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Matrix3f: refactoring and minor API improvements #2527

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6836819
Update Matrix3f.java
capdevon Jun 25, 2025
386b7bf
Update Matrix3f.java
capdevon Jun 30, 2025
544f27b
Update Matrix3f.java
capdevon Jun 30, 2025
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169 changes: 81 additions & 88 deletions jme3-core/src/main/java/com/jme3/math/Matrix3f.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2009-2022 jMonkeyEngine
* Copyright (c) 2009-2025 jMonkeyEngine
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
Expand Down Expand Up @@ -31,9 +31,14 @@
*/
package com.jme3.math;

import com.jme3.export.*;
import com.jme3.export.InputCapsule;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.export.Savable;
import com.jme3.util.BufferUtils;
import com.jme3.util.TempVars;

import java.io.IOException;
import java.nio.FloatBuffer;
import java.util.logging.Logger;
Expand Down Expand Up @@ -307,7 +312,10 @@ public Matrix3f normalize(Matrix3f store) {
store = new Matrix3f();
}

float mag = 1.0f / FastMath.sqrt(
float mag;

// Normalize first column
mag = 1.0f / FastMath.sqrt(
m00 * m00
+ m10 * m10
+ m20 * m20);
Expand All @@ -316,6 +324,7 @@ public Matrix3f normalize(Matrix3f store) {
store.m10 = m10 * mag;
store.m20 = m20 * mag;

// Normalize second column
mag = 1.0f / FastMath.sqrt(
m01 * m01
+ m11 * m11
Expand All @@ -325,6 +334,7 @@ public Matrix3f normalize(Matrix3f store) {
store.m11 = m11 * mag;
store.m21 = m21 * mag;

// Compute third column as cross product of first two
store.m02 = store.m10 * store.m21 - store.m11 * store.m20;
store.m12 = store.m01 * store.m20 - store.m00 * store.m21;
store.m22 = store.m00 * store.m11 - store.m01 * store.m10;
Expand Down Expand Up @@ -448,10 +458,7 @@ public Vector3f getRow(int i, Vector3f store) {
*/
public FloatBuffer toFloatBuffer() {
FloatBuffer fb = BufferUtils.createFloatBuffer(9);

fb.put(m00).put(m01).put(m02);
fb.put(m10).put(m11).put(m12);
fb.put(m20).put(m21).put(m22);
fillFloatBuffer(fb, false); // Row-major order
fb.rewind();
return fb;
}
Expand All @@ -467,21 +474,9 @@ public FloatBuffer toFloatBuffer() {
* @return {@code fb}, its position advanced by 9
*/
public FloatBuffer fillFloatBuffer(FloatBuffer fb, boolean columnMajor) {
// if (columnMajor){
// fb.put(m00).put(m10).put(m20);
// fb.put(m01).put(m11).put(m21);
// fb.put(m02).put(m12).put(m22);
// }else{
// fb.put(m00).put(m01).put(m02);
// fb.put(m10).put(m11).put(m12);
// fb.put(m20).put(m21).put(m22);
// }

TempVars vars = TempVars.get();

fillFloatArray(vars.matrixWrite, columnMajor);
fb.put(vars.matrixWrite, 0, 9);

vars.release();

return fb;
Expand All @@ -491,32 +486,32 @@ public FloatBuffer fillFloatBuffer(FloatBuffer fb, boolean columnMajor) {
* Copies the matrix to the 1st 9 elements of the specified array. The
* matrix is unaffected.
*
* @param f storage for the elements (not null, length≥9)
* @param store storage for the elements (not null, length≥9)
* @param columnMajor true to store the elements in column-major order (m00,
* m10, ...) or false to store them in row-major order (m00, m01, ...)
* @see #get(float[], boolean)
*/
public void fillFloatArray(float[] f, boolean columnMajor) {
public void fillFloatArray(float[] store, boolean columnMajor) {
if (columnMajor) {
f[0] = m00;
f[1] = m10;
f[2] = m20;
f[3] = m01;
f[4] = m11;
f[5] = m21;
f[6] = m02;
f[7] = m12;
f[8] = m22;
store[0] = m00;
store[1] = m10;
store[2] = m20;
store[3] = m01;
store[4] = m11;
store[5] = m21;
store[6] = m02;
store[7] = m12;
store[8] = m22;
} else {
f[0] = m00;
f[1] = m01;
f[2] = m02;
f[3] = m10;
f[4] = m11;
f[5] = m12;
f[6] = m20;
f[7] = m21;
f[8] = m22;
store[0] = m00;
store[1] = m01;
store[2] = m02;
store[3] = m10;
store[4] = m11;
store[5] = m12;
store[6] = m20;
store[7] = m21;
store[8] = m22;
}
}

Expand Down Expand Up @@ -657,7 +652,7 @@ public Matrix3f set(int i, int j, float value) {
public Matrix3f set(float[][] matrix) {
if (matrix.length != 3 || matrix[0].length != 3) {
throw new IllegalArgumentException(
"Array must be of size 9.");
"Array must be of size 3x3.");
}

m00 = matrix[0][0];
Expand Down Expand Up @@ -749,11 +744,11 @@ public Matrix3f set(float[] matrix, boolean rowMajor) {
/**
* Configures as a rotation matrix equivalent to the argument.
*
* @param quaternion the input quaternion (not null, unaffected)
* @param q the input quaternion (not null, unaffected)
* @return the (modified) current instance (for chaining)
*/
public Matrix3f set(Quaternion quaternion) {
return quaternion.toRotationMatrix(this);
public Matrix3f set(Quaternion q) {
return q.toRotationMatrix(this);
}

/**
Expand Down Expand Up @@ -962,9 +957,10 @@ public Vector3f multLocal(Vector3f vec) {
}
float x = vec.x;
float y = vec.y;
vec.x = m00 * x + m01 * y + m02 * vec.z;
vec.y = m10 * x + m11 * y + m12 * vec.z;
vec.z = m20 * x + m21 * y + m22 * vec.z;
float z = vec.z;
vec.x = m00 * x + m01 * y + m02 * z;
vec.y = m10 * x + m11 * y + m12 * z;
vec.z = m20 * x + m21 * y + m22 * z;
return vec;
}

Expand All @@ -989,9 +985,6 @@ public Matrix3f multLocal(Matrix3f mat) {
* @return the (modified) current instance
*/
public Matrix3f transposeLocal() {
// float[] tmp = new float[9];
// get(tmp, false);
// set(tmp, true);

float tmp = m01;
m01 = m10;
Expand Down Expand Up @@ -1153,14 +1146,13 @@ public Matrix3f zero() {
/**
* Transposes the matrix and returns the (modified) current instance.
*
* <p>This method is inconsistent with JME naming conventions, but has been
* preserved for backwards compatibility. To preserve the current instance,
* {@link #transposeNew()}.
*
* <p>TODO deprecate in favor of transposeLocal()
* @deprecated Use {@link #transposeLocal()} for an in-place transpose
* or {@link #transposeNew()} to create a new transposed matrix.
* This method is inconsistent with JME naming conventions.
*
* @return the (modified) current instance (for chaining)
*/
@Deprecated
public Matrix3f transpose() {
return transposeLocal();
}
Expand Down Expand Up @@ -1253,7 +1245,7 @@ public int hashCode() {
*/
@Override
public boolean equals(Object o) {
if (o == null || o.getClass() != getClass()) {
if (!(o instanceof Matrix3f)) {
return false;
}

Expand Down Expand Up @@ -1299,42 +1291,42 @@ public boolean equals(Object o) {
* Serializes to the specified exporter, for example when saving to a J3O
* file. The current instance is unaffected.
*
* @param e the exporter to use (not null)
* @param ex the exporter to use (not null)
* @throws IOException from the exporter
*/
@Override
public void write(JmeExporter e) throws IOException {
OutputCapsule cap = e.getCapsule(this);
cap.write(m00, "m00", 1);
cap.write(m01, "m01", 0);
cap.write(m02, "m02", 0);
cap.write(m10, "m10", 0);
cap.write(m11, "m11", 1);
cap.write(m12, "m12", 0);
cap.write(m20, "m20", 0);
cap.write(m21, "m21", 0);
cap.write(m22, "m22", 1);
public void write(JmeExporter ex) throws IOException {
OutputCapsule oc = ex.getCapsule(this);
oc.write(m00, "m00", 1);
oc.write(m01, "m01", 0);
oc.write(m02, "m02", 0);
oc.write(m10, "m10", 0);
oc.write(m11, "m11", 1);
oc.write(m12, "m12", 0);
oc.write(m20, "m20", 0);
oc.write(m21, "m21", 0);
oc.write(m22, "m22", 1);
}

/**
* De-serializes from the specified importer, for example when loading from a
* J3O file.
*
* @param importer the importer to use (not null)
* @param im the importer to use (not null)
* @throws IOException from the importer
*/
@Override
public void read(JmeImporter importer) throws IOException {
InputCapsule cap = importer.getCapsule(this);
m00 = cap.readFloat("m00", 1);
m01 = cap.readFloat("m01", 0);
m02 = cap.readFloat("m02", 0);
m10 = cap.readFloat("m10", 0);
m11 = cap.readFloat("m11", 1);
m12 = cap.readFloat("m12", 0);
m20 = cap.readFloat("m20", 0);
m21 = cap.readFloat("m21", 0);
m22 = cap.readFloat("m22", 1);
public void read(JmeImporter im) throws IOException {
InputCapsule ic = im.getCapsule(this);
m00 = ic.readFloat("m00", 1);
m01 = ic.readFloat("m01", 0);
m02 = ic.readFloat("m02", 0);
m10 = ic.readFloat("m10", 0);
m11 = ic.readFloat("m11", 1);
m12 = ic.readFloat("m12", 0);
m20 = ic.readFloat("m20", 0);
m21 = ic.readFloat("m21", 0);
m22 = ic.readFloat("m22", 1);
}

/**
Expand Down Expand Up @@ -1453,34 +1445,35 @@ public void scale(Vector3f scale) {
* @return true if all elements are within 0.0001 of an identity matrix
*/
static boolean equalIdentity(Matrix3f mat) {
if (Math.abs(mat.m00 - 1) > 1e-4) {
float delta = 1e-4f;
if (Math.abs(mat.m00 - 1) > delta) {
return false;
}
if (Math.abs(mat.m11 - 1) > 1e-4) {
if (Math.abs(mat.m11 - 1) > delta) {
return false;
}
if (Math.abs(mat.m22 - 1) > 1e-4) {
if (Math.abs(mat.m22 - 1) > delta) {
return false;
}

if (Math.abs(mat.m01) > 1e-4) {
if (Math.abs(mat.m01) > delta) {
return false;
}
if (Math.abs(mat.m02) > 1e-4) {
if (Math.abs(mat.m02) > delta) {
return false;
}

if (Math.abs(mat.m10) > 1e-4) {
if (Math.abs(mat.m10) > delta) {
return false;
}
if (Math.abs(mat.m12) > 1e-4) {
if (Math.abs(mat.m12) > delta) {
return false;
}

if (Math.abs(mat.m20) > 1e-4) {
if (Math.abs(mat.m20) > delta) {
return false;
}
if (Math.abs(mat.m21) > 1e-4) {
if (Math.abs(mat.m21) > delta) {
return false;
}

Expand Down