Catalano.Math

Class Matrix3x3

java.lang.Object

Catalano.Math.Matrix3x3

public class Matrix3x3
extends java.lang.Object

A class representing 3x3 matrix. The structure incapsulates elements of a 3x3 matrix and provides some operations with it.

Field Summary

Fields

Modifier and Type	Field and Description
float	V00 Row 0 column 0 element of the matrix.
float	V01 Row 0 column 1 element of the matrix.
float	V02 Row 0 column 2 element of the matrix.
float	V10 Row 1 column 0 element of the matrix.
float	V11 Row 1 column 1 element of the matrix.
float	V12 Row 1 column 2 element of the matrix.
float	V20 Row 2 column 0 element of the matrix.
float	V21 Row 2 column 1 element of the matrix.
float	V22 Row 2 column 2 element of the matrix.

Constructor Summary

Constructors

Constructor and Description
Matrix3x3() Initializes a new instance of the Matrix3x3 class.
Matrix3x3(float V00, float V01, float V02, float V10, float V11, float V12, float V20, float V21, float V22) Initializes a new instance of the Matrix3x3 class.

Method Summary

Modifier and Type	Method and Description
void	Add(Matrix3x3 matrix)
static Matrix3x3	Add(Matrix3x3 matrix1, Matrix3x3 matrix2) Adds corresponding components of two matrices.
static Matrix3x3	CreateDiagonal(Vector3 vector) Creates a diagonal matrix using the specified vector as diagonal elements.
static Matrix3x3	CreateFromColumns(Vector3 column0, Vector3 column1, Vector3 column2) Creates a matrix from 3 columns specified as vectors.
static Matrix3x3	CreateFromRows(Vector3 row0, Vector3 row1, Vector3 row2) Creates a matrix from 3 rows specified as vectors.
static Matrix3x3	CreateFromYawPitchRoll(float yaw, float pitch, float roll) Creates rotation matrix to rotate an object around X, Y and Z axes.
static Matrix3x3	CreateRotationX(float radians) Creates rotation matrix around X axis.
static Matrix3x3	CreateRotationY(float radians) Creates rotation matrix around Y axis.
static Matrix3x3	CreateRotationZ(float radians) Creates rotation matrix around Z axis.
float	Determinant() Calculates determinant of the matrix.
float[]	ExtractYawPitchRoll() Extract rotation angles from the rotation matrix.
static Matrix3x3	Identity() Provides an identity matrix with all diagonal elements set to 1.
void	Multiply(Matrix3x3 matrix)
static Matrix3x3	Multiply(Matrix3x3 matrix1, Matrix3x3 matrix2) Multiplies two specified matrices.
void	Subtract(Matrix3x3 matrix)
static Matrix3x3	Subtract(Matrix3x3 matrix1, Matrix3x3 matrix2) Subtracts corresponding components of two matrices.
float[]	toArray() Returns array representation of the matrix.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

V00

public float V00

Row 0 column 0 element of the matrix.

V01

public float V01

Row 0 column 1 element of the matrix.

V02

public float V02

Row 0 column 2 element of the matrix.

V10

public float V10

Row 1 column 0 element of the matrix.

V11

public float V11

Row 1 column 1 element of the matrix.

V12

public float V12

Row 1 column 2 element of the matrix.

V20

public float V20

Row 2 column 0 element of the matrix.

V21

public float V21

Row 2 column 1 element of the matrix.

V22

public float V22

Row 2 column 2 element of the matrix.

Constructor Detail

Matrix3x3

public Matrix3x3()

Initializes a new instance of the Matrix3x3 class.

Matrix3x3

public Matrix3x3(float V00,
                 float V01,
                 float V02,
                 float V10,
                 float V11,
                 float V12,
                 float V20,
                 float V21,
                 float V22)

Initializes a new instance of the Matrix3x3 class.

Parameters:

V00 - Row 0 column 0 element of the matrix.

V01 - Row 0 column 1 element of the matrix.

V02 - Row 0 column 2 element of the matrix.

V10 - Row 1 column 0 element of the matrix.

V11 - Row 1 column 1 element of the matrix.

V12 - Row 1 column 2 element of the matrix.

V20 - Row 2 column 0 element of the matrix.

V21 - Row 2 column 1 element of the matrix.

V22 - Row 2 column 2 element of the matrix.

Method Detail

Identity

public static Matrix3x3 Identity()

Provides an identity matrix with all diagonal elements set to 1.

Returns:

Identity matrix.

Determinant

public float Determinant()

Calculates determinant of the matrix.

Returns:

Determinant.

toArray

public float[] toArray()

Returns array representation of the matrix.

Returns:

Returns array which contains all elements of the matrix in the row-major order.

CreateRotationY

public static Matrix3x3 CreateRotationY(float radians)

Creates rotation matrix around Y axis.

Parameters:

radians - Rotation angle around Y axis in radians.

Returns:

Returns rotation matrix to rotate an object around Y axis.

CreateRotationX

public static Matrix3x3 CreateRotationX(float radians)

Creates rotation matrix around X axis.

Parameters:

radians - Rotation angle around X axis in radians.

Returns:

Returns rotation matrix to rotate an object around X axis.

CreateRotationZ

public static Matrix3x3 CreateRotationZ(float radians)

Creates rotation matrix around Z axis.

Parameters:

radians - Rotation angle around Z axis in radians.

Returns:

Returns rotation matrix to rotate an object around Z axis.

CreateFromYawPitchRoll

public static Matrix3x3 CreateFromYawPitchRoll(float yaw,
                                               float pitch,
                                               float roll)

Creates rotation matrix to rotate an object around X, Y and Z axes. The routine assumes roll-pitch-yaw rotation order, when creating rotation matrix, i.e. an object is first rotated around Z axis, then around X axis and finally around Y axis.

Parameters:

yaw - Rotation angle around Y axis in radians.

pitch - Rotation angle around X axis in radians.

roll - Rotation angle around Z axis in radians.

Returns:

Returns rotation matrix to rotate an object around all 3 axes.

ExtractYawPitchRoll

public float[] ExtractYawPitchRoll()

Extract rotation angles from the rotation matrix. The routine assumes roll-pitch-yaw rotation order when extracting rotation angle. Using extracted angles with the @see CreateFromYawPitchRoll should provide same rotation matrix. The method assumes the provided matrix represent valid rotation matrix.

Returns:

CreateFromRows

public static Matrix3x3 CreateFromRows(Vector3 row0,
                                       Vector3 row1,
                                       Vector3 row2)

Creates a matrix from 3 rows specified as vectors.

Parameters:

row0 - First row of the matrix to create.

row1 - Second row of the matrix to create.

row2 - Third row of the matrix to create.

Returns:

Returns a matrix from specified rows.

CreateFromColumns

public static Matrix3x3 CreateFromColumns(Vector3 column0,
                                          Vector3 column1,
                                          Vector3 column2)

Creates a matrix from 3 columns specified as vectors.

Parameters:

column0 - First column of the matrix to create.

column1 - Second column of the matrix to create.

column2 - Third column of the matrix to create.

Returns:

Returns a matrix from specified columns.

CreateDiagonal

public static Matrix3x3 CreateDiagonal(Vector3 vector)

Creates a diagonal matrix using the specified vector as diagonal elements.

Parameters:

vector - Vector to use for diagonal elements of the matrix.

Returns:

Returns a diagonal matrix.

Multiply

public void Multiply(Matrix3x3 matrix)

Multiply

public static Matrix3x3 Multiply(Matrix3x3 matrix1,
                                 Matrix3x3 matrix2)

Multiplies two specified matrices.

Parameters:

matrix1 - Matrix to multiply.

matrix2 - Matrix to multiply by.

Returns:

Return new matrix, which the result of multiplication of the two specified matrices.

Add

public void Add(Matrix3x3 matrix)

Add

public static Matrix3x3 Add(Matrix3x3 matrix1,
                            Matrix3x3 matrix2)

Adds corresponding components of two matrices.

Parameters:

matrix1 - The matrix to add to.

matrix2 - The matrix to add to the first matrix.

Returns:

Returns a matrix which components are equal to sum of corresponding components of the two specified matrices.

Subtract

public void Subtract(Matrix3x3 matrix)

Subtract

public static Matrix3x3 Subtract(Matrix3x3 matrix1,
                                 Matrix3x3 matrix2)

Subtracts corresponding components of two matrices.

Parameters:

matrix1 - The matrix to subtract from.

matrix2 - The matrix to subtract from the first matrix.

Returns:

Returns a matrix which components are equal to difference of corresponding components of the two specified matrices.