Package javax.vecmath

Examples of javax.vecmath.Matrix3f.transpose()

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        pt4 = new Point4f((Point4f) x2.value);
        pt4.scale(-1f);
        return addX(pt4);
      case Token.matrix3f:
        m = new Matrix3f((Matrix3f) x2.value);
        m.transpose();
        return addX(m);
      case Token.matrix4f:
        Matrix4f m4 = new Matrix4f((Matrix4f) x2.value);
        m4.transpose();
        return addX(m4);
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      switch (x2.tok) {
      case Token.matrix3f:
        if (pt != null) {
          // pt * m
          Matrix3f m3b = new Matrix3f((Matrix3f) x2.value);
          m3b.transpose();
          m3b.transform(pt);
          if (x1.tok == Token.varray)
            return addX(ScriptVariable.getVariable(new float[] { pt.x, pt.y,
                pt.z }));
          return addX(pt);
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    for (int i = 0; i < 3; i++) {
      VectorUtil.setCoord(normal, i, 1f);

      tmpMat1.transpose(centerOfMassA.basis);
      tmpMat2.transpose(centerOfMassB.basis);

      tmp1.set(pivotInA);
      centerOfMassA.transform(tmp1);
      tmp1.sub(rbA.getCenterOfMassPosition(tmpVec));
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    // linear part
    for (int i=0; i<3; i++) {
      calculatedTransformA.basis.getColumn(i, normalWorld);

      Matrix3f mat1 = rbA.getCenterOfMassTransform(tmpTrans1).basis;
      mat1.transpose();

      Matrix3f mat2 = rbB.getCenterOfMassTransform(tmpTrans2).basis;
      mat2.transpose();

      jacLin[i].init(
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      Matrix3f mat1 = rbA.getCenterOfMassTransform(tmpTrans1).basis;
      mat1.transpose();

      Matrix3f mat2 = rbB.getCenterOfMassTransform(tmpTrans2).basis;
      mat2.transpose();

      jacLin[i].init(
          mat1,
          mat2,
          relPosA,
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    // angular part
    for (int i=0; i<3; i++) {
      calculatedTransformA.basis.getColumn(i, normalWorld);

      Matrix3f mat1 = rbA.getCenterOfMassTransform(tmpTrans1).basis;
      mat1.transpose();

      Matrix3f mat2 = rbB.getCenterOfMassTransform(tmpTrans2).basis;
      mat2.transpose();

      jacAng[i].init(
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      Matrix3f mat1 = rbA.getCenterOfMassTransform(tmpTrans1).basis;
      mat1.transpose();

      Matrix3f mat2 = rbB.getCenterOfMassTransform(tmpTrans2).basis;
      mat2.transpose();

      jacAng[i].init(
          normalWorld,
          mat1,
          mat2,
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          rel_pos1.sub(pos1, body0.getCenterOfMassPosition(tmpVec));
          rel_pos2.sub(pos2, body1.getCenterOfMassPosition(tmpVec));

          // this jacobian entry is re-used for all iterations
          Matrix3f mat1 = body0.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
          mat1.transpose();

          Matrix3f mat2 = body1.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
          mat2.transpose();

          JacobianEntry jac = jacobiansPool.get();
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          // this jacobian entry is re-used for all iterations
          Matrix3f mat1 = body0.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
          mat1.transpose();

          Matrix3f mat2 = body1.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
          mat2.transpose();

          JacobianEntry jac = jacobiansPool.get();
          jac.init(mat1, mat2,
              rel_pos1, rel_pos2, cp.normalWorldOnB,
              body0.getInvInertiaDiagLocal(Stack.alloc(Vector3f.class)), body0.getInvMass(),
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    calculateAngleInfo();
  }
 
  protected void buildLinearJacobian(/*JacobianEntry jacLinear*/int jacLinear_index, Vector3f normalWorld, Vector3f pivotAInW, Vector3f pivotBInW) {
    Matrix3f mat1 = rbA.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
    mat1.transpose();

    Matrix3f mat2 = rbB.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
    mat2.transpose();

    Vector3f tmpVec = Stack.alloc(Vector3f.class);
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