Basic 4x4 value_type matrix implementation using fields for intensive use-cases (host operations). More...

#include <mat4f.hpp>

Inheritance diagram for jau::math::Matrix4< Value_type, >:

Collaboration diagram for jau::math::Matrix4< Value_type, >:

Public Types
typedef const value_type *	const_iterator

typedef const value_type *	const_pointer

typedef const value_type &	const_reference

typedef value_type *	iterator

typedef value_type *	pointer

typedef Quaternion< value_type, std::is_floating_point_v< Value_type > >	Quat

typedef Ray3F< value_type >	Ray3

typedef value_type &	reference

typedef Value_type	value_type

typedef Vector3F< value_type >	Vec3

typedef Vector4F< value_type >	Vec4

Public Member Functions
constexpr	Matrix4 () noexcept
	Creates a new identity matrix.

constexpr	Matrix4 (const Matrix4 &o) noexcept
	Creates a new matrix copying the values of the given `src` matrix.

constexpr	Matrix4 (const_iterator m) noexcept
	Creates a new matrix based on given value_type[4*4] column major order.

constexpr	Matrix4 (std::initializer_list< value_type > m) noexcept
	Creates a new matrix based on given value_type initializer list in column major order.

constexpr iterator	begin () noexcept

constexpr const_iterator	cbegin () const noexcept

value_type	determinant () const noexcept
	Returns the determinant of this matrix.

constexpr bool	equals (const Matrix4 &o, const value_type epsilon=std::numeric_limits< value_type >::epsilon()) const noexcept

constexpr value_type	get (const jau::nsize_t i) const noexcept
	Returns the `i`th component of the given column-major order matrix, 0 <= i < 16, w/o boundary check.

constexpr iterator	get (iterator dst) const noexcept
	Get this matrix into the given value_type[16] array in column major order w/o boundary check.

constexpr std::vector< value_type > &	get (std::vector< value_type > &dst, size_t dst_off) const noexcept
	Get this matrix into the given `FloatBuffer` in column major order.

constexpr Vec4	getColumn (const jau::nsize_t column) const noexcept
	Get the named column of the given column-major matrix to v_out w/o boundary check.

constexpr Vec3 &	getColumn (const jau::nsize_t column, Vec3 &v_out) const noexcept
	Get the named column of the given column-major matrix to v_out w/o boundary check.

constexpr Vec4 &	getColumn (const jau::nsize_t column, Vec4 &v_out) const noexcept
	Get the named column of the given column-major matrix to v_out w/o boundary check.

Quat &	getRotation (Quat &res) const noexcept
	Returns the rotation [m00 .

constexpr Vec4	getRow (const jau::nsize_t row) const noexcept
	Get the named column of the given column-major matrix to v_out w/o boundary check.

constexpr Vec3 &	getRow (const jau::nsize_t row, Vec3 &v_out) const noexcept
	Get the named row of the given column-major matrix to v_out w/o boundary check.

constexpr Vec4 &	getRow (const jau::nsize_t row, Vec4 &v_out) const noexcept
	Get the named row of the given column-major matrix to v_out w/ boundary check.

bool	invert () noexcept
	Invert this matrix.

bool	invert (const Matrix4 &src) noexcept
	Invert the `src` matrix values into this matrix.

constexpr Matrix4 &	load (const Matrix4 &src) noexcept
	Load the values of the given matrix `src` to this matrix w/o boundary check.

constexpr Matrix4 &	load (const_iterator src) noexcept
	Load the values of the given matrix `src` to this matrix w/o boundary check.

constexpr Matrix4 &	loadIdentity () noexcept
	Set this matrix to identity.

constexpr Matrix4 &	mul (const Matrix4 &a, const Matrix4 &b) noexcept
	Multiply matrix: [this] = [a] x [b].

constexpr Matrix4 &	mul (const Matrix4 &b) noexcept
	Multiply matrix: [this] = [this] x [b].

constexpr Vec3 &	mulVec3 (const Vec3 &v_in, Vec3 &v_out) const noexcept
	Affine 3f-vector transformation by 4x4 matrix.

constexpr Vec3 &	mulVec3 (Vec3 &v_inout) const noexcept
	Affine 3f-vector transformation by 4x4 matrix: v_inout = this * v_inout.

constexpr Vec4 &	mulVec4 (const Vec4 &v_in, Vec4 &v_out) const noexcept

constexpr Vec4 &	mulVec4 (Vec4 &v_inout) const noexcept

	operator const_pointer () const noexcept

	operator pointer () noexcept

constexpr Vec3	operator* (const Vec3 &rhs) const noexcept
	Returns new Vec3, with affine 3f-vector transformation by this 4x4 matrix: this x v_in.

constexpr Vec4	operator* (const Vec4 &rhs) const noexcept
	Returns new Vec4, with this x v_in.

constexpr Matrix4 &	operator*= (const Matrix4 &rhs) noexcept
	Multiply matrix: [this] = [this] x [b].

constexpr Matrix4 &	operator*= (const value_type s) noexcept
	Multiply matrix with scalar: [this] = [this] x [s].

constexpr Matrix4 &	operator= (const Matrix4 &o) noexcept
	Copy assignment using the the values of the given `src` matrix.

constexpr bool	operator== (const Matrix4 &rhs) const noexcept

constexpr value_type	operator[] (size_t i) const noexcept
	Returns read-only `i`th component of the given column-major order matrix, 0 <= i < 16 w/o boundary check.

constexpr reference	operator[] (size_t i) noexcept
	Returns writable reference to the `i`th component of this column-major order matrix, 0 <= i < 16 w/o boundary check.

Matrix4 &	rotate (const Quat &quat) noexcept
	Rotate this matrix with the given `Quaternion`, i.e.

constexpr_cxx26 Matrix4 &	rotate (const value_type ang_rad, const value_type x, const value_type y, const value_type z) noexcept
	Rotate this matrix about give axis and angle in radians, i.e.

constexpr_cxx26 Matrix4 &	rotate (const value_type ang_rad, const Vec3 &axis) noexcept
	Rotate this matrix about give axis and angle in radians, i.e.

constexpr Matrix4 &	scale (const value_type s) noexcept
	Scale this matrix, i.e.

constexpr Matrix4 &	scale (const value_type x, const value_type y, const value_type z) noexcept
	Scale this matrix, i.e.

constexpr Matrix4 &	scale (const Vec3 &sxyz) noexcept
	Scale this matrix, i.e.

constexpr void	set (const jau::nsize_t i, const value_type v) noexcept
	Sets the `i`th component of this column-major order matrix with value_type `v`, 0 <= i < 16 w/o boundary check.

Matrix4 &	setToFrustum (const value_type left, const value_type right, const value_type bottom, const value_type top, const value_type zNear, const value_type zFar)
	Set this matrix to frustum.

constexpr Matrix4 &	setToLookAt (const Vec3 &eye, const Vec3 &center, const Vec3 &up) noexcept
	Set this matrix to the look-at matrix based on given parameters.

constexpr Matrix4 &	setToOrtho (const value_type left, const value_type right, const value_type bottom, const value_type top, const value_type zNear, const value_type zFar) noexcept
	Set this matrix to orthogonal projection.

Matrix4 &	setToPerspective (const FovHVHalves &fovhv, const value_type zNear, const value_type zFar)
	Set this matrix to perspective `frustum` projection.

Matrix4 &	setToPerspective (const value_type fovy_rad, const value_type aspect, const value_type zNear, const value_type zFar)
	Set this matrix to perspective `frustum` projection.

constexpr bool	setToPick (const value_type x, const value_type y, const value_type deltaX, const value_type deltaY, const Recti &viewport) noexcept
	Set this matrix to the pick matrix based on given parameters.

Matrix4 &	setToRotation (const Quat &q)
	Set this matrix to rotation using the given Quaternion.

constexpr_cxx26 Matrix4 &	setToRotationAxis (const value_type ang_rad, const Vec3 &axis) noexcept
	Set this matrix to rotation from the given axis and angle in radians.

constexpr_cxx26 Matrix4 &	setToRotationAxis (const value_type ang_rad, value_type x, value_type y, value_type z) noexcept
	Set this matrix to rotation from the given axis and angle in radians.

constexpr_cxx26 Matrix4 &	setToRotationEuler (const value_type bankX, const value_type headingY, const value_type attitudeZ) noexcept
	Set this matrix to rotation from the given Euler rotation angles in radians.

constexpr_cxx26 Matrix4 &	setToRotationEuler (const Vec3 &angradXYZ) noexcept
	Set this matrix to rotation from the given Euler rotation angles in radians.

constexpr Matrix4 &	setToScale (const value_type x, const value_type y, const value_type z) noexcept
	Set this matrix to scale.

constexpr Matrix4 &	setToScale (const Vec3 &s) noexcept
	Set this matrix to scale.

constexpr Matrix4 &	setToTranslation (const value_type x, const value_type y, const value_type z) noexcept
	Set this matrix to translation.

constexpr Matrix4 &	setToTranslation (const Vec3 &t) noexcept
	Set this matrix to translation.

std::string	toString () const noexcept

std::string	toString (const std::string &rowPrefix) const noexcept
	Returns a formatted string representation of this matrix.

std::string	toString (const std::string &rowPrefix, const std::string &f) const noexcept
	Returns a formatted string representation of this matrix.

constexpr Matrix4 &	translate (const value_type x, const value_type y, const value_type z) noexcept
	Translate this matrix, i.e.

constexpr Matrix4 &	translate (const Vec3 &t) noexcept
	Translate this matrix, i.e.

Matrix4 &	transpose () noexcept
	Transpose this matrix.

Matrix4 &	transpose (const Matrix4 &src) noexcept
	Transpose the given `src` matrix into this matrix.

Static Public Member Functions
static bool	mapObjToWin (const Vec3 &obj, const Matrix4 &mMv, const Matrix4 &mP, const Recti &viewport, Vec3 &winPos) noexcept
	Map object coordinates to window coordinates.

static bool	mapObjToWin (const Vec3 &obj, const Matrix4 &mPMv, const Recti &viewport, Vec3 &winPos) noexcept
	Map object coordinates to window coordinates.

static bool	mapViewToWin (const Vec3 &view, const Matrix4 &mP, const Recti &viewport, Vec3 &winPos) noexcept
	Map view coordinates ( Mv x object ) to window coordinates.

static bool	mapWinToAny (const value_type winx, const value_type winy, const value_type winz, const Matrix4 &invAny, const Recti &viewport, Vec3 &objPos) noexcept
	Map window coordinates to object, world or view coordinates, depending on `invAny` argument.

static bool	mapWinToAny (const value_type winx, const value_type winy, const value_type winz1, const value_type winz2, const Matrix4 &invAny, const Recti &viewport, Vec3 &objPos1, Vec3 &objPos2) noexcept
	Map two window coordinates to two to object, world or view coordinates, depending on `invAny` argument.

static bool	mapWinToAnyRay (const value_type winx, const value_type winy, const value_type winz0, const value_type winz1, const Matrix4 &invAny, const Recti &viewport, Ray3 &ray) noexcept
	Map two window coordinates w/ shared X/Y and distinctive Z to a `Ray` in object, world or view coordinates, depending on `invAny` argument.

static bool	mapWinToObj (const value_type winx, const value_type winy, const value_type winz, const Matrix4 &mMv, const Matrix4 &mP, const Recti &viewport, Vec3 &objPos) noexcept
	Map window coordinates to object coordinates.

static bool	mapWinToObj4 (const value_type winx, const value_type winy, const value_type winz, const value_type clipw, const Matrix4 &invPMv, const Recti &viewport, const value_type near, const value_type far, Vec4 &objPos) noexcept
	Map window coordinates to object coordinates.

static bool	mapWinToObj4 (const value_type winx, const value_type winy, const value_type winz, const value_type clipw, const Matrix4 &mMv, const Matrix4 &mP, const Recti &viewport, const value_type near, const value_type far, Vec4 &objPos) noexcept
	Map window coordinates to object coordinates.

static bool	mapWinToObjRay (const value_type winx, const value_type winy, const value_type winz0, const value_type winz1, const Matrix4 &mMv, const Matrix4 &mP, const Recti &viewport, Ray3 &ray) noexcept
	Map two window coordinates w/ shared X/Y and distinctive Z to a `Ray` in object space.

static bool	mapWinToView (const value_type winx, const value_type winy, const value_type winz, const Matrix4 &mP, const Recti &viewport, Vec3 &viewPos) noexcept
	Map window coordinates to view coordinates.

static bool	mapWinToViewRay (const value_type winx, const value_type winy, const value_type winz0, const value_type winz1, const Matrix4 &mP, const Recti &viewport, Ray3 &ray) noexcept
	Map two window coordinates w/ shared X/Y and distinctive Z to a `Ray` in view space.

static bool	mapWorldToWin (const Vec3 &world, const Matrix4 &mV, const Matrix4 &mP, const Recti &viewport, Vec3 &winPos) noexcept
	Map world coordinates ( M x object ) to window coordinates.

Static Public Attributes
static constexpr const value_type	half = one/two

static constexpr const value_type	inv_deviation = value_type(84) * std::numeric_limits<value_type>::epsilon()
	Inversion Epsilon, used with equals method to determine if two inverted matrices are close enough to be considered equal.

static constexpr const value_type	one = value_type(1)

static constexpr const value_type	two = value_type(2)

static constexpr const value_type	zero = value_type(0)

Detailed Description

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>
class jau::math::Matrix4< Value_type, >

Basic 4x4 value_type matrix implementation using fields for intensive use-cases (host operations).

Implementation covers FloatUtil matrix functionality, exposed in an object oriented manner.

Unlike PMVmat4f, this class only represents one single matrix.

For array operations the layout is expected in column-major order matching OpenGL's implementation, illustration:

 Row-Major                       Column-Major (OpenGL):

     |  0   1   2  tx |
     |                |
     |  4   5   6  ty |
 M = |                |
     |  8   9  10  tz |
     |                |
     | 12  13  14  15 |

        R   C                      R   C
      m[0*4+3] = tx;             m[0+4*3] = tx;
      m[1*4+3] = ty;             m[1+4*3] = ty;
      m[2*4+3] = tz;             m[2+4*3] = tz;

       RC (std subscript order)   RC (std subscript order)
      m03 = tx;                  m03 = tx;
      m13 = ty;                  m13 = ty;
      m23 = tz;                  m23 = tz;

Implementation utilizes unrolling of small vertices and matrices wherever possible while trying to access memory in a linear fashion for performance reasons, see:

Definition at line 101 of file mat4f.hpp.

Member Typedef Documentation

◆ value_type

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef Value_type jau::math::Matrix4< Value_type, >::value_type

Definition at line 103 of file mat4f.hpp.

◆ pointer

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef value_type* jau::math::Matrix4< Value_type, >::pointer

Definition at line 104 of file mat4f.hpp.

◆ const_pointer

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef const value_type* jau::math::Matrix4< Value_type, >::const_pointer

Definition at line 105 of file mat4f.hpp.

◆ reference

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef value_type& jau::math::Matrix4< Value_type, >::reference

Definition at line 106 of file mat4f.hpp.

◆ const_reference

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef const value_type& jau::math::Matrix4< Value_type, >::const_reference

Definition at line 107 of file mat4f.hpp.

◆ iterator

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef value_type* jau::math::Matrix4< Value_type, >::iterator

Definition at line 108 of file mat4f.hpp.

◆ const_iterator

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef const value_type* jau::math::Matrix4< Value_type, >::const_iterator

Definition at line 109 of file mat4f.hpp.

◆ Vec3

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef Vector3F<value_type> jau::math::Matrix4< Value_type, >::Vec3

Definition at line 111 of file mat4f.hpp.

◆ Vec4

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef Vector4F<value_type> jau::math::Matrix4< Value_type, >::Vec4

Definition at line 112 of file mat4f.hpp.

◆ Ray3

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef Ray3F<value_type> jau::math::Matrix4< Value_type, >::Ray3

Definition at line 113 of file mat4f.hpp.

◆ Quat

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

typedef Quaternion<value_type, std::is_floating_point_v<Value_type> > jau::math::Matrix4< Value_type, >::Quat

Definition at line 114 of file mat4f.hpp.

Constructor & Destructor Documentation

◆ Matrix4() [1/4]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

jau::math::Matrix4< Value_type, >::Matrix4 ( )

inlineconstexprnoexcept

Creates a new identity matrix.

Definition at line 144 of file mat4f.hpp.

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◆ Matrix4() [2/4]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

jau::math::Matrix4< Value_type, >::Matrix4 ( const_iterator m )

inlineconstexprnoexcept

Creates a new matrix based on given value_type[4*4] column major order.

Parameters

m	4x4 matrix in column-major order

Definition at line 155 of file mat4f.hpp.

◆ Matrix4() [3/4]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

jau::math::Matrix4< Value_type, >::Matrix4 ( std::initializer_list< value_type > m )

inlineconstexprnoexcept

Creates a new matrix based on given value_type initializer list in column major order.

Parameters

m	source initializer list value_type data to be copied into this new instance, implied size must be >= 16

Definition at line 166 of file mat4f.hpp.

◆ Matrix4() [4/4]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

jau::math::Matrix4< Value_type, >::Matrix4 ( const Matrix4< Value_type, > & o )

inlineconstexprnoexcept

Creates a new matrix copying the values of the given src matrix.

Definition at line 175 of file mat4f.hpp.

Member Function Documentation

◆ operator=()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::operator= ( const Matrix4< Value_type, > & o )

inlineconstexprnoexcept

Copy assignment using the the values of the given src matrix.

Definition at line 182 of file mat4f.hpp.

◆ equals()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

bool jau::math::Matrix4< Value_type, >::equals	(	const Matrix4< Value_type, > &	o,
		const value_type	epsilon = std::numeric_limits<value_type>::epsilon() ) const

inlineconstexprnoexcept

Definition at line 184 of file mat4f.hpp.

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◆ operator==()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

bool jau::math::Matrix4< Value_type, >::operator== ( const Matrix4< Value_type, > & rhs ) const

inlineconstexprnoexcept

Definition at line 206 of file mat4f.hpp.

◆ operator[]() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

reference jau::math::Matrix4< Value_type, >::operator[] ( size_t i )

inlineconstexprnoexcept

Returns writable reference to the ith component of this column-major order matrix, 0 <= i < 16 w/o boundary check.

Definition at line 215 of file mat4f.hpp.

◆ set()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

void jau::math::Matrix4< Value_type, >::set	(	const jau::nsize_t	i,
		const value_type	v )

inlineconstexprnoexcept

Sets the ith component of this column-major order matrix with value_type v, 0 <= i < 16 w/o boundary check.

Definition at line 221 of file mat4f.hpp.

◆ operator pointer()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

jau::math::Matrix4< Value_type, >::operator pointer ( )

inlineexplicitnoexcept

Definition at line 226 of file mat4f.hpp.

◆ begin()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

iterator jau::math::Matrix4< Value_type, >::begin ( )

inlineconstexprnoexcept

Definition at line 227 of file mat4f.hpp.

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◆ loadIdentity()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::loadIdentity ( )

inlineconstexprnoexcept

Set this matrix to identity.

Translation matrix (Column Order):
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1

Returns: this matrix for chaining

Examples: RedSquareES2.hpp.

Definition at line 240 of file mat4f.hpp.

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◆ load() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::load ( const_iterator src )

inlineconstexprnoexcept

Load the values of the given matrix src to this matrix w/o boundary check.

Parameters

src	4x4 matrix value_type[16] in column-major order

Returns: this matrix for chaining

Definition at line 254 of file mat4f.hpp.

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◆ load() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::load ( const Matrix4< Value_type, > & src )

inlineconstexprnoexcept

Load the values of the given matrix src to this matrix w/o boundary check.

Parameters

src	the source values

Returns: this matrix for chaining

Definition at line 279 of file mat4f.hpp.

◆ operator[]() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

value_type jau::math::Matrix4< Value_type, >::operator[] ( size_t i ) const

inlineconstexprnoexcept

Returns read-only ith component of the given column-major order matrix, 0 <= i < 16 w/o boundary check.

Definition at line 290 of file mat4f.hpp.

◆ get() [1/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

value_type jau::math::Matrix4< Value_type, >::get ( const jau::nsize_t i ) const

inlineconstexprnoexcept

Returns the ith component of the given column-major order matrix, 0 <= i < 16, w/o boundary check.

Definition at line 296 of file mat4f.hpp.

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◆ operator const_pointer()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

jau::math::Matrix4< Value_type, >::operator const_pointer ( ) const

inlineexplicitnoexcept

Definition at line 301 of file mat4f.hpp.

◆ cbegin()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

const_iterator jau::math::Matrix4< Value_type, >::cbegin ( ) const

inlineconstexprnoexcept

Definition at line 302 of file mat4f.hpp.

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◆ getColumn() [1/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec4 & jau::math::Matrix4< Value_type, >::getColumn	(	const jau::nsize_t	column,
		Vec4 &	v_out ) const

inlineconstexprnoexcept

Get the named column of the given column-major matrix to v_out w/o boundary check.

Parameters

column	named column to copy
v_out	the column-vector storage

Returns: given result vector v_out for chaining

Definition at line 310 of file mat4f.hpp.

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◆ getColumn() [2/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec4 jau::math::Matrix4< Value_type, >::getColumn ( const jau::nsize_t column ) const

inlineconstexprnoexcept

Get the named column of the given column-major matrix to v_out w/o boundary check.

Parameters

column named column to copy

Returns: result vector holding the requested column

Definition at line 323 of file mat4f.hpp.

◆ getColumn() [3/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec3 & jau::math::Matrix4< Value_type, >::getColumn	(	const jau::nsize_t	column,
		Vec3 &	v_out ) const

inlineconstexprnoexcept

Get the named column of the given column-major matrix to v_out w/o boundary check.

Parameters

column	named column to copy
v_out	the column-vector storage

Returns: given result vector v_out for chaining

Definition at line 337 of file mat4f.hpp.

◆ getRow() [1/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec4 & jau::math::Matrix4< Value_type, >::getRow	(	const jau::nsize_t	row,
		Vec4 &	v_out ) const

inlineconstexprnoexcept

Get the named row of the given column-major matrix to v_out w/ boundary check.

Parameters

row	named row to copy
v_out	the row-vector storage

Returns: given result vector v_out for chaining

Definition at line 349 of file mat4f.hpp.

◆ getRow() [2/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec4 jau::math::Matrix4< Value_type, >::getRow ( const jau::nsize_t row ) const

inlineconstexprnoexcept

Get the named column of the given column-major matrix to v_out w/o boundary check.

Parameters

row	named row to copy

Returns: result vector holding the requested row

Definition at line 361 of file mat4f.hpp.

◆ getRow() [3/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec3 & jau::math::Matrix4< Value_type, >::getRow	(	const jau::nsize_t	row,
		Vec3 &	v_out ) const

inlineconstexprnoexcept

Get the named row of the given column-major matrix to v_out w/o boundary check.

Parameters

row	named row to copy
v_out	the row-vector assert( i < 16 )e

Returns: given result vector v_out for chaining

Definition at line 375 of file mat4f.hpp.

◆ get() [2/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

iterator jau::math::Matrix4< Value_type, >::get ( iterator dst ) const

inlineconstexprnoexcept

Get this matrix into the given value_type[16] array in column major order w/o boundary check.

Parameters

dst	value_type[16] array storage in column major order

Returns: dst for chaining

Definition at line 389 of file mat4f.hpp.

◆ get() [3/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

std::vector< value_type > & jau::math::Matrix4< Value_type, >::get	(	std::vector< value_type > &	dst,
		size_t	dst_off ) const

inlineconstexprnoexcept

Get this matrix into the given FloatBuffer in column major order.

Parameters

dst	4x4 matrix std::vector in column-major order starting at `dst_off`
dst_off	offset for matrix `dst`

Returns: dst for chaining

Definition at line 417 of file mat4f.hpp.

◆ determinant()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

value_type jau::math::Matrix4< Value_type, >::determinant ( ) const

inlinenoexcept

Returns the determinant of this matrix.

Returns: the matrix determinant

Definition at line 431 of file mat4f.hpp.

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◆ transpose() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::transpose ( )

inlinenoexcept

Transpose this matrix.

Returns: this matrix for chaining

Definition at line 445 of file mat4f.hpp.

◆ transpose() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::transpose ( const Matrix4< Value_type, > & src )

inlinenoexcept

Transpose the given src matrix into this matrix.

Parameters

src	source 4x4 matrix

Returns: this matrix (result) for chaining

Definition at line 481 of file mat4f.hpp.

◆ invert() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

bool jau::math::Matrix4< Value_type, >::invert ( )

inlinenoexcept

Invert this matrix.

Returns: false if this matrix is singular and inversion not possible, otherwise true

Definition at line 511 of file mat4f.hpp.

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◆ invert() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

bool jau::math::Matrix4< Value_type, >::invert ( const Matrix4< Value_type, > & src )

inlinenoexcept

Invert the src matrix values into this matrix.

Parameters

src	the source matrix, which values are to be inverted

Returns: false if src matrix is singular and inversion not possible, otherwise true

Definition at line 592 of file mat4f.hpp.

◆ operator*=() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::operator*= ( const value_type s )

inlineconstexprnoexcept

Multiply matrix with scalar: [this] = [this] x [s].

Parameters

s a scalar

Returns: this matrix for chaining

Definition at line 700 of file mat4f.hpp.

◆ mul() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::mul ( const Matrix4< Value_type, > & b )

inlineconstexprnoexcept

Multiply matrix: [this] = [this] x [b].

Parameters

b	4x4 matrix

Returns: this matrix for chaining

See also: #mul(mat4f, mat4f)

Definition at line 714 of file mat4f.hpp.

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◆ operator*=() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::operator*= ( const Matrix4< Value_type, > & rhs )

inlineconstexprnoexcept

Multiply matrix: [this] = [this] x [b].

Parameters

b	4x4 matrix

Returns: this matrix for chaining

See also: #mul(mat4f, mat4f)

Definition at line 759 of file mat4f.hpp.

◆ mul() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::mul	(	const Matrix4< Value_type, > &	a,
		const Matrix4< Value_type, > &	b )

inlineconstexprnoexcept

Multiply matrix: [this] = [a] x [b].

Parameters

a	4x4 matrix, can't be this matrix
b	4x4 matrix, can't be this matrix

Returns: this matrix for chaining

See also: #mul(mat4f)

Definition at line 770 of file mat4f.hpp.

◆ mulVec4() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec4 & jau::math::Matrix4< Value_type, >::mulVec4	(	const Vec4 &	v_in,
		Vec4 &	v_out ) const

inlineconstexprnoexcept

Parameters

v_in	4-component column-vector, can be v_out for in-place transformation
v_out	this x v_in

Returns: v_out for chaining

Definition at line 803 of file mat4f.hpp.

◆ operator*() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec4 jau::math::Matrix4< Value_type, >::operator* ( const Vec4 & rhs ) const

inlineconstexprnoexcept

Returns new Vec4, with this x v_in.

Parameters

v_in	4-component column-vector

Definition at line 817 of file mat4f.hpp.

◆ mulVec4() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec4 & jau::math::Matrix4< Value_type, >::mulVec4 ( Vec4 & v_inout ) const

inlineconstexprnoexcept

Parameters

v_inout 4-component column-vector input and output, i.e. in-place transformation

Returns: v_inout for chaining

Definition at line 830 of file mat4f.hpp.

◆ mulVec3() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec3 & jau::math::Matrix4< Value_type, >::mulVec3	(	const Vec3 &	v_in,
		Vec3 &	v_out ) const

inlineconstexprnoexcept

Affine 3f-vector transformation by 4x4 matrix.

4x4 matrix multiplication with 3-component vector, using 1 for for v_in.w and dropping v_out.w, which shall be 1.

Parameters

v_in	3-component column-vector `vec3f`, can be v_out for in-place transformation
v_out	m_in x v_in, 3-component column-vector `vec3f`

Returns: v_out for chaining

Definition at line 851 of file mat4f.hpp.

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◆ operator*() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec3 jau::math::Matrix4< Value_type, >::operator* ( const Vec3 & rhs ) const

inlineconstexprnoexcept

Returns new Vec3, with affine 3f-vector transformation by this 4x4 matrix: this x v_in.

4x4 matrix multiplication with 3-component vector, using 1 for for v_in.w and dropping v_out.w, which shall be 1.

Parameters

v_in	3-component column-vector `vec3f`

Definition at line 868 of file mat4f.hpp.

◆ mulVec3() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Vec3 & jau::math::Matrix4< Value_type, >::mulVec3 ( Vec3 & v_inout ) const

inlineconstexprnoexcept

Affine 3f-vector transformation by 4x4 matrix: v_inout = this * v_inout.

4x4 matrix multiplication with 3-component vector, using 1 for for v_inout.w and dropping v_inout.w, which shall be 1.

Parameters

v_inout 3-component column-vector vec3f input and output, i.e. in-place transformation

Returns: v_inout for chaining

Definition at line 886 of file mat4f.hpp.

◆ setToTranslation() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::setToTranslation	(	const value_type	x,
		const value_type	y,
		const value_type	z )

inlineconstexprnoexcept

Set this matrix to translation.

Translation matrix (Column Order):
1 0 0 0
0 1 0 0
0 0 1 0
x y z 1

Parameters

x	x-axis translate
y	y-axis translate
z	z-axis translate

Returns: this matrix for chaining

Definition at line 913 of file mat4f.hpp.

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◆ setToTranslation() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::setToTranslation ( const Vec3 & t )

inlineconstexprnoexcept

Set this matrix to translation.

Translation matrix (Column Order):
1 0 0 0
0 1 0 0
0 0 1 0
x y z 1

Parameters

t	translate vec3f

Returns: this matrix for chaining

Definition at line 937 of file mat4f.hpp.

◆ setToScale() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::setToScale	(	const value_type	x,
		const value_type	y,
		const value_type	z )

inlineconstexprnoexcept

Set this matrix to scale.

Scale matrix (Any Order):
x 0 0 0
0 y 0 0
0 0 z 0
0 0 0 1

Parameters

x	x-axis scale
y	y-axis scale
z	z-axis scale

Returns: this matrix for chaining

Definition at line 955 of file mat4f.hpp.

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◆ setToScale() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::setToScale ( const Vec3 & s )

inlineconstexprnoexcept

Set this matrix to scale.

Scale matrix (Any Order):
x 0 0 0
0 y 0 0
0 0 z 0
0 0 0 1

Parameters

s	scale vec3f

Returns: this matrix for chaining

Definition at line 979 of file mat4f.hpp.

◆ setToRotationAxis() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

constexpr_cxx26 Matrix4 & jau::math::Matrix4< Value_type, >::setToRotationAxis	(	const value_type	ang_rad,
		value_type	x,
		value_type	y,
		value_type	z )

inlinenoexcept

Set this matrix to rotation from the given axis and angle in radians.

 Rotation matrix (Column Order):
 xx(1-c)+c  xy(1-c)+zs xz(1-c)-ys 0
 xy(1-c)-zs yy(1-c)+c  yz(1-c)+xs 0
 xz(1-c)+ys yz(1-c)-xs zz(1-c)+c  0
 0          0          0          1

See also: Matrix-FAQ Q38

Parameters

ang_rad	angle in radians
x	x of rotation axis
y	y of rotation axis
z	z of rotation axis

Returns: this matrix for chaining

Definition at line 999 of file mat4f.hpp.

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◆ setToRotationAxis() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

constexpr_cxx26 Matrix4 & jau::math::Matrix4< Value_type, >::setToRotationAxis	(	const value_type	ang_rad,
		const Vec3 &	axis )

inlinenoexcept

Set this matrix to rotation from the given axis and angle in radians.

 Rotation matrix (Column Order):
 xx(1-c)+c  xy(1-c)+zs xz(1-c)-ys 0
 xy(1-c)-zs yy(1-c)+c  yz(1-c)+xs 0
 xz(1-c)+ys yz(1-c)-xs zz(1-c)+c  0
 0          0          0          1

See also: Matrix-FAQ Q38

Parameters

ang_rad	angle in radians
axis	rotation axis

Returns: this matrix for chaining

Definition at line 1050 of file mat4f.hpp.

◆ setToRotationEuler() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

constexpr_cxx26 Matrix4 & jau::math::Matrix4< Value_type, >::setToRotationEuler	(	const value_type	bankX,
		const value_type	headingY,
		const value_type	attitudeZ )

inlinenoexcept

Set this matrix to rotation from the given Euler rotation angles in radians.

The rotations are applied in the given order:

y - heading
z - attitude
x - bank

Parameters

bankX	the Euler pitch angle in radians. (rotation about the X axis)
headingY	the Euler yaw angle in radians. (rotation about the Y axis)
attitudeZ	the Euler roll angle in radians. (rotation about the Z axis)

Returns: this matrix for chaining

Implementation does not use Quaternion and hence is exposed to Gimbal-Lock, consider using Quaternion::toMatrix().

See also: Matrix-FAQ Q36; euclideanspace.com-eulerToMatrix; Quaternion::toMatrix()

Definition at line 1077 of file mat4f.hpp.

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◆ setToRotationEuler() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

constexpr_cxx26 Matrix4 & jau::math::Matrix4< Value_type, >::setToRotationEuler ( const Vec3 & angradXYZ )

inlinenoexcept

Set this matrix to rotation from the given Euler rotation angles in radians.

The rotations are applied in the given order:

y - heading
z - attitude
x - bank

Parameters

angradXYZ euler angle vector in radians holding x-bank, y-heading and z-attitude

Returns: this quaternion for chaining.

Implementation does not use Quaternion and hence is exposed to Gimbal-Lock, consider using Quaternion::toMatrix().

See also: Matrix-FAQ Q36; euclideanspace.com-eulerToMatrix; Quaternion::toMatrix()

Definition at line 1130 of file mat4f.hpp.

◆ setToOrtho()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::setToOrtho	(	const value_type	left,
		const value_type	right,
		const value_type	bottom,
		const value_type	top,
		const value_type	zNear,
		const value_type	zFar )

inlineconstexprnoexcept

Set this matrix to orthogonal projection.

Ortho matrix (Column Order):
2/dx  0     0    0
0     2/dy  0    0
0     0     2/dz 0
tx    ty    tz   1

Parameters

left
right
bottom
top
zNear
zFar

Returns: this matrix for chaining

Definition at line 1178 of file mat4f.hpp.

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◆ setToFrustum()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::setToFrustum	(	const value_type	left,
		const value_type	right,
		const value_type	bottom,
		const value_type	top,
		const value_type	zNear,
		const value_type	zFar )

inline

Set this matrix to frustum.

Frustum matrix (Column Order):
2*zNear/dx   0          0   0
0            2*zNear/dy 0   0
A            B          C  -1
0            0          D   0

Parameters

left
right
bottom
top
zNear
zFar

Returns: this matrix for chaining

Exceptions

IllegalArgumentException if zNear <= 0 or zFar <= zNear or left == right, or bottom == top.

Definition at line 1226 of file mat4f.hpp.

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◆ setToPerspective() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::setToPerspective	(	const value_type	fovy_rad,
		const value_type	aspect,
		const value_type	zNear,
		const value_type	zFar )

inline

Set this matrix to perspective frustum projection.

Parameters

fovy_rad	angle in radians
aspect	aspect ratio width / height
zNear
zFar

Returns: this matrix for chaining

Exceptions

IllegalArgumentException if zNear <= 0 or zFar <= zNear

See also: setToFrustum(value_type, value_type, value_type, value_type, value_type, value_type)

Definition at line 1275 of file mat4f.hpp.

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◆ setToPerspective() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::setToPerspective	(	const FovHVHalves &	fovhv,
		const value_type	zNear,
		const value_type	zFar )

inline

Set this matrix to perspective frustum projection.

Parameters

fovhv	`FovHVHalves` field of view in both directions, may not be centered, either in radians or tangent
zNear
zFar

Returns: this matrix for chaining

Exceptions

IllegalArgumentException if zNear <= 0 or zFar <= zNear

See also: setToFrustum(value_type, value_type, value_type, value_type, value_type, value_type); Frustum#updateByFovDesc(mat4f, com.jogamp.math.geom.Frustum.FovDesc)

Definition at line 1294 of file mat4f.hpp.

◆ setToLookAt()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::setToLookAt	(	const Vec3 &	eye,
		const Vec3 &	center,
		const Vec3 &	up )

inlineconstexprnoexcept

Set this matrix to the look-at matrix based on given parameters.

Consist out of two matrix multiplications:

  R = L x T,
  with L for look-at matrix and
       T for eye translation.

  Result R can be utilized for projection or modelview multiplication, i.e.
         M = M x R,
         with M being the projection or modelview matrix.

Parameters

eye	3 component eye vector
center	3 component center vector
up	3 component up vector

Returns: this matrix for chaining

Definition at line 1322 of file mat4f.hpp.

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◆ setToPick()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

bool jau::math::Matrix4< Value_type, >::setToPick	(	const value_type	x,
		const value_type	y,
		const value_type	deltaX,
		const value_type	deltaY,
		const Recti &	viewport )

inlineconstexprnoexcept

Set this matrix to the pick matrix based on given parameters.

Traditional gluPickMatrix implementation.

Consist out of two matrix multiplications:

  R = T x S,
  with T for viewport translation matrix and
       S for viewport scale matrix.

  Result R can be utilized for projection multiplication, i.e.
         P = P x R,
         with P being the projection matrix.

To effectively use the generated pick matrix for picking, call setToPick(..) and multiply a custom perspective matrix by this pick matrix. Then you may load the result onto the perspective matrix stack.

Parameters

x	the center x-component of a picking region in window coordinates
y	the center y-component of a picking region in window coordinates
deltaX	the width of the picking region in window coordinates.
deltaY	the height of the picking region in window coordinates.
viewport	Rect4i viewport

Returns: true if successful or false if either delta value is <= zero.

Definition at line 1386 of file mat4f.hpp.

◆ rotate() [1/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

constexpr_cxx26 Matrix4 & jau::math::Matrix4< Value_type, >::rotate	(	const value_type	ang_rad,
		const value_type	x,
		const value_type	y,
		const value_type	z )

inlinenoexcept

Rotate this matrix about give axis and angle in radians, i.e.

multiply by axis-rotation matrix.

See also: Matrix-FAQ Q38

Parameters

angrad	angle in radians
x	x of rotation axis
y	y of rotation axis
z	z of rotation axis

Returns: this matrix for chaining

Definition at line 1414 of file mat4f.hpp.

◆ rotate() [2/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

constexpr_cxx26 Matrix4 & jau::math::Matrix4< Value_type, >::rotate	(	const value_type	ang_rad,
		const Vec3 &	axis )

inlinenoexcept

Rotate this matrix about give axis and angle in radians, i.e.

multiply by axis-rotation matrix.

See also: Matrix-FAQ Q38

Parameters

angrad	angle in radians
axis	rotation axis

Returns: this matrix for chaining

Definition at line 1426 of file mat4f.hpp.

◆ rotate() [3/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::rotate ( const Quat & quat )

noexcept

Rotate this matrix with the given Quaternion, i.e.

multiply by Quaternion's rotation matrix.

Parameters

tmp	temporary Matrix4f used for multiplication

Returns: this matrix for chaining

◆ translate() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::translate	(	const value_type	x,
		const value_type	y,
		const value_type	z )

inlineconstexprnoexcept

Translate this matrix, i.e.

multiply by translation matrix.

Parameters

x	x translation
y	y translation
z	z translation

Returns: this matrix for chaining

Definition at line 1445 of file mat4f.hpp.

◆ translate() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::translate ( const Vec3 & t )

inlineconstexprnoexcept

Translate this matrix, i.e.

multiply by translation matrix.

Parameters

t	translation vec3f

Returns: this matrix for chaining

Definition at line 1455 of file mat4f.hpp.

◆ scale() [1/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::scale	(	const value_type	x,
		const value_type	y,
		const value_type	z )

inlineconstexprnoexcept

Scale this matrix, i.e.

multiply by scale matrix.

Parameters

x	x scale
y	y scale
z	z scale

Returns: this matrix for chaining

Definition at line 1467 of file mat4f.hpp.

◆ scale() [2/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::scale ( const Vec3 & sxyz )

inlineconstexprnoexcept

Scale this matrix, i.e.

multiply by scale matrix.

Parameters

sxyz	scale factor for each component

Returns: this matrix for chaining

Definition at line 1477 of file mat4f.hpp.

◆ scale() [3/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

Matrix4 & jau::math::Matrix4< Value_type, >::scale ( const value_type s )

inlineconstexprnoexcept

Scale this matrix, i.e.

multiply by scale matrix.

Parameters

s	scale for x-, y- and z-axis

Returns: this matrix for chaining

Definition at line 1487 of file mat4f.hpp.

◆ mapObjToWin() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapObjToWin	(	const Vec3 &	obj,
		const Matrix4< Value_type, > &	mPMv,
		const Recti &	viewport,
		Vec3 &	winPos )

inlinestaticnoexcept

Map object coordinates to window coordinates.

Traditional gluProject implementation.

Parameters

obj	object position, 3 component vector
mPMv	[projection] x [modelview] matrix, i.e. P x Mv
viewport	Rect4i viewport
winPos	3 component window coordinate, the result

Returns: true if successful, otherwise false (z is 1)

Definition at line 1507 of file mat4f.hpp.

◆ mapObjToWin() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapObjToWin	(	const Vec3 &	obj,
		const Matrix4< Value_type, > &	mMv,
		const Matrix4< Value_type, > &	mP,
		const Recti &	viewport,
		Vec3 &	winPos )

inlinestaticnoexcept

Map object coordinates to window coordinates.

Traditional gluProject implementation.

Parameters

obj	object position, 3 component vector
mMv	modelview matrix
mP	projection matrix
viewport	Rect4i viewport
winPos	3 component window coordinate, the result

Returns: true if successful, otherwise false (z is 1)

Definition at line 1527 of file mat4f.hpp.

◆ mapWorldToWin()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapWorldToWin	(	const Vec3 &	world,
		const Matrix4< Value_type, > &	mV,
		const Matrix4< Value_type, > &	mP,
		const Recti &	viewport,
		Vec3 &	winPos )

inlinestaticnoexcept

Map world coordinates ( M x object ) to window coordinates.

Parameters

world	world position, 3 component vector
mV	view matrix
mP	projection matrix
viewport	Rect4i viewport
winPos	3 component window coordinate, the result

Returns: true if successful, otherwise false (z is 1)

Definition at line 1544 of file mat4f.hpp.

◆ mapViewToWin()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapViewToWin	(	const Vec3 &	view,
		const Matrix4< Value_type, > &	mP,
		const Recti &	viewport,
		Vec3 &	winPos )

inlinestaticnoexcept

Map view coordinates ( Mv x object ) to window coordinates.

Parameters

view	view position, 3 component vector
mP	projection matrix
viewport	Rect4i viewport
winPos	3 component window coordinate, the result

Returns: true if successful, otherwise false (z is 1)

Definition at line 1560 of file mat4f.hpp.

◆ mapWinToObj()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapWinToObj	(	const value_type	winx,
		const value_type	winy,
		const value_type	winz,
		const Matrix4< Value_type, > &	mMv,
		const Matrix4< Value_type, > &	mP,
		const Recti &	viewport,
		Vec3 &	objPos )

inlinestaticnoexcept

Map window coordinates to object coordinates.

Traditional gluUnProject implementation.

Parameters

winx
winy
winz
mMv	4x4 modelview matrix
mP	4x4 projection matrix
viewport	Rect4i viewport
objPos	3 component object coordinate, the result

Returns: true if successful, otherwise false (failed to invert matrix, or becomes infinity due to zero z)

Definition at line 1603 of file mat4f.hpp.

◆ mapWinToView()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapWinToView	(	const value_type	winx,
		const value_type	winy,
		const value_type	winz,
		const Matrix4< Value_type, > &	mP,
		const Recti &	viewport,
		Vec3 &	viewPos )

inlinestaticnoexcept

Map window coordinates to view coordinates.

Parameters

winx
winy
winz
mP	4x4 projection matrix
viewport	Rect4i viewport
viewPos	3 component view coordinate, the result

Returns: true if successful, otherwise false (failed to invert matrix, or becomes infinity due to zero z)

Definition at line 1628 of file mat4f.hpp.

◆ mapWinToAny() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapWinToAny	(	const value_type	winx,
		const value_type	winy,
		const value_type	winz,
		const Matrix4< Value_type, > &	invAny,
		const Recti &	viewport,
		Vec3 &	objPos )

inlinestaticnoexcept

Map window coordinates to object, world or view coordinates, depending on invAny argument.

Traditional gluUnProject implementation.

invAny maybe set as follows for

to object: inverse(P x Mv) = ‘([projection] x [modelview])’
to world: inverse(P x V) =([projection] x [view])'
to view: inverse(P) =[projection]'`

Parameters

winx
winy
winz
invAny	inverse matrix, either Inv(P x Mv) to object, Inv(P x V) to world or Inv(P) ‘[projection]’` to view
viewport	Rect4i viewport
objPos	3 component object coordinate, the result

Returns: true if successful, otherwise false (can't invert matrix, or becomes infinity due to zero z)

Definition at line 1660 of file mat4f.hpp.

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◆ mapWinToAny() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapWinToAny	(	const value_type	winx,
		const value_type	winy,
		const value_type	winz1,
		const value_type	winz2,
		const Matrix4< Value_type, > &	invAny,
		const Recti &	viewport,
		Vec3 &	objPos1,
		Vec3 &	objPos2 )

inlinestaticnoexcept

Map two window coordinates to two to object, world or view coordinates, depending on invAny argument.

Both coordinates are distinguished by their z component.

Traditional gluUnProject implementation.

invAny maybe set as follows for

to object: inverse(P x Mv) = ‘([projection] x [modelview])’
to world: inverse(P x V) =([projection] x [view])'
to view: inverse(P) =[projection]'`

Parameters

winx
winy
winz1
winz2
invAny	inverse matrix, either Inv(P x Mv) to object, Inv(P x V) to world or Inv(P) ‘[projection]’` to view
viewport	Rect4i viewport vector
objPos1	3 component object coordinate, the result

Returns: true if successful, otherwise false (can't invert matrix, or becomes infinity due to zero z)

Definition at line 1706 of file mat4f.hpp.

◆ mapWinToObj4() [1/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapWinToObj4	(	const value_type	winx,
		const value_type	winy,
		const value_type	winz,
		const value_type	clipw,
		const Matrix4< Value_type, > &	mMv,
		const Matrix4< Value_type, > &	mP,
		const Recti &	viewport,
		const value_type	near,
		const value_type	far,
		Vec4 &	objPos )

inlinestaticnoexcept

Map window coordinates to object coordinates.

Traditional gluUnProject4 implementation.

Parameters

winx
winy
winz
clipw
mMv	4x4 modelview matrix
mP	4x4 projection matrix
viewport	Rect4i viewport vector
near
far
obj_pos	4 component object coordinate, the result

Returns: true if successful, otherwise false (failed to invert matrix, or becomes infinity due to zero z)

Definition at line 1761 of file mat4f.hpp.

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◆ mapWinToObj4() [2/2]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapWinToObj4	(	const value_type	winx,
		const value_type	winy,
		const value_type	winz,
		const value_type	clipw,
		const Matrix4< Value_type, > &	invPMv,
		const Recti &	viewport,
		const value_type	near,
		const value_type	far,
		Vec4 &	objPos )

inlinestaticnoexcept

Map window coordinates to object coordinates.

Traditional gluUnProject4 implementation.

Parameters

winx
winy
winz
clipw
invPMv	inverse [projection] x [modelview] matrix, i.e. Inv(P x Mv), if null method returns false
viewport	Rect4i viewport vector
near
far
obj_pos	4 component object coordinate, the result

Returns: true if successful, otherwise false (null invert matrix, or becomes infinity due to zero z)

Definition at line 1794 of file mat4f.hpp.

◆ mapWinToObjRay()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapWinToObjRay	(	const value_type	winx,
		const value_type	winy,
		const value_type	winz0,
		const value_type	winz1,
		const Matrix4< Value_type, > &	mMv,
		const Matrix4< Value_type, > &	mP,
		const Recti &	viewport,
		Ray3 &	ray )

inlinestaticnoexcept

Map two window coordinates w/ shared X/Y and distinctive Z to a Ray in object space.

The resulting Ray maybe used for picking using a AABBox#getRayIntersection(vec3f, Ray, value_type, boolean) of a shape also in object space.

Notes for picking winz0 and winz1:

see jau::math::util::getZBufferEpsilon()
see jau::math::util::getZBufferValue()
see jau::math::util::getOrthoWinZ()
Parameters

winx

winy

winz0

winz1

mMv 4x4 modelview matrix

mP 4x4 projection matrix

viewport Rect4i viewport

ray storage for the resulting Ray in object space

Returns
true if successful, otherwise false (failed to invert matrix, or becomes z is infinity)

Definition at line 1839 of file mat4f.hpp.

◆ mapWinToViewRay()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapWinToViewRay	(	const value_type	winx,
		const value_type	winy,
		const value_type	winz0,
		const value_type	winz1,
		const Matrix4< Value_type, > &	mP,
		const Recti &	viewport,
		Ray3 &	ray )

inlinestaticnoexcept

Map two window coordinates w/ shared X/Y and distinctive Z to a Ray in view space.

The resulting Ray maybe used for picking using a AABBox#getRayIntersection(vec3f, Ray, value_type, boolean) of a shape also in view space.

Notes for picking winz0 and winz1:

see jau::math::util::getZBufferEpsilon()
see jau::math::util::getZBufferValue()
see jau::math::util::getOrthoWinZ()
Parameters

winx

winy

winz0

winz1

mMv 4x4 modelview matrix

mP 4x4 projection matrix

viewport Rect4i viewport

ray storage for the resulting Ray in view space

Returns
true if successful, otherwise false (failed to invert matrix, or becomes z is infinity)

Definition at line 1875 of file mat4f.hpp.

◆ mapWinToAnyRay()

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

static bool jau::math::Matrix4< Value_type, >::mapWinToAnyRay	(	const value_type	winx,
		const value_type	winy,
		const value_type	winz0,
		const value_type	winz1,
		const Matrix4< Value_type, > &	invAny,
		const Recti &	viewport,
		Ray3 &	ray )

inlinestaticnoexcept

Map two window coordinates w/ shared X/Y and distinctive Z to a Ray in object, world or view coordinates, depending on invAny argument.

The resulting Ray maybe used for picking using a AABBox#getRayIntersection(vec3f, Ray, value_type, boolean) of a shape also in object, world or view space, see invAny.

invAny maybe set as follows for

to object: inverse(P x Mv) = ‘([projection] x [modelview])’
to world: inverse(P x V) =([projection] x [view])'
to view: inverse(P) =[projection]'`

Notes for picking winz0 and winz1:

see jau::math::util::getZBufferEpsilon()
see jau::math::util::getZBufferValue()

see jau::math::util::getOrthoWinZ()

Parameters

winx
winy
winz0
winz1
invAny	inverse matrix, either Inv(P x Mv) to object, Inv(P x V) to world or Inv(P) ‘[projection]’` to view
viewport	Rect4i viewport
ray	storage for the resulting `Ray` in object space

Returns: true if successful, otherwise false (failed invert matrix, or becomes z is infinity)

Definition at line 1915 of file mat4f.hpp.

◆ toString() [1/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

std::string jau::math::Matrix4< Value_type, >::toString	(	const std::string &	rowPrefix,
		const std::string &	f ) const

inlinenoexcept

Returns a formatted string representation of this matrix.

Parameters

rowPrefix	prefix for each row
f	format string for each value_type element, e.g. "%10.5f"

Definition at line 1933 of file mat4f.hpp.

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◆ toString() [2/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

std::string jau::math::Matrix4< Value_type, >::toString ( const std::string & rowPrefix ) const

inlinenoexcept

Returns a formatted string representation of this matrix.

Parameters

rowPrefix prefix for each row

Definition at line 1944 of file mat4f.hpp.

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◆ toString() [3/3]

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

std::string jau::math::Matrix4< Value_type, >::toString ( ) const

inlinenoexcept

Definition at line 1946 of file mat4f.hpp.

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Member Data Documentation

◆ zero

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

const value_type jau::math::Matrix4< Value_type, >::zero = value_type(0)

staticconstexpr

Definition at line 116 of file mat4f.hpp.

◆ one

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

const value_type jau::math::Matrix4< Value_type, >::one = value_type(1)

staticconstexpr

Definition at line 117 of file mat4f.hpp.

◆ two

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

const value_type jau::math::Matrix4< Value_type, >::two = value_type(2)

staticconstexpr

Definition at line 118 of file mat4f.hpp.

◆ half

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

const value_type jau::math::Matrix4< Value_type, >::half = one/two

staticconstexpr

Definition at line 119 of file mat4f.hpp.

◆ inv_deviation

template<typename Value_type, std::enable_if_t< std::is_floating_point_v< Value_type >, bool > = true>

const value_type jau::math::Matrix4< Value_type, >::inv_deviation = value_type(84) * std::numeric_limits<value_type>::epsilon()

staticconstexpr

Inversion Epsilon, used with equals method to determine if two inverted matrices are close enough to be considered equal.

Using {@value}, which is ~84 times std::numeric_limits<value_type>::epsilon().

Definition at line 127 of file mat4f.hpp.

The documentation for this class was generated from the following files:

jaulib/include/jau/math/mat4f.hpp
jaulib/include/jau/math/quaternion.hpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ value_type

◆ pointer

◆ const_pointer

◆ reference

◆ const_reference

◆ iterator

◆ const_iterator

◆ Vec3

◆ Vec4

◆ Ray3

◆ Quat

Constructor & Destructor Documentation

◆ Matrix4() [1/4]

◆ Matrix4() [2/4]

◆ Matrix4() [3/4]

◆ Matrix4() [4/4]

Member Function Documentation

◆ operator=()

◆ equals()

◆ operator==()

◆ operator[]() [1/2]

◆ set()

◆ operator pointer()

◆ begin()

◆ loadIdentity()

◆ load() [1/2]

◆ load() [2/2]

◆ operator[]() [2/2]

◆ get() [1/3]

◆ operator const_pointer()

◆ cbegin()

◆ getColumn() [1/3]

◆ getColumn() [2/3]

◆ getColumn() [3/3]

◆ getRow() [1/3]

◆ getRow() [2/3]

◆ getRow() [3/3]

◆ get() [2/3]

◆ get() [3/3]

◆ determinant()

◆ transpose() [1/2]

◆ transpose() [2/2]

◆ invert() [1/2]

◆ invert() [2/2]

◆ operator*=() [1/2]

◆ mul() [1/2]

◆ operator*=() [2/2]

◆ mul() [2/2]

◆ mulVec4() [1/2]

◆ operator*() [1/2]

◆ mulVec4() [2/2]

◆ mulVec3() [1/2]

◆ operator*() [2/2]

◆ mulVec3() [2/2]

◆ setToTranslation() [1/2]

◆ setToTranslation() [2/2]

◆ setToScale() [1/2]

◆ setToScale() [2/2]

◆ setToRotationAxis() [1/2]

◆ setToRotationAxis() [2/2]

◆ setToRotationEuler() [1/2]

◆ setToRotationEuler() [2/2]

◆ setToOrtho()

◆ setToFrustum()

◆ setToPerspective() [1/2]

◆ setToPerspective() [2/2]

◆ setToLookAt()

◆ setToPick()

◆ rotate() [1/3]

◆ rotate() [2/3]

◆ rotate() [3/3]

◆ translate() [1/2]

◆ translate() [2/2]

◆ scale() [1/3]