Class SbMatrixd
- java.lang.Object
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- com.openinventor.inventor.SbBasic
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- com.openinventor.inventor.SbMatrixd
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public class SbMatrixd extends SbBasic
4x4 matrix class (double precision). 4x4 double precision matrix class/datatype. Although Open Inventor fields store only single precision values, for certain applications it is useful and convenient to be able to store and manipulate double precision values, for example, double precision coordinate data or values that will be used for further computation.See
SbMatrix
for discussion of storage layout and usage of matrices.SbMatrix
,SbMatrix3
,SbRotation
,SbRotationd
,SbVec2d
,SbVec2f
,SbVec2i32
,SbVec2s
,SbVec3d
,SbVec3f
,SbVec3i32
,SbVec3s
,SbVec4b
,SbVec4d
,SbVec4f
,SbVec4i32
,SbVec4s
,SbVec4ub
,SbVec4ui32
,SbVec4us
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Nested Class Summary
Nested Classes Modifier and Type Class Description static class
SbMatrixd.Decomposition
static class
SbMatrixd.Factorization
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Field Summary
Fields Modifier and Type Field Description double[]
array
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Constructor Summary
Constructors Constructor Description SbMatrixd()
SbMatrixd(double[] components)
SbMatrixd(double c0, double c1, double c2, double c3, double c4, double c5, double c6, double c7, double c8, double c9, double c10, double c11, double c12, double c13, double c14, double c15)
SbMatrixd(SbMatrixd copyFrom)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description SbMatrixd.Decomposition
decompose()
Return translation, rotation, scale, and scale orientation components of the matrix.SbMatrixd.Decomposition
decompose(SbVec3d center)
Decomposes the matrix into a translation, rotation, scale, and scale orientation.double
det3()
Returns determinant of upper-left 3x3 submatrix.double
det3(int r1, int r2, int r3, int c1, int c2, int c3)
Returns determinant of 3x3 submatrix composed of given row and column indices (0-3 for each).double
det4()
Returns determinant of entire matrix.boolean
equals(SbMatrixd m, double tolerance)
Equality comparison within given tolerance, for each component.boolean
equals(java.lang.Object obj)
SbMatrixd.Factorization
factor()
Factors a matrix m into 5 pieces: m = r s r^ u t, where r^ means transpose of r, and r and u are rotations, s is a scale, and t is a translation.double[]
getValue()
double
getValueAt(int index)
static SbMatrixd
identity()
Returns an identity matrix.SbMatrixd
inverse()
Returns inverse of matrix.boolean
isInvertible()
Returns true if the matrix is invertible.void
makeIdentity()
Sets matrix to be identity.SbVec3d
multDirMatrix(SbVec3d src)
Pre-multiplies the matrix by the given row vector, giving vector result.void
multiply(SbMatrixd m)
Post-multiplies the matrix by the given matrix (equivalent tomultRight()
method).SbMatrixd
multLeft(SbMatrixd m)
Pre-multiplies the matrix by given matrix.SbLined
multLineMatrix(SbLined src)
Multiplies the given line's origin by the matrix, and the line's direction by the rotation portion of the matrix.SbVec3d
multMatrixVec(SbVec3d src)
Post-multiplies matrix by given column vector, giving a 3D vector result.SbMatrixd
multRight(SbMatrixd m)
Post-multiplies the matrix by given matrix.SbVec3d
multVecMatrix(SbVec3d src)
Pre-multiplies matrix by the given row vector, giving a 3D vector result.void
scale(SbVec3d scaleFactor)
Scales this matrice by the given vector.void
setRotate(SbRotationd q)
Sets matrix to rotate by given rotation.void
setScale(double s)
Sets matrix to scale by given uniform factor.void
setScale(SbVec3d s)
Sets matrix to scale by given vector.void
setTransform(SbVec3d t, SbRotationd r, SbVec3d s)
Composes the matrix based on a translation, rotation, and scale.void
setTransform(SbVec3d t, SbRotationd r, SbVec3d s, SbRotationd so)
Composes the matrix based on a translation, rotation, scale, and orientation for scale.void
setTransform(SbVec3d translation, SbRotationd rotation, SbVec3d scaleFactor, SbRotationd scaleOrientation, SbVec3d center)
Composes the matrix based on a translation, rotation, scale, orientation for scale, and center.void
setTranslate(SbVec3d t)
Sets matrix to translate by given vector.SbMatrixd
setValue(double[] components)
SbMatrixd
setValue(double[] components, int startIndex)
SbMatrixd
setValue(double c0, double c1, double c2, double c3, double c4, double c5, double c6, double c7, double c8, double c9, double c10, double c11, double c12, double c13, double c14, double c15)
void
setValue(SbMatrix m)
Sets values from a single precision matrix.void
setValue(SbMatrixd copyFrom)
void
setValueAt(int index, double value)
SbMatrixd
times(SbMatrixd m2)
Multiplies two matrices, returning a matrix result.SbVec4d
times(SbVec4d v)
Multiply matrix by given vector.static SbMatrixd[]
toArray(long nativeArray, long length)
void
translate(SbVec3d translation)
Translates this matrice by the given vector.SbMatrixd
transpose()
Returns transpose of matrix.
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Constructor Detail
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SbMatrixd
public SbMatrixd(double c0, double c1, double c2, double c3, double c4, double c5, double c6, double c7, double c8, double c9, double c10, double c11, double c12, double c13, double c14, double c15)
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SbMatrixd
public SbMatrixd(SbMatrixd copyFrom)
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SbMatrixd
public SbMatrixd(double[] components)
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SbMatrixd
public SbMatrixd()
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Method Detail
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setValue
public SbMatrixd setValue(double[] components)
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getValue
public double[] getValue()
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setValue
public void setValue(SbMatrixd copyFrom)
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setValue
public SbMatrixd setValue(double[] components, int startIndex)
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setValue
public SbMatrixd setValue(double c0, double c1, double c2, double c3, double c4, double c5, double c6, double c7, double c8, double c9, double c10, double c11, double c12, double c13, double c14, double c15)
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setValueAt
public void setValueAt(int index, double value)
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getValueAt
public double getValueAt(int index)
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equals
public boolean equals(java.lang.Object obj)
- Overrides:
equals
in classjava.lang.Object
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translate
public void translate(SbVec3d translation)
Translates this matrice by the given vector.
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equals
public boolean equals(SbMatrixd m, double tolerance)
Equality comparison within given tolerance, for each component.
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identity
public static SbMatrixd identity()
Returns an identity matrix.
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multiply
public void multiply(SbMatrixd m)
Post-multiplies the matrix by the given matrix (equivalent tomultRight()
method). Matrix is replaced by the resulting matrix.
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toArray
public static SbMatrixd[] toArray(long nativeArray, long length)
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isInvertible
public boolean isInvertible()
Returns true if the matrix is invertible.
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setTransform
public void setTransform(SbVec3d translation, SbRotationd rotation, SbVec3d scaleFactor, SbRotationd scaleOrientation, SbVec3d center)
Composes the matrix based on a translation, rotation, scale, orientation for scale, and center. The scaleOrientation chooses the primary axes for the scale. The center is the center point for scaling and rotation.
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setTransform
public void setTransform(SbVec3d t, SbRotationd r, SbVec3d s)
Composes the matrix based on a translation, rotation, and scale. A scale orientation value of (0,0,0,1) is used. The center point for scaling and rotation is (0,0,0).
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setTransform
public void setTransform(SbVec3d t, SbRotationd r, SbVec3d s, SbRotationd so)
Composes the matrix based on a translation, rotation, scale, and orientation for scale. The scaleOrientation chooses the primary axes for the scale. The center point for scaling and rotation is (0,0,0).
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scale
public void scale(SbVec3d scaleFactor)
Scales this matrice by the given vector.
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setScale
public void setScale(SbVec3d s)
Sets matrix to scale by given vector.
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setTranslate
public void setTranslate(SbVec3d t)
Sets matrix to translate by given vector.
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det4
public double det4()
Returns determinant of entire matrix.
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det3
public double det3()
Returns determinant of upper-left 3x3 submatrix.
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det3
public double det3(int r1, int r2, int r3, int c1, int c2, int c3)
Returns determinant of 3x3 submatrix composed of given row and column indices (0-3 for each).
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decompose
public SbMatrixd.Decomposition decompose()
Return translation, rotation, scale, and scale orientation components of the matrix.
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inverse
public SbMatrixd inverse()
Returns inverse of matrix. Results are undefined for singular matrices. Uses LU decomposition.
Matrix is not modified.
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decompose
public SbMatrixd.Decomposition decompose(SbVec3d center)
Decomposes the matrix into a translation, rotation, scale, and scale orientation. Any projection information is discarded. The decomposition depends upon choice of center point for rotation and scaling, which is optional as the last parameter. Note that if the center is 0, decompose() is the same asfactor()
where t is translation, u is rotation, s is scaleFactor, and r is scaleOrientation.
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factor
public SbMatrixd.Factorization factor()
Factors a matrix m into 5 pieces: m = r s r^ u t, where r^ means transpose of r, and r and u are rotations, s is a scale, and t is a translation. Any projection information is returned in proj.
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multDirMatrix
public SbVec3d multDirMatrix(SbVec3d src)
Pre-multiplies the matrix by the given row vector, giving vector result. src is assumed to be a direction vector, so translation part of matrix is ignored.Note: If you need to transform surface points and normal vectors by a matrix, call
multVecMatrix()
for the points and callmultDirMatrix()
for the normals. Generally normals should be transformed by the inverse transpose of the matrix. However note that the inverse transpose is equal to the original matrix if the matrix is orthonormal, i.e. purely rotational with no scaling or shearing.
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multVecMatrix
public SbVec3d multVecMatrix(SbVec3d src)
Pre-multiplies matrix by the given row vector, giving a 3D vector result. The intermediate homogeneous (vec4) value is converted to 3D by dividing the X, Y and Z components by W.Use this method to transform a point (position vector).
UsemultDirMatrix()
to transform a normal (direction vector).
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multMatrixVec
public SbVec3d multMatrixVec(SbVec3d src)
Post-multiplies matrix by given column vector, giving a 3D vector result. The intermediate homogeneous (vec4) value is converted to 3D by dividing the X, Y and Z components by W.
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multLineMatrix
public SbLined multLineMatrix(SbLined src)
Multiplies the given line's origin by the matrix, and the line's direction by the rotation portion of the matrix.
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setRotate
public void setRotate(SbRotationd q)
Sets matrix to rotate by given rotation.
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transpose
public SbMatrixd transpose()
Returns transpose of matrix. Matrix is not modified.
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setScale
public void setScale(double s)
Sets matrix to scale by given uniform factor.
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multRight
public SbMatrixd multRight(SbMatrixd m)
Post-multiplies the matrix by given matrix. Matrix is replaced by the result.
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setValue
public void setValue(SbMatrix m)
Sets values from a single precision matrix.
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multLeft
public SbMatrixd multLeft(SbMatrixd m)
Pre-multiplies the matrix by given matrix. Matrix is replaced by the result.
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makeIdentity
public void makeIdentity()
Sets matrix to be identity.
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