astex
Class Matrix

java.lang.Object
  astex.Matrix

public class Matrix
extends java.lang.Object

A class for storing and manipulating a 4x4 matrix.

Field Summary

double	x00 The elements of the matrix.
double	x01 The elements of the matrix.
double	x02 The elements of the matrix.
double	x03 The elements of the matrix.
double	x10
double	x11
double	x12
double	x13
double	x20
double	x21
double	x22
double	x23
double	x30
double	x31
double	x32
double	x33

Constructor Summary

Matrix()
Default constructor.

Matrix(Matrix in)
Default constructor.

Method Summary

static void	adjoint(Matrix in, Matrix out) adjoint( original_matrix, inverse_matrix ) calculate the adjoint of a 4x4 matrix Let a denote the minor determinant of matrix A obtained by ij deleting the ith row and jth column from A.
void	copy(Matrix m) Copy m into this matrix.
boolean	equals(Matrix m) Does this matrix equal another matrix.
void	fromQuaternion(double[] q) Generate rotation matrix from quaternion.
void	fromQuaternion(double q1, double q2, double q3, double q4) Generate rotation matrix from quaternion.
static Matrix	interpolate(Matrix MS, Matrix MF, double frac) Interpolate a new matrix.
static void	interpolate(Matrix MS, Matrix MF, double frac, Matrix MI) Interpolate a new matrix.
static void	invert(Matrix in, Matrix out) invert( original_matrix, inverse_matrix ) calculate the inverse of a 4x4 matrix -1 A = ___1__ adjoint A det A
boolean	isIdentity() Does this matrix equal another matrix.
boolean	isIdentity(double tol)
void	pretranslate(double tx, double ty, double tz) Translate the transformation matrix the other way.
void	print() Print a default message with the matrix.
void	print(java.lang.String message) Print the matrix.
java.lang.String	returnScript()
void	rotateAroundVector(double x, double y, double z, double theta) Rotate around a line.
void	rotateAroundVector(Point3d p, double theta) Rotate around a line.
void	rotateXdegrees(double d) Rotate around x in degrees.
void	rotateYdegrees(double d) Rotate around y in degrees.
void	rotateZdegrees(double d) Rotate around Z in degrees.
void	scale(double s) Scale the transformation matrix.
void	scale(double sx, double sy, double sz) Apply non uniform scale.
void	set(int i, int j, double val)
void	set(Matrix m) Set matrix from another.
void	setIdentity() Set the matrix to the identity matrix.
static void	slerp(double[] Q0, double[] Q1, double T, double[] Result) The famous quaternion slerp.
void	toQuaternion(double[] q) Convert a matrix to a quaternion.
void	transform(Matrix m) Transform by another matrix.
void	transform(Point3d p) Transform a point by the current matrix.
void	transformByInverse(Point3d p) Transform a point by the inverse matrix (assumes rotation matrix)
void	translate(double tx, double ty, double tz) Translate the transformation matrix.
void	transpose() Transpose the matrix.
void	zero() Set the matrix to the zero matrix.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

x00

public double x00

The elements of the matrix.

x01

public double x01

The elements of the matrix.

x02

public double x02

The elements of the matrix.

x03

public double x03

The elements of the matrix.

x10

public double x10

x11

public double x11

x12

public double x12

x13

public double x13

x20

public double x20

x21

public double x21

x22

public double x22

x23

public double x23

x30

public double x30

x31

public double x31

x32

public double x32

x33

public double x33

Constructor Detail

Matrix

public Matrix()

Default constructor.

Matrix

public Matrix(Matrix in)

Default constructor.

Method Detail

setIdentity

public void setIdentity()

Set the matrix to the identity matrix.

zero

public void zero()

Set the matrix to the zero matrix.

set

public void set(Matrix m)

Set matrix from another.

set

public void set(int i,
                int j,
                double val)

scale

public void scale(double s)

Scale the transformation matrix.

scale

public void scale(double sx,
                  double sy,
                  double sz)

Apply non uniform scale.

translate

public void translate(double tx,
                      double ty,
                      double tz)

Translate the transformation matrix.

pretranslate

public void pretranslate(double tx,
                         double ty,
                         double tz)

Translate the transformation matrix the other way.

rotateXdegrees

public void rotateXdegrees(double d)

Rotate around x in degrees.

rotateYdegrees

public void rotateYdegrees(double d)

Rotate around y in degrees.

rotateZdegrees

public void rotateZdegrees(double d)

Rotate around Z in degrees.

transform

public void transform(Matrix m)

Transform by another matrix.

transform

public void transform(Point3d p)

Transform a point by the current matrix.

transformByInverse

public void transformByInverse(Point3d p)

Transform a point by the inverse matrix (assumes rotation matrix)

rotateAroundVector

public void rotateAroundVector(Point3d p,
                               double theta)

Rotate around a line.

rotateAroundVector

public void rotateAroundVector(double x,
                               double y,
                               double z,
                               double theta)

Rotate around a line.

print

public void print()

Print a default message with the matrix.

print

public void print(java.lang.String message)

Print the matrix.

returnScript

public java.lang.String returnScript()

equals

public boolean equals(Matrix m)

Does this matrix equal another matrix.

isIdentity

public boolean isIdentity()

Does this matrix equal another matrix.

isIdentity

public boolean isIdentity(double tol)

copy

public void copy(Matrix m)

Copy m into this matrix.

transpose

public void transpose()

Transpose the matrix.

invert

public static void invert(Matrix in,
                          Matrix out)

invert( original_matrix, inverse_matrix ) calculate the inverse of a 4x4 matrix -1 A = ___1__ adjoint A det A

adjoint

public static void adjoint(Matrix in,
                           Matrix out)

adjoint( original_matrix, inverse_matrix ) calculate the adjoint of a 4x4 matrix Let a denote the minor determinant of matrix A obtained by ij deleting the ith row and jth column from A. i+j Let b = (-1) a ij ji The matrix B = (b ) is the adjoint of A ij

interpolate

public static Matrix interpolate(Matrix MS,
                                 Matrix MF,
                                 double frac)

Interpolate a new matrix.

interpolate

public static void interpolate(Matrix MS,
                               Matrix MF,
                               double frac,
                               Matrix MI)

Interpolate a new matrix.

toQuaternion

public void toQuaternion(double[] q)

Convert a matrix to a quaternion.

fromQuaternion

public void fromQuaternion(double[] q)

Generate rotation matrix from quaternion.

fromQuaternion

public void fromQuaternion(double q1,
                           double q2,
                           double q3,
                           double q4)

Generate rotation matrix from quaternion. Used by the fitting routine

slerp

public static void slerp(double[] Q0,
                         double[] Q1,
                         double T,
                         double[] Result)

The famous quaternion slerp.