org.ode4j.ode
Class OdeMath

java.lang.Object
  org.ode4j.ode.OdeConstants
      org.ode4j.ode.internal.ErrorHandler
          org.ode4j.ode.internal.Common
              org.ode4j.ode.DMisc
                  org.ode4j.ode.DMatrix
                      org.ode4j.ode.DRotation
                          org.ode4j.ode.OdeMath

public class OdeMath
extends DRotation

ODE math functions.

Author:

Tilmann Zaeschke

Nested Class Summary

static class

OdeMath.OP Deprecated.

Nested classes/interfaces inherited from class org.ode4j.ode.internal.Common

org.ode4j.ode.internal.Common.DMatrix4

Nested classes/interfaces inherited from class org.ode4j.ode.internal.ErrorHandler

org.ode4j.ode.internal.ErrorHandler.dMessageFunction

Field Summary

Fields inherited from class org.ode4j.ode.internal.Common

d_ERR_IASSERT, d_ERR_LCP, d_ERR_UASSERT, d_ERR_UNKNOWN, d_MEMORY_OK, d_MEMORY_OUT_OF_MEMORY, dATOMICS_ENABLED, DBL_EPSILON, dDOUBLE, dEpsilon, dNODEBUG, dSINGLE, dTLS_ENABLED, dTRIMESH_16BIT_INDICES, dTRIMESH_ENABLED, dTRIMESH_GIMPACT, dTRIMESH_OPCODE, dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER, dUSE_MALLOC_FOR_ALLOCA, M_PI, M_SQRT1_2, MAX_FLOAT

Fields inherited from class org.ode4j.ode.OdeConstants

CONTACTS_UNIMPORTANT, dAllocateMaskAll, dContactApprox0, dContactApprox1, dContactApprox1_1, dContactApprox1_2, dContactBounce, dContactFDir1, dContactMotion1, dContactMotion2, dContactMotionN, dContactMu2, dContactSlip1, dContactSlip2, dContactSoftCFM, dContactSoftERP, dInfinity

Method Summary

static void	dAddScaledVectors3(DVector3 res, DVector3C a, DVector3C b, double a_scale, double b_scale)
static void	dAddVectorCross3(DVector3 a, DVector3C b, DVector3C c) Cross product, set a += b x c.
static double	dCalcPointsDistance3(DVector3C a, DVector3C b) Deprecated.
static void	dCalcVectorCross3(double[] a, int ofs, DVector3C b, DVector3C c) Cross product, set a = b x c.
static void	dCalcVectorCross3(DVector3 a, DVector3C b, DVector3C c) Cross product, set a = b x c.
static void	dCalcVectorCross3(DVector3View a, DVector3View b, DVector3View c)
static double	dCalcVectorDot3_14(double[] a, int o1, double[] b, int o2)
static double	dCalcVectorDot3_14(DVector3C a, DMatrix3C b, int o2)
static double	dCalcVectorDot3_14(DVector3C a, double[] b, int o2)
static double	dCalcVectorDot3_41(DMatrix3C a, int o1, DVector3C b)
static double	dCalcVectorDot3_44(DMatrix3C a, int o1, DMatrix3C b, int o2)
static double	dCalcVectorDot3(double[] a, double[] b)
static double	dCalcVectorDot3(double[] a, int o1, double[] b, int o2)
static double	dCalcVectorDot3(double[] a, int o1, DVector3C b)
static double	dCalcVectorDot3(DVector3C a, double[] b, int o2)
static double	dCalcVectorDot3(DVector3C a, DVector3C b) Instead, please use a.dot(b).
static void	dCopyNegatedVector3(double[] a, int ofs, DVector3C b)
static void	dCopyVector3(double[] a, int ofs, DVector3C b)
static void	dCopyVector3(float[] a, int ofs, DVector3C b)
static void	dCROSS(DVector3 a, OdeMath.OP op, DVector3C b, DVector3C c) Deprecated. Use dCalcVetorCross3, dAddVectorCross3 or dSubtractVectorCross3.
static void	dCROSSMAT(DMatrix3 A, DVector3C a, int skip, int plus, int minus) Deprecated.
static void	dCROSSMAT(double[] A, int ofs, DVector3C a, int skip, int plus, int minus) Deprecated.
static double	dDISTANCE(DVector3C a, DVector3C b) Deprecated.
static double	dDOT(DVector3C a, DVector3C b) Deprecated.
static void	dMultiply0_133(double[] A, int a, double[] B, int b, double[] C, int c)
static void	dMULTIPLY0_133(double[] A, int a, double[] B, int b, double[] C, int c) Deprecated.
static void	dMultiply0_133(DVector3 A, DVector3C B, DMatrix3C C)
static void	dMULTIPLY0_133(DVector3 A, DVector3C B, DMatrix3C C) Deprecated.
static void	dMultiply0_331(DMatrix3 A, DMatrix3C B, DVector3C C)
static void	dMULTIPLY0_331(DMatrix3 A, DMatrix3C B, DVector3C C) Deprecated.
static void	dMultiply0_331(double[] A, int a, double[] B, int b, double[] C, int c)
static void	dMULTIPLY0_331(double[] A, int a, double[] B, int b, double[] C, int c) Deprecated.
static void	dMultiply0_331(double[] A, int a, double[] B, int b, DVector3C C)
static void	dMULTIPLY0_331(double[] A, int a, double[] B, int b, DVector3C C) Deprecated.
static void	dMultiply0_331(DVector3 A, DMatrix3C B, double[] C, int c)
static void	dMULTIPLY0_331(DVector3 A, DMatrix3C B, double[] C, int c) Deprecated.
static void	dMultiply0_331(DVector3 A, DMatrix3C B, DVector3C C)
static void	dMULTIPLY0_331(DVector3 A, DMatrix3C B, DVector3C C) Deprecated.
static void	dMultiply0_333(DMatrix3 A, DMatrix3C B, DMatrix3C C)
static void	dMULTIPLY0_333(DMatrix3 A, DMatrix3C B, DMatrix3C C) Deprecated.
static void	dMultiply0_333(double[] A, int a, DMatrix3C B, DMatrix3C C)
static void	dMULTIPLY0_333(double[] A, int a, DMatrix3C B, DMatrix3C C) Deprecated.
static void	dMultiply1_331(DVector3 A, DMatrix3C B, DVector3C C)
static void	dMULTIPLY1_331(DVector3 A, DMatrix3C B, DVector3C C) Deprecated.
static void	dMultiply1_333(DMatrix3 A, DMatrix3C B, DMatrix3C C)
static void	dMULTIPLY1_333(DMatrix3 A, DMatrix3C B, DMatrix3C C) Deprecated.
static void	dMultiply2_333(DMatrix3 A, DMatrix3C B, DMatrix3C C)
static void	dMULTIPLY2_333(DMatrix3 A, DMatrix3C B, DMatrix3C C) Deprecated.
static void	dMultiplyAdd0_331(DVector3 A, double[] B, int b, double[] C, int c)
static void	dMULTIPLYADD0_331(DVector3 A, double[] B, int b, double[] C, int c) Deprecated.
static void	dMultiplyAdd0_331(DVector3 A, double[] B, int b, DVector3C C)
static void	dMULTIPLYADD0_331(DVector3 A, double[] B, int b, DVector3C C) Deprecated.
static void	dNegateVector3(double[] a, int ofs)
static void	dNormalize3(DVector3 a) normalize 3x1 vectors (i.e.
static void	dNormalize4(DQuaternion a) Potentially asserts on zero vec.
static void	dNormalize4(DVector4 a) Potentially asserts on zero vec.
static void	dOrthogonalizeR(DMatrix3 m) This takes what is supposed to be a rotation matrix, and make sure it is correct.
static void	dPlaneSpace(DVector3C n, DVector3 p, DVector3 q) Given a unit length "normal" vector n, generate vectors p and q vectors that are an orthonormal basis for the plane space perpendicular to n.
static boolean	dSafeNormalize3(DVector3 a) Normalize 3x1 vectors (i.e.
static boolean	dSafeNormalize3(DVector3View a) Normalize 3x1 vectors (i.e.
static boolean	dSafeNormalize4(DVector4 a)
static void	dSetCrossMatrixMinus(DMatrix3 A, DVector3C a) Set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
static void	dSetCrossMatrixMinus(double[] A, int ofs, DVector3C a, int skip) Set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
static void	dSetCrossMatrixPlus(DMatrix3 A, DVector3C a) Set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
static void	dSetCrossMatrixPlus(double[] A, int ofs, DVector3C a, int skip) set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
static void	dSubtractVectorCross3(DVector3 a, DVector3C b, DMatrix3C c)
static void	dSubtractVectorCross3(DVector3 a, DVector3C b, DVector3C c) Cross product, set a -= b x c.

Methods inherited from class org.ode4j.ode.DRotation

dQFromAxisAndAngle, dQfromR, dQMultiply0, dQMultiply1, dQMultiply2, dQMultiply3, dRFromAxisAndAngle, dRFromAxisAndAngle, dRFromEulerAngles, dRfromQ, dRFromZAxis, dRSetIdentity

Methods inherited from class org.ode4j.ode.DMatrix

dFactorCholesky, dFactorCholesky, dFactorLDLT, dInvertPDMatrix, dInvertPDMatrix, dIsPositiveDefinite, dIsPositiveDefinite, dLDLTAddTL, dLDLTRemove, dMultiply0, dMultiply0, dMultiply0, dMultiply0, dMultiply1, dMultiply1, dMultiply1, dMultiply2, dMultiply2, dMultiply2, dRemoveRowCol, dSetValue, dSetZero, dSolveCholesky, dSolveCholesky, dSolveLDLT, dVectorScale

Methods inherited from class org.ode4j.ode.DMisc

dClearUpperTriangle, dClearUpperTriangle, dMakeRandomMatrix, dMakeRandomMatrix, dMakeRandomVector, dMakeRandomVector, dMakeRandomVector, dMaxDifference, dMaxDifference, dMaxDifference, dMaxDifference, dMaxDifferenceLowerTriangle, dPrintMatrix, dRand, dRandGetSeed, dRandInt, dRandReal, dRandSetSeed, dTestRand

Methods inherited from class org.ode4j.ode.internal.Common

dAASSERT, dAASSERT, dAtan2, dCeil, dCopysign, dCopySign, dCos, dDEBUGMSG, dFabs, dFloor, dFMod, dIASSERT, dIsNan, dIVERIFY, dNextAfter, dPAD, dRecip, dRecipSqrt, dSin, dSqrt, dUASSERT

Methods inherited from class org.ode4j.ode.internal.ErrorHandler

dDebug, dError, dGetDebugHandler, dGetErrorHandler, dGetMessageHandler, dMessage, dSetDebugHandler, dSetErrorHandler, dSetMessageHandler

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

dAddScaledVectors3

public static void dAddScaledVectors3(DVector3 res,
                                      DVector3C a,
                                      DVector3C b,
                                      double a_scale,
                                      double b_scale)

dNegateVector3

public static void dNegateVector3(double[] a,
                                  int ofs)

dCopyVector3

public static void dCopyVector3(double[] a,
                                int ofs,
                                DVector3C b)

dCopyVector3

public static void dCopyVector3(float[] a,
                                int ofs,
                                DVector3C b)

dCopyNegatedVector3

public static void dCopyNegatedVector3(double[] a,
                                       int ofs,
                                       DVector3C b)

dDOT

@Deprecated
public static double dDOT(DVector3C a,
                                     DVector3C b)

Deprecated.

dCalcVectorDot3

public static double dCalcVectorDot3(DVector3C a,
                                     DVector3C b)

Instead, please use a.dot(b).

Parameters:

a -

b -

Returns:

dot product

dCalcVectorDot3

public static double dCalcVectorDot3(double[] a,
                                     int o1,
                                     DVector3C b)

dCalcVectorDot3

public static double dCalcVectorDot3(DVector3C a,
                                     double[] b,
                                     int o2)

dCalcVectorDot3

public static double dCalcVectorDot3(double[] a,
                                     double[] b)

dCalcVectorDot3

public static double dCalcVectorDot3(double[] a,
                                     int o1,
                                     double[] b,
                                     int o2)

dCalcVectorDot3_14

public static double dCalcVectorDot3_14(DVector3C a,
                                        DMatrix3C b,
                                        int o2)

dCalcVectorDot3_41

public static double dCalcVectorDot3_41(DMatrix3C a,
                                        int o1,
                                        DVector3C b)

dCalcVectorDot3_44

public static double dCalcVectorDot3_44(DMatrix3C a,
                                        int o1,
                                        DMatrix3C b,
                                        int o2)

dCalcVectorDot3_14

public static double dCalcVectorDot3_14(double[] a,
                                        int o1,
                                        double[] b,
                                        int o2)

dCalcVectorDot3_14

public static double dCalcVectorDot3_14(DVector3C a,
                                        double[] b,
                                        int o2)

dCROSS

public static void dCROSS(DVector3 a,
                          OdeMath.OP op,
                          DVector3C b,
                          DVector3C c)

Deprecated. Use dCalcVetorCross3, dAddVectorCross3 or dSubtractVectorCross3.

dCalcVectorCross3

public static void dCalcVectorCross3(DVector3 a,
                                     DVector3C b,
                                     DVector3C c)

Cross product, set a = b x c.

dAddVectorCross3

public static void dAddVectorCross3(DVector3 a,
                                    DVector3C b,
                                    DVector3C c)

Cross product, set a += b x c.

dSubtractVectorCross3

public static void dSubtractVectorCross3(DVector3 a,
                                         DVector3C b,
                                         DVector3C c)

Cross product, set a -= b x c.

dCalcVectorCross3

public static void dCalcVectorCross3(double[] a,
                                     int ofs,
                                     DVector3C b,
                                     DVector3C c)

Cross product, set a = b x c.

dCalcVectorCross3

public static void dCalcVectorCross3(DVector3View a,
                                     DVector3View b,
                                     DVector3View c)

dSubtractVectorCross3

public static void dSubtractVectorCross3(DVector3 a,
                                         DVector3C b,
                                         DMatrix3C c)

dSetCrossMatrixPlus

public static void dSetCrossMatrixPlus(DMatrix3 A,
                                       DVector3C a)

Set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. The matrix is assumed to be already zero, so this does not write zero elements! A positive version will be written.

dSetCrossMatrixMinus

public static void dSetCrossMatrixMinus(DMatrix3 A,
                                        DVector3C a)

Set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. The matrix is assumed to be already zero, so this does not write zero elements! A negative version will be written.

dSetCrossMatrixPlus

public static void dSetCrossMatrixPlus(double[] A,
                                       int ofs,
                                       DVector3C a,
                                       int skip)

set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. A is stored by rows, and has `skip' elements per row. the matrix is assumed to be already zero, so this does not write zero elements! A positive version will be written.

dSetCrossMatrixMinus

public static void dSetCrossMatrixMinus(double[] A,
                                        int ofs,
                                        DVector3C a,
                                        int skip)

Set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. A is stored by rows, and has `skip' elements per row. the matrix is assumed to be already zero, so this does not write zero elements! A negative version will be written.

dCROSSMAT

public static void dCROSSMAT(DMatrix3 A,
                             DVector3C a,
                             int skip,
                             int plus,
                             int minus)

Deprecated.

For +1/-1 use dSetCrossMatrixPlus(), for -1/+1 use dSetCrossMatrixMinus().

dCROSSMAT

public static void dCROSSMAT(double[] A,
                             int ofs,
                             DVector3C a,
                             int skip,
                             int plus,
                             int minus)

Deprecated.

For +1/-1 use dSetCrossMatrixPlus(), for -1/+1 use dSetCrossMatrixMinus().

dCalcPointsDistance3

public static double dCalcPointsDistance3(DVector3C a,
                                          DVector3C b)

Deprecated.

Compute the distance between two 3D-vectors. Please use a.distance(b) instead.

Parameters:

a -

b -

Returns:

distance

dDISTANCE

@Deprecated
public static double dDISTANCE(DVector3C a,
                                          DVector3C b)

Deprecated.

Compute the distance between two 3D-vectors.

Parameters:

a -

b -

Returns:

distance

dMultiply0_331

public static void dMultiply0_331(DVector3 A,
                                  DMatrix3C B,
                                  DVector3C C)

dMultiply0_331

public static void dMultiply0_331(DMatrix3 A,
                                  DMatrix3C B,
                                  DVector3C C)

dMultiply0_331

public static void dMultiply0_331(DVector3 A,
                                  DMatrix3C B,
                                  double[] C,
                                  int c)

dMultiply0_331

public static void dMultiply0_331(double[] A,
                                  int a,
                                  double[] B,
                                  int b,
                                  DVector3C C)

dMultiply0_331

public static void dMultiply0_331(double[] A,
                                  int a,
                                  double[] B,
                                  int b,
                                  double[] C,
                                  int c)

dMULTIPLY0_331

@Deprecated
public static void dMULTIPLY0_331(DVector3 A,
                                             DMatrix3C B,
                                             DVector3C C)

Deprecated.

dMULTIPLY0_331

@Deprecated
public static void dMULTIPLY0_331(DMatrix3 A,
                                             DMatrix3C B,
                                             DVector3C C)

Deprecated.

dMULTIPLY0_331

@Deprecated
public static void dMULTIPLY0_331(DVector3 A,
                                             DMatrix3C B,
                                             double[] C,
                                             int c)

Deprecated.

dMULTIPLY0_331

@Deprecated
public static void dMULTIPLY0_331(double[] A,
                                             int a,
                                             double[] B,
                                             int b,
                                             DVector3C C)

Deprecated.

dMULTIPLY0_331

@Deprecated
public static void dMULTIPLY0_331(double[] A,
                                             int a,
                                             double[] B,
                                             int b,
                                             double[] C,
                                             int c)

Deprecated.

dMultiply1_331

public static void dMultiply1_331(DVector3 A,
                                  DMatrix3C B,
                                  DVector3C C)

dMultiply0_133

public static void dMultiply0_133(DVector3 A,
                                  DVector3C B,
                                  DMatrix3C C)

dMultiply0_133

public static void dMultiply0_133(double[] A,
                                  int a,
                                  double[] B,
                                  int b,
                                  double[] C,
                                  int c)

dMultiply0_333

public static void dMultiply0_333(DMatrix3 A,
                                  DMatrix3C B,
                                  DMatrix3C C)

dMultiply0_333

public static void dMultiply0_333(double[] A,
                                  int a,
                                  DMatrix3C B,
                                  DMatrix3C C)

dMULTIPLY1_331

@Deprecated
public static void dMULTIPLY1_331(DVector3 A,
                                             DMatrix3C B,
                                             DVector3C C)

Deprecated.

dMULTIPLY0_133

@Deprecated
public static void dMULTIPLY0_133(DVector3 A,
                                             DVector3C B,
                                             DMatrix3C C)

Deprecated.

dMULTIPLY0_133

@Deprecated
public static void dMULTIPLY0_133(double[] A,
                                             int a,
                                             double[] B,
                                             int b,
                                             double[] C,
                                             int c)

Deprecated.

dMULTIPLY0_333

@Deprecated
public static void dMULTIPLY0_333(DMatrix3 A,
                                             DMatrix3C B,
                                             DMatrix3C C)

Deprecated.

dMULTIPLY0_333

@Deprecated
public static void dMULTIPLY0_333(double[] A,
                                             int a,
                                             DMatrix3C B,
                                             DMatrix3C C)

Deprecated.

dMultiply1_333

public static void dMultiply1_333(DMatrix3 A,
                                  DMatrix3C B,
                                  DMatrix3C C)

dMultiply2_333

public static void dMultiply2_333(DMatrix3 A,
                                  DMatrix3C B,
                                  DMatrix3C C)

dMULTIPLY1_333

@Deprecated
public static void dMULTIPLY1_333(DMatrix3 A,
                                             DMatrix3C B,
                                             DMatrix3C C)

Deprecated.

dMULTIPLY2_333

@Deprecated
public static void dMULTIPLY2_333(DMatrix3 A,
                                             DMatrix3C B,
                                             DMatrix3C C)

Deprecated.

dMultiplyAdd0_331

public static void dMultiplyAdd0_331(DVector3 A,
                                     double[] B,
                                     int b,
                                     DVector3C C)

dMultiplyAdd0_331

public static void dMultiplyAdd0_331(DVector3 A,
                                     double[] B,
                                     int b,
                                     double[] C,
                                     int c)

dMULTIPLYADD0_331

@Deprecated
public static void dMULTIPLYADD0_331(DVector3 A,
                                                double[] B,
                                                int b,
                                                DVector3C C)

Deprecated.

dMULTIPLYADD0_331

@Deprecated
public static void dMULTIPLYADD0_331(DVector3 A,
                                                double[] B,
                                                int b,
                                                double[] C,
                                                int c)

Deprecated.

dSafeNormalize3

public static boolean dSafeNormalize3(DVector3 a)

Normalize 3x1 vectors (i.e. scale them to unit length).

dSafeNormalize3

public static boolean dSafeNormalize3(DVector3View a)

Normalize 3x1 vectors (i.e. scale them to unit length).

dNormalize3

public static void dNormalize3(DVector3 a)

normalize 3x1 vectors (i.e. scale them to unit length). Potentially asserts on zero vec.

dSafeNormalize4

public static boolean dSafeNormalize4(DVector4 a)

dNormalize4

public static void dNormalize4(DVector4 a)

Potentially asserts on zero vec.

dNormalize4

public static void dNormalize4(DQuaternion a)

Potentially asserts on zero vec.

dPlaneSpace

public static void dPlaneSpace(DVector3C n,
                               DVector3 p,
                               DVector3 q)

Given a unit length "normal" vector n, generate vectors p and q vectors that are an orthonormal basis for the plane space perpendicular to n. i.e. this makes p,q such that n,p,q are all perpendicular to each other. q will equal n x p. if n is not unit length then p will be unit length but q wont be.

dOrthogonalizeR

public static void dOrthogonalizeR(DMatrix3 m)

This takes what is supposed to be a rotation matrix, and make sure it is correct. Note: this operates on rows, not columns, because for rotations both ways give equivalent results.