/* * @(#)Matrix3D.java	1.13 06/02/22 *  * Copyright (c) 2006 Sun Microsystems, Inc. All Rights Reserved. *  * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: *  * -Redistribution of source code must retain the above copyright notice, this *  list of conditions and the following disclaimer. *  * -Redistribution in binary form must reproduce the above copyright notice,  *  this list of conditions and the following disclaimer in the documentation *  and/or other materials provided with the distribution. *  * Neither the name of Sun Microsystems, Inc. or the names of contributors may  * be used to endorse or promote products derived from this software without  * specific prior written permission. *  * This software is provided "AS IS," without a warranty of any kind. ALL  * EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND WARRANTIES, INCLUDING * ANY IMPLIED WARRANTY OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE * OR NON-INFRINGEMENT, ARE HEREBY EXCLUDED. SUN MICROSYSTEMS, INC. ("SUN") * AND ITS LICENSORS SHALL NOT BE LIABLE FOR ANY DAMAGES SUFFERED BY LICENSEE * AS A RESULT OF USING, MODIFYING OR DISTRIBUTING THIS SOFTWARE OR ITS * DERIVATIVES. IN NO EVENT WILL SUN OR ITS LICENSORS BE LIABLE FOR ANY LOST  * REVENUE, PROFIT OR DATA, OR FOR DIRECT, INDIRECT, SPECIAL, CONSEQUENTIAL,  * INCIDENTAL OR PUNITIVE DAMAGES, HOWEVER CAUSED AND REGARDLESS OF THE THEORY  * OF LIABILITY, ARISING OUT OF THE USE OF OR INABILITY TO USE THIS SOFTWARE,  * EVEN IF SUN HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. *  * You acknowledge that this software is not designed, licensed or intended * for use in the design, construction, operation or maintenance of any * nuclear facility. *//* * @(#)Matrix3D.java	1.13 06/02/22 *//** A fairly conventional 3D matrix object that can transform sets of    3D points and perform a variety of manipulations on the transform */class Matrix3D {    float xx, xy, xz, xo;    float yx, yy, yz, yo;    float zx, zy, zz, zo;    static final double pi = 3.14159265;    /** Create a new unit matrix */    Matrix3D () {	xx = 1.0f;	yy = 1.0f;	zz = 1.0f;    }    /** Scale by f in all dimensions */    void scale(float f) {	xx *= f;	xy *= f;	xz *= f;	xo *= f;	yx *= f;	yy *= f;	yz *= f;	yo *= f;	zx *= f;	zy *= f;	zz *= f;	zo *= f;    }    /** Scale along each axis independently */    void scale(float xf, float yf, float zf) {	xx *= xf;	xy *= xf;	xz *= xf;	xo *= xf;	yx *= yf;	yy *= yf;	yz *= yf;	yo *= yf;	zx *= zf;	zy *= zf;	zz *= zf;	zo *= zf;    }    /** Translate the origin */    void translate(float x, float y, float z) {	xo += x;	yo += y;	zo += z;    }    /** rotate theta degrees about the y axis */    void yrot(double theta) {	theta *= (pi / 180);	double ct = Math.cos(theta);	double st = Math.sin(theta);	float Nxx = (float) (xx * ct + zx * st);	float Nxy = (float) (xy * ct + zy * st);	float Nxz = (float) (xz * ct + zz * st);	float Nxo = (float) (xo * ct + zo * st);	float Nzx = (float) (zx * ct - xx * st);	float Nzy = (float) (zy * ct - xy * st);	float Nzz = (float) (zz * ct - xz * st);	float Nzo = (float) (zo * ct - xo * st);	xo = Nxo;	xx = Nxx;	xy = Nxy;	xz = Nxz;	zo = Nzo;	zx = Nzx;	zy = Nzy;	zz = Nzz;    }    /** rotate theta degrees about the x axis */    void xrot(double theta) {	theta *= (pi / 180);	double ct = Math.cos(theta);	double st = Math.sin(theta);	float Nyx = (float) (yx * ct + zx * st);	float Nyy = (float) (yy * ct + zy * st);	float Nyz = (float) (yz * ct + zz * st);	float Nyo = (float) (yo * ct + zo * st);	float Nzx = (float) (zx * ct - yx * st);	float Nzy = (float) (zy * ct - yy * st);	float Nzz = (float) (zz * ct - yz * st);	float Nzo = (float) (zo * ct - yo * st);	yo = Nyo;	yx = Nyx;	yy = Nyy;	yz = Nyz;	zo = Nzo;	zx = Nzx;	zy = Nzy;	zz = Nzz;    }    /** rotate theta degrees about the z axis */    void zrot(double theta) {	theta *= (pi / 180);	double ct = Math.cos(theta);	double st = Math.sin(theta);	float Nyx = (float) (yx * ct + xx * st);	float Nyy = (float) (yy * ct + xy * st);	float Nyz = (float) (yz * ct + xz * st);	float Nyo = (float) (yo * ct + xo * st);	float Nxx = (float) (xx * ct - yx * st);	float Nxy = (float) (xy * ct - yy * st);	float Nxz = (float) (xz * ct - yz * st);	float Nxo = (float) (xo * ct - yo * st);	yo = Nyo;	yx = Nyx;	yy = Nyy;	yz = Nyz;	xo = Nxo;	xx = Nxx;	xy = Nxy;	xz = Nxz;    }    /** Multiply this matrix by a second: M = M*R */    void mult(Matrix3D rhs) {	float lxx = xx * rhs.xx + yx * rhs.xy + zx * rhs.xz;	float lxy = xy * rhs.xx + yy * rhs.xy + zy * rhs.xz;	float lxz = xz * rhs.xx + yz * rhs.xy + zz * rhs.xz;	float lxo = xo * rhs.xx + yo * rhs.xy + zo * rhs.xz + rhs.xo;	float lyx = xx * rhs.yx + yx * rhs.yy + zx * rhs.yz;	float lyy = xy * rhs.yx + yy * rhs.yy + zy * rhs.yz;	float lyz = xz * rhs.yx + yz * rhs.yy + zz * rhs.yz;	float lyo = xo * rhs.yx + yo * rhs.yy + zo * rhs.yz + rhs.yo;	float lzx = xx * rhs.zx + yx * rhs.zy + zx * rhs.zz;	float lzy = xy * rhs.zx + yy * rhs.zy + zy * rhs.zz;	float lzz = xz * rhs.zx + yz * rhs.zy + zz * rhs.zz;	float lzo = xo * rhs.zx + yo * rhs.zy + zo * rhs.zz + rhs.zo;	xx = lxx;	xy = lxy;	xz = lxz;	xo = lxo;	yx = lyx;	yy = lyy;	yz = lyz;	yo = lyo;	zx = lzx;	zy = lzy;	zz = lzz;	zo = lzo;    }    /** Reinitialize to the unit matrix */    void unit() {	xo = 0;	xx = 1;	xy = 0;	xz = 0;	yo = 0;	yx = 0;	yy = 1;	yz = 0;	zo = 0;	zx = 0;	zy = 0;	zz = 1;    }    /** Transform nvert points from v into tv.  v contains the input        coordinates in floating point.  Three successive entries in	the array constitute a point.  tv ends up holding the transformed	points as integers; three successive entries per point */    void transform(float v[], int tv[], int nvert) {	float lxx = xx, lxy = xy, lxz = xz, lxo = xo;	float lyx = yx, lyy = yy, lyz = yz, lyo = yo;	float lzx = zx, lzy = zy, lzz = zz, lzo = zo;	for (int i = nvert * 3; (i -= 3) >= 0;) {	    float x = v[i];	    float y = v[i + 1];	    float z = v[i + 2];	    tv[i    ] = (int) (x * lxx + y * lxy + z * lxz + lxo);	    tv[i + 1] = (int) (x * lyx + y * lyy + z * lyz + lyo);	    tv[i + 2] = (int) (x * lzx + y * lzy + z * lzz + lzo);	}    }    public String toString() {	return ("[" + xo + "," + xx + "," + xy + "," + xz + ";"		+ yo + "," + yx + "," + yy + "," + yz + ";"		+ zo + "," + zx + "," + zy + "," + zz + "]");    }}