--- /dev/null
+package javajs.util;
+
+/**
+ * A base class for both M3 and M4 to conserve code size.
+ *
+ * @author Kenji hiranabe
+ *
+ * additions by Bob Hanson hansonr@stolaf.edu 9/30/2012 for unique
+ * constructor and method names for the optimization of compiled
+ * JavaScript using Java2Script and for subclassing to M3 and M4
+ *
+ */
+public abstract class M34 {
+
+ /**
+ * The first element of the first row
+ */
+ public float m00;
+
+ /**
+ * The second element of the first row.
+ */
+ public float m01;
+
+ /**
+ * third element of the first row.
+ */
+ public float m02;
+
+ /**
+ * The first element of the second row.
+ */
+ public float m10;
+
+ /**
+ * The second element of the second row.
+ */
+ public float m11;
+
+ /**
+ * The third element of the second row.
+ */
+ public float m12;
+
+ /**
+ * The first element of the third row.
+ */
+ public float m20;
+
+ /**
+ * The second element of the third row.
+ */
+ public float m21;
+
+ /**
+ * The third element of the third row.
+ */
+ public float m22;
+
+ protected void setAA33(A4 a) {
+ double x = a.x;
+ double y = a.y;
+ double z = a.z;
+ double angle = a.angle;
+ // Taken from Rick's which is taken from Wertz. pg. 412
+ // Bug Fixed and changed into right-handed by hiranabe
+ double n = Math.sqrt(x * x + y * y + z * z);
+ // zero-div may occur
+ n = 1 / n;
+ x *= n;
+ y *= n;
+ z *= n;
+ double c = Math.cos(angle);
+ double s = Math.sin(angle);
+ double omc = 1.0 - c;
+ m00 = (float) (c + x * x * omc);
+ m11 = (float) (c + y * y * omc);
+ m22 = (float) (c + z * z * omc);
+
+ double tmp1 = x * y * omc;
+ double tmp2 = z * s;
+ m01 = (float) (tmp1 - tmp2);
+ m10 = (float) (tmp1 + tmp2);
+
+ tmp1 = x * z * omc;
+ tmp2 = y * s;
+ m02 = (float) (tmp1 + tmp2);
+ m20 = (float) (tmp1 - tmp2);
+
+ tmp1 = y * z * omc;
+ tmp2 = x * s;
+ m12 = (float) (tmp1 - tmp2);
+ m21 = (float) (tmp1 + tmp2);
+ }
+
+ public void rotate(T3 t) {
+ // alias-safe
+ rotate2(t, t);
+ }
+
+ /**
+ * Transform the vector vec using this Matrix3f and place the result into
+ * vecOut.
+ *
+ * @param t
+ * the single precision vector to be transformed
+ * @param result
+ * the vector into which the transformed values are placed
+ */
+ public void rotate2(T3 t, T3 result) {
+ // alias-safe
+ result.set(m00 * t.x + m01 * t.y + m02 * t.z, m10 * t.x + m11 * t.y + m12
+ * t.z, m20 * t.x + m21 * t.y + m22 * t.z);
+ }
+
+
+ /**
+ * Sets the value of this matrix to the double value of the Matrix3f argument.
+ *
+ * @param m1
+ * the matrix3f
+ */
+ protected void setM33(M34 m1) {
+ m00 = m1.m00;
+ m01 = m1.m01;
+ m02 = m1.m02;
+ m10 = m1.m10;
+ m11 = m1.m11;
+ m12 = m1.m12;
+ m20 = m1.m20;
+ m21 = m1.m21;
+ m22 = m1.m22;
+ }
+
+ protected void clear33() {
+ m00 = m01 = m02 = m10 = m11 = m12 = m20 = m21 = m22 = 0.0f;
+ }
+
+ protected void set33(int row, int col, float v) {
+ switch (row) {
+ case 0:
+ switch (col) {
+ case 0:
+ m00 = v;
+ return;
+ case 1:
+ m01 = v;
+ return;
+ case 2:
+ m02 = v;
+ return;
+ }
+ break;
+ case 1:
+ switch (col) {
+ case 0:
+ m10 = v;
+ return;
+ case 1:
+ m11 = v;
+ return;
+ case 2:
+ m12 = v;
+ return;
+ }
+ break;
+ case 2:
+ switch (col) {
+ case 0:
+ m20 = v;
+ return;
+ case 1:
+ m21 = v;
+ return;
+ case 2:
+ m22 = v;
+ return;
+ }
+ break;
+ }
+ err();
+ }
+
+ protected float get33(int row, int col) {
+ switch (row) {
+ case 0:
+ switch (col) {
+ case 0:
+ return m00;
+ case 1:
+ return m01;
+ case 2:
+ return m02;
+ }
+ break;
+ case 1:
+ switch (col) {
+ case 0:
+ return m10;
+ case 1:
+ return m11;
+ case 2:
+ return m12;
+ }
+ break;
+ case 2:
+ switch (col) {
+ case 0:
+ return m20;
+ case 1:
+ return m21;
+ case 2:
+ return m22;
+ }
+ break;
+ }
+ err();
+ return 0;
+ }
+
+ protected void setRow33(int row, float v[]) {
+ switch (row) {
+ case 0:
+ m00 = v[0];
+ m01 = v[1];
+ m02 = v[2];
+ return;
+ case 1:
+ m10 = v[0];
+ m11 = v[1];
+ m12 = v[2];
+ return;
+ case 2:
+ m20 = v[0];
+ m21 = v[1];
+ m22 = v[2];
+ return;
+ default:
+ err();
+ }
+ }
+
+ public abstract void getRow(int row, float v[]);
+
+ protected void getRow33(int row, float v[]) {
+ switch (row) {
+ case 0:
+ v[0] = m00;
+ v[1] = m01;
+ v[2] = m02;
+ return;
+ case 1:
+ v[0] = m10;
+ v[1] = m11;
+ v[2] = m12;
+ return;
+ case 2:
+ v[0] = m20;
+ v[1] = m21;
+ v[2] = m22;
+ return;
+ }
+ err();
+ }
+
+ protected void setColumn33(int column, float v[]) {
+ switch(column) {
+ case 0:
+ m00 = v[0];
+ m10 = v[1];
+ m20 = v[2];
+ break;
+ case 1:
+ m01 = v[0];
+ m11 = v[1];
+ m21 = v[2];
+ break;
+ case 2:
+ m02 = v[0];
+ m12 = v[1];
+ m22 = v[2];
+ break;
+ default:
+ err();
+ }
+ }
+
+ protected void getColumn33(int column, float v[]) {
+ switch(column) {
+ case 0:
+ v[0] = m00;
+ v[1] = m10;
+ v[2] = m20;
+ break;
+ case 1:
+ v[0] = m01;
+ v[1] = m11;
+ v[2] = m21;
+ break;
+ case 2:
+ v[0] = m02;
+ v[1] = m12;
+ v[2] = m22;
+ break;
+ default:
+ err();
+ }
+ }
+
+ protected void add33(M34 m1) {
+ m00 += m1.m00;
+ m01 += m1.m01;
+ m02 += m1.m02;
+ m10 += m1.m10;
+ m11 += m1.m11;
+ m12 += m1.m12;
+ m20 += m1.m20;
+ m21 += m1.m21;
+ m22 += m1.m22;
+ }
+
+ protected void sub33(M34 m1) {
+ m00 -= m1.m00;
+ m01 -= m1.m01;
+ m02 -= m1.m02;
+ m10 -= m1.m10;
+ m11 -= m1.m11;
+ m12 -= m1.m12;
+ m20 -= m1.m20;
+ m21 -= m1.m21;
+ m22 -= m1.m22;
+ }
+
+ protected void mul33(float x) {
+ m00 *= x;
+ m01 *= x;
+ m02 *= x;
+ m10 *= x;
+ m11 *= x;
+ m12 *= x;
+ m20 *= x;
+ m21 *= x;
+ m22 *= x;
+ }
+
+ protected void transpose33() {
+ float tmp = m01;
+ m01 = m10;
+ m10 = tmp;
+
+ tmp = m02;
+ m02 = m20;
+ m20 = tmp;
+
+ tmp = m12;
+ m12 = m21;
+ m21 = tmp;
+ }
+
+ protected void setXRot(float angle) {
+ double c = Math.cos(angle);
+ double s = Math.sin(angle);
+ m00 = 1.0f;
+ m01 = 0.0f;
+ m02 = 0.0f;
+ m10 = 0.0f;
+ m11 = (float) c;
+ m12 = (float) -s;
+ m20 = 0.0f;
+ m21 = (float) s;
+ m22 = (float) c;
+ }
+
+ protected void setYRot(float angle) {
+ double c = Math.cos(angle);
+ double s = Math.sin(angle);
+ m00 = (float) c;
+ m01 = 0.0f;
+ m02 = (float) s;
+ m10 = 0.0f;
+ m11 = 1.0f;
+ m12 = 0.0f;
+ m20 = (float) -s;
+ m21 = 0.0f;
+ m22 = (float) c;
+ }
+
+ protected void setZRot(float angle) {
+ double c = Math.cos(angle);
+ double s = Math.sin(angle);
+ m00 = (float) c;
+ m01 = (float) -s;
+ m02 = 0.0f;
+ m10 = (float) s;
+ m11 = (float) c;
+ m12 = 0.0f;
+ m20 = 0.0f;
+ m21 = 0.0f;
+ m22 = 1.0f;
+ }
+
+ /**
+ * @return 3x3 determinant
+ */
+ public float determinant3() {
+ return m00 * (m11 * m22 - m21 * m12) - m01 * (m10 * m22 - m20 * m12) + m02
+ * (m10 * m21 - m20 * m11);
+ }
+
+ protected void err() {
+ throw new ArrayIndexOutOfBoundsException(
+ "matrix column/row out of bounds");
+ }
+
+
+}
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