Class Transform3D

java.lang.Object
javax.media.j3d.Transform3D

public class Transform3D extends Object
A generalized transform object represented internally as a 4x4 double-precision floating point matrix. The mathematical representation is row major, as in traditional matrix mathematics. A Transform3D is used to perform translations, rotations, and scaling and shear effects.

A transform has an associated type, and all type classification is left to the Transform3D object. A transform will typically have multiple types, unless it is a general, unclassifiable matrix, in which case it won't be assigned a type.

The Transform3D type is internally computed when the transform object is constructed and updated any time it is modified. A matrix will typically have multiple types. For example, the type associated with an identity matrix is the result of ORing all of the types, except for ZERO and NEGATIVE_DETERMINANT, together. There are public methods available to get the ORed type of the transformation, the sign of the determinant, and the least general matrix type. The matrix type flags are defined as follows:

  • ZERO - zero matrix. All of the elements in the matrix have the value 0.
  • IDENTITY - identity matrix. A matrix with ones on its main diagonal and zeros every where else.
  • SCALE - the matrix is a uniform scale matrix - there are no rotational or translation components.
  • ORTHOGONAL - the four row vectors that make up an orthogonal matrix form a basis, meaning that they are mutually orthogonal. The scale is unity and there are no translation components.
  • RIGID - the upper 3 X 3 of the matrix is orthogonal, and there is a translation component-the scale is unity.
  • CONGRUENT - this is an angle- and length-preserving matrix, meaning that it can translate, rotate, and reflect about an axis, and scale by an amount that is uniform in all directions. These operations preserve the distance between any two points, and the angle between any two intersecting lines.
  • AFFINE - an affine matrix can translate, rotate, reflect, scale anisotropically, and shear. Lines remain straight, and parallel lines remain parallel, but the angle between intersecting lines can change.
A matrix is also classified by the sign of its determinant:

    NEGATIVE_DETERMINANT - this matrix has a negative determinant. An orthogonal matrix with a positive determinant is a rotation matrix. An orthogonal matrix with a negative determinant is a reflection and rotation matrix.

The Java 3D model for 4 X 4 transformations is:

     [ m00 m01 m02 m03 ]   [ x ]   [ x' ]
     [ m10 m11 m12 m13 ] . [ y ] = [ y' ]
     [ m20 m21 m22 m23 ]   [ z ]   [ z' ]
     [ m30 m31 m32 m33 ]   [ w ]   [ w' ]
    
     x' = m00 . x+m01 . y+m02 . z+m03 . w
     y' = m10 . x+m11 . y+m12 . z+m13 . w
     z' = m20 . x+m21 . y+m22 . z+m23 . w
     w' = m30 . x+m31 . y+m32 . z+m33 . w
     

Note: When transforming a Point3f or a Point3d, the input w is set to 1. When transforming a Vector3f or Vector3d, the input w is set to 0.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    An affine matrix can translate, rotate, reflect, scale anisotropically, and shear.
    static final int
    This is an angle and length preserving matrix, meaning that it can translate, rotate, and reflect about an axis, and scale by an amount that is uniform in all directions.
    static final int
    An identity matrix.
    static final int
    This matrix has a negative determinant; an orthogonal matrix with a positive determinant is a rotation matrix; an orthogonal matrix with a negative determinant is a reflection and rotation matrix.
    static final int
    The four row vectors that make up an orthogonal matrix form a basis, meaning that they are mutually orthogonal; an orthogonal matrix with positive determinant is a pure rotation matrix; a negative determinant indicates a rotation and a reflection.
    static final int
    This matrix is a rotation and a translation with unity scale; The upper 3x3 of the matrix is orthogonal, and there is a translation component.
    static final int
    A Uniform scale matrix with no translation or other off-diagonal components.
    static final int
    A translation-only matrix with ones on the diagonal.
    static final int
    A zero matrix.
  • Constructor Summary

    Constructors
    Constructor
    Description
    Constructs and initializes a transform to the identity matrix.
    Transform3D(double[] matrix)
    Constructs and initializes a transform from the double precision array of length 16; the top row of the matrix is initialized to the first four elements of the array, and so on.
    Transform3D(float[] matrix)
    Constructs and initializes a transform from the float array of length 16; the top row of the matrix is initialized to the first four elements of the array, and so on.
    Constructs and initializes a transform from the Transform3D object.
    Transform3D(javax.vecmath.GMatrix m1)
    Constructs a transform and initializes it to the upper 4 x 4 of the GMatrix argument.
    Transform3D(javax.vecmath.Matrix3d m1, javax.vecmath.Vector3d t1, double s)
    Constructs and initializes a transform from the rotation matrix, translation, and scale values.
    Transform3D(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3d t1, double s)
    Constructs and initializes a transform from the rotation matrix, translation, and scale values.
    Transform3D(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3f t1, float s)
    Constructs and initializes a transform from the rotation matrix, translation, and scale values.
    Transform3D(javax.vecmath.Matrix4d m1)
    Constructs and initializes a transform from the 4 x 4 matrix.
    Transform3D(javax.vecmath.Matrix4f m1)
    Constructs and initializes a transform from the 4 x 4 matrix.
    Transform3D(javax.vecmath.Quat4d q1, javax.vecmath.Vector3d t1, double s)
    Constructs and initializes a transform from the quaternion, translation, and scale values.
    Transform3D(javax.vecmath.Quat4f q1, javax.vecmath.Vector3d t1, double s)
    Constructs and initializes a transform from the quaternion, translation, and scale values.
    Transform3D(javax.vecmath.Quat4f q1, javax.vecmath.Vector3f t1, float s)
    Constructs and initializes a transform from the quaternion, translation, and scale values.
  • Method Summary

    Modifier and Type
    Method
    Description
    final void
    Adds this transform to transform t1 and places the result into this: this = this + t1.
    final void
    Adds transforms t1 and t2 and places the result into this transform.
    final double
    Calculates and returns the determinant of this transform.
    boolean
    epsilonEquals(Transform3D t1, double epsilon)
    Returns true if the L-infinite distance between this matrix and matrix m1 is less than or equal to the epsilon parameter, otherwise returns false.
    boolean
    Returns true if the Object o1 is of type Transform3D and all of the data members of o1 are equal to the corresponding data members in this Transform3D.
    boolean
    Returns true if all of the data members of transform t1 are equal to the corresponding data members in this Transform3D.
    void
    frustum(double left, double right, double bottom, double top, double near, double far)
    Creates a perspective projection transform that mimics a standard, camera-based, view-model.
    final void
    get(double[] matrix)
    Places the values of this transform into the double precision array of length 16.
    final void
    get(float[] matrix)
    Places the values of this transform into the single precision array of length 16.
    final void
    get(javax.vecmath.Matrix3d m1)
    Places the normalized rotational component of this transform into the 3x3 matrix argument.
    final double
    get(javax.vecmath.Matrix3d m1, javax.vecmath.Vector3d t1)
    Places the normalized rotational component of this transform into the matrix parameter; place the translational component into the vector parameter.
    final void
    get(javax.vecmath.Matrix3f m1)
    Places the normalized rotational component of this transform into the 3x3 matrix argument.
    final double
    get(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3d t1)
    Places the normalized rotational component of this transform into the matrix parameter; place the translational component into the vector parameter.
    final float
    get(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3f t1)
    Places the normalized rotational component of this transform into the matrix parameter; place the translational component into the vector parameter.
    final void
    get(javax.vecmath.Matrix4d matrix)
    Places the values of this transform into the double precision matrix argument.
    final void
    get(javax.vecmath.Matrix4f matrix)
    Places the values of this transform into the single precision matrix argument.
    final void
    get(javax.vecmath.Quat4d q1)
    Places the quaternion equivalent of the normalized rotational component of this transform into the quaternion parameter.
    final double
    get(javax.vecmath.Quat4d q1, javax.vecmath.Vector3d t1)
    Places the quaternion equivalent of the normalized rotational component of this transform into the quaternion parameter; places the translational component into the Vector parameter.
    final void
    get(javax.vecmath.Quat4f q1)
    Places the quaternion equivalent of the normalized rotational component of this transform into the quaternion parameter.
    final double
    get(javax.vecmath.Quat4f q1, javax.vecmath.Vector3d t1)
    Places the quaternion equivalent of the normalized rotational component of this transform into the quaternion parameter; places the translational component into the Vector parameter.
    final float
    get(javax.vecmath.Quat4f q1, javax.vecmath.Vector3f t1)
    Places the quaternion equivalent of the normalized rotational component of this transform into the quaternion parameter; places the translational component into the Vector parameter.
    final void
    get(javax.vecmath.Vector3d trans)
    Retrieves the translational components of this transform.
    final void
    get(javax.vecmath.Vector3f trans)
    Retrieves the translational components of this transform.
    final boolean
    Returns the state of auto-normalization.
    final int
    Returns the least general type of this matrix; the order of generality from least to most is: ZERO, IDENTITY, SCALE/TRANSLATION, ORTHOGONAL, RIGID, CONGRUENT, AFFINE.
    final boolean
    Returns the sign of the determinant of this matrix; a return value of true indicates a non-negative determinant; a return value of false indicates a negative determinant.
    final void
    getRotationScale(javax.vecmath.Matrix3d m1)
    Gets the upper 3x3 values of this matrix and places them into the matrix m1.
    final void
    getRotationScale(javax.vecmath.Matrix3f m1)
    Gets the upper 3x3 values of this matrix and places them into the matrix m1.
    final double
    Returns the uniform scale factor of this matrix.
    final void
    getScale(javax.vecmath.Vector3d scale)
    Gets the possibly non-uniform scale components of the current transform and places them into the scale vector.
    final int
    Returns the type of this matrix as an or'ed bitmask of of all of the type classifications to which it belongs.
    int
    Returns a hash code value based on the data values in this object.
    final void
    Inverts this transform in place.
    final void
    Sets the value of this transform to the inverse of the passed Transform3D parameter.
    void
    lookAt(javax.vecmath.Point3d eye, javax.vecmath.Point3d center, javax.vecmath.Vector3d up)
    Helping function that specifies the position and orientation of a view matrix.
    final void
    mul(double scalar)
    Multiplies each element of this transform by a scalar.
    final void
    mul(double scalar, Transform3D t1)
    Multiplies each element of transform t1 by a scalar and places the result into this.
    final void
    Sets the value of this transform to the result of multiplying itself with transform t1 (this = this * t1).
    final void
    Sets the value of this transform to the result of multiplying transform t1 by transform t2 (this = t1*t2).
    final void
    Multiplies this transform by the inverse of transform t1.
    final void
    Multiplies transform t1 by the inverse of transform t2.
    final void
    Multiplies the transpose of transform t1 by the transpose of transform t2 and places the result into this transform (this = transpose(t1) * transpose(t2)).
    final void
    Multiplies the transpose of transform t1 by transform t2 and places the result into this matrix (this = transpose(t1) * t2).
    final void
    Multiplies transform t1 by the transpose of transform t2 and places the result into this transform (this = t1 * transpose(t2)).
    final void
    Normalizes the rotational components (upper 3x3) of this matrix in place using a Singular Value Decomposition (SVD).
    final void
    Normalizes the rotational components (upper 3x3) of transform t1 using a Singular Value Decomposition (SVD), and places the result into this transform.
    final void
    Normalizes the rotational components (upper 3x3) of this transform in place using a Cross Product (CP) normalization.
    final void
    Normalizes the rotational components (upper 3x3) of transform t1 using a Cross Product (CP) normalization, and places the result into this transform.
    void
    ortho(double left, double right, double bottom, double top, double near, double far)
    Creates an orthographic projection transform that mimics a standard, camera-based, view-model.
    void
    perspective(double fovx, double aspect, double zNear, double zFar)
    Creates a perspective projection transform that mimics a standard, camera-based, view-model.
    void
    rotX(double angle)
    Sets the value of this transform to a counter clockwise rotation about the x axis.
    void
    rotY(double angle)
    Sets the value of this transform to a counter clockwise rotation about the y axis.
    void
    rotZ(double angle)
    Sets the value of this transform to a counter clockwise rotation about the z axis.
    final void
    scaleAdd(double s, Transform3D t1)
    Scales this transform by a Uniform scale matrix with scale factor s and then adds transform t1 (this = S*this + t1).
    final void
    scaleAdd(double s, Transform3D t1, Transform3D t2)
    Scales transform t1 by a Uniform scale matrix with scale factor s and then adds transform t2 (this = S*t1 + t2).
    final void
    set(double scale)
    Sets the value of this transform to a uniform scale; all of the matrix values are modified.
    final void
    set(double[] matrix)
    Sets the matrix values of this transform to the matrix values in the double precision array parameter.
    final void
    set(double scale, javax.vecmath.Vector3d v1)
    Sets the value of this transform to a scale and translation matrix; the scale is not applied to the translation and all of the matrix values are modified.
    final void
    set(float[] matrix)
    Sets the matrix values of this transform to the matrix values in the single precision array parameter.
    final void
    set(float scale, javax.vecmath.Vector3f v1)
    Sets the value of this transform to a scale and translation matrix; the scale is not applied to the translation and all of the matrix values are modified.
    final void
    Sets the matrix, type, and state of this transform to the matrix, type, and state of transform t1.
    final void
    set(javax.vecmath.AxisAngle4d a1)
    Sets the value of this transform to the matrix conversion of the double precision axis-angle argument; all of the matrix values are modified.
    final void
    set(javax.vecmath.AxisAngle4f a1)
    Sets the value of this transform to the matrix conversion of the single precision axis-angle argument; all of the matrix values are modified.
    final void
    set(javax.vecmath.GMatrix matrix)
    Sets the matrix values of this transform to the matrix values in the upper 4x4 corner of the GMatrix parameter.
    final void
    set(javax.vecmath.Matrix3d m1)
    Sets the rotational component (upper 3x3) of this transform to the matrix values in the double precision Matrix3d argument; the other elements of this transform are initialized as if this were an identity matrix (ie, affine matrix with no translational component).
    final void
    set(javax.vecmath.Matrix3d m1, javax.vecmath.Vector3d t1, double s)
    Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale s.
    final void
    set(javax.vecmath.Matrix3f m1)
    Sets the rotational component (upper 3x3) of this transform to the matrix values in the single precision Matrix3f argument; the other elements of this transform are initialized as if this were an identity matrix (i.e., affine matrix with no translational component).
    final void
    set(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3d t1, double s)
    Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale s.
    final void
    set(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3f t1, float s)
    Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale s.
    final void
    set(javax.vecmath.Matrix4d m1)
    Sets the matrix values of this transform to the matrix values in the double precision Matrix4d argument.
    final void
    set(javax.vecmath.Matrix4f m1)
    Sets the matrix values of this transform to the matrix values in the single precision Matrix4f argument.
    final void
    set(javax.vecmath.Quat4d q1)
    Sets the value of this transform to the matrix conversion of the double precision quaternion argument; the non-rotational components are set as if this were an identity matrix.
    final void
    set(javax.vecmath.Quat4d q1, javax.vecmath.Vector3d t1, double s)
    Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
    final void
    set(javax.vecmath.Quat4f q1)
    Sets the value of this transform to the matrix conversion of the single precision quaternion argument; the non-rotational components are set as if this were an identity matrix.
    final void
    set(javax.vecmath.Quat4f q1, javax.vecmath.Vector3d t1, double s)
    Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
    final void
    set(javax.vecmath.Quat4f q1, javax.vecmath.Vector3f t1, float s)
    Sets the value of this matrix from the rotation expressed by the quaternion q1, the translation t1, and the scale s.
    final void
    set(javax.vecmath.Vector3d trans)
    Sets the translational value of this matrix to the Vector3d paramter values, and sets the other components of the matrix as if this transform were an identity matrix.
    final void
    set(javax.vecmath.Vector3d v1, double scale)
    Sets the value of this transform to a scale and translation matrix; the translation is scaled by the scale factor and all of the matrix values are modified.
    final void
    set(javax.vecmath.Vector3f trans)
    Sets the translational value of this matrix to the Vector3f parameter values, and sets the other components of the matrix as if this transform were an identity matrix.
    final void
    set(javax.vecmath.Vector3f v1, float scale)
    Sets the value of this transform to a scale and translation matrix; the translation is scaled by the scale factor and all of the matrix values are modified.
    final void
    setAutoNormalize(boolean autoNormalize)
    Sets a flag that enables or disables automatic SVD normalization.
    final void
    setEuler(javax.vecmath.Vector3d euler)
    Sets the rotational component (upper 3x3) of this transform to the rotation matrix converted from the Euler angles provided; the other non-rotational elements are set as if this were an identity matrix.
    final void
    Sets this transform to the identity matrix.
    final void
    setNonUniformScale(double xScale, double yScale, double zScale)
    Deprecated.
    Use setScale(Vector3d) instead of setNonUniformScale; note that the setScale only modifies the scale component
    final void
    setRotation(javax.vecmath.AxisAngle4d a1)
    Sets the rotational component (upper 3x3) of this transform to the matrix equivalent values of the axis-angle argument; the other elements of this transform are unchanged; any pre-existing scale in the transform is preserved.
    final void
    setRotation(javax.vecmath.AxisAngle4f a1)
    Sets the rotational component (upper 3x3) of this transform to the matrix equivalent values of the axis-angle argument; the other elements of this transform are unchanged; any pre-existing scale in the transform is preserved.
    final void
    setRotation(javax.vecmath.Matrix3d m1)
    Sets the rotational component (upper 3x3) of this transform to the matrix values in the double precision Matrix3d argument; the other elements of this transform are unchanged; any pre-existing scale will be preserved; the argument matrix m1 will be checked for proper normalization when this transform is internally classified.
    final void
    setRotation(javax.vecmath.Matrix3f m1)
    Sets the rotational component (upper 3x3) of this transform to the matrix values in the single precision Matrix3f argument; the other elements of this transform are unchanged; any pre-existing scale will be preserved; the argument matrix m1 will be checked for proper normalization when this transform is internally classified.
    final void
    setRotation(javax.vecmath.Quat4d q1)
    Sets the rotational component (upper 3x3) of this transform to the matrix equivalent values of the quaternion argument; the other elements of this transform are unchanged; any pre-existing scale in the transform is preserved.
    final void
    setRotation(javax.vecmath.Quat4f q1)
    Sets the rotational component (upper 3x3) of this transform to the matrix equivalent values of the quaternion argument; the other elements of this transform are unchanged; any pre-existing scale in the transform is preserved.
    final void
    setRotationScale(javax.vecmath.Matrix3d m1)
    Replaces the upper 3x3 matrix values of this transform with the values in the matrix m1.
    final void
    setRotationScale(javax.vecmath.Matrix3f m1)
    Replaces the upper 3x3 matrix values of this transform with the values in the matrix m1.
    final void
    setScale(double scale)
    Sets the scale component of the current transform; any existing scale is first factored out of the existing transform before the new scale is applied.
    final void
    setScale(javax.vecmath.Vector3d scale)
    Sets the possibly non-uniform scale component of the current transform; any existing scale is first factored out of the existing transform before the new scale is applied.
    final void
    setTranslation(javax.vecmath.Vector3d trans)
    Replaces the translational components of this transform to the values in the Vector3d argument; the other values of this transform are not modified.
    final void
    setTranslation(javax.vecmath.Vector3f trans)
    Replaces the translational components of this transform to the values in the Vector3f argument; the other values of this transform are not modified.
    final void
    Sets this transform to all zeros.
    final void
    Subtracts transform t1 from this transform and places the result into this: this = this - t1.
    final void
    Subtracts transform t2 from transform t1 and places the result into this: this = t1 - t2.
    Returns the matrix elements of this transform as a string.
    final void
    transform(javax.vecmath.Point3d point)
    Transforms the point parameter with this transform and places the result back into point.
    final void
    transform(javax.vecmath.Point3d point, javax.vecmath.Point3d pointOut)
    Transforms the point parameter with this transform and places the result into pointOut.
    final void
    transform(javax.vecmath.Point3f point)
    Transforms the point parameter with this transform and places the result back into point.
    final void
    transform(javax.vecmath.Point3f point, javax.vecmath.Point3f pointOut)
    Transforms the point parameter with this transform and places the result into pointOut.
    final void
    transform(javax.vecmath.Vector3d normal)
    Transforms the normal parameter by this transform and places the value back into normal.
    final void
    transform(javax.vecmath.Vector3d normal, javax.vecmath.Vector3d normalOut)
    Transforms the normal parameter by this transform and places the value into normalOut.
    final void
    transform(javax.vecmath.Vector3f normal)
    Transforms the normal parameter by this transform and places the value back into normal.
    final void
    transform(javax.vecmath.Vector3f normal, javax.vecmath.Vector3f normalOut)
    Transforms the normal parameter by this transform and places the value into normalOut.
    final void
    transform(javax.vecmath.Vector4d vec)
    Transform the vector vec using this Transform and place the result back into vec.
    final void
    transform(javax.vecmath.Vector4d vec, javax.vecmath.Vector4d vecOut)
    Transform the vector vec using this transform and place the result into vecOut.
    final void
    transform(javax.vecmath.Vector4f vec)
    Transform the vector vec using this Transform and place the result back into vec.
    final void
    transform(javax.vecmath.Vector4f vec, javax.vecmath.Vector4f vecOut)
    Transform the vector vec using this Transform and place the result into vecOut.
    final void
    Transposes this matrix in place.
    final void
    Transposes transform t1 and places the value into this transform.

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait
  • Field Details

    • ZERO

      public static final int ZERO
      A zero matrix.
      See Also:
    • IDENTITY

      public static final int IDENTITY
      An identity matrix.
      See Also:
    • SCALE

      public static final int SCALE
      A Uniform scale matrix with no translation or other off-diagonal components.
      See Also:
    • TRANSLATION

      public static final int TRANSLATION
      A translation-only matrix with ones on the diagonal.
      See Also:
    • ORTHOGONAL

      public static final int ORTHOGONAL
      The four row vectors that make up an orthogonal matrix form a basis, meaning that they are mutually orthogonal; an orthogonal matrix with positive determinant is a pure rotation matrix; a negative determinant indicates a rotation and a reflection.
      See Also:
    • RIGID

      public static final int RIGID
      This matrix is a rotation and a translation with unity scale; The upper 3x3 of the matrix is orthogonal, and there is a translation component.
      See Also:
    • CONGRUENT

      public static final int CONGRUENT
      This is an angle and length preserving matrix, meaning that it can translate, rotate, and reflect about an axis, and scale by an amount that is uniform in all directions. These operations preserve the distance between any two points and the angle between any two intersecting lines.
      See Also:
    • AFFINE

      public static final int AFFINE
      An affine matrix can translate, rotate, reflect, scale anisotropically, and shear. Lines remain straight, and parallel lines remain parallel, but the angle between intersecting lines can change. In order for a transform to be classified as affine, the 4th row must be: [0, 0, 0, 1].
      See Also:
    • NEGATIVE_DETERMINANT

      public static final int NEGATIVE_DETERMINANT
      This matrix has a negative determinant; an orthogonal matrix with a positive determinant is a rotation matrix; an orthogonal matrix with a negative determinant is a reflection and rotation matrix.
      See Also:
  • Constructor Details

    • Transform3D

      public Transform3D(javax.vecmath.Matrix4f m1)
      Constructs and initializes a transform from the 4 x 4 matrix. The type of the constructed transform will be classified automatically.
      Parameters:
      m1 - the 4 x 4 transformation matrix
    • Transform3D

      public Transform3D(javax.vecmath.Matrix4d m1)
      Constructs and initializes a transform from the 4 x 4 matrix. The type of the constructed transform will be classified automatically.
      Parameters:
      m1 - the 4 x 4 transformation matrix
    • Transform3D

      public Transform3D(Transform3D t1)
      Constructs and initializes a transform from the Transform3D object.
      Parameters:
      t1 - the transformation object to be copied
    • Transform3D

      public Transform3D()
      Constructs and initializes a transform to the identity matrix.
    • Transform3D

      public Transform3D(float[] matrix)
      Constructs and initializes a transform from the float array of length 16; the top row of the matrix is initialized to the first four elements of the array, and so on. The type of the transform object is classified internally.
      Parameters:
      matrix - a float array of 16
    • Transform3D

      public Transform3D(double[] matrix)
      Constructs and initializes a transform from the double precision array of length 16; the top row of the matrix is initialized to the first four elements of the array, and so on. The type of the transform is classified internally.
      Parameters:
      matrix - a float array of 16
    • Transform3D

      public Transform3D(javax.vecmath.Quat4d q1, javax.vecmath.Vector3d t1, double s)
      Constructs and initializes a transform from the quaternion, translation, and scale values. The scale is applied only to the rotational components of the matrix (upper 3 x 3) and not to the translational components of the matrix.
      Parameters:
      q1 - the quaternion value representing the rotational component
      t1 - the translational component of the matrix
      s - the scale value applied to the rotational components
    • Transform3D

      public Transform3D(javax.vecmath.Quat4f q1, javax.vecmath.Vector3d t1, double s)
      Constructs and initializes a transform from the quaternion, translation, and scale values. The scale is applied only to the rotational components of the matrix (upper 3 x 3) and not to the translational components of the matrix.
      Parameters:
      q1 - the quaternion value representing the rotational component
      t1 - the translational component of the matrix
      s - the scale value applied to the rotational components
    • Transform3D

      public Transform3D(javax.vecmath.Quat4f q1, javax.vecmath.Vector3f t1, float s)
      Constructs and initializes a transform from the quaternion, translation, and scale values. The scale is applied only to the rotational components of the matrix (upper 3 x 3) and not to the translational components of the matrix.
      Parameters:
      q1 - the quaternion value representing the rotational component
      t1 - the translational component of the matrix
      s - the scale value applied to the rotational components
    • Transform3D

      public Transform3D(javax.vecmath.GMatrix m1)
      Constructs a transform and initializes it to the upper 4 x 4 of the GMatrix argument. If the parameter matrix is smaller than 4 x 4, the remaining elements in the transform matrix are assigned to zero.
      Parameters:
      m1 - the GMatrix
    • Transform3D

      public Transform3D(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3d t1, double s)
      Constructs and initializes a transform from the rotation matrix, translation, and scale values. The scale is applied only to the rotational component of the matrix (upper 3x3) and not to the translational component of the matrix.
      Parameters:
      m1 - the rotation matrix representing the rotational component
      t1 - the translational component of the matrix
      s - the scale value applied to the rotational components
    • Transform3D

      public Transform3D(javax.vecmath.Matrix3d m1, javax.vecmath.Vector3d t1, double s)
      Constructs and initializes a transform from the rotation matrix, translation, and scale values. The scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.
      Parameters:
      m1 - the rotation matrix representing the rotational component
      t1 - the translational component of the matrix
      s - the scale value applied to the rotational components
    • Transform3D

      public Transform3D(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3f t1, float s)
      Constructs and initializes a transform from the rotation matrix, translation, and scale values. The scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.
      Parameters:
      m1 - the rotation matrix representing the rotational component
      t1 - the translational component of the matrix
      s - the scale value applied to the rotational components
  • Method Details

    • getType

      public final int getType()
      Returns the type of this matrix as an or'ed bitmask of of all of the type classifications to which it belongs.
      Returns:
      or'ed bitmask of all of the type classifications of this transform
    • getBestType

      public final int getBestType()
      Returns the least general type of this matrix; the order of generality from least to most is: ZERO, IDENTITY, SCALE/TRANSLATION, ORTHOGONAL, RIGID, CONGRUENT, AFFINE. If the matrix is ORTHOGONAL, calling the method getDeterminantSign() will yield more information.
      Returns:
      the least general matrix type
    • getDeterminantSign

      public final boolean getDeterminantSign()
      Returns the sign of the determinant of this matrix; a return value of true indicates a non-negative determinant; a return value of false indicates a negative determinant. A value of true will be returned if the determinant is NaN. In general, an orthogonal matrix with a positive determinant is a pure rotation matrix; an orthogonal matrix with a negative determinant is a both a rotation and a reflection matrix.
      Returns:
      determinant sign : true means non-negative, false means negative
    • setAutoNormalize

      public final void setAutoNormalize(boolean autoNormalize)
      Sets a flag that enables or disables automatic SVD normalization. If this flag is enabled, an automatic SVD normalization of the rotational components (upper 3x3) of this matrix is done after every subsequent matrix operation that modifies this matrix. This is functionally equivalent to calling normalize() after every subsequent call, but may be less computationally expensive. The default value for this parameter is false.
      Parameters:
      autoNormalize - the boolean state of auto normalization
    • getAutoNormalize

      public final boolean getAutoNormalize()
      Returns the state of auto-normalization.
      Returns:
      boolean state of auto-normalization
    • toString

      public String toString()
      Returns the matrix elements of this transform as a string.
      Overrides:
      toString in class Object
      Returns:
      the matrix elements of this transform
    • setIdentity

      public final void setIdentity()
      Sets this transform to the identity matrix.
    • setZero

      public final void setZero()
      Sets this transform to all zeros.
    • add

      public final void add(Transform3D t1)
      Adds this transform to transform t1 and places the result into this: this = this + t1.
      Parameters:
      t1 - the transform to be added to this transform
    • add

      public final void add(Transform3D t1, Transform3D t2)
      Adds transforms t1 and t2 and places the result into this transform.
      Parameters:
      t1 - the transform to be added
      t2 - the transform to be added
    • sub

      public final void sub(Transform3D t1)
      Subtracts transform t1 from this transform and places the result into this: this = this - t1.
      Parameters:
      t1 - the transform to be subtracted from this transform
    • sub

      public final void sub(Transform3D t1, Transform3D t2)
      Subtracts transform t2 from transform t1 and places the result into this: this = t1 - t2.
      Parameters:
      t1 - the left transform
      t2 - the right transform
    • transpose

      public final void transpose()
      Transposes this matrix in place.
    • transpose

      public final void transpose(Transform3D t1)
      Transposes transform t1 and places the value into this transform. The transform t1 is not modified.
      Parameters:
      t1 - the transform whose transpose is placed into this transform
    • set

      public final void set(javax.vecmath.Quat4f q1)
      Sets the value of this transform to the matrix conversion of the single precision quaternion argument; the non-rotational components are set as if this were an identity matrix.
      Parameters:
      q1 - the quaternion to be converted
    • set

      public final void set(javax.vecmath.Quat4d q1)
      Sets the value of this transform to the matrix conversion of the double precision quaternion argument; the non-rotational components are set as if this were an identity matrix.
      Parameters:
      q1 - the quaternion to be converted
    • setRotation

      public final void setRotation(javax.vecmath.Matrix3d m1)
      Sets the rotational component (upper 3x3) of this transform to the matrix values in the double precision Matrix3d argument; the other elements of this transform are unchanged; any pre-existing scale will be preserved; the argument matrix m1 will be checked for proper normalization when this transform is internally classified.
      Parameters:
      m1 - the double precision 3x3 matrix
    • setRotation

      public final void setRotation(javax.vecmath.Matrix3f m1)
      Sets the rotational component (upper 3x3) of this transform to the matrix values in the single precision Matrix3f argument; the other elements of this transform are unchanged; any pre-existing scale will be preserved; the argument matrix m1 will be checked for proper normalization when this transform is internally classified.
      Parameters:
      m1 - the single precision 3x3 matrix
    • setRotation

      public final void setRotation(javax.vecmath.Quat4f q1)
      Sets the rotational component (upper 3x3) of this transform to the matrix equivalent values of the quaternion argument; the other elements of this transform are unchanged; any pre-existing scale in the transform is preserved.
      Parameters:
      q1 - the quaternion that specifies the rotation
    • setRotation

      public final void setRotation(javax.vecmath.Quat4d q1)
      Sets the rotational component (upper 3x3) of this transform to the matrix equivalent values of the quaternion argument; the other elements of this transform are unchanged; any pre-existing scale in the transform is preserved.
      Parameters:
      q1 - the quaternion that specifies the rotation
    • set

      public final void set(javax.vecmath.AxisAngle4f a1)
      Sets the value of this transform to the matrix conversion of the single precision axis-angle argument; all of the matrix values are modified.
      Parameters:
      a1 - the axis-angle to be converted (x, y, z, angle)
    • set

      public final void set(javax.vecmath.AxisAngle4d a1)
      Sets the value of this transform to the matrix conversion of the double precision axis-angle argument; all of the matrix values are modified.
      Parameters:
      a1 - the axis-angle to be converted (x, y, z, angle)
    • setRotation

      public final void setRotation(javax.vecmath.AxisAngle4d a1)
      Sets the rotational component (upper 3x3) of this transform to the matrix equivalent values of the axis-angle argument; the other elements of this transform are unchanged; any pre-existing scale in the transform is preserved.
      Parameters:
      a1 - the axis-angle to be converted (x, y, z, angle)
    • setRotation

      public final void setRotation(javax.vecmath.AxisAngle4f a1)
      Sets the rotational component (upper 3x3) of this transform to the matrix equivalent values of the axis-angle argument; the other elements of this transform are unchanged; any pre-existing scale in the transform is preserved.
      Parameters:
      a1 - the axis-angle to be converted (x, y, z, angle)
    • rotX

      public void rotX(double angle)
      Sets the value of this transform to a counter clockwise rotation about the x axis. All of the non-rotational components are set as if this were an identity matrix.
      Parameters:
      angle - the angle to rotate about the X axis in radians
    • rotY

      public void rotY(double angle)
      Sets the value of this transform to a counter clockwise rotation about the y axis. All of the non-rotational components are set as if this were an identity matrix.
      Parameters:
      angle - the angle to rotate about the Y axis in radians
    • rotZ

      public void rotZ(double angle)
      Sets the value of this transform to a counter clockwise rotation about the z axis. All of the non-rotational components are set as if this were an identity matrix.
      Parameters:
      angle - the angle to rotate about the Z axis in radians
    • set

      public final void set(javax.vecmath.Vector3f trans)
      Sets the translational value of this matrix to the Vector3f parameter values, and sets the other components of the matrix as if this transform were an identity matrix.
      Parameters:
      trans - the translational component
    • set

      public final void set(javax.vecmath.Vector3d trans)
      Sets the translational value of this matrix to the Vector3d paramter values, and sets the other components of the matrix as if this transform were an identity matrix.
      Parameters:
      trans - the translational component
    • setScale

      public final void setScale(double scale)
      Sets the scale component of the current transform; any existing scale is first factored out of the existing transform before the new scale is applied.
      Parameters:
      scale - the new scale amount
    • setScale

      public final void setScale(javax.vecmath.Vector3d scale)
      Sets the possibly non-uniform scale component of the current transform; any existing scale is first factored out of the existing transform before the new scale is applied.
      Parameters:
      scale - the new x,y,z scale values
    • setNonUniformScale

      public final void setNonUniformScale(double xScale, double yScale, double zScale)
      Deprecated.
      Use setScale(Vector3d) instead of setNonUniformScale; note that the setScale only modifies the scale component
      Replaces the current transform with a non-uniform scale transform. All values of the existing transform are replaced.
      Parameters:
      xScale - the new X scale amount
      yScale - the new Y scale amount
      zScale - the new Z scale amount
    • setTranslation

      public final void setTranslation(javax.vecmath.Vector3f trans)
      Replaces the translational components of this transform to the values in the Vector3f argument; the other values of this transform are not modified.
      Parameters:
      trans - the translational component
    • setTranslation

      public final void setTranslation(javax.vecmath.Vector3d trans)
      Replaces the translational components of this transform to the values in the Vector3d argument; the other values of this transform are not modified.
      Parameters:
      trans - the translational component
    • set

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

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

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

      public final void set(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3f t1, float s)
      Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale s. The scale is only applied to the rotational component of the matrix (upper 3x3) and not to the translational component of the matrix.
      Parameters:
      m1 - the rotation matrix
      t1 - the translation
      s - the scale value
    • set

      public final void set(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3d t1, double s)
      Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale s. The scale is only applied to the rotational component of the matrix (upper 3x3) and not to the translational component of the matrix.
      Parameters:
      m1 - the rotation matrix
      t1 - the translation
      s - the scale value
    • set

      public final void set(javax.vecmath.Matrix3d m1, javax.vecmath.Vector3d t1, double s)
      Sets the value of this matrix from the rotation expressed by the rotation matrix m1, the translation t1, and the scale s. The scale is only applied to the rotational component of the matrix (upper 3x3) and not to the translational component of the matrix.
      Parameters:
      m1 - the rotation matrix
      t1 - the translation
      s - the scale value
    • set

      public final void set(javax.vecmath.GMatrix matrix)
      Sets the matrix values of this transform to the matrix values in the upper 4x4 corner of the GMatrix parameter. If the parameter matrix is smaller than 4x4, the remaining elements in the transform matrix are assigned to zero. The transform matrix type is classified internally by the Transform3D class.
      Parameters:
      matrix - the general matrix from which the Transform3D matrix is derived
    • set

      public final void set(Transform3D t1)
      Sets the matrix, type, and state of this transform to the matrix, type, and state of transform t1.
      Parameters:
      t1 - the transform to be copied
    • set

      public final void set(double[] matrix)
      Sets the matrix values of this transform to the matrix values in the double precision array parameter. The matrix type is classified internally by the Transform3D class.
      Parameters:
      matrix - the double precision array of length 16 in row major format
    • set

      public final void set(float[] matrix)
      Sets the matrix values of this transform to the matrix values in the single precision array parameter. The matrix type is classified internally by the Transform3D class.
      Parameters:
      matrix - the single precision array of length 16 in row major format
    • set

      public final void set(javax.vecmath.Matrix4d m1)
      Sets the matrix values of this transform to the matrix values in the double precision Matrix4d argument. The transform type is classified internally by the Transform3D class.
      Parameters:
      m1 - the double precision 4x4 matrix
    • set

      public final void set(javax.vecmath.Matrix4f m1)
      Sets the matrix values of this transform to the matrix values in the single precision Matrix4f argument. The transform type is classified internally by the Transform3D class.
      Parameters:
      m1 - the single precision 4x4 matrix
    • set

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

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

      public final void setEuler(javax.vecmath.Vector3d euler)
      Sets the rotational component (upper 3x3) of this transform to the rotation matrix converted from the Euler angles provided; the other non-rotational elements are set as if this were an identity matrix. The euler parameter is a Vector3d consisting of three rotation angles applied first about the X, then Y then Z axis. These rotations are applied using a static frame of reference. In other words, the orientation of the Y rotation axis is not affected by the X rotation and the orientation of the Z rotation axis is not affected by the X or Y rotation.
      Parameters:
      euler - the Vector3d consisting of three rotation angles about X,Y,Z
    • get

      public final void get(double[] matrix)
      Places the values of this transform into the double precision array of length 16. The first four elements of the array will contain the top row of the transform matrix, etc.
      Parameters:
      matrix - the double precision array of length 16
    • get

      public final void get(float[] matrix)
      Places the values of this transform into the single precision array of length 16. The first four elements of the array will contain the top row of the transform matrix, etc.
      Parameters:
      matrix - the single precision array of length 16
    • get

      public final void get(javax.vecmath.Matrix3d m1)
      Places the normalized rotational component of this transform into the 3x3 matrix argument.
      Parameters:
      m1 - the matrix into which the rotational component is placed
    • get

      public final void get(javax.vecmath.Matrix3f m1)
      Places the normalized rotational component of this transform into the 3x3 matrix argument.
      Parameters:
      m1 - the matrix into which the rotational component is placed
    • get

      public final void get(javax.vecmath.Quat4f q1)
      Places the quaternion equivalent of the normalized rotational component of this transform into the quaternion parameter.
      Parameters:
      q1 - the quaternion into which the rotation component is placed
    • get

      public final void get(javax.vecmath.Quat4d q1)
      Places the quaternion equivalent of the normalized rotational component of this transform into the quaternion parameter.
      Parameters:
      q1 - the quaternion into which the rotation component is placed
    • get

      public final void get(javax.vecmath.Matrix4d matrix)
      Places the values of this transform into the double precision matrix argument.
      Parameters:
      matrix - the double precision matrix
    • get

      public final void get(javax.vecmath.Matrix4f matrix)
      Places the values of this transform into the single precision matrix argument.
      Parameters:
      matrix - the single precision matrix
    • get

      public final double get(javax.vecmath.Quat4d q1, javax.vecmath.Vector3d t1)
      Places the quaternion equivalent of the normalized rotational component of this transform into the quaternion parameter; places the translational component into the Vector parameter.
      Parameters:
      q1 - the quaternion representing the rotation
      t1 - the translation component
      Returns:
      the scale component of this transform
    • get

      public final float get(javax.vecmath.Quat4f q1, javax.vecmath.Vector3f t1)
      Places the quaternion equivalent of the normalized rotational component of this transform into the quaternion parameter; places the translational component into the Vector parameter.
      Parameters:
      q1 - the quaternion representing the rotation
      t1 - the translation component
      Returns:
      the scale component of this transform
    • get

      public final double get(javax.vecmath.Quat4f q1, javax.vecmath.Vector3d t1)
      Places the quaternion equivalent of the normalized rotational component of this transform into the quaternion parameter; places the translational component into the Vector parameter.
      Parameters:
      q1 - the quaternion representing the rotation
      t1 - the translation component
      Returns:
      the scale component of this transform
    • get

      public final double get(javax.vecmath.Matrix3d m1, javax.vecmath.Vector3d t1)
      Places the normalized rotational component of this transform into the matrix parameter; place the translational component into the vector parameter.
      Parameters:
      m1 - the normalized matrix representing the rotation
      t1 - the translation component
      Returns:
      the scale component of this transform
    • get

      public final float get(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3f t1)
      Places the normalized rotational component of this transform into the matrix parameter; place the translational component into the vector parameter.
      Parameters:
      m1 - the normalized matrix representing the rotation
      t1 - the translation component
      Returns:
      the scale component of this transform
    • get

      public final double get(javax.vecmath.Matrix3f m1, javax.vecmath.Vector3d t1)
      Places the normalized rotational component of this transform into the matrix parameter; place the translational component into the vector parameter.
      Parameters:
      m1 - the normalized matrix representing the rotation
      t1 - the translation component
      Returns:
      the scale component of this transform
    • getScale

      public final double getScale()
      Returns the uniform scale factor of this matrix. If the matrix has non-uniform scale factors, the largest of the x, y, and z scale factors will be returned.
      Returns:
      the scale factor of this matrix
    • getScale

      public final void getScale(javax.vecmath.Vector3d scale)
      Gets the possibly non-uniform scale components of the current transform and places them into the scale vector.
      Parameters:
      scale - the vector into which the x,y,z scale values will be placed
    • get

      public final void get(javax.vecmath.Vector3f trans)
      Retrieves the translational components of this transform.
      Parameters:
      trans - the vector that will receive the translational component
    • get

      public final void get(javax.vecmath.Vector3d trans)
      Retrieves the translational components of this transform.
      Parameters:
      trans - the vector that will receive the translational component
    • invert

      public final void invert(Transform3D t1)
      Sets the value of this transform to the inverse of the passed Transform3D parameter. This method uses the transform type to determine the optimal algorithm for inverting transform t1.
      Parameters:
      t1 - the transform to be inverted
      Throws:
      javax.vecmath.SingularMatrixException - thrown if transform t1 is not invertible
    • invert

      public final void invert()
      Inverts this transform in place. This method uses the transform type to determine the optimal algorithm for inverting this transform.
      Throws:
      javax.vecmath.SingularMatrixException - thrown if this transform is not invertible
    • determinant

      public final double determinant()
      Calculates and returns the determinant of this transform.
      Returns:
      the double precision determinant
    • set

      public final void set(double scale)
      Sets the value of this transform to a uniform scale; all of the matrix values are modified.
      Parameters:
      scale - the scale factor for the transform
    • set

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

      public final void set(float scale, javax.vecmath.Vector3f v1)
      Sets the value of this transform to a scale and translation matrix; the scale is not applied to the translation and all of the matrix values are modified.
      Parameters:
      scale - the scale factor for the transform
      v1 - the translation amount
    • set

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

      public final void set(javax.vecmath.Vector3f v1, float scale)
      Sets the value of this transform to a scale and translation matrix; the translation is scaled by the scale factor and all of the matrix values are modified.
      Parameters:
      v1 - the translation amount
      scale - the scale factor for the transform AND the translation
    • mul

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

      public final void mul(double scalar, Transform3D t1)
      Multiplies each element of transform t1 by a scalar and places the result into this. Transform t1 is not modified.
      Parameters:
      scalar - the scalar multiplier
      t1 - the original transform
    • mul

      public final void mul(Transform3D t1)
      Sets the value of this transform to the result of multiplying itself with transform t1 (this = this * t1).
      Parameters:
      t1 - the other transform
    • mul

      public final void mul(Transform3D t1, Transform3D t2)
      Sets the value of this transform to the result of multiplying transform t1 by transform t2 (this = t1*t2).
      Parameters:
      t1 - the left transform
      t2 - the right transform
    • mulInverse

      public final void mulInverse(Transform3D t1)
      Multiplies this transform by the inverse of transform t1. The final value is placed into this matrix (this = this*t1^-1).
      Parameters:
      t1 - the matrix whose inverse is computed.
    • mulInverse

      public final void mulInverse(Transform3D t1, Transform3D t2)
      Multiplies transform t1 by the inverse of transform t2. The final value is placed into this matrix (this = t1*t2^-1).
      Parameters:
      t1 - the left transform in the multiplication
      t2 - the transform whose inverse is computed.
    • mulTransposeRight

      public final void mulTransposeRight(Transform3D t1, Transform3D t2)
      Multiplies transform t1 by the transpose of transform t2 and places the result into this transform (this = t1 * transpose(t2)).
      Parameters:
      t1 - the transform on the left hand side of the multiplication
      t2 - the transform whose transpose is computed
    • mulTransposeLeft

      public final void mulTransposeLeft(Transform3D t1, Transform3D t2)
      Multiplies the transpose of transform t1 by transform t2 and places the result into this matrix (this = transpose(t1) * t2).
      Parameters:
      t1 - the transform whose transpose is computed
      t2 - the transform on the right hand side of the multiplication
    • mulTransposeBoth

      public final void mulTransposeBoth(Transform3D t1, Transform3D t2)
      Multiplies the transpose of transform t1 by the transpose of transform t2 and places the result into this transform (this = transpose(t1) * transpose(t2)).
      Parameters:
      t1 - the transform on the left hand side of the multiplication
      t2 - the transform on the right hand side of the multiplication
    • normalize

      public final void normalize()
      Normalizes the rotational components (upper 3x3) of this matrix in place using a Singular Value Decomposition (SVD). This operation ensures that the column vectors of this matrix are orthogonal to each other. The primary use of this method is to correct for floating point errors that accumulate over time when concatenating a large number of rotation matrices. Note that the scale of the matrix is not altered by this method.
    • normalize

      public final void normalize(Transform3D t1)
      Normalizes the rotational components (upper 3x3) of transform t1 using a Singular Value Decomposition (SVD), and places the result into this transform. This operation ensures that the column vectors of this matrix are orthogonal to each other. The primary use of this method is to correct for floating point errors that accumulate over time when concatenating a large number of rotation matrices. Note that the scale of the matrix is not altered by this method.
      Parameters:
      t1 - the source transform, which is not modified
    • normalizeCP

      public final void normalizeCP()
      Normalizes the rotational components (upper 3x3) of this transform in place using a Cross Product (CP) normalization. This operation ensures that the column vectors of this matrix are orthogonal to each other. The primary use of this method is to correct for floating point errors that accumulate over time when concatenating a large number of rotation matrices. Note that the scale of the matrix is not altered by this method.
    • normalizeCP

      public final void normalizeCP(Transform3D t1)
      Normalizes the rotational components (upper 3x3) of transform t1 using a Cross Product (CP) normalization, and places the result into this transform. This operation ensures that the column vectors of this matrix are orthogonal to each other. The primary use of this method is to correct for floating point errors that accumulate over time when concatenating a large number of rotation matrices. Note that the scale of the matrix is not altered by this method.
      Parameters:
      t1 - the transform to be normalized
    • equals

      public boolean equals(Transform3D t1)
      Returns true if all of the data members of transform t1 are equal to the corresponding data members in this Transform3D.
      Parameters:
      t1 - the transform with which the comparison is made
      Returns:
      true or false
    • equals

      public boolean equals(Object o1)
      Returns true if the Object o1 is of type Transform3D and all of the data members of o1 are equal to the corresponding data members in this Transform3D.
      Overrides:
      equals in class Object
      Parameters:
      o1 - the object with which the comparison is made.
      Returns:
      true or false
    • epsilonEquals

      public boolean epsilonEquals(Transform3D t1, double epsilon)
      Returns true if the L-infinite distance between this matrix and matrix m1 is less than or equal to the epsilon parameter, otherwise returns false. The L-infinite distance is equal to MAX[i=0,1,2,3 ; j=0,1,2,3 ; abs[(this.m(i,j) - m1.m(i,j)]
      Parameters:
      t1 - the transform to be compared to this transform
      epsilon - the threshold value
    • hashCode

      public int hashCode()
      Returns a hash code value based on the data values in this object. Two different Transform3D objects with identical data values (i.e., Transform3D.equals returns true) will return the same hash number. Two Transform3D objects with different data members may return the same hash value, although this is not likely.
      Overrides:
      hashCode in class Object
      Returns:
      the integer hash code value
    • transform

      public final void transform(javax.vecmath.Vector4d vec, javax.vecmath.Vector4d vecOut)
      Transform the vector vec using this transform and place the result into vecOut.
      Parameters:
      vec - the double precision vector to be transformed
      vecOut - the vector into which the transformed values are placed
    • transform

      public final void transform(javax.vecmath.Vector4d vec)
      Transform the vector vec using this Transform and place the result back into vec.
      Parameters:
      vec - the double precision vector to be transformed
    • transform

      public final void transform(javax.vecmath.Vector4f vec, javax.vecmath.Vector4f vecOut)
      Transform the vector vec using this Transform and place the result into vecOut.
      Parameters:
      vec - the single precision vector to be transformed
      vecOut - the vector into which the transformed values are placed
    • transform

      public final void transform(javax.vecmath.Vector4f vec)
      Transform the vector vec using this Transform and place the result back into vec.
      Parameters:
      vec - the single precision vector to be transformed
    • transform

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

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

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

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

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

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

      public final void transform(javax.vecmath.Vector3f normal, javax.vecmath.Vector3f normalOut)
      Transforms the normal parameter by this transform and places the value into normalOut. The fourth element of the normal is assumed to be zero. Note: For correct lighting results, if a transform has uneven scaling surface normals should transformed by the inverse transpose of the transform. This the responsibility of the application and is not done automatically by this method.
      Parameters:
      normal - the input normal to be transformed
      normalOut - the transformed normal
    • transform

      public final void transform(javax.vecmath.Vector3f normal)
      Transforms the normal parameter by this transform and places the value back into normal. The fourth element of the normal is assumed to be zero. Note: For correct lighting results, if a transform has uneven scaling surface normals should transformed by the inverse transpose of the transform. This the responsibility of the application and is not done automatically by this method.
      Parameters:
      normal - the input normal to be transformed
    • setRotationScale

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

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

      public final void scaleAdd(double s, Transform3D t1, Transform3D t2)
      Scales transform t1 by a Uniform scale matrix with scale factor s and then adds transform t2 (this = S*t1 + t2).
      Parameters:
      s - the scale factor
      t1 - the transform to be scaled
      t2 - the transform to be added
    • scaleAdd

      public final void scaleAdd(double s, Transform3D t1)
      Scales this transform by a Uniform scale matrix with scale factor s and then adds transform t1 (this = S*this + t1).
      Parameters:
      s - the scale factor
      t1 - the transform to be added
    • getRotationScale

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

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

      public void lookAt(javax.vecmath.Point3d eye, javax.vecmath.Point3d center, javax.vecmath.Vector3d up)
      Helping function that specifies the position and orientation of a view matrix. The inverse of this transform can be used to control the ViewPlatform object within the scene graph.
      Parameters:
      eye - the location of the eye
      center - a point in the virtual world where the eye is looking
      up - an up vector specifying the frustum's up direction
    • frustum

      public void frustum(double left, double right, double bottom, double top, double near, double far)
      Creates a perspective projection transform that mimics a standard, camera-based, view-model. This transform maps coordinates from Eye Coordinates (EC) to Clipping Coordinates (CC). Note that unlike the similar function in OpenGL, the clipping coordinates generated by the resulting transform are in a right-handed coordinate system (as are all other coordinate systems in Java 3D).

      The frustum function-call establishes a view model with the eye at the apex of a symmetric view frustum. The arguments define the frustum and its associated perspective projection: (left, bottom, -near) and (right, top, -near) specify the point on the near clipping plane that maps onto the lower-left and upper-right corners of the window respectively, assuming the eye is located at (0, 0, 0).

      Parameters:
      left - the vertical line on the left edge of the near clipping plane mapped to the left edge of the graphics window
      right - the vertical line on the right edge of the near clipping plane mapped to the right edge of the graphics window
      bottom - the horizontal line on the bottom edge of the near clipping plane mapped to the bottom edge of the graphics window
      top - the horizontal line on the top edge of the near
      near - the distance to the frustum's near clipping plane. This value must be positive, (the value -near is the location of the near clip plane).
      far - the distance to the frustum's far clipping plane. This value must be positive, and must be greater than near.
    • perspective

      public void perspective(double fovx, double aspect, double zNear, double zFar)
      Creates a perspective projection transform that mimics a standard, camera-based, view-model. This transform maps coordinates from Eye Coordinates (EC) to Clipping Coordinates (CC). Note that unlike the similar function in OpenGL, the clipping coordinates generated by the resulting transform are in a right-handed coordinate system (as are all other coordinate systems in Java 3D). Also note that the field of view is specified in radians.
      Parameters:
      fovx - specifies the field of view in the x direction, in radians
      aspect - specifies the aspect ratio and thus the field of view in the x direction. The aspect ratio is the ratio of x to y, or width to height.
      zNear - the distance to the frustum's near clipping plane. This value must be positive, (the value -zNear is the location of the near clip plane).
      zFar - the distance to the frustum's far clipping plane
    • ortho

      public void ortho(double left, double right, double bottom, double top, double near, double far)
      Creates an orthographic projection transform that mimics a standard, camera-based, view-model. This transform maps coordinates from Eye Coordinates (EC) to Clipping Coordinates (CC). Note that unlike the similar function in OpenGL, the clipping coordinates generated by the resulting transform are in a right-handed coordinate system (as are all other coordinate systems in Java 3D).
      Parameters:
      left - the vertical line on the left edge of the near clipping plane mapped to the left edge of the graphics window
      right - the vertical line on the right edge of the near clipping plane mapped to the right edge of the graphics window
      bottom - the horizontal line on the bottom edge of the near clipping plane mapped to the bottom edge of the graphics window
      top - the horizontal line on the top edge of the near clipping plane mapped to the top edge of the graphics window
      near - the distance to the frustum's near clipping plane (the value -near is the location of the near clip plane)
      far - the distance to the frustum's far clipping plane