Class Matrix4d

java.lang.Object
javax.vecmath.Matrix4d
All Implemented Interfaces:
Serializable, Cloneable
public class Matrix4d extends Object implements Serializable, Cloneable
A double precision floating point 4 by 4 matrix. Primarily to support 3D rotations.
See Also:

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    double
    m00
    The first element of the first row.
    double
    m01
    The second element of the first row.
    double
    m02
    The third element of the first row.
    double
    m03
    The fourth element of the first row.
    double
    m10
    The first element of the second row.
    double
    m11
    The second element of the second row.
    double
    m12
    The third element of the second row.
    double
    m13
    The fourth element of the second row.
    double
    m20
    The first element of the third row.
    double
    m21
    The second element of the third row.
    double
    m22
    The third element of the third row.
    double
    m23
    The fourth element of the third row.
    double
    m30
    The first element of the fourth row.
    double
    m31
    The second element of the fourth row.
    double
    m32
    The third element of the fourth row.
    double
    m33
    The fourth element of the fourth row.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Matrix4d()
    Constructs and initializes a Matrix4d to all zeros.
    Matrix4d(double[] v)
    Constructs and initializes a Matrix4d from the specified 16 element array.
    Matrix4d(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
    Constructs and initializes a Matrix4d from the specified 16 values.
    Matrix4d(Matrix3d m1, Vector3d t1, double s)
    Constructs and initializes a Matrix4f from the rotation matrix, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.
    Matrix4d(Matrix3f m1, Vector3d t1, double s)
    Constructs and initializes a Matrix4d from the rotation matrix, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.
    Matrix4d(Matrix4d m1)
    Constructs a new matrix with the same values as the Matrix4d parameter.
    Matrix4d(Matrix4f m1)
    Constructs a new matrix with the same values as the Matrix4f parameter.
    Matrix4d(Quat4d q1, Vector3d t1, double s)
    Constructs and initializes a Matrix4d from the quaternion, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components.
    Matrix4d(Quat4f q1, Vector3d t1, double s)
    Constructs and initializes a Matrix4d from the quaternion, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components.

  • Method Summary

    Modifier and Type
    Method
    Description
    final void
    add(double scalar)
    Adds a scalar to each component of this matrix.
    final void
    add(double scalar, Matrix4d m1)
    Adds a scalar to each component of the matrix m1 and places the result into this.
    final void
    add(Matrix4d m1)
    Sets the value of this matrix to sum of itself and matrix m1.
    final void
    add(Matrix4d m1, Matrix4d m2)
    Sets the value of this matrix to the matrix sum of matrices m1 and m2.
    Object
    clone()
    Creates a new object of the same class as this object.
    final double
    determinant()
    Computes the determinant of this matrix.
    boolean
    epsilonEquals(Matrix4d m1, double epsilon)
    Returns true if the L-infinite distance between this matrix and matrix m1 is less than or equal to the epsilon parameter, otherwise returns false.
    boolean
    epsilonEquals(Matrix4d m1, float epsilon)
    Deprecated.
    Use epsilonEquals(Matrix4d,double) instead
    boolean
    equals(Object t1)
    Returns true if the Object t1 is of type Matrix4d and all of the data members of t1 are equal to the corresponding data members in this Matrix4d.
    boolean
    equals(Matrix4d m1)
    Returns true if all of the data members of Matrix4d m1 are equal to the corresponding data members in this Matrix4d.
    final void
    get(Matrix3d m1)
    Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3d parameter.
    final double
    get(Matrix3d m1, Vector3d t1)
    Performs an SVD normalization of this matrix to calculate the rotation as a 3x3 matrix, the translation, and the scale.
    final void
    get(Matrix3f m1)
    Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3f parameter.
    final double
    get(Matrix3f m1, Vector3d t1)
    Performs an SVD normalization of this matrix to calculate the rotation as a 3x3 matrix, the translation, and the scale.
    final void
    get(Quat4d q1)
    Performs an SVD normalization of q1 matrix in order to acquire the normalized rotational component; the values are placed into the Quat4d parameter.
    final void
    get(Quat4f q1)
    Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Quat4f parameter.
    final void
    get(Vector3d trans)
    Retrieves the translational components of this matrix.
    final void
    getColumn(int column, double[] v)
    Copies the matrix values in the specified column into the array parameter.
    final void
    getColumn(int column, Vector4d v)
    Copies the matrix values in the specified column into the vector parameter.
    final double
    getElement(int row, int column)
    Retrieves the value at the specified row and column of this matrix.
    final double
    getM00()
    Get the first matrix element in the first row.
    final double
    getM01()
    Get the second matrix element in the first row.
    final double
    getM02()
    Get the third matrix element in the first row.
    final double
    getM03()
    Get the fourth element of the first row.
    final double
    getM10()
    Get first matrix element in the second row.
    final double
    getM11()
    Get second matrix element in the second row.
    final double
    getM12()
    Get the third matrix element in the second row.
    final double
    getM13()
    Get the fourth element of the second row.
    final double
    getM20()
    Get the first matrix element in the third row.
    final double
    getM21()
    Get the second matrix element in the third row.
    final double
    getM22()
    Get the third matrix element in the third row.
    final double
    getM23()
    Get the fourth element of the third row.
    final double
    getM30()
    Get the first element of the fourth row.
    final double
    getM31()
    Get the second element of the fourth row.
    final double
    getM32()
    Get the third element of the fourth row.
    final double
    getM33()
    Get the fourth element of the fourth row.
    final void
    getRotationScale(Matrix3d m1)
    Gets the upper 3x3 values of this matrix and places them into the matrix m1.
    final void
    getRotationScale(Matrix3f m1)
    Gets the upper 3x3 values of this matrix and places them into the matrix m1.
    final void
    getRow(int row, double[] v)
    Copies the matrix values in the specified row into the array parameter.
    final void
    getRow(int row, Vector4d v)
    Copies the matrix values in the specified row into the vector parameter.
    final double
    getScale()
    Performs an SVD normalization of this matrix to calculate and return the uniform scale factor.
    int
    hashCode()
    Returns a hash code value based on the data values in this object.
    final void
    invert()
    Inverts this matrix in place.
    final void
    invert(Matrix4d m1)
    Sets the value of this matrix to the matrix inverse of the passed (user declared) matrix m1.
    final void
    mul(double scalar)
    Multiplies each element of this matrix by a scalar.
    final void
    mul(double scalar, Matrix4d m1)
    Multiplies each element of matrix m1 by a scalar and places the result into this.
    final void
    mul(Matrix4d m1)
    Sets the value of this matrix to the result of multiplying itself with matrix m1.
    final void
    mul(Matrix4d m1, Matrix4d m2)
    Sets the value of this matrix to the result of multiplying the two argument matrices together.
    final void
    mulTransposeBoth(Matrix4d m1, Matrix4d m2)
    Multiplies the transpose of matrix m1 times the transpose of matrix m2, and places the result into this.
    final void
    mulTransposeLeft(Matrix4d m1, Matrix4d m2)
    Multiplies the transpose of matrix m1 times matrix m2, and places the result into this.
    final void
    mulTransposeRight(Matrix4d m1, Matrix4d m2)
    Multiplies matrix m1 times the transpose of matrix m2, and places the result into this.
    final void
    negate()
    Negates the value of this matrix: this = -this.
    final void
    negate(Matrix4d m1)
    Sets the value of this matrix equal to the negation of of the Matrix4d parameter.
    final void
    rotX(double angle)
    Sets the value of this matrix to a counter-clockwise rotation about the x axis.
    final void
    rotY(double angle)
    Sets the value of this matrix to a counter-clockwise rotation about the y axis.
    final void
    rotZ(double angle)
    Sets the value of this matrix to a counter-clockwise rotation about the z axis.
    final void
    set(double scale)
    Sets the value of this matrix to a scale matrix with the passed scale amount.
    final void
    set(double[] m)
    Sets the values in this Matrix4d equal to the row-major array parameter (ie, the first four elements of the array will be copied into the first row of this matrix, etc.).
    final void
    set(double scale, Vector3d v1)
    Sets the value of this transform to a scale and translation matrix; the scale is not applied to the translation and all of the matrix values are modified.
    final void
    set(AxisAngle4d a1)
    Sets the value of this matrix to the matrix conversion of the double precision axis and angle argument.
    final void
    set(AxisAngle4f a1)
    Sets the value of this matrix to the matrix conversion of the single precision axis and angle argument.
    final void
    set(Matrix3d m1)
    Sets the rotational component (upper 3x3) of this matrix to the matrix values in the double precision Matrix3d argument; the other elements of this matrix are initialized as if this were an identity matrix (i.e., affine matrix with no translational component).
    final void
    set(Matrix3d m1, Vector3d t1, double scale)
    Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale factor.
    final void
    set(Matrix3f m1)
    Sets the rotational component (upper 3x3) of this matrix to the matrix values in the single precision Matrix3f argument; the other elements of this matrix are initialized as if this were an identity matrix (i.e., affine matrix with no translational component).
    final void
    set(Matrix3f m1, Vector3f t1, float scale)
    Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale factor.
    final void
    set(Matrix4d m1)
    Sets the value of this matrix to a copy of the passed matrix m1.
    final void
    set(Matrix4f m1)
    Sets the value of this matrix to a copy of the passed matrix m1.
    final void
    set(Quat4d q1)
    Sets the value of this matrix to the matrix conversion of the (double precision) quaternion argument.
    final void
    set(Quat4d q1, Vector3d t1, double s)
    Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
    final void
    set(Quat4f q1)
    Sets the value of this matrix to the matrix conversion of the single precision quaternion argument.
    final void
    set(Quat4f q1, Vector3d t1, double s)
    Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
    final void
    set(Quat4f q1, Vector3f t1, float s)
    Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
    final void
    set(Vector3d v1)
    Sets the value of this matrix to a translate matrix by the passed translation value.
    final void
    set(Vector3d v1, double scale)
    Sets the value of this transform to a scale and translation matrix; the translation is scaled by the scale factor and all of the matrix values are modified.
    final void
    setColumn(int column, double[] v)
    Sets the specified column of this matrix4d to the four values provided.
    final void
    setColumn(int column, double x, double y, double z, double w)
    Sets the specified column of this matrix4d to the four values provided.
    final void
    setColumn(int column, Vector4d v)
    Sets the specified column of this matrix4d to the vector provided.
    final void
    setElement(int row, int column, double value)
    Sets the specified element of this matrix4f to the value provided.
    final void
    setIdentity()
    Sets this Matrix4d to identity.
    final void
    setM00(double m00)
    Set the first matrix element in the first row.
    final void
    setM01(double m01)
    Set the second matrix element in the first row.
    final void
    setM02(double m02)
    Set the third matrix element in the first row.
    final void
    setM03(double m03)
    Set the fourth element of the first row.
    final void
    setM10(double m10)
    Set first matrix element in the second row.
    final void
    setM11(double m11)
    Set the second matrix element in the second row.
    final void
    setM12(double m12)
    Set the third matrix element in the second row.
    final void
    setM13(double m13)
    Set the fourth element of the second row.
    final void
    setM20(double m20)
    Set the first matrix element in the third row.
    final void
    setM21(double m21)
    Set the second matrix element in the third row.
    final void
    setM22(double m22)
    Set the third matrix element in the third row.
    final void
    setM23(double m23)
    Set the fourth element of the third row.
    final void
    setM30(double m30)
    Set the first element of the fourth row.
    final void
    setM31(double m31)
    Set the second element of the fourth row.
    final void
    setM32(double m32)
    Set the third element of the fourth row.
    final void
    setM33(double m33)
    Set the fourth element of the fourth row.
    final void
    setRotation(AxisAngle4d a1)
    Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the axis-angle argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the axis-angle, and then the scale is reapplied to the rotational components.
    final void
    setRotation(Matrix3d m1)
    Sets the rotational component (upper 3x3) of this matrix to the matrix values in the double precision Matrix3d argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the passed rotation components, and then the scale is reapplied to the rotational components.
    final void
    setRotation(Matrix3f m1)
    Sets the rotational component (upper 3x3) of this matrix to the matrix values in the single precision Matrix3f argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the passed rotation components, and then the scale is reapplied to the rotational components.
    final void
    setRotation(Quat4d q1)
    Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the quaternion argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the quaternion, and then the scale is reapplied to the rotational components.
    final void
    setRotation(Quat4f q1)
    Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the quaternion argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the quaternion, and then the scale is reapplied to the rotational components.
    final void
    setRotationScale(Matrix3d m1)
    Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.
    final void
    setRotationScale(Matrix3f m1)
    Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.
    final void
    setRow(int row, double[] v)
    Sets the specified row of this matrix4d to the four values provided.
    final void
    setRow(int row, double x, double y, double z, double w)
    Sets the specified row of this matrix4d to the four values provided.
    final void
    setRow(int row, Vector4d v)
    Sets the specified row of this matrix4d to the Vector provided.
    final void
    setScale(double scale)
    Sets the scale component of the current matrix by factoring out the current scale (by doing an SVD) from the rotational component and multiplying by the new scale.
    final void
    setTranslation(Vector3d trans)
    Modifies the translational components of this matrix to the values of the Vector3d argument; the other values of this matrix are not modified.
    final void
    setZero()
    Sets this matrix to all zeros.
    final void
    sub(Matrix4d m1)
    Sets the value of this matrix to the matrix difference of itself and matrix m1 (this = this - m1).
    final void
    sub(Matrix4d m1, Matrix4d m2)
    Sets the value of this matrix to the matrix difference of matrices m1 and m2.
    String
    toString()
    Returns a string that contains the values of this Matrix4d.
    final void
    transform(Point3d point)
    Transforms the point parameter with this Matrix4d and places the result back into point.
    final void
    transform(Point3d point, Point3d pointOut)
    Transforms the point parameter with this Matrix4d and places the result into pointOut.
    final void
    transform(Point3f point)
    Transforms the point parameter with this Matrix4d and places the result back into point.
    final void
    transform(Point3f point, Point3f pointOut)
    Transforms the point parameter with this Matrix4d and places the result into pointOut.
    final void
    transform(Tuple4d vec)
    Transform the vector vec using this Matrix4d and place the result back into vec.
    final void
    transform(Tuple4d vec, Tuple4d vecOut)
    Transform the vector vec using this Matrix4d and place the result into vecOut.
    final void
    transform(Tuple4f vec)
    Transform the vector vec using this Transform and place the result back into vec.
    final void
    transform(Tuple4f vec, Tuple4f vecOut)
    Transform the vector vec using this Matrix4d and place the result into vecOut.
    final void
    transform(Vector3d normal)
    Transforms the normal parameter by this transform and places the value back into normal.
    final void
    transform(Vector3d normal, Vector3d normalOut)
    Transforms the normal parameter by this Matrix4d and places the value into normalOut.
    final void
    transform(Vector3f normal)
    Transforms the normal parameter by this transform and places the value back into normal.
    final void
    transform(Vector3f normal, Vector3f normalOut)
    Transforms the normal parameter by this Matrix4d and places the value into normalOut.
    final void
    transpose()
    Sets the value of this matrix to its transpose.
    final void
    transpose(Matrix4d m1)
    Sets the value of this matrix to the transpose of the argument matrix

    Methods inherited from class Object

    finalize, getClass, notify, notifyAll, wait, wait, wait

  • Field Details

    • m00

      public double m00
      The first element of the first row.

    • m01

      public double m01
      The second element of the first row.

    • m02

      public double m02
      The third element of the first row.

    • m03

      public double m03
      The fourth element of the first row.

    • m10

      public double m10
      The first element of the second row.

    • m11

      public double m11
      The second element of the second row.

    • m12

      public double m12
      The third element of the second row.

    • m13

      public double m13
      The fourth element of the second row.

    • m20

      public double m20
      The first element of the third row.

    • m21

      public double m21
      The second element of the third row.

    • m22

      public double m22
      The third element of the third row.

    • m23

      public double m23
      The fourth element of the third row.

    • m30

      public double m30
      The first element of the fourth row.

    • m31

      public double m31
      The second element of the fourth row.

    • m32

      public double m32
      The third element of the fourth row.

    • m33

      public double m33
      The fourth element of the fourth row.

  • Constructor Details

    • Matrix4d

      public Matrix4d(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
      Constructs and initializes a Matrix4d from the specified 16 values.
      Parameters:
      m00 - the [0][0] element
      m01 - the [0][1] element
      m02 - the [0][2] element
      m03 - the [0][3] element
      m10 - the [1][0] element
      m11 - the [1][1] element
      m12 - the [1][2] element
      m13 - the [1][3] element
      m20 - the [2][0] element
      m21 - the [2][1] element
      m22 - the [2][2] element
      m23 - the [2][3] element
      m30 - the [3][0] element
      m31 - the [3][1] element
      m32 - the [3][2] element
      m33 - the [3][3] element

    • Matrix4d

      public Matrix4d(double[] v)
      Constructs and initializes a Matrix4d from the specified 16 element array. this.m00 =v[0], this.m01=v[1], etc.
      Parameters:
      v - the array of length 16 containing in order

    • Matrix4d

      public Matrix4d(Quat4d q1, Vector3d t1, double s)
      Constructs and initializes a Matrix4d from the quaternion, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components.
      Parameters:
      q1 - the quaternion value representing the rotational component
      t1 - the translational component of the matrix
      s - the scale value applied to the rotational components

    • Matrix4d

      public Matrix4d(Quat4f q1, Vector3d t1, double s)
      Constructs and initializes a Matrix4d from the quaternion, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components.
      Parameters:
      q1 - the quaternion value representing the rotational component
      t1 - the translational component of the matrix
      s - the scale value applied to the rotational components

    • Matrix4d

      public Matrix4d(Matrix4d m1)
      Constructs a new matrix with the same values as the Matrix4d parameter.
      Parameters:
      m1 - the source matrix

    • Matrix4d

      public Matrix4d(Matrix4f m1)
      Constructs a new matrix with the same values as the Matrix4f parameter.
      Parameters:
      m1 - the source matrix

    • Matrix4d

      public Matrix4d(Matrix3f m1, Vector3d t1, double s)
      Constructs and initializes a Matrix4d from the rotation matrix, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.
      Parameters:
      m1 - the rotation matrix representing the rotational components
      t1 - the translational components of the matrix
      s - the scale value applied to the rotational components

    • Matrix4d

      public Matrix4d(Matrix3d m1, Vector3d t1, double s)
      Constructs and initializes a Matrix4f from the rotation matrix, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.
      Parameters:
      m1 - the rotation matrix representing the rotational components
      t1 - the translational components of the matrix
      s - the scale value applied to the rotational components

    • Matrix4d

      public Matrix4d()
      Constructs and initializes a Matrix4d to all zeros.

  • Method Details

    • toString

      public String toString()
      Returns a string that contains the values of this Matrix4d.
      Overrides:
      toString in class Object
      Returns:
      the String representation

    • setIdentity

      public final void setIdentity()
      Sets this Matrix4d to identity.

    • setElement

      public final void setElement(int row, int column, double value)
      Sets the specified element of this matrix4f to the value provided.
      Parameters:
      row - the row number to be modified (zero indexed)
      column - the column number to be modified (zero indexed)
      value - the new value

    • getElement

      public final double getElement(int row, int column)
      Retrieves the value at the specified row and column of this matrix.
      Parameters:
      row - the row number to be retrieved (zero indexed)
      column - the column number to be retrieved (zero indexed)
      Returns:
      the value at the indexed element

    • getRow

      public final void getRow(int row, Vector4d v)
      Copies the matrix values in the specified row into the vector parameter.
      Parameters:
      row - the matrix row
      v - the vector into which the matrix row values will be copied

    • getRow

      public final void getRow(int row, double[] v)
      Copies the matrix values in the specified row into the array parameter.
      Parameters:
      row - the matrix row
      v - the array into which the matrix row values will be copied

    • getColumn

      public final void getColumn(int column, Vector4d v)
      Copies the matrix values in the specified column into the vector parameter.
      Parameters:
      column - the matrix column
      v - the vector into which the matrix column values will be copied

    • getColumn

      public final void getColumn(int column, double[] v)
      Copies the matrix values in the specified column into the array parameter.
      Parameters:
      column - the matrix column
      v - the array into which the matrix column values will be copied

    • get

      public final void get(Matrix3d m1)
      Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3d parameter.
      Parameters:
      m1 - the matrix into which the rotational component is placed

    • get

      public final void get(Matrix3f m1)
      Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Matrix3f parameter.
      Parameters:
      m1 - the matrix into which the rotational component is placed

    • get

      public final double get(Matrix3d m1, Vector3d t1)
      Performs an SVD normalization of this matrix to calculate the rotation as a 3x3 matrix, the translation, and the scale. None of the matrix values are modified.
      Parameters:
      m1 - the normalized matrix representing the rotation
      t1 - the translation component
      Returns:
      the scale component of this transform

    • get

      public final double get(Matrix3f m1, Vector3d t1)
      Performs an SVD normalization of this matrix to calculate the rotation as a 3x3 matrix, the translation, and the scale. None of the matrix values are modified.
      Parameters:
      m1 - the normalized matrix representing the rotation
      t1 - the translation component
      Returns:
      the scale component of this transform

    • get

      public final void get(Quat4f q1)
      Performs an SVD normalization of this matrix in order to acquire the normalized rotational component; the values are placed into the Quat4f parameter.
      Parameters:
      q1 - quaternion into which the rotation component is placed

    • get

      public final void get(Quat4d q1)
      Performs an SVD normalization of q1 matrix in order to acquire the normalized rotational component; the values are placed into the Quat4d parameter.
      Parameters:
      q1 - the quaternion into which the rotation component is placed

    • get

      public final void get(Vector3d trans)
      Retrieves the translational components of this matrix.
      Parameters:
      trans - the vector that will receive the translational component

    • getRotationScale

      public final void getRotationScale(Matrix3f m1)
      Gets the upper 3x3 values of this matrix and places them into the matrix m1.
      Parameters:
      m1 - the matrix that will hold the values

    • getRotationScale

      public final void getRotationScale(Matrix3d m1)
      Gets the upper 3x3 values of this matrix and places them into the matrix m1.
      Parameters:
      m1 - the matrix that will hold the values

    • getScale

      public final double getScale()
      Performs an SVD normalization of this matrix to calculate and return the uniform scale factor. If the matrix has non-uniform scale factors, the largest of the x, y, and z scale factors will be returned. This matrix is not modified.
      Returns:
      the scale factor of this matrix

    • setRotationScale

      public final void setRotationScale(Matrix3d m1)
      Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.
      Parameters:
      m1 - the matrix that will be the new upper 3x3

    • setRotationScale

      public final void setRotationScale(Matrix3f m1)
      Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.
      Parameters:
      m1 - the matrix that will be the new upper 3x3

    • setScale

      public final void setScale(double scale)
      Sets the scale component of the current matrix by factoring out the current scale (by doing an SVD) from the rotational component and multiplying by the new scale.
      Parameters:
      scale - the new scale amount

    • setRow

      public final void setRow(int row, double x, double y, double z, double w)
      Sets the specified row of this matrix4d to the four values provided.
      Parameters:
      row - the row number to be modified (zero indexed)
      x - the first column element
      y - the second column element
      z - the third column element
      w - the fourth column element

    • setRow

      public final void setRow(int row, Vector4d v)
      Sets the specified row of this matrix4d to the Vector provided.
      Parameters:
      row - the row number to be modified (zero indexed)
      v - the replacement row

    • setRow

      public final void setRow(int row, double[] v)
      Sets the specified row of this matrix4d to the four values provided.
      Parameters:
      row - the row number to be modified (zero indexed)
      v - the replacement row

    • setColumn

      public final void setColumn(int column, double x, double y, double z, double w)
      Sets the specified column of this matrix4d to the four values provided.
      Parameters:
      column - the column number to be modified (zero indexed)
      x - the first row element
      y - the second row element
      z - the third row element
      w - the fourth row element

    • setColumn

      public final void setColumn(int column, Vector4d v)
      Sets the specified column of this matrix4d to the vector provided.
      Parameters:
      column - the column number to be modified (zero indexed)
      v - the replacement column

    • setColumn

      public final void setColumn(int column, double[] v)
      Sets the specified column of this matrix4d to the four values provided.
      Parameters:
      column - the column number to be modified (zero indexed)
      v - the replacement column

    • add

      public final void add(double scalar)
      Adds a scalar to each component of this matrix.
      Parameters:
      scalar - the scalar adder

    • add

      public final void add(double scalar, Matrix4d m1)
      Adds a scalar to each component of the matrix m1 and places the result into this. Matrix m1 is not modified.
      Parameters:
      scalar - the scalar adder
      m1 - the original matrix values

    • add

      public final void add(Matrix4d m1, Matrix4d m2)
      Sets the value of this matrix to the matrix sum of matrices m1 and m2.
      Parameters:
      m1 - the first matrix
      m2 - the second matrix

    • add

      public final void add(Matrix4d m1)
      Sets the value of this matrix to sum of itself and matrix m1.
      Parameters:
      m1 - the other matrix

    • sub

      public final void sub(Matrix4d m1, Matrix4d m2)
      Sets the value of this matrix to the matrix difference of matrices m1 and m2.
      Parameters:
      m1 - the first matrix
      m2 - the second matrix

    • sub

      public final void sub(Matrix4d m1)
      Sets the value of this matrix to the matrix difference of itself and matrix m1 (this = this - m1).
      Parameters:
      m1 - the other matrix

    • transpose

      public final void transpose()
      Sets the value of this matrix to its transpose.

    • transpose

      public final void transpose(Matrix4d m1)
      Sets the value of this matrix to the transpose of the argument matrix
      Parameters:
      m1 - the matrix to be transposed

    • set

      public final void set(double[] m)
      Sets the values in this Matrix4d equal to the row-major array parameter (ie, the first four elements of the array will be copied into the first row of this matrix, etc.).
      Parameters:
      m - the double precision array of length 16

    • set

      public final void set(Matrix3f m1)
      Sets the rotational component (upper 3x3) of this matrix to the matrix values in the single precision Matrix3f argument; the other elements of this matrix are initialized as if this were an identity matrix (i.e., affine matrix with no translational component).
      Parameters:
      m1 - the double precision 3x3 matrix

    • set

      public final void set(Matrix3d m1)
      Sets the rotational component (upper 3x3) of this matrix to the matrix values in the double precision Matrix3d argument; the other elements of this matrix are initialized as if this were an identity matrix (i.e., affine matrix with no translational component).
      Parameters:
      m1 - the double precision 3x3 matrix

    • set

      public final void set(Quat4d q1)
      Sets the value of this matrix to the matrix conversion of the (double precision) quaternion argument.
      Parameters:
      q1 - the quaternion to be converted

    • set

      public final void set(AxisAngle4d a1)
      Sets the value of this matrix to the matrix conversion of the double precision axis and angle argument.
      Parameters:
      a1 - the axis and angle to be converted

    • set

      public final void set(Quat4f q1)
      Sets the value of this matrix to the matrix conversion of the single precision quaternion argument.
      Parameters:
      q1 - the quaternion to be converted

    • set

      public final void set(AxisAngle4f a1)
      Sets the value of this matrix to the matrix conversion of the single precision axis and angle argument.
      Parameters:
      a1 - the axis and angle to be converted

    • set

      public final void set(Quat4d q1, Vector3d t1, double s)
      Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
      Parameters:
      q1 - the rotation expressed as a quaternion
      t1 - the translation
      s - the scale value

    • set

      public final void set(Quat4f q1, Vector3d t1, double s)
      Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
      Parameters:
      q1 - the rotation expressed as a quaternion
      t1 - the translation
      s - the scale value

    • set

      public final void set(Quat4f q1, Vector3f t1, float s)
      Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
      Parameters:
      q1 - the rotation expressed as a quaternion
      t1 - the translation
      s - the scale value

    • set

      public final void set(Matrix4f m1)
      Sets the value of this matrix to a copy of the passed matrix m1.
      Parameters:
      m1 - the matrix4f

    • set

      public final void set(Matrix4d m1)
      Sets the value of this matrix to a copy of the passed matrix m1.
      Parameters:
      m1 - the matrix to be copied

    • invert

      public final void invert(Matrix4d m1)
      Sets the value of this matrix to the matrix inverse of the passed (user declared) matrix m1.
      Parameters:
      m1 - the matrix to be inverted

    • invert

      public final void invert()
      Inverts this matrix in place.

    • determinant

      public final double determinant()
      Computes the determinant of this matrix.
      Returns:
      the determinant of the matrix

    • set

      public final void set(double scale)
      Sets the value of this matrix to a scale matrix with the passed scale amount.
      Parameters:
      scale - the scale factor for the matrix

    • set

      public final void set(Vector3d v1)
      Sets the value of this matrix to a translate matrix by the passed translation value.
      Parameters:
      v1 - the translation amount

    • set

      public final void set(double scale, Vector3d v1)
      Sets the value of this transform to a scale and translation matrix; the scale is not applied to the translation and all of the matrix values are modified.
      Parameters:
      scale - the scale factor for the matrix
      v1 - the translation amount

    • set

      public final void set(Vector3d v1, double scale)
      Sets the value of this transform to a scale and translation matrix; the translation is scaled by the scale factor and all of the matrix values are modified.
      Parameters:
      v1 - the translation amount
      scale - the scale factor for the matrix

    • set

      public final void set(Matrix3f m1, Vector3f t1, float scale)
      Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale factor. The translation is not modified by the scale.
      Parameters:
      m1 - the rotation component
      t1 - the translation component
      scale - the scale component

    • set

      public final void set(Matrix3d m1, Vector3d t1, double scale)
      Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale factor. The translation is not modified by the scale.
      Parameters:
      m1 - the rotation component
      t1 - the translation component
      scale - the scale component

    • setTranslation

      public final void setTranslation(Vector3d trans)
      Modifies the translational components of this matrix to the values of the Vector3d argument; the other values of this matrix are not modified.
      Parameters:
      trans - the translational component

    • rotX

      public final void rotX(double angle)
      Sets the value of this matrix to a counter-clockwise rotation about the x axis.
      Parameters:
      angle - the angle to rotate about the X axis in radians

    • rotY

      public final void rotY(double angle)
      Sets the value of this matrix to a counter-clockwise rotation about the y axis.
      Parameters:
      angle - the angle to rotate about the Y axis in radians

    • rotZ

      public final void rotZ(double angle)
      Sets the value of this matrix to a counter-clockwise rotation about the z axis.
      Parameters:
      angle - the angle to rotate about the Z axis in radians

    • mul

      public final void mul(double scalar)
      Multiplies each element of this matrix by a scalar.
      Parameters:
      scalar - the scalar multiplier.

    • mul

      public final void mul(double scalar, Matrix4d m1)
      Multiplies each element of matrix m1 by a scalar and places the result into this. Matrix m1 is not modified.
      Parameters:
      scalar - the scalar multiplier
      m1 - the original matrix

    • mul

      public final void mul(Matrix4d m1)
      Sets the value of this matrix to the result of multiplying itself with matrix m1.
      Parameters:
      m1 - the other matrix

    • mul

      public final void mul(Matrix4d m1, Matrix4d m2)
      Sets the value of this matrix to the result of multiplying the two argument matrices together.
      Parameters:
      m1 - the first matrix
      m2 - the second matrix

    • mulTransposeBoth

      public final void mulTransposeBoth(Matrix4d m1, Matrix4d m2)
      Multiplies the transpose of matrix m1 times the transpose of matrix m2, and places the result into this.
      Parameters:
      m1 - the matrix on the left hand side of the multiplication
      m2 - the matrix on the right hand side of the multiplication

    • mulTransposeRight

      public final void mulTransposeRight(Matrix4d m1, Matrix4d m2)
      Multiplies matrix m1 times the transpose of matrix m2, and places the result into this.
      Parameters:
      m1 - the matrix on the left hand side of the multiplication
      m2 - the matrix on the right hand side of the multiplication

    • mulTransposeLeft

      public final void mulTransposeLeft(Matrix4d m1, Matrix4d m2)
      Multiplies the transpose of matrix m1 times matrix m2, and places the result into this.
      Parameters:
      m1 - the matrix on the left hand side of the multiplication
      m2 - the matrix on the right hand side of the multiplication

    • equals

      public boolean equals(Matrix4d m1)
      Returns true if all of the data members of Matrix4d m1 are equal to the corresponding data members in this Matrix4d.
      Parameters:
      m1 - the matrix with which the comparison is made
      Returns:
      true or false

    • equals

      public boolean equals(Object t1)
      Returns true if the Object t1 is of type Matrix4d and all of the data members of t1 are equal to the corresponding data members in this Matrix4d.
      Overrides:
      equals in class Object
      Parameters:
      t1 - the matrix with which the comparison is made
      Returns:
      true or false

    • epsilonEquals

      public boolean epsilonEquals(Matrix4d m1, float epsilon)
      Deprecated.
      Use epsilonEquals(Matrix4d,double) instead

    • epsilonEquals

      public boolean epsilonEquals(Matrix4d m1, double epsilon)
      Returns true if the L-infinite distance between this matrix and matrix m1 is less than or equal to the epsilon parameter, otherwise returns false. The L-infinite distance is equal to MAX[i=0,1,2,3 ; j=0,1,2,3 ; abs(this.m(i,j) - m1.m(i,j)]
      Parameters:
      m1 - the matrix to be compared to this matrix
      epsilon - the threshold value

    • hashCode

      public int hashCode()
      Returns a hash code value based on the data values in this object. Two different Matrix4d objects with identical data values (i.e., Matrix4d.equals returns true) will return the same hash code value. Two objects with different data members may return the same hash value, although this is not likely.
      Overrides:
      hashCode in class Object
      Returns:
      the integer hash code value

    • transform

      public final void transform(Tuple4d vec, Tuple4d vecOut)
      Transform the vector vec using this Matrix4d and place the result into vecOut.
      Parameters:
      vec - the double precision vector to be transformed
      vecOut - the vector into which the transformed values are placed

    • transform

      public final void transform(Tuple4d vec)
      Transform the vector vec using this Matrix4d and place the result back into vec.
      Parameters:
      vec - the double precision vector to be transformed

    • transform

      public final void transform(Tuple4f vec, Tuple4f vecOut)
      Transform the vector vec using this Matrix4d and place the result into vecOut.
      Parameters:
      vec - the single precision vector to be transformed
      vecOut - the vector into which the transformed values are placed

    • transform

      public final void transform(Tuple4f vec)
      Transform the vector vec using this Transform and place the result back into vec.
      Parameters:
      vec - the single precision vector to be transformed

    • transform

      public final void transform(Point3d point, Point3d pointOut)
      Transforms the point parameter with this Matrix4d and places the result into pointOut. The fourth element of the point input parameter is assumed to be one.
      Parameters:
      point - the input point to be transformed.
      pointOut - the transformed point

    • transform

      public final void transform(Point3d point)
      Transforms the point parameter with this Matrix4d and places the result back into point. The fourth element of the point input parameter is assumed to be one.
      Parameters:
      point - the input point to be transformed.

    • transform

      public final void transform(Point3f point, Point3f pointOut)
      Transforms the point parameter with this Matrix4d and places the result into pointOut. The fourth element of the point input parameter is assumed to be one.
      Parameters:
      point - the input point to be transformed.
      pointOut - the transformed point

    • transform

      public final void transform(Point3f point)
      Transforms the point parameter with this Matrix4d and places the result back into point. The fourth element of the point input parameter is assumed to be one.
      Parameters:
      point - the input point to be transformed.

    • transform

      public final void transform(Vector3d normal, Vector3d normalOut)
      Transforms the normal parameter by this Matrix4d and places the value into normalOut. The fourth element of the normal is assumed to be zero.
      Parameters:
      normal - the input normal to be transformed.
      normalOut - the transformed normal

    • transform

      public final void transform(Vector3d normal)
      Transforms the normal parameter by this transform and places the value back into normal. The fourth element of the normal is assumed to be zero.
      Parameters:
      normal - the input normal to be transformed.

    • transform

      public final void transform(Vector3f normal, Vector3f normalOut)
      Transforms the normal parameter by this Matrix4d and places the value into normalOut. The fourth element of the normal is assumed to be zero.
      Parameters:
      normal - the input normal to be transformed.
      normalOut - the transformed normal

    • transform

      public final void transform(Vector3f normal)
      Transforms the normal parameter by this transform and places the value back into normal. The fourth element of the normal is assumed to be zero.
      Parameters:
      normal - the input normal to be transformed.

    • setRotation

      public final void setRotation(Matrix3d m1)
      Sets the rotational component (upper 3x3) of this matrix to the matrix values in the double precision Matrix3d argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the passed rotation components, and then the scale is reapplied to the rotational components.
      Parameters:
      m1 - double precision 3x3 matrix

    • setRotation

      public final void setRotation(Matrix3f m1)
      Sets the rotational component (upper 3x3) of this matrix to the matrix values in the single precision Matrix3f argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the passed rotation components, and then the scale is reapplied to the rotational components.
      Parameters:
      m1 - single precision 3x3 matrix

    • setRotation

      public final void setRotation(Quat4f q1)
      Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the quaternion argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the quaternion, and then the scale is reapplied to the rotational components.
      Parameters:
      q1 - the quaternion that specifies the rotation

    • setRotation

      public final void setRotation(Quat4d q1)
      Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the quaternion argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the quaternion, and then the scale is reapplied to the rotational components.
      Parameters:
      q1 - the quaternion that specifies the rotation

    • setRotation

      public final void setRotation(AxisAngle4d a1)
      Sets the rotational component (upper 3x3) of this matrix to the matrix equivalent values of the axis-angle argument; the other elements of this matrix are unchanged; a singular value decomposition is performed on this object's upper 3x3 matrix to factor out the scale, then this object's upper 3x3 matrix components are replaced by the matrix equivalent of the axis-angle, and then the scale is reapplied to the rotational components.
      Parameters:
      a1 - the axis-angle to be converted (x, y, z, angle)

    • setZero

      public final void setZero()
      Sets this matrix to all zeros.

    • negate

      public final void negate()
      Negates the value of this matrix: this = -this.

    • negate

      public final void negate(Matrix4d m1)
      Sets the value of this matrix equal to the negation of of the Matrix4d parameter.
      Parameters:
      m1 - the source matrix

    • clone

      public Object clone()
      Creates a new object of the same class as this object.
      Overrides:
      clone in class Object
      Returns:
      a clone of this instance.
      Throws:
      OutOfMemoryError - if there is not enough memory.
      Since:
      vecmath 1.3
      See Also:

    • getM00

      public final double getM00()
      Get the first matrix element in the first row.
      Returns:
      Returns the m00.
      Since:
      vecmath 1.5

    • setM00

      public final void setM00(double m00)
      Set the first matrix element in the first row.
      Parameters:
      m00 - The m00 to set.
      Since:
      vecmath 1.5

    • getM01

      public final double getM01()
      Get the second matrix element in the first row.
      Returns:
      Returns the m01.
      Since:
      vecmath 1.5

    • setM01

      public final void setM01(double m01)
      Set the second matrix element in the first row.
      Parameters:
      m01 - The m01 to set.
      Since:
      vecmath 1.5

    • getM02

      public final double getM02()
      Get the third matrix element in the first row.
      Returns:
      Returns the m02.
      Since:
      vecmath 1.5

    • setM02

      public final void setM02(double m02)
      Set the third matrix element in the first row.
      Parameters:
      m02 - The m02 to set.
      Since:
      vecmath 1.5

    • getM10

      public final double getM10()
      Get first matrix element in the second row.
      Returns:
      Returns the m10.
      Since:
      vecmath 1.5

    • setM10

      public final void setM10(double m10)
      Set first matrix element in the second row.
      Parameters:
      m10 - The m10 to set.
      Since:
      vecmath 1.5

    • getM11

      public final double getM11()
      Get second matrix element in the second row.
      Returns:
      Returns the m11.
      Since:
      vecmath 1.5

    • setM11

      public final void setM11(double m11)
      Set the second matrix element in the second row.
      Parameters:
      m11 - The m11 to set.
      Since:
      vecmath 1.5

    • getM12

      public final double getM12()
      Get the third matrix element in the second row.
      Returns:
      Returns the m12.
      Since:
      vecmath 1.5

    • setM12

      public final void setM12(double m12)
      Set the third matrix element in the second row.
      Parameters:
      m12 - The m12 to set.
      Since:
      vecmath 1.5

    • getM20

      public final double getM20()
      Get the first matrix element in the third row.
      Returns:
      Returns the m20.
      Since:
      vecmath 1.5

    • setM20

      public final void setM20(double m20)
      Set the first matrix element in the third row.
      Parameters:
      m20 - The m20 to set.
      Since:
      vecmath 1.5

    • getM21

      public final double getM21()
      Get the second matrix element in the third row.
      Returns:
      Returns the m21.
      Since:
      vecmath 1.5

    • setM21

      public final void setM21(double m21)
      Set the second matrix element in the third row.
      Parameters:
      m21 - The m21 to set.
      Since:
      vecmath 1.5

    • getM22

      public final double getM22()
      Get the third matrix element in the third row.
      Returns:
      Returns the m22.
      Since:
      vecmath 1.5

    • setM22

      public final void setM22(double m22)
      Set the third matrix element in the third row.
      Parameters:
      m22 - The m22 to set.
      Since:
      vecmath 1.5

    • getM03

      public final double getM03()
      Get the fourth element of the first row.
      Returns:
      Returns the m03.
      Since:
      vecmath 1.5

    • setM03

      public final void setM03(double m03)
      Set the fourth element of the first row.
      Parameters:
      m03 - The m03 to set.
      Since:
      vecmath 1.5

    • getM13

      public final double getM13()
      Get the fourth element of the second row.
      Returns:
      Returns the m13.
      Since:
      vecmath 1.5

    • setM13

      public final void setM13(double m13)
      Set the fourth element of the second row.
      Parameters:
      m13 - The m13 to set.
      Since:
      vecmath 1.5

    • getM23

      public final double getM23()
      Get the fourth element of the third row.
      Returns:
      Returns the m23.
      Since:
      vecmath 1.5

    • setM23

      public final void setM23(double m23)
      Set the fourth element of the third row.
      Parameters:
      m23 - The m23 to set.
      Since:
      vecmath 1.5

    • getM30

      public final double getM30()
      Get the first element of the fourth row.
      Returns:
      Returns the m30.
      Since:
      vecmath 1.5

    • setM30

      public final void setM30(double m30)
      Set the first element of the fourth row.
      Parameters:
      m30 - The m30 to set.
      Since:
      vecmath 1.5

    • getM31

      public final double getM31()
      Get the second element of the fourth row.
      Returns:
      Returns the m31.
      Since:
      vecmath 1.5

    • setM31

      public final void setM31(double m31)
      Set the second element of the fourth row.
      Parameters:
      m31 - The m31 to set.
      Since:
      vecmath 1.5

    • getM32

      public final double getM32()
      Get the third element of the fourth row.
      Returns:
      Returns the m32.
      Since:
      vecmath 1.5

    • setM32

      public final void setM32(double m32)
      Set the third element of the fourth row.
      Parameters:
      m32 - The m32 to set.
      Since:
      vecmath 1.5

    • getM33

      public final double getM33()
      Get the fourth element of the fourth row.
      Returns:
      Returns the m33.
      Since:
      vecmath 1.5

    • setM33

      public final void setM33(double m33)
      Set the fourth element of the fourth row.
      Parameters:
      m33 - The m33 to set.
      Since:
      vecmath 1.5