Matrix4

Kotlin |Java

class Matrix4

An immutable 4x4 matrix that represents translation, scale, and rotation. The matrix is column major and right handed. The indexes of dataToCopy represent the following matrix layout:

[0, 4,  8, 12]
[1, 5,  9, 13]
[2, 6, 10, 14]
[3, 7, 11, 15]

Summary

Public companion functions
`Matrix4`	`fromPose(pose: Pose)` Returns a new rigid transformation matrix.
`Matrix4`	`fromQuaternion(quaternion: Quaternion)` Returns a new rotation matrix.
`Matrix4`	`fromScale(scale: Float)` Returns a new uniform scale matrix.
`Matrix4`	`fromScale(scale: Vector3)` Returns a new scale matrix.
`Matrix4`	`fromTranslation(translation: Vector3)` Returns a new translation matrix.
`Matrix4`	`fromTrs(translation: Vector3, rotation: Quaternion, scale: Vector3)` Returns a new transformation matrix.

Public companion properties
`Matrix4`	`Identity` Returns an identity matrix.
`Matrix4`	`Zero` Returns a zero matrix.

Public constructors
`Matrix4(dataToCopy: FloatArray)`
`Matrix4(other: Matrix4)` Creates a new matrix with a deep copy of the data from the `other`.

Public functions
`Matrix4`	`copy(data: FloatArray)` Returns a copy of the matrix.
`open operator Boolean`	`equals(other: Any?)` Returns true if this matrix is equal to `other`.
`open Int`	`hashCode()` Standard hash code calculation using constructor values
`operator Matrix4`	`times(other: Matrix4)` Returns a new matrix with the matrix multiplication product of this matrix and the `other` matrix.
`Pose`	`toPose()` Converts this matrix to a `Pose` object.
`open String`	`toString()` Standard toString() implementation
`Matrix4`	`unscaled()` Returns a normalized transformation matrix.

Public properties
`FloatArray`	`data` Returns an array of the components of this matrix.
`Matrix4`	`inverse` Returns a matrix that performs the opposite transformation.
`Boolean`	`isTrs` Returns true if this matrix is a valid transformation matrix that can be decomposed into translation, rotation and scale using determinant properties.
`Quaternion`	`rotation` Returns the rotation component of this matrix.
`Vector3`	`scale` Returns the scale component of this matrix.
`Vector3`	`translation` Returns the translation component of this matrix.
`Matrix4`	`transpose` Returns a matrix that is the transpose of this matrix.

Public companion functions

fromPose

Added in 1.0.0-beta01

fun fromPose(pose: Pose): Matrix4

Returns a new rigid transformation matrix. The returned matrix is such that it first rotates objects, and then translates them.

Parameters
`pose: Pose`	the pose to convert

fromQuaternion

Added in 1.0.0-beta01

fun fromQuaternion(quaternion: Quaternion): Matrix4

Returns a new rotation matrix.

Parameters
`quaternion: Quaternion`	the rotation quaternion

fromScale

Added in 1.0.0-beta01

fun fromScale(scale: Float): Matrix4

Returns a new uniform scale matrix.

Parameters
`scale: Float`	the uniform scale factor

fromScale

Added in 1.0.0-beta01

fun fromScale(scale: Vector3): Matrix4

Returns a new scale matrix.

Parameters
`scale: Vector3`	the scale vector

fromTranslation

Added in 1.0.0-beta01

fun fromTranslation(translation: Vector3): Matrix4

Returns a new translation matrix.

Parameters
`translation: Vector3`	the translation vector

fromTrs

Added in 1.0.0-beta01

fun fromTrs(translation: Vector3, rotation: Quaternion, scale: Vector3): Matrix4

Returns a new transformation matrix. The returned matrix is such that it first scales objects, then rotates them, and finally translates them.

Parameters
`translation: Vector3`	the translation component
`rotation: Quaternion`	the rotation component
`scale: Vector3`	the scale component

Public companion properties

Identity

val Identity: Matrix4

Returns an identity matrix.

Zero

val Zero: Matrix4

Returns a zero matrix.

Public constructors

Matrix4

Added in 1.0.0-beta01

Matrix4(dataToCopy: FloatArray)

Parameters
`dataToCopy: FloatArray`	the array with 16 elements that will be copied over

Matrix4

Added in 1.0.0-beta01

Matrix4(other: Matrix4)

Creates a new matrix with a deep copy of the data from the other.

Public functions

copy

Added in 1.0.0-beta01

fun copy(data: FloatArray = this.data): Matrix4

Returns a copy of the matrix.

Parameters
`data: FloatArray = this.data`	the new data for the copied matrix

equals

open operator fun equals(other: Any?): Boolean

Returns true if this matrix is equal to other.

hashCode

open fun hashCode(): Int

Standard hash code calculation using constructor values

times

Added in 1.0.0-beta01

operator fun times(other: Matrix4): Matrix4

Returns a new matrix with the matrix multiplication product of this matrix and the other matrix.

toPose

Added in 1.0.0-beta01

fun toPose(): Pose

Converts this matrix to a Pose object.

toString

open fun toString(): String

Standard toString() implementation

unscaled

Added in 1.0.0-beta01

fun unscaled(): Matrix4

Returns a normalized transformation matrix.

This method removes the scaling factors from this matrix, as determined by scale, while preserving its core rotational and translational components. The resulting matrix is therefore ideal for accurate normal vector transformations and pure orientation extraction.

Public properties

data

Added in 1.0.0-beta01

val data: FloatArray

Returns an array of the components of this matrix.

inverse

Added in 1.0.0-beta01

val inverse: Matrix4

Returns a matrix that performs the opposite transformation.

isTrs

Added in 1.0.0-beta01

val isTrs: Boolean

Returns true if this matrix is a valid transformation matrix that can be decomposed into translation, rotation and scale using determinant properties.

rotation

Added in 1.0.0-beta01

val rotation: Quaternion

Returns the rotation component of this matrix.

scale

Added in 1.0.0-beta01

val scale: Vector3

Returns the scale component of this matrix.

translation

Added in 1.0.0-beta01

val translation: Vector3

Returns the translation component of this matrix.

transpose

Added in 1.0.0-beta01

val transpose: Matrix4

Returns a matrix that is the transpose of this matrix.