/*
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* To change this template, choose Tools | Templates
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* and open the template in the editor.
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*/
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/**
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*
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* @author nbriere
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*/
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public class cMatrix3x3
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{
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double[][] matrix = new double[3][3];
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cMatrix3x3()
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{
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}
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cMatrix3x3(cSpring.Point3D a, cSpring.Point3D b)
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{
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v1.x = a.x;
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v1.y = a.y;
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v1.z = a.z;
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v2.x = b.x;
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v2.y = b.y;
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v2.z = b.z;
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quat.setRotation(v1, v2);
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setRotation(quat);
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}
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cMatrix3x3(cVector a, cVector b)
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{
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quat.setRotation(a, b);
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setRotation(quat);
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}
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void setRotation(cQuat q)
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{
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matrix[0][0] = 1 - 2*(q.y*q.y + q.z*q.z);
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matrix[1][1] = 1 - 2*(q.x*q.x + q.z*q.z);
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matrix[2][2] = 1 - 2*(q.x*q.x + q.y*q.y);
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matrix[0][1] = 2*(q.x*q.y - q.z*q.w);
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matrix[0][2] = 2*(q.x*q.z + q.y*q.w);
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matrix[1][2] = 2*(q.y*q.z - q.x*q.w);
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matrix[1][0] = 2*(q.x*q.y + q.z*q.w);
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matrix[2][0] = 2*(q.x*q.z - q.y*q.w);
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matrix[2][1] = 2*(q.y*q.z + q.x*q.w);
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}
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void Transform(cSpring.Point3D p)
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{
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temp.set(p);
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p.x = (float) (matrix[0][0]*temp.x + matrix[0][1]*temp.y + matrix[0][2]*temp.z);
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p.y = (float) (matrix[1][0]*temp.x + matrix[1][1]*temp.y + matrix[1][2]*temp.z);
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p.z = (float) (matrix[2][0]*temp.x + matrix[2][1]*temp.y + matrix[2][2]*temp.z);
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}
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void Transform(cVector p)
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{
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temp.set(p);
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p.x = matrix[0][0]*temp.x + matrix[0][1]*temp.y + matrix[0][2]*temp.z;
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p.y = matrix[1][0]*temp.x + matrix[1][1]*temp.y + matrix[1][2]*temp.z;
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p.z = matrix[2][0]*temp.x + matrix[2][1]*temp.y + matrix[2][2]*temp.z;
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}
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static cSpring.Point3D temp = new cSpring.Point3D();
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static cQuat quat = new cQuat();
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static cVector v1 = new cVector();
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static cVector v2 = new cVector();
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}
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