picrate 0.0.2-java

data/src/main/java/processing/core/PMatrix3D.java

@@ -0,0 +1,1153 @@
+/* -*- mode: java; c-basic-offset: 2; indent-tabs-mode: nil -*- */
+
+/*
+  Part of the Processing project - http://processing.org
+
+  Copyright (c) 2005-12 Ben Fry and Casey Reas
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License version 2.1 as published by the Free Software Foundation.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+*/
+
+package processing.core;
+
+
+/**
+ * 4x4 matrix implementation.
+ * Matrices are used to describe a transformation; see {@link PMatrix} for a
+ * general description. This matrix looks like the following when multiplying
+ * a vector (x, y, z, w) in {@code mult()}.
+ * <pre>
+ * [m00 m01 m02 m03][x]   [m00*x + m01*y + m02*z + m03*w]   [x']
+ * [m10 m11 m12 m13][y] = [m10*x + m11*y + m12*z + m13*w] = [y']
+ * [m20 m21 m22 m23][z]   [m20*x + m21*y + m22*z + m23*w]   [z']
+ * [m30 m31 m32 m33][w]   [m30*x + m31*y + m32*z + m33*w]   [w']</pre>
+ * (x', y', z', w') is returned. The values in the matrix determine the
+ * transformation. They are modified by the various transformation functions.
+ *
+ * To transform 3D coordinates, w is set to 1, amd w' is made to be 1 by
+ * setting the bottom row of the matrix to <code>[0 0 0 1]</code>. The
+ * resulting point is then (x', y', z').
+ */
+public final class PMatrix3D implements PMatrix /*, PConstants*/ {
+
+    /**
+     *
+     */
+    public float m00,
+
+    /**
+     *
+     */
+    m01,
+
+    /**
+     *
+     */
+    m02,
+
+    /**
+     *
+     */
+    m03;
+
+    /**
+     *
+     */
+    public float m10,
+
+    /**
+     *
+     */
+    m11,
+
+    /**
+     *
+     */
+    m12,
+
+    /**
+     *
+     */
+    m13;
+
+    /**
+     *
+     */
+    public float m20,
+
+    /**
+     *
+     */
+    m21,
+
+    /**
+     *
+     */
+    m22, m23;
+
+    /**
+     *
+     */
+    public float m30,
+
+    /**
+     *
+     */
+    m31,
+
+    /**
+     *
+     */
+    m32,
+
+    /**
+     *
+     */
+    m33;
+
+
+  // locally allocated version to avoid creating new memory
+
+    /**
+     *
+     */
+  protected PMatrix3D inverseCopy;
+
+    /**
+     *
+     */
+    public PMatrix3D() {
+    reset();
+  }
+
+    /**
+     *
+     * @param m00
+     * @param m01
+     * @param m02
+     * @param m10
+     * @param m11
+     * @param m12
+     */
+    public PMatrix3D(float m00, float m01, float m02,
+                   float m10, float m11, float m12) {
+    set(m00, m01, m02, 0,
+        m10, m11, m12, 0,
+        0,   0,   1,   0,
+        0,   0,   0,   1);
+  }
+
+    /**
+     *
+     * @param m00
+     * @param m01
+     * @param m02
+     * @param m03
+     * @param m10
+     * @param m11
+     * @param m12
+     * @param m13
+     * @param m20
+     * @param m21
+     * @param m22
+     * @param m23
+     * @param m30
+     * @param m31
+     * @param m32
+     * @param m33
+     */
+    public PMatrix3D(float m00, float m01, float m02, float m03,
+                   float m10, float m11, float m12, float m13,
+                   float m20, float m21, float m22, float m23,
+                   float m30, float m31, float m32, float m33) {
+    set(m00, m01, m02, m03,
+        m10, m11, m12, m13,
+        m20, m21, m22, m23,
+        m30, m31, m32, m33);
+  }
+
+    /**
+     *
+     * @param matrix
+     */
+    public PMatrix3D(PMatrix matrix) {
+    set(matrix);
+  }
+
+
+  public void reset() {
+    set(1, 0, 0, 0,
+        0, 1, 0, 0,
+        0, 0, 1, 0,
+        0, 0, 0, 1);
+  }
+
+
+  /**
+   * Returns a copy of this PMatrix.
+     * @return 
+   */
+  public PMatrix3D get() {
+    PMatrix3D outgoing = new PMatrix3D();
+    outgoing.set(this);
+    return outgoing;
+  }
+
+
+  /**
+   * Copies the matrix contents into a 16 entry float array.
+   * If target is null (or not the correct size), a new array will be created.
+     * @param target
+     * @return 
+   */
+  public float[] get(float[] target) {
+    if ((target == null) || (target.length != 16)) {
+      target = new float[16];
+    }
+    target[0] = m00;
+    target[1] = m01;
+    target[2] = m02;
+    target[3] = m03;
+
+    target[4] = m10;
+    target[5] = m11;
+    target[6] = m12;
+    target[7] = m13;
+
+    target[8] = m20;
+    target[9] = m21;
+    target[10] = m22;
+    target[11] = m23;
+
+    target[12] = m30;
+    target[13] = m31;
+    target[14] = m32;
+    target[15] = m33;
+
+    return target;
+  }
+
+
+  public void set(PMatrix matrix) {
+    if (matrix instanceof PMatrix3D) {
+      PMatrix3D src = (PMatrix3D) matrix;
+      set(src.m00, src.m01, src.m02, src.m03,
+          src.m10, src.m11, src.m12, src.m13,
+          src.m20, src.m21, src.m22, src.m23,
+          src.m30, src.m31, src.m32, src.m33);
+    } else {
+      PMatrix2D src = (PMatrix2D) matrix;
+      set(src.m00, src.m01, 0, src.m02,
+          src.m10, src.m11, 0, src.m12,
+          0, 0, 1, 0,
+          0, 0, 0, 1);
+    }
+  }
+
+
+  public void set(float[] source) {
+    if (source.length == 6) {
+      set(source[0], source[1], source[2],
+          source[3], source[4], source[5]);
+
+    } else if (source.length == 16) {
+      m00 = source[0];
+      m01 = source[1];
+      m02 = source[2];
+      m03 = source[3];
+
+      m10 = source[4];
+      m11 = source[5];
+      m12 = source[6];
+      m13 = source[7];
+
+      m20 = source[8];
+      m21 = source[9];
+      m22 = source[10];
+      m23 = source[11];
+
+      m30 = source[12];
+      m31 = source[13];
+      m32 = source[14];
+      m33 = source[15];
+    }
+  }
+
+
+  public void set(float m00, float m01, float m02,
+                  float m10, float m11, float m12) {
+    set(m00, m01, 0, m02,
+        m10, m11, 0, m12,
+        0, 0, 1, 0,
+        0, 0, 0, 1);
+  }
+
+
+  public void set(float m00, float m01, float m02, float m03,
+                  float m10, float m11, float m12, float m13,
+                  float m20, float m21, float m22, float m23,
+                  float m30, float m31, float m32, float m33) {
+    this.m00 = m00; this.m01 = m01; this.m02 = m02; this.m03 = m03;
+    this.m10 = m10; this.m11 = m11; this.m12 = m12; this.m13 = m13;
+    this.m20 = m20; this.m21 = m21; this.m22 = m22; this.m23 = m23;
+    this.m30 = m30; this.m31 = m31; this.m32 = m32; this.m33 = m33;
+  }
+
+    /**
+     *
+     * @param tx
+     * @param ty
+     */
+    public void translate(float tx, float ty) {
+    translate(tx, ty, 0);
+  }
+
+//  public void invTranslate(float tx, float ty) {
+//    invTranslate(tx, ty, 0);
+//  }
+
+    /**
+     *
+     * @param tx
+     * @param ty
+     * @param tz
+     */
+    public void translate(float tx, float ty, float tz) {
+    m03 += tx*m00 + ty*m01 + tz*m02;
+    m13 += tx*m10 + ty*m11 + tz*m12;
+    m23 += tx*m20 + ty*m21 + tz*m22;
+    m33 += tx*m30 + ty*m31 + tz*m32;
+  }
+
+    /**
+     *
+     * @param angle
+     */
+    public void rotate(float angle) {
+    rotateZ(angle);
+  }
+
+    /**
+     *
+     * @param angle
+     */
+    public void rotateX(float angle) {
+    float c = cos(angle);
+    float s = sin(angle);
+    apply(1, 0, 0, 0,  0, c, -s, 0,  0, s, c, 0,  0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param angle
+     */
+    public void rotateY(float angle) {
+    float c = cos(angle);
+    float s = sin(angle);
+    apply(c, 0, s, 0,  0, 1, 0, 0,  -s, 0, c, 0,  0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param angle
+     */
+    public void rotateZ(float angle) {
+    float c = cos(angle);
+    float s = sin(angle);
+    apply(c, -s, 0, 0,  s, c, 0, 0,  0, 0, 1, 0,  0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param angle
+     * @param v0
+     * @param v1
+     * @param v2
+     */
+    public void rotate(float angle, float v0, float v1, float v2) {
+    float norm2 = v0 * v0 + v1 * v1 + v2 * v2;
+    if (norm2 < PConstants.EPSILON) {
+      // The vector is zero, cannot apply rotation.
+      return;
+    }
+
+    if (Math.abs(norm2 - 1) > PConstants.EPSILON) {
+      // The rotation vector is not normalized.
+      float norm = PApplet.sqrt(norm2);
+      v0 /= norm;
+      v1 /= norm;
+      v2 /= norm;
+    }
+
+    float c = cos(angle);
+    float s = sin(angle);
+    float t = 1.0f - c;
+
+    apply((t*v0*v0) + c, (t*v0*v1) - (s*v2), (t*v0*v2) + (s*v1), 0,
+          (t*v0*v1) + (s*v2), (t*v1*v1) + c, (t*v1*v2) - (s*v0), 0,
+          (t*v0*v2) - (s*v1), (t*v1*v2) + (s*v0), (t*v2*v2) + c, 0,
+          0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param s
+     */
+    public void scale(float s) {
+    //apply(s, 0, 0, 0,  0, s, 0, 0,  0, 0, s, 0,  0, 0, 0, 1);
+    scale(s, s, s);
+  }
+
+    /**
+     *
+     * @param sx
+     * @param sy
+     */
+    public void scale(float sx, float sy) {
+    //apply(sx, 0, 0, 0,  0, sy, 0, 0,  0, 0, 1, 0,  0, 0, 0, 1);
+    scale(sx, sy, 1);
+  }
+
+    /**
+     *
+     * @param x
+     * @param y
+     * @param z
+     */
+    public void scale(float x, float y, float z) {
+    //apply(x, 0, 0, 0,  0, y, 0, 0,  0, 0, z, 0,  0, 0, 0, 1);
+    m00 *= x;  m01 *= y;  m02 *= z;
+    m10 *= x;  m11 *= y;  m12 *= z;
+    m20 *= x;  m21 *= y;  m22 *= z;
+    m30 *= x;  m31 *= y;  m32 *= z;
+  }
+
+    /**
+     *
+     * @param angle
+     */
+    public void shearX(float angle) {
+    float t = (float) Math.tan(angle);
+    apply(1, t, 0, 0,
+          0, 1, 0, 0,
+          0, 0, 1, 0,
+          0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param angle
+     */
+    public void shearY(float angle) {
+    float t = (float) Math.tan(angle);
+    apply(1, 0, 0, 0,
+          t, 1, 0, 0,
+          0, 0, 1, 0,
+          0, 0, 0, 1);
+  }
+
+
+  public void apply(PMatrix source) {
+    if (source instanceof PMatrix2D) {
+      apply((PMatrix2D) source);
+    } else if (source instanceof PMatrix3D) {
+      apply((PMatrix3D) source);
+    }
+  }
+
+
+  public void apply(PMatrix2D source) {
+    apply(source.m00, source.m01, 0, source.m02,
+          source.m10, source.m11, 0, source.m12,
+          0, 0, 1, 0,
+          0, 0, 0, 1);
+  }
+
+
+  public void apply(PMatrix3D source) {
+    apply(source.m00, source.m01, source.m02, source.m03,
+          source.m10, source.m11, source.m12, source.m13,
+          source.m20, source.m21, source.m22, source.m23,
+          source.m30, source.m31, source.m32, source.m33);
+  }
+
+
+  public void apply(float n00, float n01, float n02,
+                    float n10, float n11, float n12) {
+    apply(n00, n01, 0, n02,
+          n10, n11, 0, n12,
+          0, 0, 1, 0,
+          0, 0, 0, 1);
+  }
+
+
+  public void apply(float n00, float n01, float n02, float n03,
+                    float n10, float n11, float n12, float n13,
+                    float n20, float n21, float n22, float n23,
+                    float n30, float n31, float n32, float n33) {
+
+    float r00 = m00*n00 + m01*n10 + m02*n20 + m03*n30;
+    float r01 = m00*n01 + m01*n11 + m02*n21 + m03*n31;
+    float r02 = m00*n02 + m01*n12 + m02*n22 + m03*n32;
+    float r03 = m00*n03 + m01*n13 + m02*n23 + m03*n33;
+
+    float r10 = m10*n00 + m11*n10 + m12*n20 + m13*n30;
+    float r11 = m10*n01 + m11*n11 + m12*n21 + m13*n31;
+    float r12 = m10*n02 + m11*n12 + m12*n22 + m13*n32;
+    float r13 = m10*n03 + m11*n13 + m12*n23 + m13*n33;
+
+    float r20 = m20*n00 + m21*n10 + m22*n20 + m23*n30;
+    float r21 = m20*n01 + m21*n11 + m22*n21 + m23*n31;
+    float r22 = m20*n02 + m21*n12 + m22*n22 + m23*n32;
+    float r23 = m20*n03 + m21*n13 + m22*n23 + m23*n33;
+
+    float r30 = m30*n00 + m31*n10 + m32*n20 + m33*n30;
+    float r31 = m30*n01 + m31*n11 + m32*n21 + m33*n31;
+    float r32 = m30*n02 + m31*n12 + m32*n22 + m33*n32;
+    float r33 = m30*n03 + m31*n13 + m32*n23 + m33*n33;
+
+    m00 = r00; m01 = r01; m02 = r02; m03 = r03;
+    m10 = r10; m11 = r11; m12 = r12; m13 = r13;
+    m20 = r20; m21 = r21; m22 = r22; m23 = r23;
+    m30 = r30; m31 = r31; m32 = r32; m33 = r33;
+  }
+
+
+  /**
+   * Apply the 3D equivalent of the 2D matrix supplied to the left of this one.
+     * @param left
+   */
+  public void preApply(PMatrix2D left) {
+    preApply(left.m00, left.m01, 0, left.m02,
+             left.m10, left.m11, 0, left.m12,
+             0, 0, 1, 0,
+             0, 0, 0, 1);
+  }
+
+
+  /**
+   * Apply another matrix to the left of this one.
+     * @param source
+   */
+  public void preApply(PMatrix source) {
+    if (source instanceof PMatrix2D) {
+      preApply((PMatrix2D) source);
+    } else if (source instanceof PMatrix3D) {
+      preApply((PMatrix3D) source);
+    }
+  }
+
+
+  /**
+   * Apply another matrix to the left of this one.
+     * @param left
+   */
+  public void preApply(PMatrix3D left) {
+    preApply(left.m00, left.m01, left.m02, left.m03,
+             left.m10, left.m11, left.m12, left.m13,
+             left.m20, left.m21, left.m22, left.m23,
+             left.m30, left.m31, left.m32, left.m33);
+  }
+
+
+  /**
+   * Apply the 3D equivalent of the 2D matrix supplied to the left of this one.
+     * @param n00
+     * @param n01
+     * @param n10
+     * @param n02
+     * @param n11
+     * @param n12
+   */
+  public void preApply(float n00, float n01, float n02,
+                       float n10, float n11, float n12) {
+    preApply(n00, n01, 0, n02,
+             n10, n11, 0, n12,
+             0, 0, 1, 0,
+             0, 0, 0, 1);
+  }
+
+
+  /**
+   * Apply another matrix to the left of this one.
+     * @param n00
+     * @param n01
+     * @param n03
+     * @param n02
+     * @param n32
+     * @param n10
+     * @param n12
+     * @param n23
+     * @param n20
+     * @param n11
+     * @param n21
+     * @param n13
+     * @param n31
+     * @param n22
+     * @param n30
+     * @param n33
+   */
+  public void preApply(float n00, float n01, float n02, float n03,
+                       float n10, float n11, float n12, float n13,
+                       float n20, float n21, float n22, float n23,
+                       float n30, float n31, float n32, float n33) {
+
+    float r00 = n00*m00 + n01*m10 + n02*m20 + n03*m30;
+    float r01 = n00*m01 + n01*m11 + n02*m21 + n03*m31;
+    float r02 = n00*m02 + n01*m12 + n02*m22 + n03*m32;
+    float r03 = n00*m03 + n01*m13 + n02*m23 + n03*m33;
+
+    float r10 = n10*m00 + n11*m10 + n12*m20 + n13*m30;
+    float r11 = n10*m01 + n11*m11 + n12*m21 + n13*m31;
+    float r12 = n10*m02 + n11*m12 + n12*m22 + n13*m32;
+    float r13 = n10*m03 + n11*m13 + n12*m23 + n13*m33;
+
+    float r20 = n20*m00 + n21*m10 + n22*m20 + n23*m30;
+    float r21 = n20*m01 + n21*m11 + n22*m21 + n23*m31;
+    float r22 = n20*m02 + n21*m12 + n22*m22 + n23*m32;
+    float r23 = n20*m03 + n21*m13 + n22*m23 + n23*m33;
+
+    float r30 = n30*m00 + n31*m10 + n32*m20 + n33*m30;
+    float r31 = n30*m01 + n31*m11 + n32*m21 + n33*m31;
+    float r32 = n30*m02 + n31*m12 + n32*m22 + n33*m32;
+    float r33 = n30*m03 + n31*m13 + n32*m23 + n33*m33;
+
+    m00 = r00; m01 = r01; m02 = r02; m03 = r03;
+    m10 = r10; m11 = r11; m12 = r12; m13 = r13;
+    m20 = r20; m21 = r21; m22 = r22; m23 = r23;
+    m30 = r30; m31 = r31; m32 = r32; m33 = r33;
+  }
+
+
+  //////////////////////////////////////////////////////////////
+
+
+  /**
+   * Multiply source by this matrix, and return the result.
+   * The result will be stored in target if target is non-null, and target
+   * will then be the matrix returned. This improves performance if you reuse
+   * target, so it's recommended if you call this many times in draw().
+     * @param source
+     * @param target
+     * @return 
+   */
+  public PVector mult(PVector source, PVector target) {
+    if (target == null) {
+      target = new PVector();
+    }
+    target.set(m00*source.x + m01*source.y + m02*source.z + m03,
+               m10*source.x + m11*source.y + m12*source.z + m13,
+               m20*source.x + m21*source.y + m22*source.z + m23);
+//    float tw = m30*source.x + m31*source.y + m32*source.z + m33;
+//    if (tw != 0 && tw != 1) {
+//      target.div(tw);
+//    }
+    return target;
+  }
+
+
+  /*
+  public PVector cmult(PVector source, PVector target) {
+    if (target == null) {
+      target = new PVector();
+    }
+    target.x = m00*source.x + m10*source.y + m20*source.z + m30;
+    target.y = m01*source.x + m11*source.y + m21*source.z + m31;
+    target.z = m02*source.x + m12*source.y + m22*source.z + m32;
+    float tw = m03*source.x + m13*source.y + m23*source.z + m33;
+    if (tw != 0 && tw != 1) {
+      target.div(tw);
+    }
+    return target;
+  }
+  */
+
+
+  /**
+   * Multiply a three or four element vector against this matrix. If out is
+   * null or not length 3 or 4, a new float array (length 3) will be returned.
+   * Supplying and recycling a target array improves performance, so it's
+   * recommended if you call this many times in draw.
+     * @param source
+     * @param target
+     * @return 
+   */
+  public float[] mult(float[] source, float[] target) {
+    if (target == null || target.length < 3) {
+      target = new float[3];
+    }
+    if (source == target) {
+      throw new RuntimeException("The source and target vectors used in " +
+                                 "PMatrix3D.mult() cannot be identical.");
+    }
+    if (target.length == 3) {
+      target[0] = m00*source[0] + m01*source[1] + m02*source[2] + m03;
+      target[1] = m10*source[0] + m11*source[1] + m12*source[2] + m13;
+      target[2] = m20*source[0] + m21*source[1] + m22*source[2] + m23;
+      //float w = m30*source[0] + m31*source[1] + m32*source[2] + m33;
+      //if (w != 0 && w != 1) {
+      //  target[0] /= w; target[1] /= w; target[2] /= w;
+      //}
+    } else if (target.length > 3) {
+      target[0] = m00*source[0] + m01*source[1] + m02*source[2] + m03*source[3];
+      target[1] = m10*source[0] + m11*source[1] + m12*source[2] + m13*source[3];
+      target[2] = m20*source[0] + m21*source[1] + m22*source[2] + m23*source[3];
+      target[3] = m30*source[0] + m31*source[1] + m32*source[2] + m33*source[3];
+    }
+    return target;
+  }
+
+
+  /**
+   * Returns the x-coordinate of the result of multiplying the point (x, y)
+   * by this matrix.
+     * @param x
+     * @param y
+     * @return 
+   */
+  public float multX(float x, float y) {
+    return m00*x + m01*y + m03;
+  }
+
+
+  /**
+   * Returns the y-coordinate of the result of multiplying the point (x, y)
+   * by this matrix.
+     * @param x
+     * @param y
+     * @return 
+   */
+  public float multY(float x, float y) {
+    return m10*x + m11*y + m13;
+  }
+
+
+  /**
+   * Returns the x-coordinate of the result of multiplying the point (x, y, z)
+   * by this matrix.
+     * @param x
+     * @param y
+     * @param z
+     * @return 
+   */
+  public float multX(float x, float y, float z) {
+    return m00*x + m01*y + m02*z + m03;
+  }
+
+
+  /**
+   * Returns the y-coordinate of the result of multiplying the point (x, y, z)
+   * by this matrix.
+     * @param x
+     * @param y
+     * @param z
+     * @return 
+   */
+  public float multY(float x, float y, float z) {
+    return m10*x + m11*y + m12*z + m13;
+  }
+
+
+  /**
+   * Returns the z-coordinate of the result of multiplying the point (x, y, z)
+   * by this matrix.
+     * @param x
+     * @param y
+     * @param z
+     * @return 
+   */
+  public float multZ(float x, float y, float z) {
+    return m20*x + m21*y + m22*z + m23;
+  }
+
+
+  /**
+   * Returns the fourth element of the result of multiplying the vector
+   * (x, y, z) by this matrix. (Acts as if w = 1 was supplied.)
+     * @param x
+     * @param y
+     * @param z
+     * @return 
+   */
+  public float multW(float x, float y, float z) {
+    return m30*x + m31*y + m32*z + m33;
+  }
+
+
+  /**
+   * Returns the x-coordinate of the result of multiplying the vector
+   * (x, y, z, w) by this matrix.
+     * @param x
+     * @param y
+     * @param z
+     * @param w
+     * @return 
+   */
+  public float multX(float x, float y, float z, float w) {
+    return m00*x + m01*y + m02*z + m03*w;
+  }
+
+
+  /**
+   * Returns the y-coordinate of the result of multiplying the vector
+   * (x, y, z, w) by this matrix.
+     * @param x
+     * @param w
+     * @param y
+     * @param z
+     * @return 
+   */
+  public float multY(float x, float y, float z, float w) {
+    return m10*x + m11*y + m12*z + m13*w;
+  }
+
+
+  /**
+   * Returns the z-coordinate of the result of multiplying the vector
+   * (x, y, z, w) by this matrix.
+     * @param x
+     * @param y
+     * @param z
+     * @param w
+     * @return 
+   */
+  public float multZ(float x, float y, float z, float w) {
+    return m20*x + m21*y + m22*z + m23*w;
+  }
+
+
+  /**
+   * Returns the w-coordinate of the result of multiplying the vector
+   * (x, y, z, w) by this matrix.
+     * @param x
+     * @param y
+     * @param z
+     * @param w
+     * @return 
+   */
+  public float multW(float x, float y, float z, float w) {
+    return m30*x + m31*y + m32*z + m33*w;
+  }
+
+
+  /**
+   * Transpose this matrix; rows become columns and columns rows.
+   */
+  public void transpose() {
+    float temp;
+    temp = m01; m01 = m10; m10 = temp;
+    temp = m02; m02 = m20; m20 = temp;
+    temp = m03; m03 = m30; m30 = temp;
+    temp = m12; m12 = m21; m21 = temp;
+    temp = m13; m13 = m31; m31 = temp;
+    temp = m23; m23 = m32; m32 = temp;
+  }
+
+
+  /**
+   * Invert this matrix. Will not necessarily succeed, because some matrices
+   * map more than one point to the same image point, and so are irreversible.
+   * @return true if successful
+   */
+  public boolean invert() {
+    float determinant = determinant();
+    if (determinant == 0) {
+      return false;
+    }
+
+    // first row
+    float t00 =  determinant3x3(m11, m12, m13, m21, m22, m23, m31, m32, m33);
+    float t01 = -determinant3x3(m10, m12, m13, m20, m22, m23, m30, m32, m33);
+    float t02 =  determinant3x3(m10, m11, m13, m20, m21, m23, m30, m31, m33);
+    float t03 = -determinant3x3(m10, m11, m12, m20, m21, m22, m30, m31, m32);
+
+    // second row
+    float t10 = -determinant3x3(m01, m02, m03, m21, m22, m23, m31, m32, m33);
+    float t11 =  determinant3x3(m00, m02, m03, m20, m22, m23, m30, m32, m33);
+    float t12 = -determinant3x3(m00, m01, m03, m20, m21, m23, m30, m31, m33);
+    float t13 =  determinant3x3(m00, m01, m02, m20, m21, m22, m30, m31, m32);
+
+    // third row
+    float t20 =  determinant3x3(m01, m02, m03, m11, m12, m13, m31, m32, m33);
+    float t21 = -determinant3x3(m00, m02, m03, m10, m12, m13, m30, m32, m33);
+    float t22 =  determinant3x3(m00, m01, m03, m10, m11, m13, m30, m31, m33);
+    float t23 = -determinant3x3(m00, m01, m02, m10, m11, m12, m30, m31, m32);
+
+    // fourth row
+    float t30 = -determinant3x3(m01, m02, m03, m11, m12, m13, m21, m22, m23);
+    float t31 =  determinant3x3(m00, m02, m03, m10, m12, m13, m20, m22, m23);
+    float t32 = -determinant3x3(m00, m01, m03, m10, m11, m13, m20, m21, m23);
+    float t33 =  determinant3x3(m00, m01, m02, m10, m11, m12, m20, m21, m22);
+
+    // transpose and divide by the determinant
+    m00 = t00 / determinant;
+    m01 = t10 / determinant;
+    m02 = t20 / determinant;
+    m03 = t30 / determinant;
+
+    m10 = t01 / determinant;
+    m11 = t11 / determinant;
+    m12 = t21 / determinant;
+    m13 = t31 / determinant;
+
+    m20 = t02 / determinant;
+    m21 = t12 / determinant;
+    m22 = t22 / determinant;
+    m23 = t32 / determinant;
+
+    m30 = t03 / determinant;
+    m31 = t13 / determinant;
+    m32 = t23 / determinant;
+    m33 = t33 / determinant;
+
+    return true;
+  }
+
+
+  /**
+   * Calculate the determinant of a 3x3 matrix.
+   * @return result
+   */
+  private float determinant3x3(float t00, float t01, float t02,
+                               float t10, float t11, float t12,
+                               float t20, float t21, float t22) {
+    return (t00 * (t11 * t22 - t12 * t21) +
+            t01 * (t12 * t20 - t10 * t22) +
+            t02 * (t10 * t21 - t11 * t20));
+  }
+
+
+  /**
+   * @return the determinant of the matrix
+   */
+  public float determinant() {
+    float f =
+      m00
+      * ((m11 * m22 * m33 + m12 * m23 * m31 + m13 * m21 * m32)
+         - m13 * m22 * m31
+         - m11 * m23 * m32
+         - m12 * m21 * m33);
+    f -= m01
+      * ((m10 * m22 * m33 + m12 * m23 * m30 + m13 * m20 * m32)
+         - m13 * m22 * m30
+         - m10 * m23 * m32
+         - m12 * m20 * m33);
+    f += m02
+      * ((m10 * m21 * m33 + m11 * m23 * m30 + m13 * m20 * m31)
+         - m13 * m21 * m30
+         - m10 * m23 * m31
+         - m11 * m20 * m33);
+    f -= m03
+      * ((m10 * m21 * m32 + m11 * m22 * m30 + m12 * m20 * m31)
+         - m12 * m21 * m30
+         - m10 * m22 * m31
+         - m11 * m20 * m32);
+    return f;
+  }
+
+
+  //////////////////////////////////////////////////////////////
+
+  // REVERSE VERSIONS OF MATRIX OPERATIONS
+
+  // These functions should not be used, as they will be removed in the future.
+
+    /**
+     *
+     * @param tx
+     * @param ty
+     * @param tz
+     */
+
+
+  protected void invTranslate(float tx, float ty, float tz) {
+    preApply(1, 0, 0, -tx,
+             0, 1, 0, -ty,
+             0, 0, 1, -tz,
+             0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param angle
+     */
+    protected void invRotateX(float angle) {
+    float c = cos(-angle);
+    float s = sin(-angle);
+    preApply(1, 0, 0, 0,  0, c, -s, 0,  0, s, c, 0,  0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param angle
+     */
+    protected void invRotateY(float angle) {
+    float c = cos(-angle);
+    float s = sin(-angle);
+    preApply(c, 0, s, 0,  0, 1, 0, 0,  -s, 0, c, 0,  0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param angle
+     */
+    protected void invRotateZ(float angle) {
+    float c = cos(-angle);
+    float s = sin(-angle);
+    preApply(c, -s, 0, 0,  s, c, 0, 0,  0, 0, 1, 0,  0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param angle
+     * @param v0
+     * @param v1
+     * @param v2
+     */
+    protected void invRotate(float angle, float v0, float v1, float v2) {
+    //TODO should make sure this vector is normalized
+
+    float c = cos(-angle);
+    float s = sin(-angle);
+    float t = 1.0f - c;
+
+    preApply((t*v0*v0) + c, (t*v0*v1) - (s*v2), (t*v0*v2) + (s*v1), 0,
+             (t*v0*v1) + (s*v2), (t*v1*v1) + c, (t*v1*v2) - (s*v0), 0,
+             (t*v0*v2) - (s*v1), (t*v1*v2) + (s*v0), (t*v2*v2) + c, 0,
+             0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param x
+     * @param y
+     * @param z
+     */
+    protected void invScale(float x, float y, float z) {
+    preApply(1/x, 0, 0, 0,  0, 1/y, 0, 0,  0, 0, 1/z, 0,  0, 0, 0, 1);
+  }
+
+    /**
+     *
+     * @param n00
+     * @param n01
+     * @param n02
+     * @param n03
+     * @param n10
+     * @param n11
+     * @param n12
+     * @param n13
+     * @param n20
+     * @param n21
+     * @param n22
+     * @param n23
+     * @param n30
+     * @param n31
+     * @param n32
+     * @param n33
+     * @return
+     */
+    protected boolean invApply(float n00, float n01, float n02, float n03,
+                             float n10, float n11, float n12, float n13,
+                             float n20, float n21, float n22, float n23,
+                             float n30, float n31, float n32, float n33) {
+    if (inverseCopy == null) {
+      inverseCopy = new PMatrix3D();
+    }
+    inverseCopy.set(n00, n01, n02, n03,
+                    n10, n11, n12, n13,
+                    n20, n21, n22, n23,
+                    n30, n31, n32, n33);
+    if (!inverseCopy.invert()) {
+      return false;
+    }
+    preApply(inverseCopy);
+    return true;
+  }
+
+
+  //////////////////////////////////////////////////////////////
+
+    /**
+     *
+     */
+
+
+  public void print() {
+    /*
+    System.out.println(m00 + " " + m01 + " " + m02 + " " + m03 + "\n" +
+                       m10 + " " + m11 + " " + m12 + " " + m13 + "\n" +
+                       m20 + " " + m21 + " " + m22 + " " + m23 + "\n" +
+                       m30 + " " + m31 + " " + m32 + " " + m33 + "\n");
+    */
+    int big = (int) Math.abs(max(max(max(max(abs(m00), abs(m01)),
+                                         max(abs(m02), abs(m03))),
+                                     max(max(abs(m10), abs(m11)),
+                                         max(abs(m12), abs(m13)))),
+                                 max(max(max(abs(m20), abs(m21)),
+                                         max(abs(m22), abs(m23))),
+                                     max(max(abs(m30), abs(m31)),
+                                         max(abs(m32), abs(m33))))));
+
+    int digits = 1;
+    if (Float.isNaN(big) || Float.isInfinite(big)) {  // avoid infinite loop
+      digits = 5;
+    } else {
+      while ((big /= 10) != 0) digits++;  // cheap log()
+    }
+
+    System.out.println(PApplet.nfs(m00, digits, 4) + " " +
+                       PApplet.nfs(m01, digits, 4) + " " +
+                       PApplet.nfs(m02, digits, 4) + " " +
+                       PApplet.nfs(m03, digits, 4));
+
+    System.out.println(PApplet.nfs(m10, digits, 4) + " " +
+                       PApplet.nfs(m11, digits, 4) + " " +
+                       PApplet.nfs(m12, digits, 4) + " " +
+                       PApplet.nfs(m13, digits, 4));
+
+    System.out.println(PApplet.nfs(m20, digits, 4) + " " +
+                       PApplet.nfs(m21, digits, 4) + " " +
+                       PApplet.nfs(m22, digits, 4) + " " +
+                       PApplet.nfs(m23, digits, 4));
+
+    System.out.println(PApplet.nfs(m30, digits, 4) + " " +
+                       PApplet.nfs(m31, digits, 4) + " " +
+                       PApplet.nfs(m32, digits, 4) + " " +
+                       PApplet.nfs(m33, digits, 4));
+
+    System.out.println();
+  }
+
+
+  //////////////////////////////////////////////////////////////
+
+
+  static private final float max(float a, float b) {
+    return (a > b) ? a : b;
+  }
+
+  static private final float abs(float a) {
+    return (a < 0) ? -a : a;
+  }
+
+  static private final float sin(float angle) {
+    return (float) Math.sin(angle);
+  }
+
+  static private final float cos(float angle) {
+    return (float) Math.cos(angle);
+  }
+}