org.bytedeco.bullet.LinearMath

Class btMatrix3x3

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.LinearMath.btMatrix3x3

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=LinearMath.class)
public class btMatrix3x3
extends Pointer

\brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. 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
btMatrix3x3() \brief No initializaion constructor
btMatrix3x3(btMatrix3x3 other) \brief Copy constructor
btMatrix3x3(btQuaternion q) \brief Constructor from Quaternion
btMatrix3x3(btVector3 v0, btVector3 v1, btVector3 v2)
btMatrix3x3(double xx, double xy, double xz, double yx, double yy, double yz, double zx, double zy, double zz) \brief Constructor with row major formatting
btMatrix3x3(long size) Native array allocator.
btMatrix3x3(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
btMatrix3x3	absolute() \brief Return the matrix with all values non negative
btMatrix3x3	addPut(btMatrix3x3 m) \brief Adds by the target matrix on the right
btMatrix3x3	adjoint() \brief Return the adjoint of the matrix
double	cofac(int r1, int c1, int r2, int c2) \brief Calculate the matrix cofactor
void	deSerialize(btMatrix3x3DoubleData dataIn)
void	deSerializeDouble(btMatrix3x3DoubleData dataIn)
void	deSerializeFloat(btMatrix3x3FloatData dataIn)
double	determinant() \brief Return the determinant of the matrix
void	diagonalize(btMatrix3x3 rot, double threshold, int maxSteps) \brief diagonalizes this matrix by the Jacobi method.
void	extractRotation(btQuaternion q)
void	extractRotation(btQuaternion q, double tolerance, int maxIter) extractRotation is from "A robust method to extract the rotational part of deformations" See http://dl.acm.org/citation.cfm?doid=2994258.2994269 decomposes a matrix A in a orthogonal matrix R and a symmetric matrix S: A = R*S.
btVector3	get(int i) \brief Get a mutable reference to a row of the matrix as a vector
btVector3	getColumn(int i) \brief Get a column of the matrix as a vector
void	getEulerYPR(double[] yaw, double[] pitch, double[] roll)
void	getEulerYPR(DoubleBuffer yaw, DoubleBuffer pitch, DoubleBuffer roll)
void	getEulerYPR(DoublePointer yaw, DoublePointer pitch, DoublePointer roll) \brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
void	getEulerZYX(double[] yaw, double[] pitch, double[] roll)
void	getEulerZYX(double[] yaw, double[] pitch, double[] roll, int solution_number)
void	getEulerZYX(DoubleBuffer yaw, DoubleBuffer pitch, DoubleBuffer roll)
void	getEulerZYX(DoubleBuffer yaw, DoubleBuffer pitch, DoubleBuffer roll, int solution_number)
void	getEulerZYX(DoublePointer yaw, DoublePointer pitch, DoublePointer roll)
void	getEulerZYX(DoublePointer yaw, DoublePointer pitch, DoublePointer roll, int solution_number) \brief Get the matrix represented as euler angles around ZYX
static btMatrix3x3	getIdentity()
void	getOpenGLSubMatrix(double[] m)
void	getOpenGLSubMatrix(DoubleBuffer m)
void	getOpenGLSubMatrix(DoublePointer m) \brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective
btMatrix3x3	getPointer(long i)
void	getRotation(btQuaternion q) \brief Get the matrix represented as a quaternion
btVector3	getRow(int i) \brief Get a row of the matrix as a vector
btMatrix3x3	inverse() \brief Return the inverse of the matrix
btMatrix3x3	multiplyPut(btMatrix3x3 m) \brief Multiply by the target matrix on the right
btMatrix3x3	position(long position)
btMatrix3x3	put(btMatrix3x3 other) \brief Assignment Operator
btMatrix3x3	scaled(btVector3 s) \brief Create a scaled copy of the matrix
void	serialize(btMatrix3x3DoubleData dataOut)
void	serializeFloat(btMatrix3x3FloatData dataOut)
void	setEulerYPR(double yaw, double pitch, double roll) \brief Set the matrix from euler angles using YPR around YXZ respectively
void	setEulerZYX(double eulerX, double eulerY, double eulerZ) \brief Set the matrix from euler angles YPR around ZYX axes
void	setFromOpenGLSubMatrix(double[] m)
void	setFromOpenGLSubMatrix(DoubleBuffer m)
void	setFromOpenGLSubMatrix(DoublePointer m) \brief Set from the rotational part of a 4x4 OpenGL matrix
void	setIdentity() \brief Set the matrix to the identity
void	setRotation(btQuaternion q) \brief Set the matrix from a quaternion
void	setValue(double xx, double xy, double xz, double yx, double yy, double yz, double zx, double zy, double zz) \brief Set the values of the matrix explicitly (row major)
void	setZero() \brief Set the matrix to the identity
btVector3	solve33(btVector3 b) Solve A * x = b, where b is a column vector.
btMatrix3x3	subtractPut(btMatrix3x3 m) \brief Substractss by the target matrix on the right
double	tdotx(btVector3 v)
double	tdoty(btVector3 v)
double	tdotz(btVector3 v)
btMatrix3x3	timesTranspose(btMatrix3x3 m)
btMatrix3x3	transpose() \brief Return the transpose of the matrix
btMatrix3x3	transposeTimes(btMatrix3x3 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

btMatrix3x3

public btMatrix3x3(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btMatrix3x3

public btMatrix3x3(long size)

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

btMatrix3x3

public btMatrix3x3()

\brief No initializaion constructor

btMatrix3x3

public btMatrix3x3(@Const @ByRef
                   btQuaternion q)

\brief Constructor from Quaternion

btMatrix3x3

public btMatrix3x3(@Cast(value="const btScalar")
                   double xx,
                   @Cast(value="const btScalar")
                   double xy,
                   @Cast(value="const btScalar")
                   double xz,
                   @Cast(value="const btScalar")
                   double yx,
                   @Cast(value="const btScalar")
                   double yy,
                   @Cast(value="const btScalar")
                   double yz,
                   @Cast(value="const btScalar")
                   double zx,
                   @Cast(value="const btScalar")
                   double zy,
                   @Cast(value="const btScalar")
                   double zz)

\brief Constructor with row major formatting

btMatrix3x3

public btMatrix3x3(@Const @ByRef
                   btMatrix3x3 other)

\brief Copy constructor

btMatrix3x3

public btMatrix3x3(@Const @ByRef
                   btVector3 v0,
                   @Const @ByRef
                   btVector3 v1,
                   @Const @ByRef
                   btVector3 v2)

Method Detail

position

public btMatrix3x3 position(long position)

Overrides:

position in class Pointer

getPointer

public btMatrix3x3 getPointer(long i)

Overrides:

getPointer in class Pointer

put

@ByRef
 @Name(value="operator =")
public btMatrix3x3 put(@Const @ByRef
                                                         btMatrix3x3 other)

\brief Assignment Operator

getColumn

@ByVal
public btVector3 getColumn(int i)

\brief Get a column of the matrix as a vector

Parameters:

i - Column number 0 indexed

getRow

@Const
 @ByRef
public btVector3 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 btVector3 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 btMatrix3x3 multiplyPut(@Const @ByRef
                                                                  btMatrix3x3 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 btMatrix3x3 addPut(@Const @ByRef
                                                             btMatrix3x3 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 btMatrix3x3 subtractPut(@Const @ByRef
                                                                  btMatrix3x3 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 btScalar*")
                                   DoublePointer 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 btScalar*")
                                   DoubleBuffer m)

setFromOpenGLSubMatrix

public void setFromOpenGLSubMatrix(@Cast(value="const btScalar*")
                                   double[] m)

setValue

public void setValue(@Cast(value="const btScalar")
                     double xx,
                     @Cast(value="const btScalar")
                     double xy,
                     @Cast(value="const btScalar")
                     double xz,
                     @Cast(value="const btScalar")
                     double yx,
                     @Cast(value="const btScalar")
                     double yy,
                     @Cast(value="const btScalar")
                     double yz,
                     @Cast(value="const btScalar")
                     double zx,
                     @Cast(value="const btScalar")
                     double zy,
                     @Cast(value="const btScalar")
                     double 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
                        btQuaternion q)

\brief Set the matrix from a quaternion

Parameters:

q - The Quaternion to match

setEulerYPR

public void setEulerYPR(@Cast(value="const btScalar")
                        double yaw,
                        @Cast(value="const btScalar")
                        double pitch,
                        @Cast(value="const btScalar")
                        double 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="btScalar")
                        double eulerX,
                        @Cast(value="btScalar")
                        double eulerY,
                        @Cast(value="btScalar")
                        double 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 about 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

setZero

public void setZero()

\brief Set the matrix to the identity

getIdentity

@Const
 @ByRef
public static btMatrix3x3 getIdentity()

getOpenGLSubMatrix

public void getOpenGLSubMatrix(@Cast(value="btScalar*")
                               DoublePointer 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="btScalar*")
                               DoubleBuffer m)

getOpenGLSubMatrix

public void getOpenGLSubMatrix(@Cast(value="btScalar*")
                               double[] m)

getRotation

public void getRotation(@ByRef
                        btQuaternion q)

\brief Get the matrix represented as a quaternion

Parameters:

q - The quaternion which will be set

getEulerYPR

public void getEulerYPR(@Cast(value="btScalar*") @ByRef
                        DoublePointer yaw,
                        @Cast(value="btScalar*") @ByRef
                        DoublePointer pitch,
                        @Cast(value="btScalar*") @ByRef
                        DoublePointer 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="btScalar*") @ByRef
                        DoubleBuffer yaw,
                        @Cast(value="btScalar*") @ByRef
                        DoubleBuffer pitch,
                        @Cast(value="btScalar*") @ByRef
                        DoubleBuffer roll)

getEulerYPR

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

getEulerZYX

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

\brief Get the matrix represented as euler angles around ZYX

Parameters:

yaw - Yaw around Z 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="btScalar*") @ByRef
                        DoublePointer yaw,
                        @Cast(value="btScalar*") @ByRef
                        DoublePointer pitch,
                        @Cast(value="btScalar*") @ByRef
                        DoublePointer roll)

getEulerZYX

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

getEulerZYX

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

getEulerZYX

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

getEulerZYX

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

scaled

@ByVal
public btMatrix3x3 scaled(@Const @ByRef
                                 btVector3 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="btScalar")
public double determinant()

\brief Return the determinant of the matrix

adjoint

@ByVal
public btMatrix3x3 adjoint()

\brief Return the adjoint of the matrix

absolute

@ByVal
public btMatrix3x3 absolute()

\brief Return the matrix with all values non negative

transpose

@ByVal
public btMatrix3x3 transpose()

\brief Return the transpose of the matrix

inverse

@ByVal
public btMatrix3x3 inverse()

\brief Return the inverse of the matrix

solve33

@ByVal
public btVector3 solve33(@Const @ByRef
                                btVector3 b)

Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse in one-shot cases. Solve33 is from Box2d, thanks to Erin Catto,

transposeTimes

@ByVal
public btMatrix3x3 transposeTimes(@Const @ByRef
                                         btMatrix3x3 m)

timesTranspose

@ByVal
public btMatrix3x3 timesTranspose(@Const @ByRef
                                         btMatrix3x3 m)

tdotx

@Cast(value="btScalar")
public double tdotx(@Const @ByRef
                                            btVector3 v)

tdoty

@Cast(value="btScalar")
public double tdoty(@Const @ByRef
                                            btVector3 v)

tdotz

@Cast(value="btScalar")
public double tdotz(@Const @ByRef
                                            btVector3 v)

extractRotation

public void extractRotation(@ByRef
                            btQuaternion q,
                            @Cast(value="btScalar")
                            double tolerance,
                            int maxIter)

extractRotation is from "A robust method to extract the rotational part of deformations" See http://dl.acm.org/citation.cfm?doid=2994258.2994269 decomposes a matrix A in a orthogonal matrix R and a symmetric matrix S: A = R*S. note that R can include both rotation and scaling.

extractRotation

public void extractRotation(@ByRef
                            btQuaternion q)

diagonalize

public void diagonalize(@ByRef
                        btMatrix3x3 rot,
                        @Cast(value="btScalar")
                        double 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="btScalar")
public double 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
                      btMatrix3x3DoubleData dataOut)

serializeFloat

public void serializeFloat(@ByRef
                           btMatrix3x3FloatData dataOut)

deSerialize

public void deSerialize(@Const @ByRef
                        btMatrix3x3DoubleData dataIn)

deSerializeFloat

public void deSerializeFloat(@Const @ByRef
                             btMatrix3x3FloatData dataIn)

deSerializeDouble

public void deSerializeDouble(@Const @ByRef
                              btMatrix3x3DoubleData dataIn)