maspack.matrix
Class Matrix4d

java.lang.Object
  maspack.matrix.MatrixObject
      maspack.matrix.Matrix4dObject
          maspack.matrix.Matrix4d

public class Matrix4d

extends Matrix4dObject

A general 4 x 4 matrix with the elements stored as explicit fields.

Field Summary

Fields inherited from class maspack.matrix.Matrix4dObject

m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33

Constructor Summary

Matrix4d()
Creates a matrix and initializes it to zero.

Matrix4d(double[] vals)
Creates a matrix and initializes its elements from an array of values.

Matrix4d(MatrixObject M)
Creates a matrix and initializes its elements to those of the matrix M.

Method Summary

void	add(Matrix4dObject M1) Adds this matrix to M1 and places the result in this matrix.
void	add(Matrix4dObject M1, Matrix4dObject M2) Adds matrix M1 to M2 and places the result in this matrix.
boolean	invert(Matrix4dObject M) Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular. The inverse is computed using an LU decomposition with partial pivoting.
void	mul(Matrix4dObject M1) Multiplies this matrix by M1 and places the result in this matrix.
void	mul(Matrix4dObject M1, Matrix4dObject M2) Multiplies matrix M1 by M2 and places the result in this matrix.
void	mulInverse(Matrix4dObject M1) Multiplies this matrix by the inverse of M1 and places the result in this matrix.
boolean	mulInverseBoth(Matrix4dObject M1, Matrix4dObject M2) Multiplies the inverse of matrix M1 by the inverse of M2 and places the result in this matrix.
boolean	mulInverseLeft(Matrix4dObject M1, Matrix4dObject M2) Multiplies the inverse of matrix M1 by M2 and places the result in this matrix.
boolean	mulInverseRight(Matrix4dObject M1, Matrix4dObject M2) Multiplies matrix M1 by the inverse of M2 and places the result in this matrix.
void	mulTranspose(Matrix4dObject M1) Multiplies this matrix by the transpose of M1 and places the result in this matrix.
void	mulTransposeBoth(Matrix4dObject M1, Matrix4dObject M2) Multiplies the transpose of matrix M1 by the transpose of M2 and places the result in this matrix.
void	mulTransposeLeft(Matrix4dObject M1, Matrix4dObject M2) Multiplies the transpose of matrix M1 by M2 and places the result in this matrix.
void	mulTransposeRight(Matrix4dObject M1, Matrix4dObject M2) Multiplies matrix M1 by the transpose of M2 and places the result in this matrix.
void	negate(Matrix4dObject M1) Sets this matrix to the negative of M1.
void	scale(double s) Scales the elements of this matrix by s.
void	scale(double s, Matrix4dObject M1) Scales the elements of matrix M1 by s and places the results in this matrix.
void	setDiagonal(double[] vals) Sets this matrix to a diagonal matrix whose values are specified by the array vals.
void	setDiagonal(Vector4d diag) Sets this matrix to a diagonal matrix whose values are specified by diag.
void	setRandom() Sets the elements of this matrix to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).
void	setRandom(double lower, double upper) Sets the elements of this matrix to uniformly distributed random values in a specified range.
void	setRandom(double lower, double upper, java.util.Random generator) Sets the elements of this matrix to uniformly distributed random values in a specified range, using a supplied random number generator.
void	setZero() Sets the elements of this matrix to zero.
void	sub(Matrix4dObject M1) Subtracts this matrix from M1 and places the result in this matrix.
void	sub(Matrix4dObject M1, Matrix4dObject M2) Subtracts matrix M1 from M2 and places the result in this matrix.
void	transpose(Matrix4dObject M1) Takes the transpose of matrix M1 and places the result in this matrix.

Methods inherited from class maspack.matrix.Matrix4dObject

colSize, determinant, epsilonEquals, equals, frobeniusNorm, get, get, getColumn, getColumn, getRow, getRow, infinityNorm, invert, mul, mul, mulInverse, mulInverse, mulInverseTranspose, mulInverseTranspose, mulTranspose, mulTranspose, negate, oneNorm, rowSize, set, set, set, setColumn, setColumn, setIdentity, setRow, setRow, transpose

Methods inherited from class maspack.matrix.MatrixObject

epsilonEquals, equals, equals, get, getColumn, getRow, isFixedSize, scan, set, set, setColumn, setRow, setSize, toString, toString, toString

Methods inherited from class java.lang.Object

getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Matrix4d

public Matrix4d()

Creates a matrix and initializes it to zero.

Matrix4d

public Matrix4d(double[] vals)

Creates a matrix and initializes its elements from an array of values.

Parameters:

vals - element values for the matrix, with element (i,j) stored at location i*4+j

Matrix4d

public Matrix4d(MatrixObject M)

Creates a matrix and initializes its elements to those of the matrix M.

Parameters:

M - matrix object to be copied.

Method Detail

mul

public void mul(Matrix4dObject M1)

Multiplies this matrix by M1 and places the result in this matrix.

mul

public void mul(Matrix4dObject M1,
                Matrix4dObject M2)

Multiplies matrix M1 by M2 and places the result in this matrix.

mulTranspose

public void mulTranspose(Matrix4dObject M1)

Multiplies this matrix by the transpose of M1 and places the result in this matrix.

mulTransposeLeft

public void mulTransposeLeft(Matrix4dObject M1,
                             Matrix4dObject M2)

Multiplies the transpose of matrix M1 by M2 and places the result in this matrix.

mulTransposeRight

public void mulTransposeRight(Matrix4dObject M1,
                              Matrix4dObject M2)

Multiplies matrix M1 by the transpose of M2 and places the result in this matrix.

mulTransposeBoth

public void mulTransposeBoth(Matrix4dObject M1,
                             Matrix4dObject M2)

Multiplies the transpose of matrix M1 by the transpose of M2 and places the result in this matrix.

mulInverse

public void mulInverse(Matrix4dObject M1)

Multiplies this matrix by the inverse of M1 and places the result in this matrix.

Parameters:

M1 - right-hand matrix

Returns:

false if M1 is singular

mulInverseRight

public boolean mulInverseRight(Matrix4dObject M1,
                               Matrix4dObject M2)

Multiplies matrix M1 by the inverse of M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

Returns:

false if M2 is singular

mulInverseLeft

public boolean mulInverseLeft(Matrix4dObject M1,
                              Matrix4dObject M2)

Multiplies the inverse of matrix M1 by M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

Returns:

false if M1 is singular

mulInverseBoth

public boolean mulInverseBoth(Matrix4dObject M1,
                              Matrix4dObject M2)

Multiplies the inverse of matrix M1 by the inverse of M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

Returns:

false if M1 or M2 is singular

add

public void add(Matrix4dObject M1,
                Matrix4dObject M2)

Adds matrix M1 to M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

add

public void add(Matrix4dObject M1)

Adds this matrix to M1 and places the result in this matrix.

Parameters:

M1 - right-hand matrix

sub

public void sub(Matrix4dObject M1,
                Matrix4dObject M2)

Subtracts matrix M1 from M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

sub

public void sub(Matrix4dObject M1)

Subtracts this matrix from M1 and places the result in this matrix.

Parameters:

M1 - right-hand matrix

scale

public void scale(double s)

Scales the elements of this matrix by s.

Parameters:

s - scaling factor

scale

public void scale(double s,
                  Matrix4dObject M1)

Scales the elements of matrix M1 by s and places the results in this matrix.

Parameters:

s - scaling factor

M1 - matrix to be scaled

negate

public void negate(Matrix4dObject M1)

Sets this matrix to the negative of M1.

Parameters:

M1 - matrix to negate

transpose

public void transpose(Matrix4dObject M1)

Takes the transpose of matrix M1 and places the result in this matrix.

setZero

public void setZero()

Sets the elements of this matrix to zero.

setRandom

public void setRandom()

Sets the elements of this matrix to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).

setRandom

public void setRandom(double lower,
                      double upper)

Sets the elements of this matrix to uniformly distributed random values in a specified range.

Parameters:

lower - lower random value (inclusive)

upper - upper random value (exclusive)

setRandom

public void setRandom(double lower,
                      double upper,
                      java.util.Random generator)

Sets the elements of this matrix to uniformly distributed random values in a specified range, using a supplied random number generator.

Parameters:

lower - lower random value (inclusive)

upper - upper random value (exclusive)

generator - random number generator

invert

public boolean invert(Matrix4dObject M)

Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular. The inverse is computed using an LU decomposition with partial pivoting.

Returns:

false if M is singular

setDiagonal

public void setDiagonal(Vector4d diag)

Sets this matrix to a diagonal matrix whose values are specified by diag.

Parameters:

diag - diagonal values

setDiagonal

public void setDiagonal(double[] vals)

Sets this matrix to a diagonal matrix whose values are specified by the array vals.

Parameters:

vals - diagonal values