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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 835 | chris | 1 | package com.gebauz.bauzoid.math; |
| 2 | |||
| 3 | public class Matrix3 |
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| 4 | { |
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| 5 | /* OpenGL Colum Major: |
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| 6 | * m[0] m[3] m[6] |
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| 7 | * m[1] m[4] m[7] |
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| 8 | * m[2] m[5] m[8] |
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| 9 | */ |
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| 10 | |||
| 11 | /* public float m11; |
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| 12 | public float m21; |
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| 13 | public float m31; |
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| 14 | public float m12; |
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| 15 | public float m22; |
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| 16 | public float m32; |
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| 17 | public float m13; |
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| 18 | public float m23; |
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| 19 | public float m33;*/ |
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| 20 | |||
| 21 | public static final int M11 = 0; |
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| 22 | public static final int M21 = 1; |
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| 23 | public static final int M31 = 2; |
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| 24 | public static final int M12 = 3; |
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| 25 | public static final int M22 = 4; |
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| 26 | public static final int M32 = 5; |
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| 27 | public static final int M13 = 6; |
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| 28 | public static final int M23 = 7; |
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| 29 | public static final int M33 = 8; |
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| 30 | |||
| 31 | public static final int MATRIX_SIZE = 3; |
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| 32 | |||
| 33 | public float values[] = new float[MATRIX_SIZE*MATRIX_SIZE]; |
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| 34 | |||
| 35 | public Matrix3() |
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| 36 | { |
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| 37 | } |
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| 38 | |||
| 39 | public float get(int row, int col) |
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| 40 | { |
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| 41 | return values[col*MATRIX_SIZE + row]; |
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| 42 | /* switch (row) |
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| 43 | { |
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| 44 | case 0: |
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| 45 | switch (col) |
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| 46 | { |
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| 47 | case 0: return m11; |
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| 48 | case 1: return m12; |
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| 49 | case 2: return m13; |
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| 50 | } |
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| 51 | break; |
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| 52 | case 1: |
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| 53 | switch (col) |
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| 54 | { |
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| 55 | case 0: return m21; |
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| 56 | case 1: return m22; |
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| 57 | case 2: return m23; |
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| 58 | } |
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| 59 | break; |
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| 60 | case 2: |
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| 61 | switch (col) |
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| 62 | { |
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| 63 | case 0: return m31; |
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| 64 | case 1: return m32; |
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| 65 | case 2: return m33; |
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| 66 | } |
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| 67 | break; |
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| 68 | } |
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| 69 | // should never reach here -> TODO: assert |
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| 70 | return 0.0f;*/ |
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| 71 | } |
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| 72 | |||
| 73 | public void set(int row, int col, float value) |
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| 74 | { |
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| 75 | values[col*MATRIX_SIZE+row] = value; |
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| 76 | /* switch (row) |
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| 77 | { |
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| 78 | case 0: |
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| 79 | switch (col) |
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| 80 | { |
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| 81 | case 0: |
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| 82 | m11 = value; |
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| 83 | break; |
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| 84 | case 1: |
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| 85 | m12 = value; |
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| 86 | break; |
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| 87 | case 2: |
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| 88 | m13 = value; |
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| 89 | break; |
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| 90 | } |
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| 91 | break; |
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| 92 | case 1: |
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| 93 | switch (col) |
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| 94 | { |
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| 95 | case 0: |
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| 96 | m21 = value; |
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| 97 | break; |
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| 98 | case 1: |
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| 99 | m22 = value; |
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| 100 | break; |
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| 101 | case 2: |
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| 102 | m23 = value; |
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| 103 | break; |
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| 104 | } |
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| 105 | break; |
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| 106 | case 2: |
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| 107 | switch (col) |
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| 108 | { |
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| 109 | case 0: |
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| 110 | m31 = value; |
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| 111 | break; |
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| 112 | case 1: |
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| 113 | m32 = value; |
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| 114 | break; |
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| 115 | case 2: |
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| 116 | m33 = value; |
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| 117 | break; |
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| 118 | } |
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| 119 | break; |
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| 120 | }*/ |
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| 121 | } |
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| 122 | |||
| 123 | public void zero() |
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| 124 | { |
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| 125 | for (int i = 0; i < values.length; i++) |
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| 126 | values[i] = 0.0f; |
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| 127 | /*m11 = 0.0f; m12 = 0.0f; m13 = 0.0f; |
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| 128 | m21 = 0.0f; m22 = 0.0f; m23 = 0.0f; |
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| 129 | m31 = 0.0f; m32 = 0.0f; m33 = 0.0f;*/ |
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| 130 | } |
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| 131 | |||
| 132 | public void identity() |
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| 133 | { |
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| 134 | zero(); |
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| 135 | //m11 = 1.0f; m22 = 1.0f; m33 = 1.0f; |
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| 136 | values[M11] = 1.0f; values[M22] = 1.0f; values[M33] = 1.0f; |
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| 137 | } |
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| 138 | |||
| 139 | public boolean equals(Matrix3 other) |
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| 140 | { |
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| 141 | for (int i = 0; i < values.length; i++) |
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| 142 | { |
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| 143 | if (this.values[i] != other.values[i]) |
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| 144 | return false; |
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| 145 | } |
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| 146 | return true; |
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| 147 | /* return ((m11 == other.m11) && (m12 == other.m12) && (m13 == other.m13) && |
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| 148 | (m21 == other.m21) && (m22 == other.m22) && (m23 == other.m23) && |
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| 149 | (m31 == other.m31) && (m32 == other.m32) && (m33 == other.m33));*/ |
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| 150 | } |
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| 151 | |||
| 152 | public boolean isSingular() |
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| 153 | { |
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| 154 | float determinant = getDeterminant(); |
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| 155 | return ((float)Math.abs(determinant) < MathUtil.EPSILON); |
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| 156 | } |
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| 157 | |||
| 158 | public Matrix3 getTranspose() |
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| 159 | { |
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| 160 | Matrix3 result = new Matrix3(); |
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| 161 | result.values[M11] = values[M11]; |
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| 162 | result.values[M12] = values[M21]; |
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| 163 | result.values[M13] = values[M31]; |
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| 164 | result.values[M21] = values[M12]; |
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| 165 | result.values[M22] = values[M22]; |
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| 166 | result.values[M23] = values[M32]; |
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| 167 | result.values[M31] = values[M13]; |
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| 168 | result.values[M32] = values[M23]; |
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| 169 | result.values[M33] = values[M33]; |
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| 170 | return result; |
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| 171 | } |
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| 172 | |||
| 173 | public float getDeterminant() |
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| 174 | { |
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| 175 | float result = |
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| 176 | values[M11] * (values[M22] * values[M33] - values[M23] * values[M32]) - |
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| 177 | values[M21] * (values[M12] * values[M33] - values[M13] * values[M32]) + |
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| 178 | values[M31] * (values[M12] * values[M23] - values[M13] * values[M22]); |
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| 179 | return result; |
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| 180 | } |
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| 181 | |||
| 182 | public Matrix3 getInverse() |
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| 183 | { |
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| 184 | Matrix3 result = new Matrix3(); |
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| 185 | |||
| 186 | float determinant = getDeterminant(); |
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| 187 | if (determinant == 0.0f) |
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| 188 | { |
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| 189 | // singular matrix cannot be inverted |
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| 190 | return this; |
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| 191 | } |
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| 192 | |||
| 193 | result.values[M11] = values[M22] * values[M33] - values[M32] * values[M23]; |
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| 194 | result.values[M21] = -(values[M21] * values[M33] - values[M23] * values[M31]); |
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| 195 | result.values[M31] = values[M21] * values[M32] - values[M22] * values[M31]; |
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| 196 | result.values[M12] = -(values[M12] * values[M33] - values[M32] * values[M13]); |
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| 197 | result.values[M22] = values[M11] * values[M33] - values[M13] * values[M31]; |
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| 198 | result.values[M32] = -(values[M11] * values[M32] - values[M12] * values[M31]); |
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| 199 | result.values[M13] = values[M12] * values[M23] - values[M13] * values[M22]; |
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| 200 | result.values[M23] = -(values[M11] * values[M23] - values[M13] * values[M21]); |
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| 201 | result.values[M33] = values[M11] * values[M22] - values[M21] * values[M12]; |
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| 202 | |||
| 203 | float multiply = 1.0f / determinant; |
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| 204 | result.values[M11] *= multiply; |
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| 205 | result.values[M21] *= multiply; |
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| 206 | result.values[M31] *= multiply; |
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| 207 | result.values[M12] *= multiply; |
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| 208 | result.values[M22] *= multiply; |
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| 209 | result.values[M32] *= multiply; |
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| 210 | result.values[M13] *= multiply; |
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| 211 | result.values[M23] *= multiply; |
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| 212 | result.values[M33] *= multiply; |
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| 213 | |||
| 214 | return result; |
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| 215 | } |
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| 216 | |||
| 217 | public void copyTo(Matrix3 target) |
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| 218 | { |
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| 219 | target.values[M11] = values[M11]; target.values[M12] = values[M12]; target.values[M13] = values[M13]; |
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| 220 | target.values[M21] = values[M21]; target.values[M22] = values[M22]; target.values[M23] = values[M23]; |
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| 221 | target.values[M31] = values[M31]; target.values[M32] = values[M32]; target.values[M33] = values[M33]; |
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| 222 | } |
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| 223 | |||
| 224 | public void copyFrom(Matrix3 source) |
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| 225 | { |
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| 226 | values[M11] = source.values[M11]; values[M12] = source.values[M12]; values[M13] = source.values[M13]; |
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| 227 | values[M21] = source.values[M21]; values[M22] = source.values[M22]; values[M23] = source.values[M23]; |
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| 228 | values[M31] = source.values[M31]; values[M32] = source.values[M32]; values[M33] = source.values[M33]; |
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| 229 | } |
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| 230 | |||
| 231 | public void postMultiply(Matrix3 v) |
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| 232 | { |
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| 233 | multiply(this, this, v); |
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| 234 | } |
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| 235 | |||
| 236 | public void preMultiply(Matrix3 v) |
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| 237 | { |
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| 238 | multiply(this, v, this); |
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| 239 | } |
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| 240 | |||
| 241 | static public void multiply(Matrix3 result, Matrix3 a, Matrix3 b) |
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| 242 | { |
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| 243 | float result11 = a.values[M11] * b.values[M11] + a.values[M21] * b.values[M12] + a.values[M31] * b.values[M13]; |
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| 244 | float result21 = a.values[M11] * b.values[M21] + a.values[M21] * b.values[M22] + a.values[M31] * b.values[M23]; |
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| 245 | float result31 = a.values[M11] * b.values[M31] + a.values[M21] * b.values[M32] + a.values[M31] * b.values[M33]; |
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| 246 | float result12 = a.values[M12] * b.values[M11] + a.values[M22] * b.values[M12] + a.values[M32] * b.values[M13]; |
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| 247 | float result22 = a.values[M12] * b.values[M21] + a.values[M22] * b.values[M22] + a.values[M32] * b.values[M23]; |
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| 248 | float result32 = a.values[M12] * b.values[M31] + a.values[M22] * b.values[M32] + a.values[M32] * b.values[M33]; |
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| 249 | float result13 = a.values[M13] * b.values[M11] + a.values[M23] * b.values[M12] + a.values[M33] * b.values[M13]; |
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| 250 | float result23 = a.values[M13] * b.values[M21] + a.values[M23] * b.values[M22] + a.values[M33] * b.values[M23]; |
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| 251 | float result33 = a.values[M13] * b.values[M31] + a.values[M23] * b.values[M32] + a.values[M33] * b.values[M33]; |
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| 252 | result.values[M11] = result11; |
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| 253 | result.values[M21] = result21; |
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| 254 | result.values[M31] = result31; |
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| 255 | result.values[M12] = result12; |
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| 256 | result.values[M22] = result22; |
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| 257 | result.values[M32] = result32; |
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| 258 | result.values[M13] = result13; |
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| 259 | result.values[M23] = result23; |
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| 260 | result.values[M33] = result33; |
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| 261 | } |
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| 262 | |||
| 263 | static public Matrix3 multiply(Matrix3 a, Matrix3 b) |
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| 264 | { |
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| 265 | Matrix3 result = new Matrix3(); |
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| 266 | multiply(result, a, b); |
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| 267 | return result; |
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| 268 | } |
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| 269 | |||
| 270 | static public Matrix3 createIdentity() |
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| 271 | { |
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| 272 | return createScale(1.0f, 1.0f, 1.0f); |
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| 273 | } |
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| 274 | |||
| 275 | static public Matrix3 createScale(float sx, float sy, float sz) |
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| 276 | { |
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| 277 | Matrix3 result = new Matrix3(); |
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| 278 | |||
| 279 | result.values[M11] = sx; |
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| 280 | result.values[M22] = sy; |
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| 281 | result.values[M33] = sz; |
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| 282 | |||
| 283 | return result; |
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| 284 | } |
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| 285 | |||
| 286 | static public Matrix3 createScale(Vector3 scale) |
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| 287 | { |
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| 288 | return createScale(scale.x, scale.y, scale.z); |
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| 289 | } |
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| 290 | |||
| 291 | static public Matrix3 createScale(float s) |
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| 292 | { |
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| 293 | return createScale(s, s, s); |
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| 294 | } |
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| 295 | |||
| 296 | static public Matrix3 createRotationX(float degrees) |
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| 297 | { |
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| 298 | float degreesrad = MathUtil.degToRad(degrees); |
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| 299 | float sinvalue = (float)Math.sin(degreesrad); |
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| 300 | float cosvalue = (float)Math.cos(degreesrad); |
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| 301 | |||
| 302 | Matrix3 matrix = createIdentity(); |
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| 303 | matrix.values[M22] = cosvalue; |
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| 304 | matrix.values[M32] = -sinvalue; |
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| 305 | matrix.values[M23] = sinvalue; |
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| 306 | matrix.values[M33] = cosvalue; |
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| 307 | return matrix; |
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| 308 | } |
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| 309 | |||
| 310 | static public Matrix3 createRotationY(float degrees) |
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| 311 | { |
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| 312 | float degreesrad = MathUtil.degToRad(degrees); |
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| 313 | float sinvalue = (float)Math.sin(degreesrad); |
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| 314 | float cosvalue = (float)Math.cos(degreesrad); |
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| 315 | |||
| 316 | Matrix3 matrix = createIdentity(); |
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| 317 | matrix.values[M11] = cosvalue; |
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| 318 | matrix.values[M31] = sinvalue; |
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| 319 | matrix.values[M13] = -sinvalue; |
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| 320 | matrix.values[M33] = cosvalue; |
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| 321 | return matrix; |
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| 322 | } |
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| 323 | |||
| 324 | static public Matrix3 createRotationZ(float degrees) |
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| 325 | { |
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| 326 | float degreesrad = MathUtil.degToRad(degrees); |
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| 327 | float sinvalue = (float)Math.sin(degreesrad); |
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| 328 | float cosvalue = (float)Math.cos(degreesrad); |
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| 329 | |||
| 330 | Matrix3 matrix = createIdentity(); |
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| 331 | matrix.values[M11] = cosvalue; |
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| 332 | matrix.values[M21] = -sinvalue; |
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| 333 | matrix.values[M12] = sinvalue; |
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| 334 | matrix.values[M22] = cosvalue; |
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| 335 | return matrix; |
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| 336 | } |
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| 337 | |||
| 338 | static public Matrix3 createRotation(Vector3 axis, float degrees) |
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| 339 | { |
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| 340 | float radangle = MathUtil.degToRad(degrees); |
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| 341 | float radcos = (float)Math.cos(radangle); |
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| 342 | float radsin = (float)Math.sin(radangle); |
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| 343 | |||
| 344 | Matrix3 matrix = new Matrix3(); |
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| 345 | matrix.values[M11] = radcos + axis.x * axis.x * (1 - radcos); |
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| 346 | matrix.values[M21] = axis.z * radsin + axis.y * axis.x * (1 - radcos); |
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| 347 | matrix.values[M31] = -axis.y * radsin + axis.z * axis.x * (1 - radcos); |
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| 348 | matrix.values[M12] = -axis.z * radsin + axis.x * axis.y * (1 - radcos); |
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| 349 | matrix.values[M22] = radcos + axis.y * axis.y * (1 - radcos); |
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| 350 | matrix.values[M32] = axis.x * radsin + axis.z * axis.y * (1 - radcos); |
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| 351 | matrix.values[M13] = axis.y * radsin + axis.x * axis.z * (1 - radcos); |
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| 352 | matrix.values[M23] = -axis.x * radsin + axis.y * axis.z * (1 - radcos); |
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| 353 | matrix.values[M33] = radcos + axis.z * axis.z * (1 - radcos); |
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| 354 | return matrix; |
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| 355 | } |
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| 356 | |||
| 357 | static public Matrix3 createFromVectors(Vector3 forward, Vector3 up, Vector3 right) |
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| 358 | { |
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| 359 | forward.normalize(); |
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| 360 | up.normalize(); |
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| 361 | right.normalize(); |
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| 362 | |||
| 363 | Matrix3 result = createIdentity(); |
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| 364 | |||
| 365 | result.values[M11] = right.x; |
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| 366 | result.values[M12] = right.y; |
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| 367 | result.values[M13] = right.z; |
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| 368 | result.values[M21] = up.x; |
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| 369 | result.values[M22] = up.y; |
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| 370 | result.values[M23] = up.z; |
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| 371 | result.values[M31] = -forward.x; |
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| 372 | result.values[M32] = -forward.y; |
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| 373 | result.values[M33] = -forward.z; |
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| 374 | |||
| 375 | return result; |
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| 376 | } |
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| 377 | |||
| 378 | public Vector3 transform(Vector3 vector) |
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| 379 | { |
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| 380 | return new Vector3( |
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| 381 | values[M11] * vector.x + values[M21] * vector.y + values[M31] * vector.z, |
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| 382 | values[M12] * vector.x + values[M22] * vector.y + values[M32] * vector.z, |
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| 383 | values[M13] * vector.x + values[M23] * vector.y + values[M33] * vector.z); |
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| 384 | } |
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| 385 | |||
| 386 | static public void interpolate(Matrix3 result, Matrix3 a, Matrix3 b, float ratio) |
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| 387 | { |
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| 388 | result.values[M11] = a.values[M11] + (b.values[M11] - a.values[M11]) * ratio; |
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| 389 | result.values[M21] = a.values[M21] + (b.values[M21] - a.values[M21]) * ratio; |
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| 390 | result.values[M31] = a.values[M31] + (b.values[M31] - a.values[M31]) * ratio; |
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| 391 | result.values[M12] = a.values[M12] + (b.values[M12] - a.values[M12]) * ratio; |
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| 392 | result.values[M22] = a.values[M22] + (b.values[M22] - a.values[M22]) * ratio; |
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| 393 | result.values[M32] = a.values[M32] + (b.values[M32] - a.values[M32]) * ratio; |
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| 394 | result.values[M13] = a.values[M13] + (b.values[M13] - a.values[M13]) * ratio; |
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| 395 | result.values[M23] = a.values[M23] + (b.values[M23] - a.values[M23]) * ratio; |
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| 396 | result.values[M33] = a.values[M33] + (b.values[M33] - a.values[M33]) * ratio; |
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| 397 | } |
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| 398 | |||
| 399 | static public Matrix3 interpolate(Matrix3 a, Matrix3 b, float ratio) |
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| 400 | { |
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| 401 | Matrix3 result = createIdentity(); |
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| 402 | interpolate(result, a, b, ratio); |
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| 403 | return result; |
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| 404 | } |
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| 405 | |||
| 406 | public Vector3 getForwardVector() |
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| 407 | { |
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| 408 | Vector3 forward = new Vector3(-values[M31], -values[M32], -values[M33]); |
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| 409 | forward.normalize(); |
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| 410 | return forward; |
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| 411 | } |
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| 412 | |||
| 413 | public Vector3 getUpVector() |
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| 414 | { |
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| 415 | Vector3 up = new Vector3(values[M21], values[M22], values[M23]); |
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| 416 | up.normalize(); |
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| 417 | return up; |
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| 418 | } |
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| 419 | |||
| 420 | public Vector3 getRightVector() |
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| 421 | { |
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| 422 | Vector3 right = new Vector3(values[M11], values[M12], values[M13]); |
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| 423 | right.normalize(); |
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| 424 | return right; |
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| 425 | } |
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| 426 | |||
| 427 | public float[] toGLMatrix() |
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| 428 | { |
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| 429 | return values; |
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| 430 | |||
| 431 | /*float[] m = new float[16]; |
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| 432 | |||
| 433 | m[0] = m11; m[1] = m21; m[2] = m31; m[3] = 0.0f; |
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| 434 | m[4] = m12; m[5] = m22; m[6] = m32; m[7] = 0.0f; |
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| 435 | m[8] = m13; m[9] = m23; m[10] = m33; m[11] = 0.0f; |
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| 436 | m[12] = 0.0f; m[13] = 0.0f; m[14] = 0.0f; m[15] = 1.0f; |
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| 437 | |||
| 438 | return m;*/ |
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| 439 | } |
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| 440 | |||
| 441 | } |