMatrix(this);
}
/** Sets the elements (0, 0), (1, 1), and (2, 2) with the
appropriate elements of the given three-dimensional scale
vector. Does not perform a full multiplication of the upper-left
3x3; use this with an identity matrix in conjunction with
<code>mul</code> for that. */
public void setScale(Vec3f scale) {
set(0, 0, scale.x());
set(1, 1, scale.y());
set(2, 2, scale.z());
}
/** Inverts this matrix assuming that it represents a rigid
transform (i.e., some combination of rotations and
translations). Assumes column vectors. Algorithm: transposes
upper left 3x3; negates translation in rightmost column and
transforms by inverted rotation. */
public void invertRigid() {
float t;
// Transpose upper left 3x3
t = get(0, 1);
set(0, 1, get(1, 0));
set(1, 0, t);
t = get(0, 2);
set(0, 2, get(2, 0));
set(2, 0, t);
t = get(1, 2);
set(1, 2, get(2, 1));
set(2, 1, t);
// Transform negative translation by this
Vec3f negTrans = new Vec3f(-get(0, 3), -get(1, 3), -get(2, 3));
Vec3f trans = new Vec3f();
xformDir(negTrans, trans);
set(0, 3, trans.x());
set(1, 3, trans.y());
set(2, 3, trans.z());
}
/** Returns this * b; creates new matrix */
public Mat4f mul(Mat4f b) {
Mat4f tmp = new Mat4f();
tmp.mul(this, b);
return tmp;
}
/** this = a * b */
public void mul(Mat4f a, Mat4f b) {
for (int rc = 0; rc < 4; rc++)
for (int cc = 0; cc < 4; cc++) {
float tmp = 0.0f;
for (int i = 0; i < 4; i++)
tmp += a.get(rc, i) * b.get(i, cc);
set(rc, cc, tmp);
}
}
/** Transpose this matrix in place. */
public void transpose() {
float t;
for (int i = 0; i < 4; i++) {
for (int j = 0; j < i; j++) {
t = get(i, j);
set(i, j, get(j, i));
set(j, i, t);
}
}
}
/** Multiply a 4D vector by this matrix. NOTE: src and dest must be
different vectors. */
public void xformVec(Vec4f src, Vec4f dest) {
for (int rc = 0; rc < 4; rc++) {
float tmp = 0.0f;
for (int cc = 0; cc < 4; cc++) {
tmp += get(rc, cc) * src.get(cc);
}
dest.set(rc, tmp);
}
}
/** Transforms a 3D vector as though it had a homogeneous coordinate
and assuming that this matrix represents only rigid
transformations; i.e., is not a full transformation. NOTE: src
and dest must be different vectors. */
public void xformPt(Vec3f src, Vec3f dest) {
for (int rc = 0; rc < 3; rc++) {
float tmp = 0.0f;
for (int cc = 0; cc < 3; cc++) {
tmp += get(rc, cc) * src.get(cc);
}
tmp += get(rc, 3);
dest.set(rc, tmp);
}
}
/** Transforms src using only the upper left 3x3. NOTE: src and dest
must be different vectors. */
public void xformDir(Vec3f src, Vec3f dest) {
for (int rc = 0; rc < 3; rc++) {
float tmp = 0.0f;
for (int cc = 0; cc < 3; cc++) {
tmp += get(rc, cc) * src.get(cc);
}
dest.set(rc, tmp);
}
}
/** Copies data in column-major (OpenGL format) order into passed
float array, which must have length 16 or greater. */
public void getColumnMajorData(float[] out) {
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
out[4 * j + i] = get(i, j);
}
}
}
public Matf toMatf() {
Matf out = new Matf(4, 4);
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
out.set(i, j, get(i, j));
}
}
return out;
}
public String toString() {
String endl = System.getProperty("line.separator");
return "(" +
get(0, 0) + ", " + get(0, 1) + ", " + get(0, 2) + ", " + get(0, 3) + endl +
get(1, 0) + ", " + get(1, 1) + ", " + get(1, 2) + ", " + get(1, 3) + endl +
get(2, 0) + ", " + get(2, 1) + ", " + get(2, 2) + ", " + get(2, 3) + endl +
get(3, 0) + ", " + get(3, 1) + ", " + get(3, 2) + ", " + get(3, 3) + ")";
}
}