org.jbox2d.common
Class Mat33

java.lang.Object
  org.jbox2d.common.Mat33

All Implemented Interfaces:

Serializable

public class Mat33
extends Object
implements Serializable

A 3-by-3 matrix. Stored in column-major order.

Author:

Daniel Murphy

See Also:

Serialized Form

Field Summary

Vec3	ex
Vec3	ey
Vec3	ez
static Mat33	IDENTITY

Constructor Summary

Mat33()

Mat33(Vec3 argCol1, Vec3 argCol2, Vec3 argCol3)

Method Summary

boolean	equals(Object obj)
void	getInverse22(Mat33 M)
void	getSymInverse33(Mat33 M)
int	hashCode()
static Vec3	mul(Mat33 A, Vec3 v)
static Vec2	mul22(Mat33 A, Vec2 v)
static void	mul22ToOut(Mat33 A, Vec2 v, Vec2 out)
static void	mul22ToOutUnsafe(Mat33 A, Vec2 v, Vec2 out)
static void	mulToOut(Mat33 A, Vec3 v, Vec3 out)
static void	mulToOutUnsafe(Mat33 A, Vec3 v, Vec3 out)
void	setZero()
Vec2	solve22(Vec2 b) Solve A * x = b, where b is a column vector.
void	solve22ToOut(Vec2 b, Vec2 out) Solve A * x = b, where b is a column vector.
Vec3	solve33(Vec3 b) Solve A * x = b, where b is a column vector.
void	solve33ToOut(Vec3 b, Vec3 out) Solve A * x = b, where b is a column vector.

Methods inherited from class java.lang.Object

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

Field Detail

IDENTITY

public static final Mat33 IDENTITY

ex

public final Vec3 ex

ey

public final Vec3 ey

ez

public final Vec3 ez

Constructor Detail

Mat33

public Mat33()

Mat33

public Mat33(Vec3 argCol1,
             Vec3 argCol2,
             Vec3 argCol3)

Method Detail

setZero

public void setZero()

mul

public static final Vec3 mul(Mat33 A,
                             Vec3 v)

mul22

public static final Vec2 mul22(Mat33 A,
                               Vec2 v)

mul22ToOut

public static final void mul22ToOut(Mat33 A,
                                    Vec2 v,
                                    Vec2 out)

mul22ToOutUnsafe

public static final void mul22ToOutUnsafe(Mat33 A,
                                          Vec2 v,
                                          Vec2 out)

mulToOut

public static final void mulToOut(Mat33 A,
                                  Vec3 v,
                                  Vec3 out)

mulToOutUnsafe

public static final void mulToOutUnsafe(Mat33 A,
                                        Vec3 v,
                                        Vec3 out)

solve22

public final Vec2 solve22(Vec2 b)

Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse in one-shot cases.

Parameters:

b -

Returns:

solve22ToOut

public final void solve22ToOut(Vec2 b,
                               Vec2 out)

Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse in one-shot cases.

Parameters:

b -

solve33

public final Vec3 solve33(Vec3 b)

Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse in one-shot cases.

Parameters:

b -

Returns:

solve33ToOut

public final void solve33ToOut(Vec3 b,
                               Vec3 out)

Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse in one-shot cases.

Parameters:

b -

out - the result

getInverse22

public void getInverse22(Mat33 M)

getSymInverse33

public void getSymInverse33(Mat33 M)

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object