propane 3.4.0-java → 3.7.0.pre-java

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

@@ -1,3 +1,5 @@
+/* -*- mode: java; c-basic-offset: 2; indent-tabs-mode: nil -*- */
+
 /*
   Part of the Processing project - http://processing.org
 
@@ -16,471 +18,476 @@
   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()}.
+ * 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.
+ * [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').
+ * 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;
+  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();
-    }
+  // locally allocated version to avoid creating new memory
+  protected PMatrix3D inverseCopy;
 
-    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);
-    }
 
-    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);
-    }
+  public PMatrix3D() {
+    reset();
+  }
 
-    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);
-    }
+  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);
+  }
 
-    /**
-     * Returns a copy of this PMatrix.
-     */
-    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.
-     */
-    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 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);
+  }
 
-    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 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);
+  }
+
 
-    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);
+  /**
+   * Returns a copy of this PMatrix.
+   */
+  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.
+   */
+  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;
 
-    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;
+    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);
     }
+  }
+
+
+  @Override
+  public void set(float[] source) {
+    if (source.length == 6) {
+      set(source[0], source[1], source[2],
+          source[3], source[4], source[5]);
 
-    public void translate(float tx, float ty) {
-        translate(tx, ty, 0);
+    } 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];
     }
+  }
+
+
+  @Override
+  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);
+  }
+
+
+  @Override
+  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;
+  }
+
+
+  @Override
+  public void translate(float tx, float ty) {
+    translate(tx, ty, 0);
+  }
 
 //  public void invTranslate(float tx, float ty) {
 //    invTranslate(tx, ty, 0);
 //  }
-    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;
-    }
 
-    public void rotate(float angle) {
-        rotateZ(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);
-    }
+  @Override
+  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;
+  }
 
-    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);
-    }
 
-    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);
-    }
+  @Override
+  public void rotate(float angle) {
+    rotateZ(angle);
+  }
 
-    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);
-    }
 
-    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);
-    }
+  @Override
+  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);
+  }
 
-    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);
-    }
 
-    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;
-    }
+  @Override
+  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);
+  }
 
-    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);
-    }
 
-    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);
-    }
+  @Override
+  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);
+  }
 
-    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);
+  @Override
+  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;
     }
 
-    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);
+    if (Math.abs(norm2 - 1) > PConstants.EPSILON) {
+      // The rotation vector is not normalized.
+      float norm = PApplet.sqrt(norm2);
+      v0 /= norm;
+      v1 /= norm;
+      v2 /= norm;
     }
 
-    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);
-    }
+    float c = cos(angle);
+    float s = sin(angle);
+    float t = 1.0f - c;
 
-    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((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);
+  }
 
-    /**
-     * Apply the 3D equivalent of the 2D matrix supplied to the left of this
-     * one.
-     */
-    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.
-     */
-    public void preApply(PMatrix source) {
-        if (source instanceof PMatrix2D) {
-            preApply((PMatrix2D) source);
-        } else if (source instanceof PMatrix3D) {
-            preApply((PMatrix3D) source);
-        }
-    }
+  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);
+  }
+
+
+  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);
+  }
+
+
+  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;
+  }
+
+
+  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);
+  }
 
-    /**
-     * Apply another matrix to the left of this one.
-     */
-    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.
-     */
-    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);
+  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);
+  }
 
-    /**
-     * Apply another matrix to the left of this one.
-     */
-    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;
+
+  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.
+   */
+  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.
+   */
+  public void preApply(PMatrix source) {
+    if (source instanceof PMatrix2D) {
+      preApply((PMatrix2D) source);
+    } else if (source instanceof PMatrix3D) {
+      preApply((PMatrix3D) source);
     }
+  }
 
-    //////////////////////////////////////////////////////////////
-    /**
-     * 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().
-     */
-    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);
+
+  /**
+   * Apply another matrix to the left of this one.
+   */
+  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.
+   */
+  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.
+   */
+  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().
+   */
+  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;
-    }
+    return target;
+  }
 
 
-    /*
+  /*
   public PVector cmult(PVector source, PVector target) {
     if (target == null) {
       target = new PVector();
@@ -494,370 +501,390 @@ public final class PMatrix3D implements PMatrix /*, PConstants*/ {
     }
     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.
-     */
-    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;
+  */
+
+
+  /**
+   * 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.
+   */
+  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.
-     */
-    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.
-     */
-    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)
+   * by this matrix.
+   */
+  public float multX(float x, float y) {
+    return m00*x + m01*y + m03;
+  }
 
-    /**
-     * Returns the x-coordinate of the result of multiplying the point (x, y, z)
-     * by this matrix.
-     */
-    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.
-     */
-    public float multY(float x, float y, float z) {
-        return m10 * x + m11 * y + m12 * z + m13;
-    }
+  /**
+   * Returns the y-coordinate of the result of multiplying the point (x, y)
+   * by this matrix.
+   */
+  public float multY(float x, float y) {
+    return m10*x + m11*y + m13;
+  }
 
-    /**
-     * Returns the z-coordinate of the result of multiplying the point (x, y, z)
-     * by this matrix.
-     */
-    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.)
-     */
-    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 point (x, y, z)
+   * by this matrix.
+   */
+  public float multX(float x, float y, float z) {
+    return m00*x + m01*y + m02*z + m03;
+  }
 
-    /**
-     * Returns the x-coordinate of the result of multiplying the vector (x, y,
-     * z, w) by this matrix.
-     */
-    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.
-     */
-    public float multY(float x, float y, float z, float w) {
-        return m10 * x + m11 * y + m12 * z + m13 * w;
-    }
+  /**
+   * Returns the y-coordinate of the result of multiplying the point (x, y, z)
+   * by this matrix.
+   */
+  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 vector (x, y,
-     * z, w) by this matrix.
-     */
-    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.
-     */
-    public float multW(float x, float y, float z, float w) {
-        return m30 * x + m31 * y + m32 * z + m33 * w;
-    }
+  /**
+   * Returns the z-coordinate of the result of multiplying the point (x, y, z)
+   * by this matrix.
+   */
+  public float multZ(float x, float y, float z) {
+    return m20*x + m21*y + m22*z + m23;
+  }
 
-    /**
-     * 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;
-    }
+  /**
+   * Returns the fourth element of the result of multiplying the vector
+   * (x, y, z) by this matrix. (Acts as if w = 1 was supplied.)
+   */
+  public float multW(float x, float y, float z) {
+    return m30*x + m31*y + m32*z + m33;
+  }
 
-    /**
-     * 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;
-    }
+  /**
+   * Returns the x-coordinate of the result of multiplying the vector
+   * (x, y, z, w) by this matrix.
+   */
+  public float multX(float x, float y, float z, float w) {
+    return m00*x + m01*y + m02*z + m03*w;
+  }
 
-    //////////////////////////////////////////////////////////////
-    // REVERSE VERSIONS OF MATRIX OPERATIONS
-    // These functions should not be used, as they will be removed in the future.
-    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);
-    }
 
-    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);
-    }
+  /**
+   * Returns the y-coordinate of the result of multiplying the vector
+   * (x, y, z, w) by this matrix.
+   */
+  public float multY(float x, float y, float z, float w) {
+    return m10*x + m11*y + m12*z + m13*w;
+  }
 
-    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);
-    }
 
-    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);
-    }
+  /**
+   * Returns the z-coordinate of the result of multiplying the vector
+   * (x, y, z, w) by this matrix.
+   */
+  public float multZ(float x, float y, float z, float w) {
+    return m20*x + m21*y + m22*z + m23*w;
+  }
 
-    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;
+  /**
+   * Returns the w-coordinate of the result of multiplying the vector
+   * (x, y, z, w) by this matrix.
+   */
+  public float multW(float x, float y, float z, float w) {
+    return m30*x + m31*y + m32*z + m33*w;
+  }
 
-        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);
-    }
 
-    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);
-    }
+  /**
+   * Transpose this matrix; rows become columns and columns rows.
+   */
+  @Override
+  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;
+  }
+
 
-    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;
+  /**
+   * 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
+   */
+  @Override
+  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
+   */
+  @Override
+  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.
+
+
+  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);
+  }
+
+
+  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);
+  }
+
+
+  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);
+  }
+
+
+  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);
+  }
+
+
+  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);
+  }
+
+
+  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);
+  }
+
+
+  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() {
-        /*
+  //////////////////////////////////////////////////////////////
+
+
+  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();
-    }
+    */
+    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);
-    }
+  private static float max(float a, float b) {
+    return (a > b) ? a : b;
+  }
+
+  private static float abs(float a) {
+    return (a < 0) ? -a : a;
+  }
+
+  private static float sin(float angle) {
+    return (float) Math.sin(angle);
+  }
+
+  private static float cos(float angle) {
+    return (float) Math.cos(angle);
+  }
 }