M

object M

A utility class providing various mathematical operations for 3x3 and 4x4 matrices, vectors, and rotations.

Properties

val PI: Float

The value of PI as a float.

TO_DEG

val TO_DEG: Float

Conversion factor for radians to degrees.

TO_RAD

val TO_RAD: Float

Conversion factor for degrees to radians.

TWO_PI

val TWO_PI: Float

Twice the value of PI as a float.

Functions

absAngleDiff

fun absAngleDiff(x: Float, y: Float): Float

Calculate the absolute difference between two angles in radians. This function handles wrap-around.

concat33x31

fun concat33x31(m1: FloatArray, m2: FloatArray, res: FloatArray)

Concatenates two 3x3 matrices.

cross31x31

fun cross31x31(v1: FloatArray, v2: FloatArray, res: FloatArray)

Computes the cross product of two 3-dimensional vectors.

dot

fun dot(a: FloatArray, b: FloatArray): Float

Computes the dot product of two float arrays

fun dot(a: FloatArray, aOffset: Int, aLength: Int, b: FloatArray, bOffset: Int): Float

Computes the dot product of two float arrays with specified offsets and lengths.

dot3x3

fun dot3x3(a: FloatArray, b: FloatArray): Float

Computes the dot product of two 3-dimensional vectors.

EulerAnglesBetweenVectors

fun EulerAnglesBetweenVectors(a: FloatArray, b: FloatArray, res: FloatArray)

Calculate Euler angles between two 3x1 vectors

eye2world

fun eye2world(eyeVec: FloatArray, q: Quaternion, res: FloatArray)

fun eye2world(xEye: Float, yEye: Float, zEye: Float, q: Quaternion, res: FloatArray)

Transforms eye coordinates to world coordinates using a quaternion.

identity3x3

fun identity3x3(res: FloatArray)

Sets the elements of a 3x3 matrix to the identity matrix.

identity4x4

fun identity4x4(res: FloatArray)

Sets the elements of a 4x4 matrix to the identity matrix.

inverse44

fun inverse44(m: FloatArray, res: FloatArray)

Invert a 4x4 matrix.

invert33

fun invert33(m: FloatArray, res: FloatArray)

Invert a 3x3 matrix.

lerp31x31

fun lerp31x31(start: FloatArray, end: FloatArray, alpha: Float): FloatArray

Perform linear interpolation between two 3x1 vectors.

lerp31x31v

fun lerp31x31v(start: FloatArray, startOffset: Int, end: FloatArray, endOffset: Int, alpha: Float): FloatArray

Performs linear interpolation between two 3x1 vectors.

LLA2world

fun LLA2world(targetLLA: DoubleArray, userLLA: DoubleArray, res: FloatArray)

Converts latitude, longitude, and altitude to world coordinates.

mul

fun mul(m: FloatArray, scalar: Float)

Multiplies each element of a float array by a scalar.

mul33x31

fun mul33x31(m: FloatArray, v: FloatArray, res: FloatArray)

Multiply 3x3 matrices with a vector 3x1.

mul33x33

fun mul33x33(m1: FloatArray, m2: FloatArray, res: FloatArray)

Multiply two 3x3 matrices.

mul34x41

fun mul34x41(m: FloatArray, v: FloatArray, res: FloatArray)

Multiplies a 3x4 matrix by a 4x1 vector.

mul44x31one

fun mul44x31one(m1: FloatArray, v: FloatArray, vOffset: Int, res: FloatArray)

Multiplies a 4x4 matrix by a 3x1 vector.

mul44x41

fun mul44x41(m1: FloatArray, v: FloatArray, res: FloatArray)

Multiplies a 4x4 matrix by a 4x1 matrix (vector).

mul44x44

fun mul44x44(m1: FloatArray, m2: FloatArray, res: FloatArray)

Multiply two 4x4 matrices.

normalize

fun normalize(vec: FloatArray)

Normalizes a vector (any size).

normalize31

fun normalize31(res: FloatArray)

Normalizes a 3x1 vector.

normalizeAngle

fun normalizeAngle(ix: Float): Float

Normalize an angle in radians to the range 0-2pi.

perspective4x4

fun perspective4x4(fovy: Float, aspect: Float, zNear: Float, zFar: Float, res: FloatArray)

Constructs a perspective projection 4x4 matrix.

rotateMat3x3

fun rotateMat3x3(deg: Float, x: Float, y: Float, res: FloatArray)

Creates a rotate 3x3 matrix.

RotationAxis2Euler

fun RotationAxis2Euler(axis: FloatArray, angle: Float, res: FloatArray)

Convert rotation from axis-angle representation to Euler angles.

rotMat44

fun rotMat44(deg: Float, x: Float, y: Float, z: Float, res: FloatArray)

Creates a rotation 4x4 matrix.

scaleMat3x3

fun scaleMat3x3(sx: Float, sy: Float, x: Float, y: Float, res: FloatArray)

Creates a scale and translation 3x3 matrix.

scaleMat44

fun scaleMat44(sx: Float, sy: Float, sz: Float, res: FloatArray)

Constructs a scale 4x4 matrix.

Slerp31x31

fun Slerp31x31(start: FloatArray, end: FloatArray, alpha: Float): FloatArray

Performs spherical linear interpolation between two 3x1 vectors.

Slerp31x31v

fun Slerp31x31v(start: FloatArray, startOffset: Int, end: FloatArray, endOffset: Int, alpha: Float): FloatArray

Performs spherical linear interpolation between two 3x1 vectors.

translateMat3x3

fun translateMat3x3(tx: Float, ty: Float, res: FloatArray)

Constructs a translation 3x3 matrix.

translateMat44

fun translateMat44(tx: Float, ty: Float, tz: Float, res: FloatArray)

Constructs a translation 4x4 matrix.

transpose33

fun transpose33(m: FloatArray, res: FloatArray)

Transposes a 3x3 matrix.

transpose44

fun transpose44(m: FloatArray, res: FloatArray)

Transposes a 4x4 matrix.

VectorAngle

fun VectorAngle(a: FloatArray, b: FloatArray): Float

Calculate the angle between two 3x1 vectors.

world2eye

fun world2eye(worldVec: FloatArray, q: Quaternion, outEyeVec: FloatArray)

Transforms world coordinates to eye coordinates using a quaternion.

wrap33x44

fun wrap33x44(m1: FloatArray, res: FloatArray)

Converts a 3x3 matrix to a 4x4 matrix with an additional row and column of zeros, and a one in the bottom-right corner.

zero

fun zero(m: FloatArray)

Sets all elements of a float array to zero.