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  1. /*
  2.  * @(#)Matrix3D.java    1.2 96/12/06
  3.  *
  4.  * Copyright (c) 1994-1996 Sun Microsystems, Inc. All Rights Reserved.
  5.  *
  6.  * Sun grants you ("Licensee") a non-exclusive, royalty free, license to use,
  7.  * modify and redistribute this software in source and binary code form,
  8.  * provided that i) this copyright notice and license appear on all copies of
  9.  * the software; and ii) Licensee does not utilize the software in a manner
  10.  * which is disparaging to Sun.
  11.  *
  12.  * This software is provided "AS IS," without a warranty of any kind. ALL
  13.  * EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND WARRANTIES, INCLUDING ANY
  14.  * IMPLIED WARRANTY OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR
  15.  * NON-INFRINGEMENT, ARE HEREBY EXCLUDED. SUN AND ITS LICENSORS SHALL NOT BE
  16.  * LIABLE FOR ANY DAMAGES SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING
  17.  * OR DISTRIBUTING THE SOFTWARE OR ITS DERIVATIVES. IN NO EVENT WILL SUN OR ITS
  18.  * LICENSORS BE LIABLE FOR ANY LOST REVENUE, PROFIT OR DATA, OR FOR DIRECT,
  19.  * INDIRECT, SPECIAL, CONSEQUENTIAL, INCIDENTAL OR PUNITIVE DAMAGES, HOWEVER
  20.  * CAUSED AND REGARDLESS OF THE THEORY OF LIABILITY, ARISING OUT OF THE USE OF
  21.  * OR INABILITY TO USE SOFTWARE, EVEN IF SUN HAS BEEN ADVISED OF THE
  22.  * POSSIBILITY OF SUCH DAMAGES.
  23.  *
  24.  * This software is not designed or intended for use in on-line control of
  25.  * aircraft, air traffic, aircraft navigation or aircraft communications; or in
  26.  * the design, construction, operation or maintenance of any nuclear
  27.  * facility. Licensee represents and warrants that it will not use or
  28.  * redistribute the Software for such purposes.
  29.  */
  30.  
  31. /** A fairly conventional 3D matrix object that can transform sets of
  32.     3D points and perform a variety of manipulations on the transform */
  33. class Matrix3D {
  34.     float xx, xy, xz, xo;
  35.     float yx, yy, yz, yo;
  36.     float zx, zy, zz, zo;
  37.     static final double pi = 3.14159265;
  38.     /** Create a new unit matrix */
  39.     Matrix3D () {
  40.         xx = 1.0f;
  41.         yy = 1.0f;
  42.         zz = 1.0f;
  43.     }
  44.     /** Scale by f in all dimensions */
  45.     void scale(float f) {
  46.         xx *= f;
  47.         xy *= f;
  48.         xz *= f;
  49.         xo *= f;
  50.         yx *= f;
  51.         yy *= f;
  52.         yz *= f;
  53.         yo *= f;
  54.         zx *= f;
  55.         zy *= f;
  56.         zz *= f;
  57.         zo *= f;
  58.     }
  59.     /** Scale along each axis independently */
  60.     void scale(float xf, float yf, float zf) {
  61.         xx *= xf;
  62.         xy *= xf;
  63.         xz *= xf;
  64.         xo *= xf;
  65.         yx *= yf;
  66.         yy *= yf;
  67.         yz *= yf;
  68.         yo *= yf;
  69.         zx *= zf;
  70.         zy *= zf;
  71.         zz *= zf;
  72.         zo *= zf;
  73.     }
  74.     /** Translate the origin */
  75.     void translate(float x, float y, float z) {
  76.         xo += x;
  77.         yo += y;
  78.         zo += z;
  79.     }
  80.     /** rotate theta degrees about the y axis */
  81.     void yrot(double theta) {
  82.         theta *= (pi / 180);
  83.         double ct = Math.cos(theta);
  84.         double st = Math.sin(theta);
  85.  
  86.         float Nxx = (float) (xx * ct + zx * st);
  87.         float Nxy = (float) (xy * ct + zy * st);
  88.         float Nxz = (float) (xz * ct + zz * st);
  89.         float Nxo = (float) (xo * ct + zo * st);
  90.  
  91.         float Nzx = (float) (zx * ct - xx * st);
  92.         float Nzy = (float) (zy * ct - xy * st);
  93.         float Nzz = (float) (zz * ct - xz * st);
  94.         float Nzo = (float) (zo * ct - xo * st);
  95.  
  96.         xo = Nxo;
  97.         xx = Nxx;
  98.         xy = Nxy;
  99.         xz = Nxz;
  100.         zo = Nzo;
  101.         zx = Nzx;
  102.         zy = Nzy;
  103.         zz = Nzz;
  104.     }
  105.     /** rotate theta degrees about the x axis */
  106.     void xrot(double theta) {
  107.         theta *= (pi / 180);
  108.         double ct = Math.cos(theta);
  109.         double st = Math.sin(theta);
  110.  
  111.         float Nyx = (float) (yx * ct + zx * st);
  112.         float Nyy = (float) (yy * ct + zy * st);
  113.         float Nyz = (float) (yz * ct + zz * st);
  114.         float Nyo = (float) (yo * ct + zo * st);
  115.  
  116.         float Nzx = (float) (zx * ct - yx * st);
  117.         float Nzy = (float) (zy * ct - yy * st);
  118.         float Nzz = (float) (zz * ct - yz * st);
  119.         float Nzo = (float) (zo * ct - yo * st);
  120.  
  121.         yo = Nyo;
  122.         yx = Nyx;
  123.         yy = Nyy;
  124.         yz = Nyz;
  125.         zo = Nzo;
  126.         zx = Nzx;
  127.         zy = Nzy;
  128.         zz = Nzz;
  129.     }
  130.     /** rotate theta degrees about the z axis */
  131.     void zrot(double theta) {
  132.         theta *= (pi / 180);
  133.         double ct = Math.cos(theta);
  134.         double st = Math.sin(theta);
  135.  
  136.         float Nyx = (float) (yx * ct + xx * st);
  137.         float Nyy = (float) (yy * ct + xy * st);
  138.         float Nyz = (float) (yz * ct + xz * st);
  139.         float Nyo = (float) (yo * ct + xo * st);
  140.  
  141.         float Nxx = (float) (xx * ct - yx * st);
  142.         float Nxy = (float) (xy * ct - yy * st);
  143.         float Nxz = (float) (xz * ct - yz * st);
  144.         float Nxo = (float) (xo * ct - yo * st);
  145.  
  146.         yo = Nyo;
  147.         yx = Nyx;
  148.         yy = Nyy;
  149.         yz = Nyz;
  150.         xo = Nxo;
  151.         xx = Nxx;
  152.         xy = Nxy;
  153.         xz = Nxz;
  154.     }
  155.     /** Multiply this matrix by a second: M = M*R */
  156.     void mult(Matrix3D rhs) {
  157.         float lxx = xx * rhs.xx + yx * rhs.xy + zx * rhs.xz;
  158.         float lxy = xy * rhs.xx + yy * rhs.xy + zy * rhs.xz;
  159.         float lxz = xz * rhs.xx + yz * rhs.xy + zz * rhs.xz;
  160.         float lxo = xo * rhs.xx + yo * rhs.xy + zo * rhs.xz + rhs.xo;
  161.  
  162.         float lyx = xx * rhs.yx + yx * rhs.yy + zx * rhs.yz;
  163.         float lyy = xy * rhs.yx + yy * rhs.yy + zy * rhs.yz;
  164.         float lyz = xz * rhs.yx + yz * rhs.yy + zz * rhs.yz;
  165.         float lyo = xo * rhs.yx + yo * rhs.yy + zo * rhs.yz + rhs.yo;
  166.  
  167.         float lzx = xx * rhs.zx + yx * rhs.zy + zx * rhs.zz;
  168.         float lzy = xy * rhs.zx + yy * rhs.zy + zy * rhs.zz;
  169.         float lzz = xz * rhs.zx + yz * rhs.zy + zz * rhs.zz;
  170.         float lzo = xo * rhs.zx + yo * rhs.zy + zo * rhs.zz + rhs.zo;
  171.  
  172.         xx = lxx;
  173.         xy = lxy;
  174.         xz = lxz;
  175.         xo = lxo;
  176.  
  177.         yx = lyx;
  178.         yy = lyy;
  179.         yz = lyz;
  180.         yo = lyo;
  181.  
  182.         zx = lzx;
  183.         zy = lzy;
  184.         zz = lzz;
  185.         zo = lzo;
  186.     }
  187.  
  188.     /** Reinitialize to the unit matrix */
  189.     void unit() {
  190.         xo = 0;
  191.         xx = 1;
  192.         xy = 0;
  193.         xz = 0;
  194.         yo = 0;
  195.         yx = 0;
  196.         yy = 1;
  197.         yz = 0;
  198.         zo = 0;
  199.         zx = 0;
  200.         zy = 0;
  201.         zz = 1;
  202.     }
  203.     /** Transform nvert points from v into tv.  v contains the input
  204.         coordinates in floating point.  Three successive entries in
  205.         the array constitute a point.  tv ends up holding the transformed
  206.         points as integers; three successive entries per point */
  207.     void transform(float v[], int tv[], int nvert) {
  208.         float lxx = xx, lxy = xy, lxz = xz, lxo = xo;
  209.         float lyx = yx, lyy = yy, lyz = yz, lyo = yo;
  210.         float lzx = zx, lzy = zy, lzz = zz, lzo = zo;
  211.         for (int i = nvert * 3; (i -= 3) >= 0;) {
  212.             float x = v[i];
  213.             float y = v[i + 1];
  214.             float z = v[i + 2];
  215.             tv[i    ] = (int) (x * lxx + y * lxy + z * lxz + lxo);
  216.             tv[i + 1] = (int) (x * lyx + y * lyy + z * lyz + lyo);
  217.             tv[i + 2] = (int) (x * lzx + y * lzy + z * lzz + lzo);
  218.         }
  219.     }
  220.     public String toString() {
  221.         return ("[" + xo + "," + xx + "," + xy + "," + xz + ";"
  222.                 + yo + "," + yx + "," + yy + "," + yz + ";"
  223.                 + zo + "," + zx + "," + zy + "," + zz + "]");
  224.     }
  225. }
  226.