Android Open Source - android-augment-reality-framework Matrix

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The source code is released under:

GNU General Public License

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/*
 * Copyright (C) 2010- Peer internet solutions
 * /*  ww w  . j ava  2  s  .  co m*/
 * This file was an original part of mixare.
 * 
 * This program is free software: you can redistribute it and/or modify it 
 * under the terms of the GNU General Public License as published by 
 * the Free Software Foundation, either version 3 of the License, or 
 * (at your option) any later version. 
 * 
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS 
 * FOR A PARTICULAR PURPOSE. See the GNU General Public License 
 * for more details. 
 * 
 * You should have received a copy of the GNU General Public License along with 
 * this program. If not, see <http://www.gnu.org/licenses/>
 */
package com.jwetherell.augmented_reality.common;

/**
 * A Matrix representation which adds many of the mathematical operations
 * involved in Matrices.
 * 
 * This file was adapted from Mixare <http://www.mixare.org/>
 * 
 * @author Daniele Gobbetti <info@mixare.org>
 * @author Justin Wetherell <phishman3579@gmail.com>
 */
public class Matrix {

    private static final Vector worldUp = new Vector(0, 1, 0);
    private static final Vector dir = new Vector();
    private static final Vector right = new Vector();
    private static final Vector up = new Vector();
    private static final Matrix tmp = new Matrix();

    private static final float[] dirArray = new float[3];
    private static final float[] rightArray = new float[3];
    private static final float[] upArray = new float[3];

    private float a1 = 0f, a2 = 0f, a3 = 0f;
    private float b1 = 0f, b2 = 0f, b3 = 0f;
    private float c1 = 0f, c2 = 0f, c3 = 0f;

    public Matrix() { }

    public Matrix(Matrix m) {
        if (m == null) throw new NullPointerException();

        set(m.a1, m.a2, m.a3, m.b1, m.b2, m.b3, m.c1, m.c2, m.c3);
    }

    public float getA1() {
        return a1;
    }

    public void setA1(float a1) {
        this.a1 = a1;
    }

    public float getA2() {
        return a2;
    }

    public void setA2(float a2) {
        this.a2 = a2;
    }

    public float getA3() {
        return a3;
    }

    public void setA3(float a3) {
        this.a3 = a3;
    }

    public float getB1() {
        return b1;
    }

    public void setB1(float b1) {
        this.b1 = b1;
    }

    public float getB2() {
        return b2;
    }

    public void setB2(float b2) {
        this.b2 = b2;
    }

    public float getB3() {
        return b3;
    }

    public void setB3(float b3) {
        this.b3 = b3;
    }

    public float getC1() {
        return c1;
    }

    public void setC1(float c1) {
        this.c1 = c1;
    }

    public float getC2() {
        return c2;
    }

    public void setC2(float c2) {
        this.c2 = c2;
    }

    public float getC3() {
        return c3;
    }

    public void setC3(float c3) {
        this.c3 = c3;
    }

    /**
     * Get the Matrix values.
     * 
     * array[0] = a1 array[1] = a2 array[2] = a3 array[3] = b1 array[4] = b2
     * array[5] = b3 array[6] = c1 array[7] = c2 array[8] = c3
     * 
     * @param array
     *            float[] array of size containing the matrix data.
     */
    public void get(float[] array) {
        if (array == null || array.length != 9) throw new IllegalArgumentException("get() array must be non-NULL and size of 9");

        array[0] = this.a1;
        array[1] = this.a2;
        array[2] = this.a3;

        array[3] = this.b1;
        array[4] = this.b2;
        array[5] = this.b3;

        array[6] = this.c1;
        array[7] = this.c2;
        array[8] = this.c3;
    }

    /**
     * Set the Matrix from a given Matrix.
     * 
     * @param m
     *            Matrix to use values from.
     */
    public void set(Matrix m) {
        if (m == null) throw new NullPointerException();

        // on set()
        set(m.a1, m.a2, m.a3, m.b1, m.b2, m.b3, m.c1, m.c2, m.c3);
    }

    /**
     * Set the Matrix values.
     * 
     * array[0] = a1 array[1] = a2 array[2] = a3 array[3] = b1 array[4] = b2
     * array[5] = b3 array[6] = c1 array[7] = c2 array[8] = c3
     * 
     * @param array
     *            float[] array of size containing the matrix data.
     */
    public void set(float[] array) {
        if (array == null || array.length != 9) throw new IllegalArgumentException("get() array must be non-NULL and size of 9");

        // on set()
        set(array[0], array[1], array[2], array[3], array[4], array[5], array[6], array[7], array[8]);
    }

    public void toIdentity() {
        // on set()
        set(1, 0, 0, 
            0, 1, 0, 
            0, 0, 1);
    }

    public void toXRot(float angleX) {
        // on set()
        set(1f, 0f, 0f, 0f, (float) Math.cos(angleX), (float) -Math.sin(angleX), 0f, (float) Math.sin(angleX), (float) Math.cos(angleX));
    }

    public void toYRot(float angleY) {
        // on set()
        set((float) Math.cos(angleY), 0f, (float) Math.sin(angleY), 0f, 1f, 0f, (float) -Math.sin(angleY), 0f, (float) Math.cos(angleY));
    }

    public void toZRot(float angleZ) {
        // on set()
        set((float) Math.cos(angleZ), (float) -Math.sin(angleZ), 0f, (float) Math.sin(angleZ), (float) Math.cos(angleZ), 0f, 0f, 0f, 1f);
    }

    public void toScale(float scale) {
        // on set()
        set(scale, 0,     0, 
            0,     scale, 0, 
            0,     0,     scale);
    }

    public void toAt(Vector cam, Vector obj) {
        if (cam == null || obj == null) throw new NullPointerException();

        dir.set(0, 0, 0);
        dir.set(obj);
        dir.sub(cam);
        dir.mult(-1f);
        dir.norm();
        dir.get(dirArray);

        right.set(0, 0, 0);
        right.cross(worldUp, dir);
        right.norm();
        right.get(rightArray);

        up.set(0, 0, 0);
        up.cross(dir, right);
        up.norm();
        up.get(upArray);

        // on set()
        set(rightArray[0], rightArray[1], rightArray[2], 
            upArray[0],    upArray[1],    upArray[2], 
            dirArray[0],   dirArray[1],   dirArray[2]);
    }

    /**
     * Set the Matrix values.
     * 
     * @param a1
     *            float representing the top row left value.
     * @param a2
     *            float representing the top row middle value.
     * @param a3
     *            float representing the top row right value.
     * @param b1
     *            float representing the middle row left value.
     * @param b2
     *            float representing the middle row left value.
     * @param b3
     *            float representing the middle row left value.
     * @param c1
     *            float representing the bottom row left value.
     * @param c2
     *            float representing the bottom row left value.
     * @param c3
     *            float representing the bottom row left value.
     */
    public void set(float a1, float a2, float a3, float b1, float b2, float b3, float c1, float c2, float c3) {
        this.a1 = a1;
        this.a2 = a2;
        this.a3 = a3;

        this.b1 = b1;
        this.b2 = b2;
        this.b3 = b3;

        this.c1 = c1;
        this.c2 = c2;
        this.c3 = c3;
    }

    public void invert() {
        float det = this.det();
        // on adj()
        adj();
        // on mult()
        mult(1 / det);
    }

    public void adj() {
        float a11 = this.a1;
        float a12 = this.a2;
        float a13 = this.a3;

        float a21 = this.b1;
        float a22 = this.b2;
        float a23 = this.b3;

        float a31 = this.c1;
        float a32 = this.c2;
        float a33 = this.c3;

        this.a1 = det2x2(a22, a23, a32, a33);
        this.a2 = det2x2(a13, a12, a33, a32);
        this.a3 = det2x2(a12, a13, a22, a23);

        this.b1 = det2x2(a23, a21, a33, a31);
        this.b2 = det2x2(a11, a13, a31, a33);
        this.b3 = det2x2(a13, a11, a23, a21);

        this.c1 = det2x2(a21, a22, a31, a32);
        this.c2 = det2x2(a12, a11, a32, a31);
        this.c3 = det2x2(a11, a12, a21, a22);
    }

    private float det2x2(float a, float b, float c, float d) {
        return (a * d) - (b * c);
    }

    public void mult(float c) {
        this.a1 = this.a1 * c;
        this.a2 = this.a2 * c;
        this.a3 = this.a3 * c;

        this.b1 = this.b1 * c;
        this.b2 = this.b2 * c;
        this.b3 = this.b3 * c;

        this.c1 = this.c1 * c;
        this.c2 = this.c2 * c;
        this.c3 = this.c3 * c;
    }

    public void transpose() {
        float a11 = this.a1;
        float a12 = this.a2;
        float a13 = this.a3;

        float a21 = this.b1;
        float a22 = this.b2;
        float a23 = this.b3;

        float a31 = this.c1;
        float a32 = this.c2;
        float a33 = this.c3;

        this.b1 = a12;
        this.a2 = a21;
        this.b3 = a32;
        this.c2 = a23;
        this.c1 = a13;
        this.a3 = a31;

        this.a1 = a11;
        this.b2 = a22;
        this.c3 = a33;
    }

    public float det() {
        return (this.a1 * this.b2 * this.c3) - (this.a1 * this.b3 * this.c2) - (this.a2 * this.b1 * this.c3) + (this.a2 * this.b3 * this.c1)
                + (this.a3 * this.b1 * this.c2) - (this.a3 * this.b2 * this.c1);
    }

    public void add(Matrix n) {
        if (n == null) throw new NullPointerException();

        this.a1 += n.a1;
        this.a2 += n.a2;
        this.a3 += n.a3;

        this.b1 += n.b1;
        this.b2 += n.b2;
        this.b3 += n.b3;

        this.c1 += n.c1;
        this.c2 += n.c2;
        this.c3 += n.c3;
    }

    public void prod(Matrix n) {
        if (n == null) throw new NullPointerException();

        tmp.set(this);
        this.a1 = (tmp.a1 * n.a1) + (tmp.a2 * n.b1) + (tmp.a3 * n.c1);
        this.a2 = (tmp.a1 * n.a2) + (tmp.a2 * n.b2) + (tmp.a3 * n.c2);
        this.a3 = (tmp.a1 * n.a3) + (tmp.a2 * n.b3) + (tmp.a3 * n.c3);

        this.b1 = (tmp.b1 * n.a1) + (tmp.b2 * n.b1) + (tmp.b3 * n.c1);
        this.b2 = (tmp.b1 * n.a2) + (tmp.b2 * n.b2) + (tmp.b3 * n.c2);
        this.b3 = (tmp.b1 * n.a3) + (tmp.b2 * n.b3) + (tmp.b3 * n.c3);

        this.c1 = (tmp.c1 * n.a1) + (tmp.c2 * n.b1) + (tmp.c3 * n.c1);
        this.c2 = (tmp.c1 * n.a2) + (tmp.c2 * n.b2) + (tmp.c3 * n.c2);
        this.c3 = (tmp.c1 * n.a3) + (tmp.c2 * n.b3) + (tmp.c3 * n.c3);
    }

    public boolean equals(Matrix n) {
        if (n == null) return false;

        if (this.a1 != n.a1)
            return false;
        if (this.a2 != n.a2)
            return false;
        if (this.a3 != n.a3)
            return false;

        if (this.b1 != n.b1)
            return false;
        if (this.b2 != n.b2)
            return false;
        if (this.b3 != n.b3)
            return false;

        if (this.c1 != n.c1)
            return false;
        if (this.c2 != n.c2)
            return false;
        if (this.c3 != n.c3)
            return false;

        return true;
    }

    /**
     * {@inheritDoc}
     */
    @Override
    public String toString() {
        return "[ (" + this.a1 + "," + this.a2 + "," + this.a3 + ")" + " (" + this.b1 + "," + this.b2 + "," + this.b3 + ")" + " (" + this.c1 + "," + this.c2
                + "," + this.c3 + ") ]";
    }
}

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