799 lines
25 KiB
Java
799 lines
25 KiB
Java
/*
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* Copyright (c) 2002-2008 LWJGL Project
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* * Neither the name of 'LWJGL' nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package io.github.hydos.ginger.engine.math.matrixes;
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import java.io.Serializable;
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import java.nio.FloatBuffer;
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import io.github.hydos.ginger.engine.math.vectors.Vector2f;
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import io.github.hydos.ginger.engine.math.vectors.Vector3f;
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import io.github.hydos.ginger.engine.math.vectors.Vector4f;
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/** Holds a 4x4 float matrix.
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*
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* @author foo */
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public class Matrix4f extends Matrix implements Serializable
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{
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private static final long serialVersionUID = 1L;
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public float m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33;
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/** Construct a new matrix, initialized to the identity. */
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public Matrix4f()
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{
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super();
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setIdentity();
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}
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public Matrix4f(final Matrix4f src)
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{
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super();
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load(src);
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}
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/** Returns a string representation of this matrix */
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@Override
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public String toString()
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{
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StringBuilder buf = new StringBuilder();
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buf.append(m00).append(' ').append(m10).append(' ').append(m20).append(' ').append(m30).append('\n');
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buf.append(m01).append(' ').append(m11).append(' ').append(m21).append(' ').append(m31).append('\n');
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buf.append(m02).append(' ').append(m12).append(' ').append(m22).append(' ').append(m32).append('\n');
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buf.append(m03).append(' ').append(m13).append(' ').append(m23).append(' ').append(m33).append('\n');
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return buf.toString();
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}
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/** Set this matrix to be the identity matrix.
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*
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* @return this */
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@Override
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public Matrix setIdentity()
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{ return setIdentity(this); }
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/** Set the given matrix to be the identity matrix.
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*
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* @param m The matrix to set to the identity
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* @return m */
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public static Matrix4f setIdentity(Matrix4f m)
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{
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m.m00 = 1.0f;
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m.m01 = 0.0f;
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m.m02 = 0.0f;
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m.m03 = 0.0f;
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m.m10 = 0.0f;
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m.m11 = 1.0f;
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m.m12 = 0.0f;
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m.m13 = 0.0f;
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m.m20 = 0.0f;
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m.m21 = 0.0f;
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m.m22 = 1.0f;
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m.m23 = 0.0f;
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m.m30 = 0.0f;
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m.m31 = 0.0f;
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m.m32 = 0.0f;
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m.m33 = 1.0f;
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return m;
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}
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/** Set this matrix to 0.
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*
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* @return this */
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@Override
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public Matrix setZero()
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{ return setZero(this); }
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/** Set the given matrix to 0.
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*
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* @param m The matrix to set to 0
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* @return m */
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public static Matrix4f setZero(Matrix4f m)
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{
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m.m00 = 0.0f;
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m.m01 = 0.0f;
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m.m02 = 0.0f;
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m.m03 = 0.0f;
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m.m10 = 0.0f;
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m.m11 = 0.0f;
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m.m12 = 0.0f;
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m.m13 = 0.0f;
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m.m20 = 0.0f;
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m.m21 = 0.0f;
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m.m22 = 0.0f;
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m.m23 = 0.0f;
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m.m30 = 0.0f;
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m.m31 = 0.0f;
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m.m32 = 0.0f;
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m.m33 = 0.0f;
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return m;
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}
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/** Load from another matrix4f
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*
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* @param src The source matrix
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* @return this */
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public Matrix4f load(Matrix4f src)
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{ return load(src, this); }
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/** Copy the source matrix to the destination matrix
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*
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* @param src The source matrix
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* @param dest The destination matrix, or null of a new one is to be created
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* @return The copied matrix */
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public static Matrix4f load(Matrix4f src, Matrix4f dest)
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{
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if (dest == null)
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dest = new Matrix4f();
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dest.m00 = src.m00;
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dest.m01 = src.m01;
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dest.m02 = src.m02;
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dest.m03 = src.m03;
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dest.m10 = src.m10;
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dest.m11 = src.m11;
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dest.m12 = src.m12;
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dest.m13 = src.m13;
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dest.m20 = src.m20;
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dest.m21 = src.m21;
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dest.m22 = src.m22;
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dest.m23 = src.m23;
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dest.m30 = src.m30;
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dest.m31 = src.m31;
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dest.m32 = src.m32;
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dest.m33 = src.m33;
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return dest;
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}
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/** Load from a float buffer. The buffer stores the matrix in column major
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* (OpenGL) order.
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*
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* @param buf A float buffer to read from
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* @return this */
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@Override
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public Matrix load(FloatBuffer buf)
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{
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m00 = buf.get();
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m01 = buf.get();
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m02 = buf.get();
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m03 = buf.get();
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m10 = buf.get();
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m11 = buf.get();
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m12 = buf.get();
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m13 = buf.get();
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m20 = buf.get();
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m21 = buf.get();
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m22 = buf.get();
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m23 = buf.get();
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m30 = buf.get();
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m31 = buf.get();
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m32 = buf.get();
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m33 = buf.get();
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return this;
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}
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/** Load from a float buffer. The buffer stores the matrix in row major
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* (maths) order.
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*
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* @param buf A float buffer to read from
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* @return this */
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@Override
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public Matrix loadTranspose(FloatBuffer buf)
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{
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m00 = buf.get();
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m10 = buf.get();
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m20 = buf.get();
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m30 = buf.get();
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m01 = buf.get();
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m11 = buf.get();
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m21 = buf.get();
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m31 = buf.get();
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m02 = buf.get();
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m12 = buf.get();
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m22 = buf.get();
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m32 = buf.get();
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m03 = buf.get();
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m13 = buf.get();
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m23 = buf.get();
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m33 = buf.get();
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return this;
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}
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/** Store this matrix in a float buffer. The matrix is stored in column
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* major (openGL) order.
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*
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* @param buf The buffer to store this matrix in */
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@Override
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public Matrix store(FloatBuffer buf)
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{
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buf.put(m00);
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buf.put(m01);
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buf.put(m02);
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buf.put(m03);
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buf.put(m10);
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buf.put(m11);
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buf.put(m12);
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buf.put(m13);
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buf.put(m20);
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buf.put(m21);
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buf.put(m22);
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buf.put(m23);
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buf.put(m30);
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buf.put(m31);
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buf.put(m32);
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buf.put(m33);
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return this;
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}
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/** Store this matrix in a float buffer. The matrix is stored in row
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* major (maths) order.
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*
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* @param buf The buffer to store this matrix in */
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@Override
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public Matrix storeTranspose(FloatBuffer buf)
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{
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buf.put(m00);
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buf.put(m10);
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buf.put(m20);
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buf.put(m30);
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buf.put(m01);
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buf.put(m11);
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buf.put(m21);
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buf.put(m31);
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buf.put(m02);
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buf.put(m12);
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buf.put(m22);
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buf.put(m32);
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buf.put(m03);
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buf.put(m13);
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buf.put(m23);
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buf.put(m33);
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return this;
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}
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/** Store the rotation portion of this matrix in a float buffer. The matrix is stored in column
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* major (openGL) order.
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*
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* @param buf The buffer to store this matrix in */
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public Matrix store3f(FloatBuffer buf)
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{
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buf.put(m00);
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buf.put(m01);
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buf.put(m02);
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buf.put(m10);
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buf.put(m11);
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buf.put(m12);
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buf.put(m20);
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buf.put(m21);
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buf.put(m22);
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return this;
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}
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/** Add two matrices together and place the result in a third matrix.
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*
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* @param left The left source matrix
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* @param right The right source matrix
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* @param dest The destination matrix, or null if a new one is to be created
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* @return the destination matrix */
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public static Matrix4f add(Matrix4f left, Matrix4f right, Matrix4f dest)
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{
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if (dest == null)
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dest = new Matrix4f();
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dest.m00 = left.m00 + right.m00;
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dest.m01 = left.m01 + right.m01;
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dest.m02 = left.m02 + right.m02;
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dest.m03 = left.m03 + right.m03;
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dest.m10 = left.m10 + right.m10;
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dest.m11 = left.m11 + right.m11;
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dest.m12 = left.m12 + right.m12;
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dest.m13 = left.m13 + right.m13;
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dest.m20 = left.m20 + right.m20;
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dest.m21 = left.m21 + right.m21;
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dest.m22 = left.m22 + right.m22;
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dest.m23 = left.m23 + right.m23;
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dest.m30 = left.m30 + right.m30;
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dest.m31 = left.m31 + right.m31;
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dest.m32 = left.m32 + right.m32;
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dest.m33 = left.m33 + right.m33;
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return dest;
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}
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/** Subtract the right matrix from the left and place the result in a third matrix.
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*
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* @param left The left source matrix
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* @param right The right source matrix
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* @param dest The destination matrix, or null if a new one is to be created
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* @return the destination matrix */
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public static Matrix4f sub(Matrix4f left, Matrix4f right, Matrix4f dest)
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{
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if (dest == null)
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dest = new Matrix4f();
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dest.m00 = left.m00 - right.m00;
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dest.m01 = left.m01 - right.m01;
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dest.m02 = left.m02 - right.m02;
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dest.m03 = left.m03 - right.m03;
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dest.m10 = left.m10 - right.m10;
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dest.m11 = left.m11 - right.m11;
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dest.m12 = left.m12 - right.m12;
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dest.m13 = left.m13 - right.m13;
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dest.m20 = left.m20 - right.m20;
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dest.m21 = left.m21 - right.m21;
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dest.m22 = left.m22 - right.m22;
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dest.m23 = left.m23 - right.m23;
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dest.m30 = left.m30 - right.m30;
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dest.m31 = left.m31 - right.m31;
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dest.m32 = left.m32 - right.m32;
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dest.m33 = left.m33 - right.m33;
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return dest;
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}
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/** Multiply the right matrix by the left and place the result in a third matrix.
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*
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* @param left The left source matrix
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* @param right The right source matrix
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* @param dest The destination matrix, or null if a new one is to be created
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* @return the destination matrix */
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public Matrix4f mul(Matrix4f left)
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{ return Matrix4f.mul(left, left, this); }
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public static Matrix4f mul(Matrix4f left, Matrix4f right, Matrix4f dest)
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{
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if (dest == null)
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dest = new Matrix4f();
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float m00 = left.m00 * right.m00 + left.m10 * right.m01 + left.m20 * right.m02 + left.m30 * right.m03;
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float m01 = left.m01 * right.m00 + left.m11 * right.m01 + left.m21 * right.m02 + left.m31 * right.m03;
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float m02 = left.m02 * right.m00 + left.m12 * right.m01 + left.m22 * right.m02 + left.m32 * right.m03;
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float m03 = left.m03 * right.m00 + left.m13 * right.m01 + left.m23 * right.m02 + left.m33 * right.m03;
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float m10 = left.m00 * right.m10 + left.m10 * right.m11 + left.m20 * right.m12 + left.m30 * right.m13;
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float m11 = left.m01 * right.m10 + left.m11 * right.m11 + left.m21 * right.m12 + left.m31 * right.m13;
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float m12 = left.m02 * right.m10 + left.m12 * right.m11 + left.m22 * right.m12 + left.m32 * right.m13;
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float m13 = left.m03 * right.m10 + left.m13 * right.m11 + left.m23 * right.m12 + left.m33 * right.m13;
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float m20 = left.m00 * right.m20 + left.m10 * right.m21 + left.m20 * right.m22 + left.m30 * right.m23;
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float m21 = left.m01 * right.m20 + left.m11 * right.m21 + left.m21 * right.m22 + left.m31 * right.m23;
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float m22 = left.m02 * right.m20 + left.m12 * right.m21 + left.m22 * right.m22 + left.m32 * right.m23;
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float m23 = left.m03 * right.m20 + left.m13 * right.m21 + left.m23 * right.m22 + left.m33 * right.m23;
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float m30 = left.m00 * right.m30 + left.m10 * right.m31 + left.m20 * right.m32 + left.m30 * right.m33;
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float m31 = left.m01 * right.m30 + left.m11 * right.m31 + left.m21 * right.m32 + left.m31 * right.m33;
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float m32 = left.m02 * right.m30 + left.m12 * right.m31 + left.m22 * right.m32 + left.m32 * right.m33;
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float m33 = left.m03 * right.m30 + left.m13 * right.m31 + left.m23 * right.m32 + left.m33 * right.m33;
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dest.m00 = m00;
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dest.m01 = m01;
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dest.m02 = m02;
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dest.m03 = m03;
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dest.m10 = m10;
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dest.m11 = m11;
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dest.m12 = m12;
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dest.m13 = m13;
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dest.m20 = m20;
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dest.m21 = m21;
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dest.m22 = m22;
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dest.m23 = m23;
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dest.m30 = m30;
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dest.m31 = m31;
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dest.m32 = m32;
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dest.m33 = m33;
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return dest;
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}
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/** Transform a Vector by a matrix and return the result in a destination
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* vector.
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*
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* @param left The left matrix
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* @param right The right vector
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* @param dest The destination vector, or null if a new one is to be created
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* @return the destination vector */
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public static Vector4f transform(Matrix4f left, Vector4f right, Vector4f dest)
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{
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if (dest == null)
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dest = new Vector4f();
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float x = left.m00 * right.x + left.m10 * right.y + left.m20 * right.z + left.m30 * right.w;
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float y = left.m01 * right.x + left.m11 * right.y + left.m21 * right.z + left.m31 * right.w;
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float z = left.m02 * right.x + left.m12 * right.y + left.m22 * right.z + left.m32 * right.w;
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float w = left.m03 * right.x + left.m13 * right.y + left.m23 * right.z + left.m33 * right.w;
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dest.x = x;
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dest.y = y;
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dest.z = z;
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dest.w = w;
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return dest;
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}
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/** Transpose this matrix
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*
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* @return this */
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@Override
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public Matrix transpose()
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{ return transpose(this); }
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/** Translate this matrix
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*
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* @param vec The vector to translate by
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* @return this */
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public Matrix4f translate(Vector2f vec)
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{ return translate(vec, this); }
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/** Translate this matrix
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*
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* @param vec The vector to translate by
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* @return this */
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public Matrix4f translate(Vector3f vec)
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{ return translate(vec, this); }
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/** Scales this matrix
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*
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* @param vec The vector to scale by
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* @return this */
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public Matrix4f scale(Vector3f vec)
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{ return scale(vec, this, this); }
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/** Scales the source matrix and put the result in the destination matrix
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*
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* @param vec The vector to scale by
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* @param src The source matrix
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* @param dest The destination matrix, or null if a new matrix is to be created
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* @return The scaled matrix */
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public static Matrix4f scale(Vector3f vec, Matrix4f src, Matrix4f dest)
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{
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if (dest == null)
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dest = new Matrix4f();
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dest.m00 = src.m00 * vec.x;
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dest.m01 = src.m01 * vec.x;
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dest.m02 = src.m02 * vec.x;
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dest.m03 = src.m03 * vec.x;
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dest.m10 = src.m10 * vec.y;
|
|
dest.m11 = src.m11 * vec.y;
|
|
dest.m12 = src.m12 * vec.y;
|
|
dest.m13 = src.m13 * vec.y;
|
|
dest.m20 = src.m20 * vec.z;
|
|
dest.m21 = src.m21 * vec.z;
|
|
dest.m22 = src.m22 * vec.z;
|
|
dest.m23 = src.m23 * vec.z;
|
|
return dest;
|
|
}
|
|
|
|
/** Rotates the matrix around the given axis the specified angle
|
|
*
|
|
* @param angle the angle, in radians.
|
|
* @param axis The vector representing the rotation axis. Must be normalized.
|
|
* @return this */
|
|
public Matrix4f rotate(float angle, Vector3f axis)
|
|
{ return rotate(angle, axis, this); }
|
|
|
|
/** Rotates the matrix around the given axis the specified angle
|
|
*
|
|
* @param angle the angle, in radians.
|
|
* @param axis The vector representing the rotation axis. Must be normalized.
|
|
* @param dest The matrix to put the result, or null if a new matrix is to be created
|
|
* @return The rotated matrix */
|
|
public Matrix4f rotate(float angle, Vector3f axis, Matrix4f dest)
|
|
{ return rotate(angle, axis, this, dest); }
|
|
|
|
/** Rotates the source matrix around the given axis the specified angle and
|
|
* put the result in the destination matrix.
|
|
*
|
|
* @param angle the angle, in radians.
|
|
* @param axis The vector representing the rotation axis. Must be normalized.
|
|
* @param src The matrix to rotate
|
|
* @param dest The matrix to put the result, or null if a new matrix is to be created
|
|
* @return The rotated matrix */
|
|
public static Matrix4f rotate(float angle, Vector3f axis, Matrix4f src, Matrix4f dest)
|
|
{
|
|
if (dest == null)
|
|
dest = new Matrix4f();
|
|
float c = (float) Math.cos(angle);
|
|
float s = (float) Math.sin(angle);
|
|
float oneminusc = 1.0f - c;
|
|
float xy = axis.x * axis.y;
|
|
float yz = axis.y * axis.z;
|
|
float xz = axis.x * axis.z;
|
|
float xs = axis.x * s;
|
|
float ys = axis.y * s;
|
|
float zs = axis.z * s;
|
|
float f00 = axis.x * axis.x * oneminusc + c;
|
|
float f01 = xy * oneminusc + zs;
|
|
float f02 = xz * oneminusc - ys;
|
|
// n[3] not used
|
|
float f10 = xy * oneminusc - zs;
|
|
float f11 = axis.y * axis.y * oneminusc + c;
|
|
float f12 = yz * oneminusc + xs;
|
|
// n[7] not used
|
|
float f20 = xz * oneminusc + ys;
|
|
float f21 = yz * oneminusc - xs;
|
|
float f22 = axis.z * axis.z * oneminusc + c;
|
|
float t00 = src.m00 * f00 + src.m10 * f01 + src.m20 * f02;
|
|
float t01 = src.m01 * f00 + src.m11 * f01 + src.m21 * f02;
|
|
float t02 = src.m02 * f00 + src.m12 * f01 + src.m22 * f02;
|
|
float t03 = src.m03 * f00 + src.m13 * f01 + src.m23 * f02;
|
|
float t10 = src.m00 * f10 + src.m10 * f11 + src.m20 * f12;
|
|
float t11 = src.m01 * f10 + src.m11 * f11 + src.m21 * f12;
|
|
float t12 = src.m02 * f10 + src.m12 * f11 + src.m22 * f12;
|
|
float t13 = src.m03 * f10 + src.m13 * f11 + src.m23 * f12;
|
|
dest.m20 = src.m00 * f20 + src.m10 * f21 + src.m20 * f22;
|
|
dest.m21 = src.m01 * f20 + src.m11 * f21 + src.m21 * f22;
|
|
dest.m22 = src.m02 * f20 + src.m12 * f21 + src.m22 * f22;
|
|
dest.m23 = src.m03 * f20 + src.m13 * f21 + src.m23 * f22;
|
|
dest.m00 = t00;
|
|
dest.m01 = t01;
|
|
dest.m02 = t02;
|
|
dest.m03 = t03;
|
|
dest.m10 = t10;
|
|
dest.m11 = t11;
|
|
dest.m12 = t12;
|
|
dest.m13 = t13;
|
|
return dest;
|
|
}
|
|
|
|
/** Translate this matrix and stash the result in another matrix
|
|
*
|
|
* @param vec The vector to translate by
|
|
* @param dest The destination matrix or null if a new matrix is to be created
|
|
* @return the translated matrix */
|
|
public Matrix4f translate(Vector3f vec, Matrix4f dest)
|
|
{ return translate(vec, this, dest); }
|
|
|
|
/** Translate the source matrix and stash the result in the destination matrix
|
|
*
|
|
* @param vec The vector to translate by
|
|
* @param src The source matrix
|
|
* @param dest The destination matrix or null if a new matrix is to be created
|
|
* @return The translated matrix */
|
|
public static Matrix4f translate(Vector3f vec, Matrix4f src, Matrix4f dest)
|
|
{
|
|
if (dest == null)
|
|
dest = new Matrix4f();
|
|
dest.m30 += src.m00 * vec.x + src.m10 * vec.y + src.m20 * vec.z;
|
|
dest.m31 += src.m01 * vec.x + src.m11 * vec.y + src.m21 * vec.z;
|
|
dest.m32 += src.m02 * vec.x + src.m12 * vec.y + src.m22 * vec.z;
|
|
dest.m33 += src.m03 * vec.x + src.m13 * vec.y + src.m23 * vec.z;
|
|
return dest;
|
|
}
|
|
|
|
/** Translate this matrix and stash the result in another matrix
|
|
*
|
|
* @param vec The vector to translate by
|
|
* @param dest The destination matrix or null if a new matrix is to be created
|
|
* @return the translated matrix */
|
|
public Matrix4f translate(Vector2f vec, Matrix4f dest)
|
|
{ return translate(vec, this, dest); }
|
|
|
|
/** Translate the source matrix and stash the result in the destination matrix
|
|
*
|
|
* @param vec The vector to translate by
|
|
* @param src The source matrix
|
|
* @param dest The destination matrix or null if a new matrix is to be created
|
|
* @return The translated matrix */
|
|
public static Matrix4f translate(Vector2f vec, Matrix4f src, Matrix4f dest)
|
|
{
|
|
if (dest == null)
|
|
dest = new Matrix4f();
|
|
dest.m30 += src.m00 * vec.x + src.m10 * vec.y;
|
|
dest.m31 += src.m01 * vec.x + src.m11 * vec.y;
|
|
dest.m32 += src.m02 * vec.x + src.m12 * vec.y;
|
|
dest.m33 += src.m03 * vec.x + src.m13 * vec.y;
|
|
return dest;
|
|
}
|
|
|
|
/** Transpose this matrix and place the result in another matrix
|
|
*
|
|
* @param dest The destination matrix or null if a new matrix is to be created
|
|
* @return the transposed matrix */
|
|
public Matrix4f transpose(Matrix4f dest)
|
|
{ return transpose(this, dest); }
|
|
|
|
/** Transpose the source matrix and place the result in the destination matrix
|
|
*
|
|
* @param src The source matrix
|
|
* @param dest The destination matrix or null if a new matrix is to be created
|
|
* @return the transposed matrix */
|
|
public static Matrix4f transpose(Matrix4f src, Matrix4f dest)
|
|
{
|
|
if (dest == null)
|
|
dest = new Matrix4f();
|
|
float m00 = src.m00;
|
|
float m01 = src.m10;
|
|
float m02 = src.m20;
|
|
float m03 = src.m30;
|
|
float m10 = src.m01;
|
|
float m11 = src.m11;
|
|
float m12 = src.m21;
|
|
float m13 = src.m31;
|
|
float m20 = src.m02;
|
|
float m21 = src.m12;
|
|
float m22 = src.m22;
|
|
float m23 = src.m32;
|
|
float m30 = src.m03;
|
|
float m31 = src.m13;
|
|
float m32 = src.m23;
|
|
float m33 = src.m33;
|
|
dest.m00 = m00;
|
|
dest.m01 = m01;
|
|
dest.m02 = m02;
|
|
dest.m03 = m03;
|
|
dest.m10 = m10;
|
|
dest.m11 = m11;
|
|
dest.m12 = m12;
|
|
dest.m13 = m13;
|
|
dest.m20 = m20;
|
|
dest.m21 = m21;
|
|
dest.m22 = m22;
|
|
dest.m23 = m23;
|
|
dest.m30 = m30;
|
|
dest.m31 = m31;
|
|
dest.m32 = m32;
|
|
dest.m33 = m33;
|
|
return dest;
|
|
}
|
|
|
|
/** @return the determinant of the matrix */
|
|
@Override
|
|
public float determinant()
|
|
{
|
|
float f = m00
|
|
* ((m11 * m22 * m33 + m12 * m23 * m31 + m13 * m21 * m32)
|
|
- m13 * m22 * m31
|
|
- m11 * m23 * m32
|
|
- m12 * m21 * m33);
|
|
f -= m01
|
|
* ((m10 * m22 * m33 + m12 * m23 * m30 + m13 * m20 * m32)
|
|
- m13 * m22 * m30
|
|
- m10 * m23 * m32
|
|
- m12 * m20 * m33);
|
|
f += m02
|
|
* ((m10 * m21 * m33 + m11 * m23 * m30 + m13 * m20 * m31)
|
|
- m13 * m21 * m30
|
|
- m10 * m23 * m31
|
|
- m11 * m20 * m33);
|
|
f -= m03
|
|
* ((m10 * m21 * m32 + m11 * m22 * m30 + m12 * m20 * m31)
|
|
- m12 * m21 * m30
|
|
- m10 * m22 * m31
|
|
- m11 * m20 * m32);
|
|
return f;
|
|
}
|
|
|
|
/** Calculate the determinant of a 3x3 matrix
|
|
*
|
|
* @return result */
|
|
private static float determinant3x3(float t00, float t01, float t02,
|
|
float t10, float t11, float t12,
|
|
float t20, float t21, float t22)
|
|
{ return t00 * (t11 * t22 - t12 * t21)
|
|
+ t01 * (t12 * t20 - t10 * t22)
|
|
+ t02 * (t10 * t21 - t11 * t20); }
|
|
|
|
/** Invert this matrix
|
|
*
|
|
* @return this if successful, null otherwise */
|
|
@Override
|
|
public Matrix invert()
|
|
{ return invert(this, this); }
|
|
|
|
/** Invert the source matrix and put the result in the destination
|
|
*
|
|
* @param src The source matrix
|
|
* @param dest The destination matrix, or null if a new matrix is to be created
|
|
* @return The inverted matrix if successful, null otherwise */
|
|
public static Matrix4f invert(Matrix4f src, Matrix4f dest)
|
|
{
|
|
float determinant = src.determinant();
|
|
if (determinant != 0)
|
|
{
|
|
/*
|
|
* m00 m01 m02 m03
|
|
* m10 m11 m12 m13
|
|
* m20 m21 m22 m23
|
|
* m30 m31 m32 m33
|
|
*/
|
|
if (dest == null)
|
|
dest = new Matrix4f();
|
|
float determinant_inv = 1f / determinant;
|
|
// first row
|
|
float t00 = determinant3x3(src.m11, src.m12, src.m13, src.m21, src.m22, src.m23, src.m31, src.m32, src.m33);
|
|
float t01 = -determinant3x3(src.m10, src.m12, src.m13, src.m20, src.m22, src.m23, src.m30, src.m32, src.m33);
|
|
float t02 = determinant3x3(src.m10, src.m11, src.m13, src.m20, src.m21, src.m23, src.m30, src.m31, src.m33);
|
|
float t03 = -determinant3x3(src.m10, src.m11, src.m12, src.m20, src.m21, src.m22, src.m30, src.m31, src.m32);
|
|
// second row
|
|
float t10 = -determinant3x3(src.m01, src.m02, src.m03, src.m21, src.m22, src.m23, src.m31, src.m32, src.m33);
|
|
float t11 = determinant3x3(src.m00, src.m02, src.m03, src.m20, src.m22, src.m23, src.m30, src.m32, src.m33);
|
|
float t12 = -determinant3x3(src.m00, src.m01, src.m03, src.m20, src.m21, src.m23, src.m30, src.m31, src.m33);
|
|
float t13 = determinant3x3(src.m00, src.m01, src.m02, src.m20, src.m21, src.m22, src.m30, src.m31, src.m32);
|
|
// third row
|
|
float t20 = determinant3x3(src.m01, src.m02, src.m03, src.m11, src.m12, src.m13, src.m31, src.m32, src.m33);
|
|
float t21 = -determinant3x3(src.m00, src.m02, src.m03, src.m10, src.m12, src.m13, src.m30, src.m32, src.m33);
|
|
float t22 = determinant3x3(src.m00, src.m01, src.m03, src.m10, src.m11, src.m13, src.m30, src.m31, src.m33);
|
|
float t23 = -determinant3x3(src.m00, src.m01, src.m02, src.m10, src.m11, src.m12, src.m30, src.m31, src.m32);
|
|
// fourth row
|
|
float t30 = -determinant3x3(src.m01, src.m02, src.m03, src.m11, src.m12, src.m13, src.m21, src.m22, src.m23);
|
|
float t31 = determinant3x3(src.m00, src.m02, src.m03, src.m10, src.m12, src.m13, src.m20, src.m22, src.m23);
|
|
float t32 = -determinant3x3(src.m00, src.m01, src.m03, src.m10, src.m11, src.m13, src.m20, src.m21, src.m23);
|
|
float t33 = determinant3x3(src.m00, src.m01, src.m02, src.m10, src.m11, src.m12, src.m20, src.m21, src.m22);
|
|
// transpose and divide by the determinant
|
|
dest.m00 = t00 * determinant_inv;
|
|
dest.m11 = t11 * determinant_inv;
|
|
dest.m22 = t22 * determinant_inv;
|
|
dest.m33 = t33 * determinant_inv;
|
|
dest.m01 = t10 * determinant_inv;
|
|
dest.m10 = t01 * determinant_inv;
|
|
dest.m20 = t02 * determinant_inv;
|
|
dest.m02 = t20 * determinant_inv;
|
|
dest.m12 = t21 * determinant_inv;
|
|
dest.m21 = t12 * determinant_inv;
|
|
dest.m03 = t30 * determinant_inv;
|
|
dest.m30 = t03 * determinant_inv;
|
|
dest.m13 = t31 * determinant_inv;
|
|
dest.m31 = t13 * determinant_inv;
|
|
dest.m32 = t23 * determinant_inv;
|
|
dest.m23 = t32 * determinant_inv;
|
|
return dest;
|
|
}
|
|
else
|
|
return null;
|
|
}
|
|
|
|
/** Negate this matrix
|
|
*
|
|
* @return this */
|
|
@Override
|
|
public Matrix negate()
|
|
{ return negate(this); }
|
|
|
|
/** Negate this matrix and place the result in a destination matrix.
|
|
*
|
|
* @param dest The destination matrix, or null if a new matrix is to be created
|
|
* @return the negated matrix */
|
|
public Matrix4f negate(Matrix4f dest)
|
|
{ return negate(this, dest); }
|
|
|
|
/** Negate this matrix and place the result in a destination matrix.
|
|
*
|
|
* @param src The source matrix
|
|
* @param dest The destination matrix, or null if a new matrix is to be created
|
|
* @return The negated matrix */
|
|
public static Matrix4f negate(Matrix4f src, Matrix4f dest)
|
|
{
|
|
if (dest == null)
|
|
dest = new Matrix4f();
|
|
dest.m00 = -src.m00;
|
|
dest.m01 = -src.m01;
|
|
dest.m02 = -src.m02;
|
|
dest.m03 = -src.m03;
|
|
dest.m10 = -src.m10;
|
|
dest.m11 = -src.m11;
|
|
dest.m12 = -src.m12;
|
|
dest.m13 = -src.m13;
|
|
dest.m20 = -src.m20;
|
|
dest.m21 = -src.m21;
|
|
dest.m22 = -src.m22;
|
|
dest.m23 = -src.m23;
|
|
dest.m30 = -src.m30;
|
|
dest.m31 = -src.m31;
|
|
dest.m32 = -src.m32;
|
|
dest.m33 = -src.m33;
|
|
return dest;
|
|
}
|
|
}
|