src/jp/nyatla/nyartoolkit/core/types/matrix/NyARDoubleMatrix33.java

   1 /* \r
   2  * PROJECT: NyARToolkit(Extension)\r
   3  * --------------------------------------------------------------------------------\r
   4  * The NyARToolkit is Java edition ARToolKit class library.\r
   5  * Copyright (C)2008-2009 Ryo Iizuka\r
   6  *\r
   7  * This program is free software; you can redistribute it and/or\r
   8  * modify it under the terms of the GNU Lesser General Public License\r
   9  * as published by the Free Software Foundation; either version 3\r
  10  * of the License, or (at your option) any later version.\r
  11  * \r
  12  * This program is distributed in the hope that it will be useful,\r
  13  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
  15  * GNU Lesser General Public License for more details\r
  16  * \r
  17  * You should have received a copy of the GNU Lesser General Public\r
  18  * License along with this program. If not, see <http://www.gnu.org/licenses/>.\r
  19  * \r
  20  * For further information please contact.\r
  21  *      http://nyatla.jp/nyatoolkit/\r
  22  *      <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>\r
  23  * \r
  24  */\r
  25 package jp.nyatla.nyartoolkit.core.types.matrix;\r
  26 \r
  27 import jp.nyatla.nyartoolkit.*;\r
  28 import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint3d;\r
  29 \r
  30 public class NyARDoubleMatrix33 implements INyARDoubleMatrix\r
  31 {\r
  32         public double m00;\r
  33         public double m01;\r
  34         public double m02;\r
  35         public double m10;\r
  36         public double m11;\r
  37         public double m12;\r
  38         public double m20;\r
  39         public double m21;\r
  40         public double m22;\r
  41         public static NyARDoubleMatrix33[] createArray(int i_number)\r
  42         {\r
  43                 NyARDoubleMatrix33[] ret=new NyARDoubleMatrix33[i_number];\r
  44                 for(int i=0;i<i_number;i++)\r
  45                 {\r
  46                         ret[i]=new NyARDoubleMatrix33();\r
  47                 }\r
  48                 return ret;\r
  49         }\r
  50         /**\r
  51          * 遅いからあんまり使わないでね。\r
  52          */\r
  53         public void setValue(double[] i_value)\r
  54         {\r
  55                 this.m00=i_value[0];\r
  56                 this.m01=i_value[1];\r
  57                 this.m02=i_value[2];\r
  58                 this.m10=i_value[3];\r
  59                 this.m11=i_value[4];\r
  60                 this.m12=i_value[5];\r
  61                 this.m20=i_value[6];\r
  62                 this.m21=i_value[7];\r
  63                 this.m22=i_value[8];\r
  64                 return;\r
  65         }\r
  66         public void setValue(NyARDoubleMatrix33 i_value)\r
  67         {\r
  68                 this.m00=i_value.m00;\r
  69                 this.m01=i_value.m01;\r
  70                 this.m02=i_value.m02;\r
  71                 this.m10=i_value.m10;\r
  72                 this.m11=i_value.m11;\r
  73                 this.m12=i_value.m12;\r
  74                 this.m20=i_value.m20;\r
  75                 this.m21=i_value.m21;\r
  76                 this.m22=i_value.m22;\r
  77                 return;\r
  78         }       \r
  79         /**\r
  80          * 遅いからあんまり使わないでね。\r
  81          */\r
  82         public void getValue(double[] o_value)\r
  83         {\r
  84                 o_value[0]=this.m00;\r
  85                 o_value[1]=this.m01;\r
  86                 o_value[2]=this.m02;\r
  87                 o_value[3]=this.m10;\r
  88                 o_value[4]=this.m11;\r
  89                 o_value[5]=this.m12;\r
  90                 o_value[6]=this.m20;\r
  91                 o_value[7]=this.m21;\r
  92                 o_value[8]=this.m22;\r
  93                 return;\r
  94         }\r
  95         public boolean inverse(NyARDoubleMatrix33 i_src)\r
  96         {\r
  97                 final double a11,a12,a13,a21,a22,a23,a31,a32,a33;\r
  98                 final double b11,b12,b13,b21,b22,b23,b31,b32,b33;       \r
  99                 a11=i_src.m00;a12=i_src.m01;a13=i_src.m02;\r
 100                 a21=i_src.m10;a22=i_src.m11;a23=i_src.m12;\r
 101                 a31=i_src.m20;a32=i_src.m21;a33=i_src.m22;\r
 102                 \r
 103                 b11=a22*a33-a23*a32;\r
 104                 b12=a32*a13-a33*a12;\r
 105                 b13=a12*a23-a13*a22;\r
 106                 \r
 107                 b21=a13*a31-a21*a33;\r
 108                 b22=a33*a11-a31*a13;\r
 109                 b23=a13*a21-a11*a23;\r
 110                 \r
 111                 b31=a21*a32-a22*a31;\r
 112                 b32=a31*a12-a32*a11;\r
 113                 b33=a11*a22-a12*a21;\r
 114                                 \r
 115                 double det_1=a11*b11+a21*b12+a31*b13;\r
 116                 if(det_1==0){\r
 117                         return false;\r
 118                 }\r
 119                 det_1=1/det_1;\r
 120 \r
 121                 this.m00=b11*det_1;\r
 122                 this.m01=b12*det_1;\r
 123                 this.m02=b13*det_1;\r
 124                 \r
 125                 this.m10=b21*det_1;\r
 126                 this.m11=b22*det_1;\r
 127                 this.m12=b23*det_1;\r
 128                 \r
 129                 this.m20=b31*det_1;\r
 130                 this.m21=b32*det_1;\r
 131                 this.m22=b33*det_1;\r
 132                 \r
 133                 return true;\r
 134         }\r
 135         /**\r
 136          * この関数は、0-PIの間で値を返します。\r
 137          * @param o_out\r
 138          */\r
 139         public final void getZXYAngle(NyARDoublePoint3d o_out)\r
 140         {\r
 141                 double sina = this.m21;\r
 142                 if (sina >= 1.0) {\r
 143                         o_out.x = Math.PI / 2;\r
 144                         o_out.y = 0;\r
 145                         o_out.z = Math.atan2(-this.m10, this.m00);\r
 146                 } else if (sina <= -1.0) {\r
 147                         o_out.x = -Math.PI / 2;\r
 148                         o_out.y = 0;\r
 149                         o_out.z = Math.atan2(-this.m10, this.m00);\r
 150                 } else {\r
 151                         o_out.x = Math.asin(sina);\r
 152                         o_out.z = Math.atan2(-this.m01, this.m11);\r
 153                         o_out.y = Math.atan2(-this.m20, this.m22);\r
 154                 }\r
 155         }\r
 156         public final void setZXYAngle(final double i_x, final double i_y, final double i_z)\r
 157         {\r
 158                 final double sina = Math.sin(i_x);\r
 159                 final double cosa = Math.cos(i_x);\r
 160                 final double sinb = Math.sin(i_y);\r
 161                 final double cosb = Math.cos(i_y);\r
 162                 final double sinc = Math.sin(i_z);\r
 163                 final double cosc = Math.cos(i_z);\r
 164                 this.m00 = cosc * cosb - sinc * sina * sinb;\r
 165                 this.m01 = -sinc * cosa;\r
 166                 this.m02 = cosc * sinb + sinc * sina * cosb;\r
 167                 this.m10 = sinc * cosb + cosc * sina * sinb;\r
 168                 this.m11 = cosc * cosa;\r
 169                 this.m12 = sinc * sinb - cosc * sina * cosb;\r
 170                 this.m20 = -cosa * sinb;\r
 171                 this.m21 = sina;\r
 172                 this.m22 = cosb * cosa;\r
 173         }       \r
 174 }\r