java.lang.Object
- com.openinventor.inventor.SbBasic
- - com.openinventor.inventor.SbMatrixd

```
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

Nested Class Summary

Nested Classes
Modifier and Type Class Description

static class SbMatrixd.Decomposition

static class SbMatrixd.Factorization

Field Summary

Fields
Modifier and Type Field Description

double[] array

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)`

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 to `multRight()` 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.
`SbVec4d`	`multVec4Matrix(SbVec3d src)`	Pre-multiplies matrix by the given row vector, giving vector result in homogeneous coordinates.
`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.

Methods inherited from class java.lang.Object
getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - array
```
public final double[] array
```
- Constructor Detail
  - SbMatrixd
```
public SbMatrixd(double[] components)
```
  - 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)
```
  - SbMatrixd
```
public SbMatrixd(SbMatrixd copyFrom)
```
  - SbMatrixd
```
public SbMatrixd()
```
- Method Detail
  - setValue
```
public void setValue(SbMatrixd copyFrom)
```
  - getValue
```
public double[] getValue()
```
  - setValue
```
public SbMatrixd setValue(double[] components,
                          int startIndex)
```
  - setValue
```
public SbMatrixd setValue(double[] components)
```
  - 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)
```
  - getValueAt
```
public double getValueAt(int index)
```
  - setValueAt
```
public void setValueAt(int index,
                       double value)
```
  - 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).
  - toArray
```
public static SbMatrixd[] toArray(long nativeArray,
                                  long length)
```
  - isInvertible
```
public boolean isInvertible()
```
    Returns true if the matrix is invertible.
  - equals
```
public boolean equals(SbMatrixd m,
                      double tolerance)
```
    Equality comparison within given tolerance, for each component.
  - times
```
public SbMatrixd times(SbMatrixd m2)
```
    Multiplies two matrices, returning a matrix result.
  - multiply
```
public void multiply(SbMatrixd m)
```
    Post-multiplies the matrix by the given matrix (equivalent to multRight() method). Matrix is replaced by the resulting matrix.
  - equals
```
public boolean equals(java.lang.Object obj)
```
    Overrides:
    
    equals in class java.lang.Object
  - identity
```
public static SbMatrixd identity()
```
    Returns an identity matrix.
  - 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.
  - setScale
```
public void setScale(double s)
```
    Sets matrix to scale by given uniform factor.
  - det4
```
public double det4()
```
    Returns determinant of entire matrix.
  - inverse
```
public SbMatrixd inverse()
```
    Returns inverse of matrix. Results are undefined for singular matrices. Uses LU decomposition.
    Matrix is not modified.
  - scale
```
public void scale(SbVec3d scaleFactor)
```
    Scales this matrice by the given vector.
  - translate
```
public void translate(SbVec3d translation)
```
    Translates this matrice by the given vector.
  - setRotate
```
public void setRotate(SbRotationd q)
```
    Sets matrix to rotate by given rotation.
  - det3
```
public double det3()
```
    Returns determinant of upper-left 3x3 submatrix.
  - 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 as factor() where t is translation, u is rotation, s is scaleFactor, and r is scaleOrientation.
  - 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).
  - 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.
  - setTranslate
```
public void setTranslate(SbVec3d t)
```
    Sets matrix to translate by given vector.
  - setScale
```
public void setScale(SbVec3d s)
```
    Sets matrix to scale by given vector.
  - 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).
  - decompose
```
public SbMatrixd.Decomposition decompose()
```
    Return translation, rotation, scale, and scale orientation components of the matrix.
  - multVec4Matrix
```
public SbVec4d multVec4Matrix(SbVec3d src)
```
    Pre-multiplies matrix by the given row vector, giving vector result in homogeneous coordinates. Use this method to transform a point (position vector).
    Use multDirMatrix() to transform a normal (direction vector).
    
    Parameters:
    
    src - the source vector to transform
    
    dst - the destination vector to retrieve the result
  - 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).
    Use multDirMatrix() to transform a normal (direction vector).
  - 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 call multDirMatrix() 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.
  - times
```
public SbVec4d times(SbVec4d v)
```
    Multiply matrix by given vector. Return m * v
  - 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.
  - 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.
  - makeIdentity
```
public void makeIdentity()
```
    Sets matrix to be identity.
  - setValue
```
public void setValue(SbMatrix m)
```
    Sets values from a single precision matrix.
  - multLeft
```
public SbMatrixd multLeft(SbMatrixd m)
```
    Pre-multiplies the matrix by given matrix. Matrix is replaced by the result.
  - multRight
```
public SbMatrixd multRight(SbMatrixd m)
```
    Post-multiplies the matrix by given matrix. Matrix is replaced by the result.
  - transpose
```
public SbMatrixd transpose()
```
    Returns transpose of matrix. Matrix is not modified.

Modifier and Type	Class	Description
`static class`	`SbMatrixd.Decomposition`
`static class`	`SbMatrixd.Factorization`

Class SbMatrixd

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

array

Constructor Detail

SbMatrixd

SbMatrixd

SbMatrixd

SbMatrixd

Method Detail

setValue

getValue

setValue

setValue

setValue

getValueAt

setValueAt

setTransform

toArray

isInvertible

equals

times

multiply

equals

identity

factor

setScale

det4

inverse

scale

translate

setRotate

det3

decompose

setTransform

setTransform

setTranslate

setScale

det3

decompose

multVec4Matrix

multVecMatrix

multDirMatrix

times

multLineMatrix

multMatrixVec

makeIdentity

setValue

multLeft

multRight

transpose