transform3d.java

JAVA3D矩陈的相关类

        mat[9] = (2.0f*(q1.y*q1.z + q1.w*q1.x))*s;

        mat[2] = (2.0f*(q1.x*q1.z + q1.w*q1.y))*s;
        mat[6] = (2.0f*(q1.y*q1.z - q1.w*q1.x))*s;
        mat[10] = (1.0f - 2.0f*q1.x*q1.x - 2.0f*q1.y*q1.y)*s;

        mat[3] = t1.x;
        mat[7] = t1.y;
        mat[11] = t1.z;
        mat[12] = 0.0;
        mat[13] = 0.0;
        mat[14] = 0.0;
        mat[15] = 1.0;

	// Issue 253: set all dirty bits
	dirtyBits = ALL_DIRTY;
    }

    /**
     * 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.
     * @param m1 the rotation matrix
     * @param t1 the translation
     * @param s the scale value
     */
    public final void set(Matrix3f m1, Vector3f t1, float s) {
	mat[0]=m1.m00*s;
	mat[1]=m1.m01*s;
	mat[2]=m1.m02*s;
	mat[3]=t1.x;
	mat[4]=m1.m10*s;
	mat[5]=m1.m11*s;
	mat[6]=m1.m12*s;
	mat[7]=t1.y;
	mat[8]=m1.m20*s;
	mat[9]=m1.m21*s;
	mat[10]=m1.m22*s;
	mat[11]=t1.z;
	mat[12]=0.0;
	mat[13]=0.0;
	mat[14]=0.0;
	mat[15]=1.0;

	// Issue 253: set all dirty bits
	dirtyBits = ALL_DIRTY;

	if (autoNormalize) {
	    // input matrix may not normalize
	    normalize();
	}
    }

    /**
     * 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.
     * @param m1 the rotation matrix
     * @param t1 the translation
     * @param s the scale value
     */
    public final void set(Matrix3f m1, Vector3d t1, double s) {
	mat[0]=m1.m00*s;
	mat[1]=m1.m01*s;
	mat[2]=m1.m02*s;
	mat[3]=t1.x;
	mat[4]=m1.m10*s;
	mat[5]=m1.m11*s;
	mat[6]=m1.m12*s;
	mat[7]=t1.y;
	mat[8]=m1.m20*s;
	mat[9]=m1.m21*s;
	mat[10]=m1.m22*s;
	mat[11]=t1.z;
	mat[12]=0.0;
	mat[13]=0.0;
	mat[14]=0.0;
	mat[15]=1.0;

        // Issue 253: set all dirty bits
	dirtyBits = ALL_DIRTY;

	if (autoNormalize)  {
	    normalize();
	}
    }

    /**
     * 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.
     * @param m1 the rotation matrix
     * @param t1 the translation
     * @param s the scale value
     */
    public final void set(Matrix3d m1, Vector3d t1, double s) {
	mat[0]=m1.m00*s;
	mat[1]=m1.m01*s;
	mat[2]=m1.m02*s;
	mat[3]=t1.x;
	mat[4]=m1.m10*s;
	mat[5]=m1.m11*s;
	mat[6]=m1.m12*s;
	mat[7]=t1.y;
	mat[8]=m1.m20*s;
	mat[9]=m1.m21*s;
	mat[10]=m1.m22*s;
	mat[11]=t1.z;
	mat[12]=0.0;
	mat[13]=0.0;
	mat[14]=0.0;
	mat[15]=1.0;

	// Issue 253: set all dirty bits
	dirtyBits = ALL_DIRTY;

	if (autoNormalize)  {
	    normalize();
	}
    }

    /**
     * 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.
     * @param matrix  the general matrix from which the Transform3D matrix is derived
     */
    public final void set(GMatrix matrix) {
	int i,j, k;
	int numRows = matrix.getNumRow();
	int numCol = matrix.getNumCol();

	for(i=0 ; i<4 ; i++) {
	    k = i*4;
	    for(j=0 ; j<4 ; j++) {
		if(i>=numRows || j>=numCol)
		    mat[k+j] = 0.0;
		else
		    mat[k+j] = matrix.getElement(i,j);
	    }
	}

	dirtyBits = ALL_DIRTY;

	if (autoNormalize)  {
	    normalize();
	}

    }

    /**
     * Sets the matrix, type, and state of this transform to the matrix,
     * type, and state of transform t1.
     * @param t1  the transform to be copied
     */
    public final void set(Transform3D t1){
	mat[0] = t1.mat[0];
	mat[1] = t1.mat[1];
	mat[2] = t1.mat[2];
	mat[3] = t1.mat[3];
	mat[4] = t1.mat[4];
	mat[5] = t1.mat[5];
	mat[6] = t1.mat[6];
	mat[7] = t1.mat[7];
	mat[8] = t1.mat[8];
	mat[9] = t1.mat[9];
	mat[10] = t1.mat[10];
	mat[11] = t1.mat[11];
	mat[12] = t1.mat[12];
	mat[13] = t1.mat[13];
	mat[14] = t1.mat[14];
	mat[15] = t1.mat[15];
	type = t1.type;

	// don't copy rot[] and scales[]
	dirtyBits = t1.dirtyBits | ROTATION_BIT | SCALE_BIT;
        autoNormalize = t1.autoNormalize;
    }

    // This version gets a lock before doing the set.  It is used internally
    synchronized void setWithLock(Transform3D t1) {
	this.set(t1);
    }

    // This version gets a lock before doing the get.  It is used internally
    synchronized void getWithLock(Transform3D t1) {
	t1.set(this);
    }

    /**
     * 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.
     * @param matrix  the double precision array of length 16 in row major format
     */
    public final void set(double[] matrix) {
	mat[0] = matrix[0];
	mat[1] = matrix[1];
	mat[2] = matrix[2];
	mat[3] = matrix[3];
	mat[4] = matrix[4];
	mat[5] = matrix[5];
	mat[6] = matrix[6];
	mat[7] = matrix[7];
	mat[8] = matrix[8];
	mat[9] = matrix[9];
	mat[10] = matrix[10];
	mat[11] = matrix[11];
	mat[12] = matrix[12];
	mat[13] = matrix[13];
	mat[14] = matrix[14];
	mat[15] = matrix[15];

	dirtyBits = ALL_DIRTY;

	if (autoNormalize)  {
	    normalize();
	}

    }

   /**
     * 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.
     * @param matrix  the single precision array of length 16 in row major format
     */
    public final void set(float[] matrix) {
	mat[0] = matrix[0];
	mat[1] = matrix[1];
	mat[2] = matrix[2];
	mat[3] = matrix[3];
	mat[4] = matrix[4];
	mat[5] = matrix[5];
	mat[6] = matrix[6];
	mat[7] = matrix[7];
	mat[8] = matrix[8];
	mat[9] = matrix[9];
	mat[10] = matrix[10];
	mat[11] = matrix[11];
	mat[12] = matrix[12];
	mat[13] = matrix[13];
	mat[14] = matrix[14];
	mat[15] = matrix[15];

	dirtyBits = ALL_DIRTY;

	if (autoNormalize)  {
	    normalize();
	}

    }

    /**
     * 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.
     * @param m1   the double precision 4x4 matrix
     */
    public final void set(Matrix4d m1) {
	mat[0] = m1.m00;
	mat[1] = m1.m01;
	mat[2] = m1.m02;
	mat[3] = m1.m03;
	mat[4] = m1.m10;
	mat[5] = m1.m11;
	mat[6] = m1.m12;
	mat[7] = m1.m13;
	mat[8] = m1.m20;
	mat[9] = m1.m21;
	mat[10] = m1.m22;
	mat[11] = m1.m23;
	mat[12] = m1.m30;
	mat[13] = m1.m31;
	mat[14] = m1.m32;
	mat[15] = m1.m33;

	dirtyBits = ALL_DIRTY;

	if (autoNormalize)  {
	    normalize();
	}
    }


    /**
     * 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.
     * @param m1   the single precision 4x4 matrix
     */
    public final void set(Matrix4f m1) {
	mat[0] = m1.m00;
	mat[1] = m1.m01;
	mat[2] = m1.m02;
	mat[3] = m1.m03;
	mat[4] = m1.m10;
	mat[5] = m1.m11;
	mat[6] = m1.m12;
	mat[7] = m1.m13;
	mat[8] = m1.m20;
	mat[9] = m1.m21;
	mat[10] = m1.m22;
	mat[11] = m1.m23;
	mat[12] = m1.m30;
	mat[13] = m1.m31;
	mat[14] = m1.m32;
	mat[15] = m1.m33;
        
	dirtyBits = ALL_DIRTY;

	if (autoNormalize)  {
	    normalize();
	}
    }


    /**
     * 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).
     * @param m1   the single precision 3x3 matrix
     */
    public final void set(Matrix3f m1) {
	mat[0] = m1.m00;
	mat[1] = m1.m01;
	mat[2] = m1.m02;
	mat[3] = 0.0;
	mat[4] = m1.m10;
	mat[5] = m1.m11;
	mat[6] = m1.m12;
	mat[7] = 0.0;
	mat[8] = m1.m20;
	mat[9] = m1.m21;
	mat[10] = m1.m22;
	mat[11] = 0.0;
	mat[12] = 0.0;
	mat[13] = 0.0;
	mat[14] = 0.0;
	mat[15] = 1.0;

	// Issue 253: set all dirty bits
	dirtyBits = ALL_DIRTY;

	if (autoNormalize)  {
	    normalize();
	}
    }


    /**
     * 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).
     * @param m1   the double precision 3x3 matrix
     */
    public final void set(Matrix3d m1) {
	mat[0] = m1.m00;
	mat[1] = m1.m01;
	mat[2] = m1.m02;
	mat[3] = 0.0;
	mat[4] = m1.m10;
	mat[5] = m1.m11;
	mat[6] = m1.m12;
	mat[7] = 0.0;
	mat[8] = m1.m20;
	mat[9] = m1.m21;
	mat[10] = m1.m22;
	mat[11] = 0.0;
	mat[12] = 0.0;
	mat[13] = 0.0;
	mat[14] = 0.0;
	mat[15] = 1.0;

	// Issue 253: set all dirty bits
	dirtyBits = ALL_DIRTY;

	if (autoNormalize)  {
	    normalize();
	}

    }


    /**
     * 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.
     * @param euler  the Vector3d consisting of three rotation angles about X,Y,Z
     *
     */
    public final void setEuler(Vector3d euler) {
	double sina, sinb, sinc;
	double cosa, cosb, cosc;

	sina = Math.sin(euler.x);
	sinb = Math.sin(euler.y);
	sinc = Math.sin(euler.z);
	cosa = Math.cos(euler.x);
	cosb = Math.cos(euler.y);
	cosc = Math.cos(euler.z);

	mat[0] = cosb * cosc;
	mat[1] = -(cosa * sinc) + (sina * sinb * cosc);
	mat[2] = (sina * sinc) + (cosa * sinb *cosc);
	mat[3] = 0.0;

	mat[4] = cosb * sinc;
	mat[5] = (cosa * cosc) + (sina * sinb * sinc);
	mat[6] = -(sina * cosc) + (cosa * sinb *sinc);
	mat[7] = 0.0;

	mat[8] = -sinb;
	mat[9] = sina * cosb;
	mat[10] = cosa * cosb;
	mat[11] = 0.0;

	mat[12] = 0.0;
	mat[13] = 0.0;
	mat[14] = 0.0;
	mat[15] = 1.0;

        // Issue 253: set all dirty bits if input is infinity or NaN
        if (isInfOrNaN(euler)) {
            dirtyBits = ALL_DIRTY;
            return;
        }

	type = AFFINE | CONGRUENT | RIGID | ORTHO;
	dirtyBits = CLASSIFY_BIT | SCALE_BIT | ROTATION_BIT;
    }


    /**
     * Places the values of this transform into the double precision ar