Java Matrix3类代码示例

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
public static native void getMatrix(JavaScriptObject matrix3InJS, Matrix3 matrix3Out) /*-{
	var row0 = matrix3InJS.getRow(0);
	var row1 = matrix3InJS.getRow(1);
	var row2 = matrix3InJS.getRow(2);
	var x0 = row0.x();
	var y0 = row0.y();
	var z0 = row0.z();
	var x1 = row1.x();
	var y1 = row1.y();
	var z1 = row1.z();
	var x2 = row2.x();
	var y2 = row2.y();
	var z2 = row2.z();
	[email protected]::val[0] = x0;
	[email protected]::val[1] = y0;
	[email protected]::val[2] = z0;
	[email protected]::val[3] = x1;
	[email protected]::val[4] = y1;
	[email protected]::val[5] = z1;
	[email protected]::val[6] = x2;
	[email protected]::val[7] = y2;
	[email protected]::val[8] = z2;
}-*/;
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
public Matrix4 getMatrix(Matrix4 out) {
	out.val[Matrix4.M00] = basis.val[Matrix3.M00];
	out.val[Matrix4.M01] = basis.val[Matrix3.M01];
	out.val[Matrix4.M02] = basis.val[Matrix3.M02];
	out.val[Matrix4.M03] = origin.x;
	out.val[Matrix4.M10] = basis.val[Matrix3.M10];
	out.val[Matrix4.M11] = basis.val[Matrix3.M11];
	out.val[Matrix4.M12] = basis.val[Matrix3.M12];
	out.val[Matrix4.M13] = origin.y;
	out.val[Matrix4.M20] = basis.val[Matrix3.M20];
	out.val[Matrix4.M21] = basis.val[Matrix3.M21];
	out.val[Matrix4.M22] = basis.val[Matrix3.M22];
	out.val[Matrix4.M23] = origin.z;
	out.val[Matrix4.M30] = 0;
	out.val[Matrix4.M31] = 0;
	out.val[Matrix4.M32] = 0;
	out.val[Matrix4.M33] = 1;
	return out;
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
public static void getColumn (Matrix3 src, int col, Vector3 v) {
	if (col == 0) {
		v.x = src.val[Matrix3.M00];
		v.y = src.val[Matrix3.M10];
		v.z = src.val[Matrix3.M20];
	} else if (col == 1) {
		v.x = src.val[Matrix3.M01];
		v.y = src.val[Matrix3.M11];
		v.z = src.val[Matrix3.M21];
	} else if (col == 2) {
		v.x = src.val[Matrix3.M02];
		v.y = src.val[Matrix3.M12];
		v.z = src.val[Matrix3.M22];
	} else {
		throw new GdxRuntimeException("Invalid column");
	}
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
public static void setColumn (Matrix3 src, int col, Vector3 v) {
	if (col == 0) {
		src.val[Matrix3.M00] = v.x;
		src.val[Matrix3.M10] = v.y;
		src.val[Matrix3.M20] = v.z;
	} else if (col == 1) {
		src.val[Matrix3.M01] = v.x;
		src.val[Matrix3.M11] = v.y;
		src.val[Matrix3.M21] = v.z;
	} else if (col == 2) {
		src.val[Matrix3.M02] = v.x;
		src.val[Matrix3.M12] = v.y;
		src.val[Matrix3.M22] = v.z;
	} else {
		throw new GdxRuntimeException("Invalid column");
	}
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
public static void getRow (Matrix3 src, int row, Vector3 v) {
	if (row == 0) {
		v.x = src.val[Matrix3.M00];
		v.y = src.val[Matrix3.M01];
		v.z = src.val[Matrix3.M02];
	} else if (row == 1) {
		v.x = src.val[Matrix3.M10];
		v.y = src.val[Matrix3.M11];
		v.z = src.val[Matrix3.M12];
	} else if (row == 2) {
		v.x = src.val[Matrix3.M20];
		v.y = src.val[Matrix3.M21];
		v.z = src.val[Matrix3.M22];
	} else {
		throw new GdxRuntimeException("Invalid row");
	}
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
public static void setRow (Matrix3 src, int row, float x, float y, float z) {
	if (row == 0) {
		src.val[Matrix3.M00] = x;
		src.val[Matrix3.M01] = y;
		src.val[Matrix3.M02] = z;
	} else if (row == 1) {
		src.val[Matrix3.M10] = x;
		src.val[Matrix3.M11] = y;
		src.val[Matrix3.M12] = z;
	} else if (row == 2) {
		src.val[Matrix3.M20] = x;
		src.val[Matrix3.M21] = y;
		src.val[Matrix3.M22] = z;
	} else {
		throw new GdxRuntimeException("Invalid row");
	}
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
/** Sets rotation matrix from euler angles. The euler angles are applied in ZYX order. This means a vector is first rotated
 * about X then Y and then Z axis. */
public static void setEulerZYX (Matrix3 mat, float eulerX, float eulerY, float eulerZ) {
	float ci = (float)Math.cos(eulerX);
	float cj = (float)Math.cos(eulerY);
	float ch = (float)Math.cos(eulerZ);
	float si = (float)Math.sin(eulerX);
	float sj = (float)Math.sin(eulerY);
	float sh = (float)Math.sin(eulerZ);
	float cc = ci * ch;
	float cs = ci * sh;
	float sc = si * ch;
	float ss = si * sh;

	setRow(mat, 0, cj * ch, sj * sc - cs, sj * cc + ss);
	setRow(mat, 1, cj * sh, sj * ss + cc, sj * cs - sc);
	setRow(mat, 2, -sj, cj * si, cj * ci);
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
public static void setRotation (Matrix3 dest, Quaternion q) {
	float d = q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w;
	assert (d != 0f);
	float s = 2f / d;
	float xs = q.x * s, ys = q.y * s, zs = q.z * s;
	float wx = q.w * xs, wy = q.w * ys, wz = q.w * zs;
	float xx = q.x * xs, xy = q.x * ys, xz = q.x * zs;
	float yy = q.y * ys, yz = q.y * zs, zz = q.z * zs;
	dest.val[Matrix3.M00] = 1f - (yy + zz);
	dest.val[Matrix3.M01] = xy - wz;
	dest.val[Matrix3.M02] = xz + wy;
	dest.val[Matrix3.M10] = xy + wz;
	dest.val[Matrix3.M11] = 1f - (xx + zz);
	dest.val[Matrix3.M12] = yz - wx;
	dest.val[Matrix3.M20] = xz - wy;
	dest.val[Matrix3.M21] = yz + wx;
	dest.val[Matrix3.M22] = 1f - (xx + yy);
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
public static void getRotation (Matrix3 mat, Quaternion dest) {
	/*
	 * ArrayPool<float[]> floatArrays = ArrayPool.get(float.class);
	 * 
	 * float trace = mat.val[Matrix3.M00] + mat.val[Matrix3.M11] + mat.val[Matrix3.M22]; float[] temp = floatArrays.getFixed(4);
	 * 
	 * if (trace > 0f) { float s = (float) Math.sqrt(trace + 1f); temp[3] = (s * 0.5f); s = 0.5f / s;
	 * 
	 * temp[0] = ((mat.val[Matrix3.M21] - mat.val[Matrix3.M12]) * s); temp[1] = ((mat.val[Matrix3.M02] - mat.val[Matrix3.M20]) *
	 * s); temp[2] = ((mat.val[Matrix3.M10] - mat.val[Matrix3.M01]) * s); } else { int i = mat.val[Matrix3.M00] <
	 * mat.val[Matrix3.M11] ? (mat.val[Matrix3.M11] < mat.val[Matrix3.M22] ? 2 : 1) : (mat.val[Matrix3.M00] <
	 * mat.val[Matrix3.M22] ? 2 : 0); int j = (i + 1) % 3; int k = (i + 2) % 3;
	 * 
	 * float s = (float) Math.sqrt(mat.getElement(i, i) - mat.getElement(j, j) - mat.getElement(k, k) + 1f); temp[i] = s * 0.5f;
	 * s = 0.5f / s;
	 * 
	 * temp[3] = (mat.getElement(k, j) - mat.getElement(j, k)) * s; temp[j] = (mat.getElement(j, i) + mat.getElement(i, j)) * s;
	 * temp[k] = (mat.getElement(k, i) + mat.getElement(i, k)) * s; } dest.set(temp[0], temp[1], temp[2], temp[3]);
	 * 
	 * floatArrays.release(temp);
	 */
	// FIXME check this is correct
	dest.setFromMatrix(true, mat);
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
/** Constraint between two different rigidbodies. */
public void init (Matrix3 world2A, Matrix3 world2B, Vector3 rel_pos1, Vector3 rel_pos2, Vector3 jointAxis, Vector3 inertiaInvA,
	float massInvA, Vector3 inertiaInvB, float massInvB) {
	linearJointAxis.set(jointAxis);

	aJ.set(rel_pos1).crs(linearJointAxis);
	aJ.mul(world2A);

	bJ.set(linearJointAxis);
	bJ.scl(-1);
	bJ.set(rel_pos2).crs(bJ);
	bJ.mul(world2B);

	VectorUtil.mul(m_0MinvJt, inertiaInvA, aJ);
	VectorUtil.mul(m_1MinvJt, inertiaInvB, bJ);
	Adiag = massInvA + m_0MinvJt.dot(aJ) + massInvB + m_1MinvJt.dot(bJ);

	assert (Adiag > 0f);
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
public HingeConstraint (RigidBody rbA, RigidBody rbB, Transform rbAFrame, Transform rbBFrame) {
	super(TypedConstraintType.HINGE_CONSTRAINT_TYPE, rbA, rbB);
	this.rbAFrame.set(rbAFrame);
	this.rbBFrame.set(rbBFrame);
	angularOnly = false;
	enableAngularMotor = false;

	// flip axis
	this.rbBFrame.basis.val[Matrix3.M02] *= -1f;
	this.rbBFrame.basis.val[Matrix3.M12] *= -1f;
	this.rbBFrame.basis.val[Matrix3.M22] *= -1f;

	// start with free
	lowerLimit = 1e30f;
	upperLimit = -1e30f;
	biasFactor = 0.3f;
	relaxationFactor = 1.0f;
	limitSoftness = 0.9f;
	solveLimit = false;
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
protected void buildLinearJacobian (/* JacobianEntry jacLinear */int jacLinear_index, Vector3 normalWorld, Vector3 pivotAInW,
	Vector3 pivotBInW) {
	Stack stack = Stack.enter();
	Matrix3 mat1 = rbA.getCenterOfMassTransform(stack.allocTransform()).basis;
	mat1.transpose();

	Matrix3 mat2 = rbB.getCenterOfMassTransform(stack.allocTransform()).basis;
	mat2.transpose();

	Vector3 tmpVec = stack.allocVector3();

	Vector3 tmp1 = stack.allocVector3();
	tmp1.set(pivotAInW).sub(rbA.getCenterOfMassPosition(tmpVec));

	Vector3 tmp2 = stack.allocVector3();
	tmp2.set(pivotBInW).sub(rbB.getCenterOfMassPosition(tmpVec));

	jacLinear[jacLinear_index].init(mat1, mat2, tmp1, tmp2, normalWorld, rbA.getInvInertiaDiagLocal(stack.allocVector3()),
		rbA.getInvMass(), rbB.getInvInertiaDiagLocal(stack.allocVector3()), rbB.getInvMass());
	stack.leave();
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
private String getTypeName() {
  if (customType != null) {
    return customType;
  } else if (type == Matrix4.class) {
    return "mat4";
  } else if (type == Float.class) {
    return "float";
  } else if (type == Matrix3.class) {
    return "mat3";
  } else if (type == Vector2.class) {
    return "vec2";
  } else if (type == Vector3.class || type == Color.class) {
    return "vec4";
  } else if (type == Texture.class) {
    return "sampler2D";
  }

  throw new GdxRuntimeException("Undefined type: " + type + " for " + name);
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
/**
 * Sets this matrix to the given 3x3 matrix. The third column of this matrix
 * is set to (0,0,1,0).
 * 
 * @param mat
 *            the matrix
 */
public Matrix4d set(Matrix3 mat) {
    val[0] = mat.val[0];
    val[1] = mat.val[1];
    val[2] = mat.val[2];
    val[3] = 0;
    val[4] = mat.val[3];
    val[5] = mat.val[4];
    val[6] = mat.val[5];
    val[7] = 0;
    val[8] = 0;
    val[9] = 0;
    val[10] = 1;
    val[11] = 0;
    val[12] = mat.val[6];
    val[13] = mat.val[7];
    val[14] = 0;
    val[15] = mat.val[8];
    return this;
}
 

import com.badlogic.gdx.math.Matrix3; //导入依赖的package包/类
public Matrix3 getWorldTransform (Matrix3 worldTransform) {
	if (worldTransform == null) throw new IllegalArgumentException("worldTransform cannot be null.");
	float[] val = worldTransform.val;
	val[M00] = a;
	val[M01] = b;
	val[M10] = c;
	val[M11] = d;
	val[M02] = worldX;
	val[M12] = worldY;
	val[M20] = 0;
	val[M21] = 0;
	val[M22] = 1;
	return worldTransform;
}