Class Matrix4d

  • All Implemented Interfaces:
    java.io.Serializable

    public class Matrix4d
    extends java.lang.Object
    implements java.io.Serializable
    Encapsulates a column major 4 by 4 matrix. Like the Vector3d class it allows the chaining of methods by returning a reference to itself. For example:
     Matrix4d mat = new Matrix4d().trn(position).mul(camera.combined);
     
    See Also:
    Serialized Form
    • Field Summary

      Fields 
      Modifier and Type Field Description
      static int M00
      XX: Typically the unrotated X component for scaling, also the cosine of the angle when rotated on the Y and/or Z axis.
      static int M01
      XY: Typically the negative sine of the angle when rotated on the Z axis.
      static int M02
      XZ: Typically the sine of the angle when rotated on the Y axis.
      static int M03
      XW: Typically the translation of the X component.
      static int M10
      YX: Typically the sine of the angle when rotated on the Z axis.
      static int M11
      YY: Typically the unrotated Y component for scaling, also the cosine of the angle when rotated on the X and/or Z axis.
      static int M12
      YZ: Typically the negative sine of the angle when rotated on the X axis.
      static int M13
      YW: Typically the translation of the Y component.
      static int M20
      ZX: Typically the negative sine of the angle when rotated on the Y axis.
      static int M21
      ZY: Typical the sine of the angle when rotated on the X axis.
      static int M22
      ZZ: Typically the unrotated Z component for scaling, also the cosine of the angle when rotated on the X and/or Y axis.
      static int M23
      ZW: Typically the translation of the Z component.
      static int M30
      WX: Typically the value zero.
      static int M31
      WY: Typically the value zero.
      static int M32
      WZ: Typically the value zero.
      static int M33
      WW: Typically the value one.
      static double[] stmp  
      double[] tmp  
      double[] val  
    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Vector3d addTranslationTo​(Vector3d position)  
      Matrix4d cpy()  
      double det()  
      double det3x3()  
      void extract4x3Matrix​(double[] dst)
      Copies the 4x3 upper-left sub-matrix into double array.
      Vector3d getScale​(Vector3d scale)  
      double getScaleX()  
      double getScaleXSquared()  
      double getScaleY()  
      double getScaleYSquared()  
      double getScaleZ()  
      double getScaleZSquared()  
      double[] getTranslation()  
      Vector3d getTranslation​(Vector3d position)  
      float[] getTranslationf()  
      void getTranslationf​(float[] vec)  
      com.badlogic.gdx.math.Vector3 getTranslationf​(com.badlogic.gdx.math.Vector3 position)  
      double[] getValues()  
      Matrix4d idt()
      Sets the matrix to an identity matrix.
      Matrix4d inv()  
      static boolean inv​(double[] values)
      Computes the inverse of the given matrix.
      Matrix4d lerp​(Matrix4d matrix, double alpha)
      Linearly interpolates between this matrix and the given matrix mixing by alpha
      static void mul​(double[] mata, double[] matb)
      Multiplies the matrix mata with matrix matb, storing the result in mata.
      Matrix4d mul​(Matrix4d matrix)
      Postmultiplies this matrix with the given matrix, storing the result in this matrix.
      Matrix4d mulLeft​(Matrix4d matrix)
      Premultiplies this matrix with the given matrix, storing the result in this matrix.
      static void prj​(double[] mat, double[] vec)
      Multiplies the vector with the given matrix, performing a division by w.
      static void prj​(double[] mat, double[] vecs, int offset, int numVecs, int stride)
      Multiplies the vectors with the given matrix, , performing a division by w.
      com.badlogic.gdx.math.Matrix4 putIn​(com.badlogic.gdx.math.Matrix4 aux)
      Sets the given matrix to this matrix
      Matrix4d rotate​(double axisX, double axisY, double axisZ, double degrees)
      Postmultiplies this matrix with a (counter-clockwise) rotation matrix.
      Matrix4d rotate​(Quaterniond rotation)
      Postmultiplies this matrix with a (counter-clockwise) rotation matrix.
      Matrix4d rotate​(Vector3d axis, double degrees)
      Postmultiplies this matrix with a (counter-clockwise) rotation matrix.
      Matrix4d rotate​(Vector3d v1, Vector3d v2)
      Postmultiplies this matrix by the rotation between two vectors.
      Matrix4d rotateRad​(double axisX, double axisY, double axisZ, double radians)
      Postmultiplies this matrix with a (counter-clockwise) rotation matrix.
      Matrix4d rotateRad​(Vector3d axis, double radians)
      Postmultiplies this matrix with a (counter-clockwise) rotation matrix.
      Matrix4d scale​(double scaleX, double scaleY, double scaleZ)
      Postmultiplies this matrix with a scale matrix.
      Matrix4d scl​(double scale)  
      Matrix4d scl​(double x, double y, double z)  
      Matrix4d scl​(Vector3d scale)  
      Matrix4d set​(double[] values)
      Sets the matrix to the given matrix as a double array.
      Matrix4d set​(double quaternionX, double quaternionY, double quaternionZ, double quaternionW)
      Sets the matrix to a rotation matrix representing the quaternion.
      Matrix4d set​(double translationX, double translationY, double translationZ, double quaternionX, double quaternionY, double quaternionZ, double quaternionW)
      Sets the matrix to a rotation matrix representing the translation and quaternion.
      Matrix4d set​(double translationX, double translationY, double translationZ, double quaternionX, double quaternionY, double quaternionZ, double quaternionW, double scaleX, double scaleY, double scaleZ)
      Sets the matrix to a rotation matrix representing the translation and quaternion.
      Matrix4d set​(float[] values)  
      Matrix4d set​(com.badlogic.gdx.math.Matrix3 mat)
      Sets this matrix to the given 3x3 matrix.
      Matrix4d set​(com.badlogic.gdx.math.Matrix4 matrix)  
      Matrix4d set​(Matrix4d matrix)
      Sets the matrix to the given matrix.
      Matrix4d set​(Quaterniond quaternion)
      Sets the matrix to a rotation matrix representing the quaternion.
      Matrix4d set​(Vector3d position, Quaterniond orientation)
      Set this matrix to the specified translation and rotation.
      Matrix4d set​(Vector3d position, Quaterniond orientation, Vector3d scale)
      Set this matrix to the specified translation, rotation and scale.
      Matrix4d set​(Vector3d xAxis, Vector3d yAxis, Vector3d zAxis, Vector3d pos)
      Sets the four columns of the matrix which correspond to the x-, y- and z-axis of the vector space this matrix creates as well as the 4th column representing the translation of any point that is multiplied by this matrix.
      Matrix4d setFromEulerAngles​(double yaw, double pitch, double roll)
      Sets this matrix to a rotation matrix from the given euler angles.
      Matrix4d setToLookAt​(Vector3d direction, Vector3d up)
      Sets the matrix to a look at matrix with a direction and an up vector.
      Matrix4d setToLookAt​(Vector3d position, Vector3d target, Vector3d up)
      Sets this matrix to a look at matrix with the given position, target and up vector.
      Matrix4d setToOrtho​(double left, double right, double bottom, double top, double near, double far)
      Sets the matrix to an orthographic projection like glOrtho (http://www.opengl.org/sdk/docs/man/xhtml/glOrtho.xml) following the OpenGL equivalent
      Matrix4d setToOrtho2D​(double x, double y, double width, double height)
      Sets this matrix to an orthographic projection matrix with the origin at (x,y) extending by width and height.
      Matrix4d setToOrtho2D​(double x, double y, double width, double height, double near, double far)
      Sets this matrix to an orthographic projection matrix with the origin at (x,y) extending by width and height, having a near and far plane.
      Matrix4d setToProjection​(double near, double far, double fov, double aspectRatio)
      Sets the matrix to a projection matrix with a near- and far plane, a field of view in degrees and an aspect ratio.
      Matrix4d setToRotation​(double axisX, double axisY, double axisZ, double degrees)
      Sets the matrix to a rotation matrix around the given axis.
      Matrix4d setToRotation​(double x1, double y1, double z1, double x2, double y2, double z2)
      Set the matrix to a rotation matrix between two vectors.
      Matrix4d setToRotation​(Vector3d axis, double degrees)
      Sets the matrix to a rotation matrix around the given axis.
      Matrix4d setToRotation​(Vector3d v1, Vector3d v2)
      Set the matrix to a rotation matrix between two vectors.
      Matrix4d setToRotationRad​(double axisX, double axisY, double axisZ, double radians)
      Sets the matrix to a rotation matrix around the given axis.
      Matrix4d setToRotationRad​(Vector3d axis, double radians)
      Sets the matrix to a rotation matrix around the given axis.
      Matrix4d setToScaling​(double x, double y, double z)
      Sets this matrix to a scaling matrix
      Matrix4d setToScaling​(Vector3d vector)
      Sets this matrix to a scaling matrix
      Matrix4d setToTranslation​(double x, double y, double z)
      Sets this matrix to a translation matrix, overwriting it first by an identity matrix and then setting the 4th column to the translation vector.
      Matrix4d setToTranslation​(com.badlogic.gdx.math.Vector3 vector)  
      Matrix4d setToTranslation​(Vector3d vector)
      Sets this matrix to a translation matrix, overwriting it first by an identity matrix and then setting the 4th column to the translation vector.
      Matrix4d setToTranslationAndScaling​(double translationX, double translationY, double translationZ, double scalingX, double scalingY, double scalingZ)
      Sets this matrix to a translation and scaling matrix by first overwriting it with an identity and then setting the translation vector in the 4th column and the scaling vector in the diagonal.
      Matrix4d setToTranslationAndScaling​(Vector3d translation, Vector3d scaling)
      Sets this matrix to a translation and scaling matrix by first overwriting it with an identity and then setting the translation vector in the 4th column and the scaling vector in the diagonal.
      Matrix4d setToWorld​(Vector3d position, Vector3d forward, Vector3d up)  
      Matrix4d setTranslation​(double x, double y, double z)
      Sets the 4th column to the translation vector.
      Matrix4d setTranslation​(Vector3d vector)
      Sets the 4th column to the translation vector.
      Matrix4d toNormalMatrix()
      removes the translational part and transposes the matrix.
      java.lang.String toString()  
      Matrix4d tra()
      Transposes the matrix.
      Matrix4d translate​(double[] translation)
      Postmultiplies this matrix by a translation matrix.
      Matrix4d translate​(double x, double y, double z)
      Postmultiplies this matrix by a translation matrix.
      Matrix4d translate​(Vector3d translation)
      Postmultiplies this matrix by a translation matrix.
      Matrix4d trn​(double x, double y, double z)
      Adds a translational component to the matrix in the 4th column.
      Matrix4d trn​(Vector3d vector)
      Adds a translational component to the matrix in the 4th column.
      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
    • Field Detail

      • M00

        public static final int M00
        XX: Typically the unrotated X component for scaling, also the cosine of the angle when rotated on the Y and/or Z axis. On Vector3d multiplication this value is multiplied with the source X component and added to the target X component.
        See Also:
        Constant Field Values
      • M01

        public static final int M01
        XY: Typically the negative sine of the angle when rotated on the Z axis. On Vector3d multiplication this value is multiplied with the source Y component and added to the target X component.
        See Also:
        Constant Field Values
      • M02

        public static final int M02
        XZ: Typically the sine of the angle when rotated on the Y axis. On Vector3d multiplication this value is multiplied with the source Z component and added to the target X component.
        See Also:
        Constant Field Values
      • M03

        public static final int M03
        XW: Typically the translation of the X component. On Vector3d multiplication this value is added to the target X component.
        See Also:
        Constant Field Values
      • M10

        public static final int M10
        YX: Typically the sine of the angle when rotated on the Z axis. On Vector3d multiplication this value is multiplied with the source X component and added to the target Y component.
        See Also:
        Constant Field Values
      • M11

        public static final int M11
        YY: Typically the unrotated Y component for scaling, also the cosine of the angle when rotated on the X and/or Z axis. On Vector3d multiplication this value is multiplied with the source Y component and added to the target Y component.
        See Also:
        Constant Field Values
      • M12

        public static final int M12
        YZ: Typically the negative sine of the angle when rotated on the X axis. On Vector3d multiplication this value is multiplied with the source Z component and added to the target Y component.
        See Also:
        Constant Field Values
      • M13

        public static final int M13
        YW: Typically the translation of the Y component. On Vector3d multiplication this value is added to the target Y component.
        See Also:
        Constant Field Values
      • M20

        public static final int M20
        ZX: Typically the negative sine of the angle when rotated on the Y axis. On Vector3d multiplication this value is multiplied with the source X component and added to the target Z component.
        See Also:
        Constant Field Values
      • M21

        public static final int M21
        ZY: Typical the sine of the angle when rotated on the X axis. On Vector3d multiplication this value is multiplied with the source Y component and added to the target Z component.
        See Also:
        Constant Field Values
      • M22

        public static final int M22
        ZZ: Typically the unrotated Z component for scaling, also the cosine of the angle when rotated on the X and/or Y axis. On Vector3d multiplication this value is multiplied with the source Z component and added to the target Z component.
        See Also:
        Constant Field Values
      • M23

        public static final int M23
        ZW: Typically the translation of the Z component. On Vector3d multiplication this value is added to the target Z component.
        See Also:
        Constant Field Values
      • M30

        public static final int M30
        WX: Typically the value zero. On Vector3d multiplication this value is ignored.
        See Also:
        Constant Field Values
      • M31

        public static final int M31
        WY: Typically the value zero. On Vector3d multiplication this value is ignored.
        See Also:
        Constant Field Values
      • M32

        public static final int M32
        WZ: Typically the value zero. On Vector3d multiplication this value is ignored.
        See Also:
        Constant Field Values
      • M33

        public static final int M33
        WW: Typically the value one. On Vector3d multiplication this value is ignored.
        See Also:
        Constant Field Values
      • stmp

        public static final double[] stmp
      • tmp

        public final double[] tmp
      • val

        public final double[] val
    • Constructor Detail

      • Matrix4d

        public Matrix4d()
        Constructs an identity matrix
      • Matrix4d

        public Matrix4d​(Matrix4d matrix)
        Constructs a matrix from the given matrix.
        Parameters:
        matrix - The matrix to copy. (This matrix is not modified)
      • Matrix4d

        public Matrix4d​(double[] values)
        Constructs a matrix from the given double array. The array must have at least 16 elements; the first 16 will be copied.
        Parameters:
        values - The double array to copy. Remember that this matrix is in column major order. (The double array is not modified.)
      • Matrix4d

        public Matrix4d​(float[] values)
      • Matrix4d

        public Matrix4d​(Quaterniond quaternion)
        Constructs a rotation matrix from the given Quaterniond.
        Parameters:
        quaternion - The quaternion to be copied. (The quaternion is not modified)
      • Matrix4d

        public Matrix4d​(Vector3d position,
                        Quaterniond rotation,
                        Vector3d scale)
        Construct a matrix from the given translation, rotation and scale.
        Parameters:
        position - The translation
        rotation - The rotation, must be normalized
        scale - The scale
    • Method Detail

      • set

        public Matrix4d set​(Matrix4d matrix)
        Sets the matrix to the given matrix.
        Parameters:
        matrix - The matrix that is to be copied. (The given matrix is not modified)
        Returns:
        This matrix for the purpose of chaining methods together.
      • set

        public Matrix4d set​(com.badlogic.gdx.math.Matrix4 matrix)
      • set

        public Matrix4d set​(double[] values)
        Sets the matrix to the given matrix as a double array. The double array must have at least 16 elements; the first 16 will be copied.
        Parameters:
        values - The matrix, in double form, that is to be copied. Remember that this matrix is in column major order.
        Returns:
        This matrix for the purpose of chaining methods together.
      • set

        public Matrix4d set​(float[] values)
      • set

        public Matrix4d set​(Quaterniond quaternion)
        Sets the matrix to a rotation matrix representing the quaternion.
        Parameters:
        quaternion - The quaternion that is to be used to set this matrix.
        Returns:
        This matrix for the purpose of chaining methods together.
      • set

        public Matrix4d set​(double quaternionX,
                            double quaternionY,
                            double quaternionZ,
                            double quaternionW)
        Sets the matrix to a rotation matrix representing the quaternion.
        Parameters:
        quaternionX - The X component of the quaternion that is to be used to set this matrix.
        quaternionY - The Y component of the quaternion that is to be used to set this matrix.
        quaternionZ - The Z component of the quaternion that is to be used to set this matrix.
        quaternionW - The W component of the quaternion that is to be used to set this matrix.
        Returns:
        This matrix for the purpose of chaining methods together.
      • set

        public Matrix4d set​(Vector3d position,
                            Quaterniond orientation)
        Set this matrix to the specified translation and rotation.
        Parameters:
        position - The translation
        orientation - The rotation, must be normalized
        Returns:
        This matrix for chaining
      • set

        public Matrix4d set​(double translationX,
                            double translationY,
                            double translationZ,
                            double quaternionX,
                            double quaternionY,
                            double quaternionZ,
                            double quaternionW)
        Sets the matrix to a rotation matrix representing the translation and quaternion.
        Parameters:
        translationX - The X component of the translation that is to be used to set this matrix.
        translationY - The Y component of the translation that is to be used to set this matrix.
        translationZ - The Z component of the translation that is to be used to set this matrix.
        quaternionX - The X component of the quaternion that is to be used to set this matrix.
        quaternionY - The Y component of the quaternion that is to be used to set this matrix.
        quaternionZ - The Z component of the quaternion that is to be used to set this matrix.
        quaternionW - The W component of the quaternion that is to be used to set this matrix.
        Returns:
        This matrix for the purpose of chaining methods together.
      • set

        public Matrix4d set​(Vector3d position,
                            Quaterniond orientation,
                            Vector3d scale)
        Set this matrix to the specified translation, rotation and scale.
        Parameters:
        position - The translation
        orientation - The rotation, must be normalized
        scale - The scale
        Returns:
        This matrix for chaining
      • set

        public Matrix4d set​(double translationX,
                            double translationY,
                            double translationZ,
                            double quaternionX,
                            double quaternionY,
                            double quaternionZ,
                            double quaternionW,
                            double scaleX,
                            double scaleY,
                            double scaleZ)
        Sets the matrix to a rotation matrix representing the translation and quaternion.
        Parameters:
        translationX - The X component of the translation that is to be used to set this matrix.
        translationY - The Y component of the translation that is to be used to set this matrix.
        translationZ - The Z component of the translation that is to be used to set this matrix.
        quaternionX - The X component of the quaternion that is to be used to set this matrix.
        quaternionY - The Y component of the quaternion that is to be used to set this matrix.
        quaternionZ - The Z component of the quaternion that is to be used to set this matrix.
        quaternionW - The W component of the quaternion that is to be used to set this matrix.
        scaleX - The X component of the scaling that is to be used to set this matrix.
        scaleY - The Y component of the scaling that is to be used to set this matrix.
        scaleZ - The Z component of the scaling that is to be used to set this matrix.
        Returns:
        This matrix for the purpose of chaining methods together.
      • set

        public Matrix4d set​(Vector3d xAxis,
                            Vector3d yAxis,
                            Vector3d zAxis,
                            Vector3d pos)
        Sets the four columns of the matrix which correspond to the x-, y- and z-axis of the vector space this matrix creates as well as the 4th column representing the translation of any point that is multiplied by this matrix.
        Parameters:
        xAxis - The x-axis.
        yAxis - The y-axis.
        zAxis - The z-axis.
        pos - The translation vector.
      • cpy

        public Matrix4d cpy()
        Returns:
        a copy of this matrix
      • trn

        public Matrix4d trn​(Vector3d vector)
        Adds a translational component to the matrix in the 4th column. The other columns are untouched.
        Parameters:
        vector - The translation vector to add to the current matrix. (This vector is not modified)
        Returns:
        This matrix for the purpose of chaining methods together.
      • trn

        public Matrix4d trn​(double x,
                            double y,
                            double z)
        Adds a translational component to the matrix in the 4th column. The other columns are untouched.
        Parameters:
        x - The x-component of the translation vector.
        y - The y-component of the translation vector.
        z - The z-component of the translation vector.
        Returns:
        This matrix for the purpose of chaining methods together.
      • getValues

        public double[] getValues()
        Returns:
        the backing double array
      • mul

        public Matrix4d mul​(Matrix4d matrix)
        Postmultiplies this matrix with the given matrix, storing the result in this matrix. For example:
         A.mul(B) results in A := AB.
         
        Parameters:
        matrix - The other matrix to multiply by.
        Returns:
        This matrix for the purpose of chaining operations together.
      • mulLeft

        public Matrix4d mulLeft​(Matrix4d matrix)
        Premultiplies this matrix with the given matrix, storing the result in this matrix. For example:
         A.mulLeft(B) results in A := BA.
         
        Parameters:
        matrix - The other matrix to multiply by.
        Returns:
        This matrix for the purpose of chaining operations together.
      • tra

        public Matrix4d tra()
        Transposes the matrix.
        Returns:
        This matrix for the purpose of chaining methods together.
      • idt

        public Matrix4d idt()
        Sets the matrix to an identity matrix.
        Returns:
        This matrix for the purpose of chaining methods together.
      • inv

        public static boolean inv​(double[] values)
        Computes the inverse of the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you can get from Matrix4.val.
        Parameters:
        values - the matrix values.
        Returns:
        false in case the inverse could not be calculated, true otherwise.
      • det

        public double det()
        Returns:
        The determinant of this matrix
      • det3x3

        public double det3x3()
        Returns:
        The determinant of the 3x3 upper left matrix
      • setToProjection

        public Matrix4d setToProjection​(double near,
                                        double far,
                                        double fov,
                                        double aspectRatio)
        Sets the matrix to a projection matrix with a near- and far plane, a field of view in degrees and an aspect ratio.
        Parameters:
        near - The near plane
        far - The far plane
        fov - The field of view in degrees
        aspectRatio - The "width over height" aspect ratio
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToOrtho2D

        public Matrix4d setToOrtho2D​(double x,
                                     double y,
                                     double width,
                                     double height)
        Sets this matrix to an orthographic projection matrix with the origin at (x,y) extending by width and height. The near plane is set to 0, the far plane is set to 1.
        Parameters:
        x - The x-coordinate of the origin
        y - The y-coordinate of the origin
        width - The width
        height - The height
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToOrtho2D

        public Matrix4d setToOrtho2D​(double x,
                                     double y,
                                     double width,
                                     double height,
                                     double near,
                                     double far)
        Sets this matrix to an orthographic projection matrix with the origin at (x,y) extending by width and height, having a near and far plane.
        Parameters:
        x - The x-coordinate of the origin
        y - The y-coordinate of the origin
        width - The width
        height - The height
        near - The near plane
        far - The far plane
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToOrtho

        public Matrix4d setToOrtho​(double left,
                                   double right,
                                   double bottom,
                                   double top,
                                   double near,
                                   double far)
        Sets the matrix to an orthographic projection like glOrtho (http://www.opengl.org/sdk/docs/man/xhtml/glOrtho.xml) following the OpenGL equivalent
        Parameters:
        left - The left clipping plane
        right - The right clipping plane
        bottom - The bottom clipping plane
        top - The top clipping plane
        near - The near clipping plane
        far - The far clipping plane
        Returns:
        This matrix for the purpose of chaining methods together.
      • setTranslation

        public Matrix4d setTranslation​(Vector3d vector)
        Sets the 4th column to the translation vector.
        Parameters:
        vector - The translation vector
        Returns:
        This matrix for the purpose of chaining methods together.
      • setTranslation

        public Matrix4d setTranslation​(double x,
                                       double y,
                                       double z)
        Sets the 4th column to the translation vector.
        Parameters:
        x - The X coordinate of the translation vector
        y - The Y coordinate of the translation vector
        z - The Z coordinate of the translation vector
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToTranslation

        public Matrix4d setToTranslation​(Vector3d vector)
        Sets this matrix to a translation matrix, overwriting it first by an identity matrix and then setting the 4th column to the translation vector.
        Parameters:
        vector - The translation vector
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToTranslation

        public Matrix4d setToTranslation​(com.badlogic.gdx.math.Vector3 vector)
      • setToTranslation

        public Matrix4d setToTranslation​(double x,
                                         double y,
                                         double z)
        Sets this matrix to a translation matrix, overwriting it first by an identity matrix and then setting the 4th column to the translation vector.
        Parameters:
        x - The x-component of the translation vector.
        y - The y-component of the translation vector.
        z - The z-component of the translation vector.
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToTranslationAndScaling

        public Matrix4d setToTranslationAndScaling​(Vector3d translation,
                                                   Vector3d scaling)
        Sets this matrix to a translation and scaling matrix by first overwriting it with an identity and then setting the translation vector in the 4th column and the scaling vector in the diagonal.
        Parameters:
        translation - The translation vector
        scaling - The scaling vector
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToTranslationAndScaling

        public Matrix4d setToTranslationAndScaling​(double translationX,
                                                   double translationY,
                                                   double translationZ,
                                                   double scalingX,
                                                   double scalingY,
                                                   double scalingZ)
        Sets this matrix to a translation and scaling matrix by first overwriting it with an identity and then setting the translation vector in the 4th column and the scaling vector in the diagonal.
        Parameters:
        translationX - The x-component of the translation vector
        translationY - The y-component of the translation vector
        translationZ - The z-component of the translation vector
        scalingX - The x-component of the scaling vector
        scalingY - The x-component of the scaling vector
        scalingZ - The x-component of the scaling vector
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToRotation

        public Matrix4d setToRotation​(Vector3d axis,
                                      double degrees)
        Sets the matrix to a rotation matrix around the given axis.
        Parameters:
        axis - The axis
        degrees - The angle in degrees
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToRotationRad

        public Matrix4d setToRotationRad​(Vector3d axis,
                                         double radians)
        Sets the matrix to a rotation matrix around the given axis.
        Parameters:
        axis - The axis
        radians - The angle in radians
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToRotation

        public Matrix4d setToRotation​(double axisX,
                                      double axisY,
                                      double axisZ,
                                      double degrees)
        Sets the matrix to a rotation matrix around the given axis.
        Parameters:
        axisX - The x-component of the axis
        axisY - The y-component of the axis
        axisZ - The z-component of the axis
        degrees - The angle in degrees
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToRotationRad

        public Matrix4d setToRotationRad​(double axisX,
                                         double axisY,
                                         double axisZ,
                                         double radians)
        Sets the matrix to a rotation matrix around the given axis.
        Parameters:
        axisX - The x-component of the axis
        axisY - The y-component of the axis
        axisZ - The z-component of the axis
        radians - The angle in radians
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToRotation

        public Matrix4d setToRotation​(Vector3d v1,
                                      Vector3d v2)
        Set the matrix to a rotation matrix between two vectors.
        Parameters:
        v1 - The base vector
        v2 - The target vector
        Returns:
        This matrix for the purpose of chaining methods together
      • setToRotation

        public Matrix4d setToRotation​(double x1,
                                      double y1,
                                      double z1,
                                      double x2,
                                      double y2,
                                      double z2)
        Set the matrix to a rotation matrix between two vectors.
        Parameters:
        x1 - The base vectors x value
        y1 - The base vectors y value
        z1 - The base vectors z value
        x2 - The target vector x value
        y2 - The target vector y value
        z2 - The target vector z value
        Returns:
        This matrix for the purpose of chaining methods together
      • setFromEulerAngles

        public Matrix4d setFromEulerAngles​(double yaw,
                                           double pitch,
                                           double roll)
        Sets this matrix to a rotation matrix from the given euler angles.
        Parameters:
        yaw - the yaw in degrees
        pitch - the pitch in degrees
        roll - the roll in degrees
        Returns:
        This matrix
      • setToScaling

        public Matrix4d setToScaling​(Vector3d vector)
        Sets this matrix to a scaling matrix
        Parameters:
        vector - The scaling vector
        Returns:
        This matrix for chaining.
      • setToScaling

        public Matrix4d setToScaling​(double x,
                                     double y,
                                     double z)
        Sets this matrix to a scaling matrix
        Parameters:
        x - The x-component of the scaling vector
        y - The y-component of the scaling vector
        z - The z-component of the scaling vector
        Returns:
        This matrix for chaining.
      • setToLookAt

        public Matrix4d setToLookAt​(Vector3d direction,
                                    Vector3d up)
        Sets the matrix to a look at matrix with a direction and an up vector. Multiply with a translation matrix to get a camera model view matrix.
        Parameters:
        direction - The direction vector
        up - The up vector
        Returns:
        This matrix for the purpose of chaining methods together.
      • setToLookAt

        public Matrix4d setToLookAt​(Vector3d position,
                                    Vector3d target,
                                    Vector3d up)
        Sets this matrix to a look at matrix with the given position, target and up vector.
        Parameters:
        position - the position
        target - the target
        up - the up vector
        Returns:
        This matrix
      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object
      • lerp

        public Matrix4d lerp​(Matrix4d matrix,
                             double alpha)
        Linearly interpolates between this matrix and the given matrix mixing by alpha
        Parameters:
        matrix - the matrix
        alpha - the alpha value in the range [0,1]
        Returns:
        This matrix for the purpose of chaining methods together.
      • set

        public Matrix4d set​(com.badlogic.gdx.math.Matrix3 mat)
        Sets this matrix to the given 3x3 matrix. The third column of this matrix is set to (0,0,1,0).
        Parameters:
        mat - the matrix
      • scl

        public Matrix4d scl​(double x,
                            double y,
                            double z)
      • scl

        public Matrix4d scl​(double scale)
      • getTranslationf

        public com.badlogic.gdx.math.Vector3 getTranslationf​(com.badlogic.gdx.math.Vector3 position)
      • getTranslation

        public double[] getTranslation()
      • getTranslationf

        public float[] getTranslationf()
      • getTranslationf

        public void getTranslationf​(float[] vec)
      • getScaleXSquared

        public double getScaleXSquared()
        Returns:
        the squared scale factor on the X axis
      • getScaleYSquared

        public double getScaleYSquared()
        Returns:
        the squared scale factor on the Y axis
      • getScaleZSquared

        public double getScaleZSquared()
        Returns:
        the squared scale factor on the Z axis
      • getScaleX

        public double getScaleX()
        Returns:
        the scale factor on the X axis (non-negative)
      • getScaleY

        public double getScaleY()
        Returns:
        the scale factor on the Y axis (non-negative)
      • getScaleZ

        public double getScaleZ()
        Returns:
        the scale factor on the X axis (non-negative)
      • toNormalMatrix

        public Matrix4d toNormalMatrix()
        removes the translational part and transposes the matrix.
      • prj

        public static void prj​(double[] mat,
                               double[] vec)
        Multiplies the vector with the given matrix, performing a division by w. The matrix array is assumed to hold a 4x4 column major matrix as you can get from val. The vector array is assumed to hold a 3-component vector, with x being the first element, y being the second and z being the last component. The result is stored in the vector array. This is the same as Vector3d.prj(Matrix4d).
        Parameters:
        mat - the matrix
        vec - the vector.
      • prj

        public static void prj​(double[] mat,
                               double[] vecs,
                               int offset,
                               int numVecs,
                               int stride)
        Multiplies the vectors with the given matrix, , performing a division by w. The matrix array is assumed to hold a 4x4 column major matrix as you can get from Matrix4.val. The vectors array is assumed to hold 3-component vectors. Offset specifies the offset into the array where the x-component of the first vector is located. The numVecs parameter specifies the number of vectors stored in the vectors array. The stride parameter specifies the number of floats between subsequent vectors and must be >= 3. This is the same as Vector3.prj(Matrix4) applied to multiple vectors.
        Parameters:
        mat - the matrix
        vecs - the vectors
        offset - the offset into the vectors array
        numVecs - the number of vectors
        stride - the stride between vectors in floats
      • translate

        public Matrix4d translate​(Vector3d translation)
        Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' glTranslate/glRotate/glScale
        Parameters:
        translation -
        Returns:
        This matrix for the purpose of chaining methods together.
      • translate

        public Matrix4d translate​(double[] translation)
        Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' glTranslate/glRotate/glScale
        Parameters:
        translation -
        Returns:
        This matrix for the purpose of chaining methods together.
      • translate

        public Matrix4d translate​(double x,
                                  double y,
                                  double z)
        Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' 1.x glTranslate/glRotate/glScale.
        Parameters:
        x - Translation in the x-axis.
        y - Translation in the y-axis.
        z - Translation in the z-axis.
        Returns:
        This matrix for the purpose of chaining methods together.
      • mul

        public static void mul​(double[] mata,
                               double[] matb)
        Multiplies the matrix mata with matrix matb, storing the result in mata. The arrays are assumed to hold 4x4 column major matrices as you can get from val. This is the same as mul(Matrix4d).
        Parameters:
        mata - the first matrix.
        matb - the second matrix.
      • rotate

        public Matrix4d rotate​(Vector3d axis,
                               double degrees)
        Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x glTranslate/glRotate/glScale.
        Parameters:
        axis - The vector axis to rotate around.
        degrees - The angle in degrees.
        Returns:
        This matrix for the purpose of chaining methods together.
      • rotateRad

        public Matrix4d rotateRad​(Vector3d axis,
                                  double radians)
        Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x glTranslate/glRotate/glScale.
        Parameters:
        axis - The vector axis to rotate around.
        radians - The angle in radians.
        Returns:
        This matrix for the purpose of chaining methods together.
      • rotate

        public Matrix4d rotate​(double axisX,
                               double axisY,
                               double axisZ,
                               double degrees)
        Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x glTranslate/glRotate/glScale
        Parameters:
        axisX - The x-axis component of the vector to rotate around.
        axisY - The y-axis component of the vector to rotate around.
        axisZ - The z-axis component of the vector to rotate around.
        degrees - The angle in degrees
        Returns:
        This matrix for the purpose of chaining methods together.
      • rotateRad

        public Matrix4d rotateRad​(double axisX,
                                  double axisY,
                                  double axisZ,
                                  double radians)
        Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x glTranslate/glRotate/glScale
        Parameters:
        axisX - The x-axis component of the vector to rotate around.
        axisY - The y-axis component of the vector to rotate around.
        axisZ - The z-axis component of the vector to rotate around.
        radians - The angle in radians
        Returns:
        This matrix for the purpose of chaining methods together.
      • rotate

        public Matrix4d rotate​(Quaterniond rotation)
        Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x glTranslate/glRotate/glScale.
        Parameters:
        rotation -
        Returns:
        This matrix for the purpose of chaining methods together.
      • rotate

        public Matrix4d rotate​(Vector3d v1,
                               Vector3d v2)
        Postmultiplies this matrix by the rotation between two vectors.
        Parameters:
        v1 - The base vector
        v2 - The target vector
        Returns:
        This matrix for the purpose of chaining methods together
      • scale

        public Matrix4d scale​(double scaleX,
                              double scaleY,
                              double scaleZ)
        Postmultiplies this matrix with a scale matrix. Postmultiplication is also used by OpenGL ES' 1.x glTranslate/glRotate/glScale.
        Parameters:
        scaleX - The scale in the x-axis.
        scaleY - The scale in the y-axis.
        scaleZ - The scale in the z-axis.
        Returns:
        This matrix for the purpose of chaining methods together.
      • extract4x3Matrix

        public void extract4x3Matrix​(double[] dst)
        Copies the 4x3 upper-left sub-matrix into double array. The destination array is supposed to be a column major matrix.
        Parameters:
        dst - the destination matrix
      • putIn

        public com.badlogic.gdx.math.Matrix4 putIn​(com.badlogic.gdx.math.Matrix4 aux)
        Sets the given matrix to this matrix
        Parameters:
        aux - The out matrix
        Returns:
        The aux matrix