net.java.joglutils.msg.math
Class Mat3f

java.lang.Object
  net.java.joglutils.msg.math.Mat3f

public class Mat3f
extends Object

3x3 matrix class useful for simple linear algebra. Representation is (as Mat4f) in row major order and assumes multiplication by column vectors on the right.

Constructor Summary

Mat3f()
Creates new matrix initialized to the zero matrix

Method Summary

float	determinant() Return the determinant.
float	get(int i, int j) Gets the (i,j)th element of this matrix, where i is the row index and j is the column index
void	invert() Full matrix inversion in place.
void	makeIdent() Initialize to the identity matrix.
Mat3f	mul(Mat3f b) Returns this * b; creates new matrix
void	mul(Mat3f a, Mat3f b) this = a * b
void	set(int i, int j, float val) Sets the (i,j)th element of this matrix, where i is the row index and j is the column index
void	setCol(int i, Vec3f v) Set column i (i=[0..2]) to vector v.
void	setRow(int i, Vec3f v) Set row i (i=[0..2]) to vector v.
Matf	toMatf()
String	toString()
void	transpose() Transpose this matrix in place.
void	xformVec(Vec3f src, Vec3f dest) Multiply a 3D vector by this matrix.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Mat3f

public Mat3f()

Creates new matrix initialized to the zero matrix

Method Detail

makeIdent

public void makeIdent()

Initialize to the identity matrix.

get

public float get(int i,
                 int j)

Gets the (i,j)th element of this matrix, where i is the row index and j is the column index

set

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

Sets the (i,j)th element of this matrix, where i is the row index and j is the column index

setCol

public void setCol(int i,
                   Vec3f v)

Set column i (i=[0..2]) to vector v.

setRow

public void setRow(int i,
                   Vec3f v)

Set row i (i=[0..2]) to vector v.

transpose

public void transpose()

Transpose this matrix in place.

determinant

public float determinant()

Return the determinant. Computed across the zeroth row.

invert

public void invert()
            throws SingularMatrixException

Full matrix inversion in place. If matrix is singular, throws SingularMatrixException. If you know the matrix is orthonormal, you can call transpose() instead.

Throws:

SingularMatrixException

xformVec

public void xformVec(Vec3f src,
                     Vec3f dest)

Multiply a 3D vector by this matrix. NOTE: src and dest must be different vectors.

mul

public Mat3f mul(Mat3f b)

Returns this * b; creates new matrix

mul

public void mul(Mat3f a,
                Mat3f b)

this = a * b

toMatf

public Matf toMatf()

toString

public String toString()

Overrides:

toString in class Object