org.jbox2d.common
Class Mat22

java.lang.Object
  org.jbox2d.common.Mat22

All Implemented Interfaces:

Serializable

public class Mat22
extends Object
implements Serializable

A 2-by-2 matrix. Stored in column-major order.

See Also:

Serialized Form

Field Summary

Vec2	ex
Vec2	ey

Constructor Summary

Mat22()
Construct zero matrix.

Mat22(float exx, float col2x, float exy, float col2y)
Create a matrix from four floats.

Mat22(Vec2 c1, Vec2 c2)
Create a matrix with given vectors as columns.

Method Summary

Mat22	abs() Return the matrix composed of the absolute values of all elements.
static Mat22	abs(Mat22 R) Return the matrix composed of the absolute values of all elements.
void	absLocal()
static void	absToOut(Mat22 R, Mat22 out)
Mat22	add(Mat22 B) Add this matrix to B, return the result.
Mat22	addLocal(Mat22 B) Add B to this matrix locally.
Mat22	clone() Return a clone of this matrix.
static Mat22	createRotationalTransform(float angle)
static void	createRotationalTransform(float angle, Mat22 out)
static Mat22	createScaleTransform(float scale)
static void	createScaleTransform(float scale, Mat22 out)
boolean	equals(Object obj)
float	getAngle() Extract the angle from this matrix (assumed to be a rotation matrix).
int	hashCode()
Mat22	invert() Returns the inverted Mat22 - does NOT invert the matrix locally!
Mat22	invertLocal()
void	invertToOut(Mat22 out)
Mat22	mul(Mat22 R) Multiply another matrix by this one (this one on left).
static Mat22	mul(Mat22 A, Mat22 B)
static Vec2	mul(Mat22 R, Vec2 v)
Vec2	mul(Vec2 v) Multiply a vector by this matrix.
Mat22	mulLocal(Mat22 R)
void	mulToOut(Mat22 R, Mat22 out)
static void	mulToOut(Mat22 A, Mat22 B, Mat22 out)
static void	mulToOut(Mat22 R, Vec2 v, Vec2 out)
void	mulToOut(Vec2 v, Vec2 out)
void	mulToOutUnsafe(Mat22 R, Mat22 out)
static void	mulToOutUnsafe(Mat22 A, Mat22 B, Mat22 out)
static void	mulToOutUnsafe(Mat22 R, Vec2 v, Vec2 out)
void	mulToOutUnsafe(Vec2 v, Vec2 out)
Mat22	mulTrans(Mat22 B) Multiply another matrix by the transpose of this one (transpose of this one on left).
static Mat22	mulTrans(Mat22 A, Mat22 B)
static Vec2	mulTrans(Mat22 R, Vec2 v)
Vec2	mulTrans(Vec2 v) Multiply a vector by the transpose of this matrix.
Mat22	mulTransLocal(Mat22 B)
void	mulTransToOut(Mat22 B, Mat22 out)
static void	mulTransToOut(Mat22 A, Mat22 B, Mat22 out)
static void	mulTransToOut(Mat22 R, Vec2 v, Vec2 out)
void	mulTransToOut(Vec2 v, Vec2 out)
void	mulTransToOutUnsafe(Mat22 B, Mat22 out)
static void	mulTransToOutUnsafe(Mat22 A, Mat22 B, Mat22 out)
static void	mulTransToOutUnsafe(Mat22 R, Vec2 v, Vec2 out)
void	set(float angle) Set as a matrix representing a rotation.
Mat22	set(float exx, float col2x, float exy, float col2y)
Mat22	set(Mat22 m) Set as a copy of another matrix.
void	set(Vec2 c1, Vec2 c2) Set by column vectors.
void	setIdentity() Set as the identity matrix.
void	setZero() Set as the zero matrix.
Vec2	solve(Vec2 b) Solve A * x = b where A = this matrix.
void	solveToOut(Vec2 b, Vec2 out)
String	toString() Convert the matrix to printable format.

Methods inherited from class java.lang.Object

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

Field Detail

ex

public final Vec2 ex

ey

public final Vec2 ey

Constructor Detail

Mat22

public Mat22()

Construct zero matrix. Note: this is NOT an identity matrix! djm fixed double allocation problem

Mat22

public Mat22(Vec2 c1,
             Vec2 c2)

Create a matrix with given vectors as columns.

Parameters:

c1 - Column 1 of matrix

c2 - Column 2 of matrix

Mat22

public Mat22(float exx,
             float col2x,
             float exy,
             float col2y)

Create a matrix from four floats.

Parameters:

exx -

col2x -

exy -

col2y -

Method Detail

toString

public String toString()

Convert the matrix to printable format.

Overrides:

toString in class Object

set

public final Mat22 set(Mat22 m)

Set as a copy of another matrix.

Parameters:

m - Matrix to copy

set

public final Mat22 set(float exx,
                       float col2x,
                       float exy,
                       float col2y)

clone

public final Mat22 clone()

Return a clone of this matrix. djm fixed double allocation

Overrides:

clone in class Object

set

public final void set(float angle)

Set as a matrix representing a rotation.

Parameters:

angle - Rotation (in radians) that matrix represents.

setIdentity

public final void setIdentity()

Set as the identity matrix.

setZero

public final void setZero()

Set as the zero matrix.

getAngle

public final float getAngle()

Extract the angle from this matrix (assumed to be a rotation matrix).

Returns:

set

public final void set(Vec2 c1,
                      Vec2 c2)

Set by column vectors.

Parameters:

c1 - Column 1

c2 - Column 2

invert

public final Mat22 invert()

Returns the inverted Mat22 - does NOT invert the matrix locally!

invertLocal

public final Mat22 invertLocal()

invertToOut

public final void invertToOut(Mat22 out)

abs

public final Mat22 abs()

Return the matrix composed of the absolute values of all elements. djm: fixed double allocation

Returns:

Absolute value matrix

absLocal

public final void absLocal()

abs

public static final Mat22 abs(Mat22 R)

Return the matrix composed of the absolute values of all elements.

Returns:

Absolute value matrix

absToOut

public static void absToOut(Mat22 R,
                            Mat22 out)

mul

public final Vec2 mul(Vec2 v)

Multiply a vector by this matrix.

Parameters:

v - Vector to multiply by matrix.

Returns:

Resulting vector

mulToOut

public final void mulToOut(Vec2 v,
                           Vec2 out)

mulToOutUnsafe

public final void mulToOutUnsafe(Vec2 v,
                                 Vec2 out)

mul

public final Mat22 mul(Mat22 R)

Multiply another matrix by this one (this one on left). djm optimized

Parameters:

R -

Returns:

mulLocal

public final Mat22 mulLocal(Mat22 R)

mulToOut

public final void mulToOut(Mat22 R,
                           Mat22 out)

mulToOutUnsafe

public final void mulToOutUnsafe(Mat22 R,
                                 Mat22 out)

mulTrans

public final Mat22 mulTrans(Mat22 B)

Multiply another matrix by the transpose of this one (transpose of this one on left). djm: optimized

Parameters:

B -

Returns:

mulTransLocal

public final Mat22 mulTransLocal(Mat22 B)

mulTransToOut

public final void mulTransToOut(Mat22 B,
                                Mat22 out)

mulTransToOutUnsafe

public final void mulTransToOutUnsafe(Mat22 B,
                                      Mat22 out)

mulTrans

public final Vec2 mulTrans(Vec2 v)

Multiply a vector by the transpose of this matrix.

Parameters:

v -

Returns:

mulTransToOut

public final void mulTransToOut(Vec2 v,
                                Vec2 out)

add

public final Mat22 add(Mat22 B)

Add this matrix to B, return the result.

Parameters:

B -

Returns:

addLocal

public final Mat22 addLocal(Mat22 B)

Add B to this matrix locally.

Parameters:

B -

Returns:

solve

public final Vec2 solve(Vec2 b)

Solve A * x = b where A = this matrix.

Returns:

The vector x that solves the above equation.

solveToOut

public final void solveToOut(Vec2 b,
                             Vec2 out)

mul

public static final Vec2 mul(Mat22 R,
                             Vec2 v)

mulToOut

public static final void mulToOut(Mat22 R,
                                  Vec2 v,
                                  Vec2 out)

mulToOutUnsafe

public static final void mulToOutUnsafe(Mat22 R,
                                        Vec2 v,
                                        Vec2 out)

mul

public static final Mat22 mul(Mat22 A,
                              Mat22 B)

mulToOut

public static final void mulToOut(Mat22 A,
                                  Mat22 B,
                                  Mat22 out)

mulToOutUnsafe

public static final void mulToOutUnsafe(Mat22 A,
                                        Mat22 B,
                                        Mat22 out)

mulTrans

public static final Vec2 mulTrans(Mat22 R,
                                  Vec2 v)

mulTransToOut

public static final void mulTransToOut(Mat22 R,
                                       Vec2 v,
                                       Vec2 out)

mulTransToOutUnsafe

public static final void mulTransToOutUnsafe(Mat22 R,
                                             Vec2 v,
                                             Vec2 out)

mulTrans

public static final Mat22 mulTrans(Mat22 A,
                                   Mat22 B)

mulTransToOut

public static final void mulTransToOut(Mat22 A,
                                       Mat22 B,
                                       Mat22 out)

mulTransToOutUnsafe

public static final void mulTransToOutUnsafe(Mat22 A,
                                             Mat22 B,
                                             Mat22 out)

createRotationalTransform

public static final Mat22 createRotationalTransform(float angle)

createRotationalTransform

public static final void createRotationalTransform(float angle,
                                                   Mat22 out)

createScaleTransform

public static final Mat22 createScaleTransform(float scale)

createScaleTransform

public static final void createScaleTransform(float scale,
                                              Mat22 out)

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object