checkpoint

[anneal.git] / src / edu / berkeley / qfat / geom / Matrix.java

diff --git a/src/edu/berkeley/qfat/geom/Matrix.java b/src/edu/berkeley/qfat/geom/Matrix.java
index 751dfa1..7d14a71 100644 (file)
--- a/src/edu/berkeley/qfat/geom/Matrix.java
+++ b/src/edu/berkeley/qfat/geom/Matrix.java
@@ -6,32 +6,56 @@ public class Matrix {
     //  [ a b c d ]   [ x ]
     //  [ e f g h ]   [ y ]
     //  [ i j k l ]   [ z ]
-    //  [ 0 0 0 1 ]   [ 1 ]
+    //  [ m n o p ]   [ 1 ]
     //
-    public final float a, b, c, d, e, f, g, h, i, j, k, l;
+    public final float a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p;
     public Matrix() { this(1); }
     public Matrix(float scale) {
         a = f = k = scale;
         l = h = d = e = b = i = c = j = g = 0;            
+        m = n = o = 0;
+        p = 1;
     }
     public Matrix(float scalex, float scaley, float scalez) {
         a = scalex;
         f = scaley;
         k = scalez;
         l = h = d = e = b = i = c = j = g = 0;            
+        m = n = o = 0;
+        p = 1;
     }
     public Matrix(Vec translate) {
         d = translate.x; h = translate.y; l = translate.z;
         a = f = k = 1;
         b = c = e = g = i = j = 0;
+        m = n = o = 0;
+        p = 1;
     }
-    public Matrix(float a, float b, float c, float d, float e, float f, float g, float h, float i, float j, float k, float l) {
+    public Matrix(float a, float b, float c, float d, float e, float f, float g,
+                  float h, float i, float j, float k, float l, float m, float n, float o, float p) {
         this.a = a; this.b = b; this.c = c; this.d = d; this.e = e; this.f = f; this.g = g; this.h = h; this.i = i;
-        this.j = j; this.k = k; this.l = l;
+        this.j = j; this.k = k; this.l = l; this.m = m; this.n = n; this.o = o; this.p = p;
+    }
+    public Matrix plus(Matrix x) {
+        return new Matrix(a+x.a, b+x.b, c+x.c, d+x.d, e+x.e, f+x.f, g+x.g, h+x.h, i+x.i, j+x.j, k+x.k, l+x.l, m+x.m, n+x.n, o+x.o, p+x.p);
+    }
+    public Matrix minus(Matrix x) {
+        return new Matrix(a-x.a, b-x.b, c-x.c, d-x.d, e-x.e, f-x.f, g-x.g, h-x.h, i-x.i, j-x.j, k-x.k, l-x.l, m-x.m, n-x.n, o-x.o, p-x.p);
     }
     public Matrix times(float x) {
-        return new Matrix(a*x, b*x, c*x, d*x, e*x, f*x, g*x, h*x, i*x, j*x, k*x, l*x);
+        return new Matrix(a*x, b*x, c*x, d*x, e*x, f*x, g*x, h*x, i*x, j*x, k*x, l*x, m*x, n*x, o*x, p*x);
+    }
+
+    /** computes (v^T)(this)(v) */
+    public float preAndPostMultiply(Point point) {
+        float ret =
+            ((a*point.x + b*point.y + c*point.z + d) * point.x) +
+            ((e*point.x + f*point.y + g*point.z + h) * point.y) +
+            ((i*point.x + j*point.y + k*point.z + l) * point.z) + 
+            ((m*point.x + n*point.y + o*point.z + p) * 1);
+        return ret;
     }
+
     public Matrix(Vec axis, float angle) {
         double q = Math.cos(angle);
         double s = Math.sin(angle);
@@ -52,12 +76,21 @@ public class Matrix {
         j = (float)(tmp1 + tmp2);
         g = (float)(tmp1 - tmp2);
         d = h = l = 0;
+        m = n = o = 0;
+        p = 1;
     }
     public Point times(Point p) {
+        // discards bottom row
         return new Point(a*p.x + b*p.y + c*p.z + d,
                          e*p.x + f*p.y + g*p.z + h,
                          i*p.x + j*p.y + k*p.z + l);
     }
+    public Vec times(Vec p) {
+        // discards bottom row
+        return new Vec(a*p.x + b*p.y + c*p.z + d,
+                       e*p.x + f*p.y + g*p.z + h,
+                       i*p.x + j*p.y + k*p.z + l);
+    }
     public Point apply(Point p) { return p; }
     public Vec apply(Vec v) { return v; }
     public Matrix invert() { return this; }