org.bytedeco.bullet.Bullet3Common

Class b3Matrix3x3

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.Bullet3Common.b3Matrix3x3

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=Bullet3Common.class)
public class b3Matrix3x3
extends Pointer

\brief The b3Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with b3Quaternion, b3Transform and b3Vector3. Make sure to only include a pure orthogonal matrix without scaling.

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
b3Matrix3x3() \brief No initializaion constructor
b3Matrix3x3(b3Matrix3x3 other) \brief Copy constructor
b3Matrix3x3(b3Quaternion q) \brief Constructor from Quaternion
b3Matrix3x3(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz) \brief Constructor with row major formatting
b3Matrix3x3(long size) Native array allocator.
b3Matrix3x3(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
b3Matrix3x3	absolute() \brief Return the matrix with all values non negative
b3Matrix3x3	addPut(b3Matrix3x3 m) \brief Adds by the target matrix on the right
b3Matrix3x3	adjoint() \brief Return the adjoint of the matrix
float	cofac(int r1, int c1, int r2, int c2) \brief Calculate the matrix cofactor
void	deSerialize(b3Matrix3x3FloatData dataIn)
void	deSerializeDouble(b3Matrix3x3DoubleData dataIn)
void	deSerializeFloat(b3Matrix3x3FloatData dataIn)
float	determinant() \brief Return the determinant of the matrix
void	diagonalize(b3Matrix3x3 rot, float threshold, int maxSteps) \brief diagonalizes this matrix by the Jacobi method.
b3Vector3	get(int i) \brief Get a mutable reference to a row of the matrix as a vector
b3Vector3	getColumn(int i) \brief Get a column of the matrix as a vector
void	getEulerYPR(float[] yaw, float[] pitch, float[] roll)
void	getEulerYPR(FloatBuffer yaw, FloatBuffer pitch, FloatBuffer roll)
void	getEulerYPR(FloatPointer yaw, FloatPointer pitch, FloatPointer roll) \brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
void	getEulerZYX(float[] yaw, float[] pitch, float[] roll)
void	getEulerZYX(float[] yaw, float[] pitch, float[] roll, int solution_number)
void	getEulerZYX(FloatBuffer yaw, FloatBuffer pitch, FloatBuffer roll)
void	getEulerZYX(FloatBuffer yaw, FloatBuffer pitch, FloatBuffer roll, int solution_number)
void	getEulerZYX(FloatPointer yaw, FloatPointer pitch, FloatPointer roll)
void	getEulerZYX(FloatPointer yaw, FloatPointer pitch, FloatPointer roll, int solution_number) \brief Get the matrix represented as euler angles around ZYX
static b3Matrix3x3	getIdentity()
void	getOpenGLSubMatrix(float[] m)
void	getOpenGLSubMatrix(FloatBuffer m)
void	getOpenGLSubMatrix(FloatPointer m) \brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective
b3Matrix3x3	getPointer(long i)
void	getRotation(b3Quaternion q) \brief Get the matrix represented as a quaternion
b3Vector3	getRow(int i) \brief Get a row of the matrix as a vector
b3Matrix3x3	inverse() \brief Return the inverse of the matrix
b3Matrix3x3	multiplyPut(b3Matrix3x3 m) \brief Multiply by the target matrix on the right
b3Matrix3x3	position(long position)
b3Matrix3x3	put(b3Matrix3x3 other) \brief Assignment Operator
b3Matrix3x3	scaled(b3Vector3 s) \brief Create a scaled copy of the matrix
void	serialize(b3Matrix3x3FloatData dataOut)
void	serializeFloat(b3Matrix3x3FloatData dataOut)
void	setEulerYPR(float yaw, float pitch, float roll) \brief Set the matrix from euler angles using YPR around YXZ respectively
void	setEulerZYX(float eulerX, float eulerY, float eulerZ) \brief Set the matrix from euler angles YPR around ZYX axes
void	setFromOpenGLSubMatrix(float[] m)
void	setFromOpenGLSubMatrix(FloatBuffer m)
void	setFromOpenGLSubMatrix(FloatPointer m) \brief Set from the rotational part of a 4x4 OpenGL matrix
void	setIdentity() \brief Set the matrix to the identity
void	setRotation(b3Quaternion q) \brief Set the matrix from a quaternion
void	setValue(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz) \brief Set the values of the matrix explicitly (row major)
b3Matrix3x3	subtractPut(b3Matrix3x3 m) \brief Substractss by the target matrix on the right
float	tdotx(b3Vector3 v)
float	tdoty(b3Vector3 v)
float	tdotz(b3Vector3 v)
b3Matrix3x3	timesTranspose(b3Matrix3x3 m)
b3Matrix3x3	transpose() \brief Return the transpose of the matrix
b3Matrix3x3	transposeTimes(b3Matrix3x3 m)

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

b3Matrix3x3

public b3Matrix3x3(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

b3Matrix3x3

public b3Matrix3x3(long size)

Native array allocator. Access with Pointer.position(long).

b3Matrix3x3

public b3Matrix3x3()

\brief No initializaion constructor

b3Matrix3x3

public b3Matrix3x3(@Const @ByRef
                   b3Quaternion q)

\brief Constructor from Quaternion

b3Matrix3x3

public b3Matrix3x3(@Cast(value="const b3Scalar")
                   float xx,
                   @Cast(value="const b3Scalar")
                   float xy,
                   @Cast(value="const b3Scalar")
                   float xz,
                   @Cast(value="const b3Scalar")
                   float yx,
                   @Cast(value="const b3Scalar")
                   float yy,
                   @Cast(value="const b3Scalar")
                   float yz,
                   @Cast(value="const b3Scalar")
                   float zx,
                   @Cast(value="const b3Scalar")
                   float zy,
                   @Cast(value="const b3Scalar")
                   float zz)

\brief Constructor with row major formatting

b3Matrix3x3

public b3Matrix3x3(@Const @ByRef
                   b3Matrix3x3 other)

\brief Copy constructor

Method Detail

position

public b3Matrix3x3 position(long position)

Overrides:

position in class Pointer

getPointer

public b3Matrix3x3 getPointer(long i)

Overrides:

getPointer in class Pointer

put

@ByRef
 @Name(value="operator =")
public b3Matrix3x3 put(@Const @ByRef
                                                         b3Matrix3x3 other)

\brief Assignment Operator

getColumn

@ByVal
public b3Vector3 getColumn(int i)

\brief Get a column of the matrix as a vector

Parameters:

i - Column number 0 indexed

getRow

@Const
 @ByRef
public b3Vector3 getRow(int i)

\brief Get a row of the matrix as a vector

Parameters:

i - Row number 0 indexed

get

@ByRef
 @Name(value="operator []")
public b3Vector3 get(int i)

\brief Get a mutable reference to a row of the matrix as a vector

Parameters:

i - Row number 0 indexed

multiplyPut

@ByRef
 @Name(value="operator *=")
public b3Matrix3x3 multiplyPut(@Const @ByRef
                                                                  b3Matrix3x3 m)

\brief Multiply by the target matrix on the right

Parameters:

m - Rotation matrix to be applied Equivilant to this = this * m

addPut

@ByRef
 @Name(value="operator +=")
public b3Matrix3x3 addPut(@Const @ByRef
                                                             b3Matrix3x3 m)

\brief Adds by the target matrix on the right

Parameters:

m - matrix to be applied Equivilant to this = this + m

subtractPut

@ByRef
 @Name(value="operator -=")
public b3Matrix3x3 subtractPut(@Const @ByRef
                                                                  b3Matrix3x3 m)

\brief Substractss by the target matrix on the right

Parameters:

m - matrix to be applied Equivilant to this = this - m

setFromOpenGLSubMatrix

public void setFromOpenGLSubMatrix(@Cast(value="const b3Scalar*")
                                   FloatPointer m)

\brief Set from the rotational part of a 4x4 OpenGL matrix

Parameters:

m - A pointer to the beginning of the array of scalars

setFromOpenGLSubMatrix

public void setFromOpenGLSubMatrix(@Cast(value="const b3Scalar*")
                                   FloatBuffer m)

setFromOpenGLSubMatrix

public void setFromOpenGLSubMatrix(@Cast(value="const b3Scalar*")
                                   float[] m)

setValue

public void setValue(@Cast(value="const b3Scalar")
                     float xx,
                     @Cast(value="const b3Scalar")
                     float xy,
                     @Cast(value="const b3Scalar")
                     float xz,
                     @Cast(value="const b3Scalar")
                     float yx,
                     @Cast(value="const b3Scalar")
                     float yy,
                     @Cast(value="const b3Scalar")
                     float yz,
                     @Cast(value="const b3Scalar")
                     float zx,
                     @Cast(value="const b3Scalar")
                     float zy,
                     @Cast(value="const b3Scalar")
                     float zz)

\brief Set the values of the matrix explicitly (row major)

Parameters:

xx - Top left

xy - Top Middle

xz - Top Right

yx - Middle Left

yy - Middle Middle

yz - Middle Right

zx - Bottom Left

zy - Bottom Middle

zz - Bottom Right

setRotation

public void setRotation(@Const @ByRef
                        b3Quaternion q)

\brief Set the matrix from a quaternion

Parameters:

q - The Quaternion to match

setEulerYPR

public void setEulerYPR(@Cast(value="const b3Scalar")
                        float yaw,
                        @Cast(value="const b3Scalar")
                        float pitch,
                        @Cast(value="const b3Scalar")
                        float roll)

\brief Set the matrix from euler angles using YPR around YXZ respectively

Parameters:

yaw - Yaw about Y axis

pitch - Pitch about X axis

roll - Roll about Z axis

setEulerZYX

public void setEulerZYX(@Cast(value="b3Scalar")
                        float eulerX,
                        @Cast(value="b3Scalar")
                        float eulerY,
                        @Cast(value="b3Scalar")
                        float eulerZ)

\brief Set the matrix from euler angles YPR around ZYX axes

Parameters:

eulerX - Roll about X axis

eulerY - Pitch around Y axis

eulerZ - Yaw aboud Z axis These angles are used to produce a rotation matrix. The euler angles are applied in ZYX order. I.e a vector is first rotated about X then Y and then Z

setIdentity

public void setIdentity()

\brief Set the matrix to the identity

getIdentity

@Const
 @ByRef
public static b3Matrix3x3 getIdentity()

getOpenGLSubMatrix

public void getOpenGLSubMatrix(@Cast(value="b3Scalar*")
                               FloatPointer m)

\brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective

Parameters:

m - The array to be filled

getOpenGLSubMatrix

public void getOpenGLSubMatrix(@Cast(value="b3Scalar*")
                               FloatBuffer m)

getOpenGLSubMatrix

public void getOpenGLSubMatrix(@Cast(value="b3Scalar*")
                               float[] m)

getRotation

public void getRotation(@ByRef
                        b3Quaternion q)

\brief Get the matrix represented as a quaternion

Parameters:

q - The quaternion which will be set

getEulerYPR

public void getEulerYPR(@Cast(value="b3Scalar*") @ByRef
                        FloatPointer yaw,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatPointer pitch,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatPointer roll)

\brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR

Parameters:

yaw - Yaw around Y axis

pitch - Pitch around X axis

roll - around Z axis

getEulerYPR

public void getEulerYPR(@Cast(value="b3Scalar*") @ByRef
                        FloatBuffer yaw,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatBuffer pitch,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatBuffer roll)

getEulerYPR

public void getEulerYPR(@Cast(value="b3Scalar*") @ByRef
                        float[] yaw,
                        @Cast(value="b3Scalar*") @ByRef
                        float[] pitch,
                        @Cast(value="b3Scalar*") @ByRef
                        float[] roll)

getEulerZYX

public void getEulerZYX(@Cast(value="b3Scalar*") @ByRef
                        FloatPointer yaw,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatPointer pitch,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatPointer roll,
                        @Cast(value="unsigned int")
                        int solution_number)

\brief Get the matrix represented as euler angles around ZYX

Parameters:

yaw - Yaw around X axis

pitch - Pitch around Y axis

roll - around X axis

solution_number - Which solution of two possible solutions ( 1 or 2) are possible values

getEulerZYX

public void getEulerZYX(@Cast(value="b3Scalar*") @ByRef
                        FloatPointer yaw,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatPointer pitch,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatPointer roll)

getEulerZYX

public void getEulerZYX(@Cast(value="b3Scalar*") @ByRef
                        FloatBuffer yaw,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatBuffer pitch,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatBuffer roll,
                        @Cast(value="unsigned int")
                        int solution_number)

getEulerZYX

public void getEulerZYX(@Cast(value="b3Scalar*") @ByRef
                        FloatBuffer yaw,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatBuffer pitch,
                        @Cast(value="b3Scalar*") @ByRef
                        FloatBuffer roll)

getEulerZYX

public void getEulerZYX(@Cast(value="b3Scalar*") @ByRef
                        float[] yaw,
                        @Cast(value="b3Scalar*") @ByRef
                        float[] pitch,
                        @Cast(value="b3Scalar*") @ByRef
                        float[] roll,
                        @Cast(value="unsigned int")
                        int solution_number)

getEulerZYX

public void getEulerZYX(@Cast(value="b3Scalar*") @ByRef
                        float[] yaw,
                        @Cast(value="b3Scalar*") @ByRef
                        float[] pitch,
                        @Cast(value="b3Scalar*") @ByRef
                        float[] roll)

scaled

@ByVal
public b3Matrix3x3 scaled(@Const @ByRef
                                 b3Vector3 s)

\brief Create a scaled copy of the matrix

Parameters:

s - Scaling vector The elements of the vector will scale each column

determinant

@Cast(value="b3Scalar")
public float determinant()

\brief Return the determinant of the matrix

adjoint

@ByVal
public b3Matrix3x3 adjoint()

\brief Return the adjoint of the matrix

absolute

@ByVal
public b3Matrix3x3 absolute()

\brief Return the matrix with all values non negative

transpose

@ByVal
public b3Matrix3x3 transpose()

\brief Return the transpose of the matrix

inverse

@ByVal
public b3Matrix3x3 inverse()

\brief Return the inverse of the matrix

transposeTimes

@ByVal
public b3Matrix3x3 transposeTimes(@Const @ByRef
                                         b3Matrix3x3 m)

timesTranspose

@ByVal
public b3Matrix3x3 timesTranspose(@Const @ByRef
                                         b3Matrix3x3 m)

tdotx

@Cast(value="b3Scalar")
public float tdotx(@Const @ByRef
                                           b3Vector3 v)

tdoty

@Cast(value="b3Scalar")
public float tdoty(@Const @ByRef
                                           b3Vector3 v)

tdotz

@Cast(value="b3Scalar")
public float tdotz(@Const @ByRef
                                           b3Vector3 v)

diagonalize

public void diagonalize(@ByRef
                        b3Matrix3x3 rot,
                        @Cast(value="b3Scalar")
                        float threshold,
                        int maxSteps)

\brief diagonalizes this matrix by the Jacobi method.

Parameters:

rot - stores the rotation from the coordinate system in which the matrix is diagonal to the original coordinate system, i.e., old_this = rot * new_this * rot^T.

threshold - See iteration

iteration - The iteration stops when all off-diagonal elements are less than the threshold multiplied by the sum of the absolute values of the diagonal, or when maxSteps have been executed. Note that this matrix is assumed to be symmetric.

cofac

@Cast(value="b3Scalar")
public float cofac(int r1,
                                           int c1,
                                           int r2,
                                           int c2)

\brief Calculate the matrix cofactor

Parameters:

r1 - The first row to use for calculating the cofactor

c1 - The first column to use for calculating the cofactor

r1 - The second row to use for calculating the cofactor

c1 - The second column to use for calculating the cofactor See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details

serialize

public void serialize(@ByRef
                      b3Matrix3x3FloatData dataOut)

serializeFloat

public void serializeFloat(@ByRef
                           b3Matrix3x3FloatData dataOut)

deSerialize

public void deSerialize(@Const @ByRef
                        b3Matrix3x3FloatData dataIn)

deSerializeFloat

public void deSerializeFloat(@Const @ByRef
                             b3Matrix3x3FloatData dataIn)

deSerializeDouble

public void deSerializeDouble(@Const @ByRef
                              b3Matrix3x3DoubleData dataIn)