toxiclibs 0.4.0 → 0.8.0

data/src/toxi/geom/Matrix4f.java

@@ -0,0 +1,3446 @@
+/*
+ * $RCSfile$
+ *
+ * Copyright 1996-2008 Sun Microsystems, Inc.  All Rights Reserved.
+ * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
+ *
+ * This code is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 2 only, as
+ * published by the Free Software Foundation.  Sun designates this
+ * particular file as subject to the "Classpath" exception as provided
+ * by Sun in the LICENSE file that accompanied this code.
+ *
+ * This code 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 General Public License
+ * version 2 for more details (a copy is included in the LICENSE file that
+ * accompanied this code).
+ *
+ * You should have received a copy of the GNU General Public License version
+ * 2 along with this work; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
+ *
+ * Please contact Sun Microsystems, Inc., 4150 Network Circle, Santa Clara,
+ * CA 95054 USA or visit www.sun.com if you need additional information or
+ * have any questions.
+ *
+ * $Revision: 127 $
+ * $Date: 2008-02-28 20:18:51 +0000 (Thu, 28 Feb 2008) $
+ * $State$
+ */
+
+package toxi.geom;
+
+import toxi.math.MathUtils;
+
+/**
+ * A single precision floating point 4 by 4 matrix. Primarily to support 3D
+ * rotations.
+ * 
+ */
+public class Matrix4f implements java.io.Serializable, Cloneable {
+
+    // Compatible with 1.1
+    static final long serialVersionUID = -8405036035410109353L;
+
+    /**
+     * Solves a set of linear equations. The input parameters "matrix1", and
+     * "row_perm" come from luDecompostionD4x4 and do not change here. The
+     * parameter "matrix2" is a set of column vectors assembled into a 4x4
+     * matrix of floating-point values. The procedure takes each column of
+     * "matrix2" in turn and treats it as the right-hand side of the matrix
+     * equation Ax = LUx = b. The solution vector replaces the original column
+     * of the matrix.
+     * 
+     * If "matrix2" is the identity matrix, the procedure replaces its contents
+     * with the inverse of the matrix from which "matrix1" was originally
+     * derived.
+     */
+    //
+    // Reference: Press, Flannery, Teukolsky, Vetterling,
+    // _Numerical_Recipes_in_C_, Cambridge University Press,
+    // 1988, pp 44-45.
+    //
+    static void luBacksubstitution(double[] matrix1, int[] row_perm,
+            double[] matrix2) {
+
+        int i, ii, ip, j, k;
+        int rp;
+        int cv, rv;
+
+        // rp = row_perm;
+        rp = 0;
+
+        // For each column vector of matrix2 ...
+        for (k = 0; k < 4; k++) {
+            // cv = &(matrix2[0][k]);
+            cv = k;
+            ii = -1;
+
+            // Forward substitution
+            for (i = 0; i < 4; i++) {
+                double sum;
+
+                ip = row_perm[rp + i];
+                sum = matrix2[cv + 4 * ip];
+                matrix2[cv + 4 * ip] = matrix2[cv + 4 * i];
+                if (ii >= 0) {
+                    // rv = &(matrix1[i][0]);
+                    rv = i * 4;
+                    for (j = ii; j <= i - 1; j++) {
+                        sum -= matrix1[rv + j] * matrix2[cv + 4 * j];
+                    }
+                } else if (sum != 0.0) {
+                    ii = i;
+                }
+                matrix2[cv + 4 * i] = sum;
+            }
+
+            // Backsubstitution
+            // rv = &(matrix1[3][0]);
+            rv = 3 * 4;
+            matrix2[cv + 4 * 3] /= matrix1[rv + 3];
+
+            rv -= 4;
+            matrix2[cv + 4 * 2] = (matrix2[cv + 4 * 2] - matrix1[rv + 3]
+                    * matrix2[cv + 4 * 3])
+                    / matrix1[rv + 2];
+
+            rv -= 4;
+            matrix2[cv + 4 * 1] = (matrix2[cv + 4 * 1] - matrix1[rv + 2]
+                    * matrix2[cv + 4 * 2] - matrix1[rv + 3]
+                    * matrix2[cv + 4 * 3])
+                    / matrix1[rv + 1];
+
+            rv -= 4;
+            matrix2[cv + 4 * 0] = (matrix2[cv + 4 * 0] - matrix1[rv + 1]
+                    * matrix2[cv + 4 * 1] - matrix1[rv + 2]
+                    * matrix2[cv + 4 * 2] - matrix1[rv + 3]
+                    * matrix2[cv + 4 * 3])
+                    / matrix1[rv + 0];
+        }
+    }
+
+    /**
+     * The first element of the first row.
+     */
+    public float m00;
+
+    /**
+     * The second element of the first row.
+     */
+    public float m01;
+
+    /**
+     * The third element of the first row.
+     */
+    public float m02;
+
+    /**
+     * The fourth element of the first row.
+     */
+    public float m03;
+
+    /**
+     * The first element of the second row.
+     */
+    public float m10;
+
+    /**
+     * The second element of the second row.
+     */
+    public float m11;
+
+    /**
+     * The third element of the second row.
+     */
+    public float m12;
+
+    /**
+     * The fourth element of the second row.
+     */
+    public float m13;
+
+    /**
+     * The first element of the third row.
+     */
+    public float m20;
+
+    /**
+     * The second element of the third row.
+     */
+    public float m21;
+
+    /**
+     * The third element of the third row.
+     */
+    public float m22;
+
+    /**
+     * The fourth element of the third row.
+     */
+    public float m23;
+
+    /**
+     * The first element of the fourth row.
+     */
+    public float m30;
+
+    /**
+     * The second element of the fourth row.
+     */
+    public float m31;
+    /**
+     * The third element of the fourth row.
+     */
+    public float m32;
+
+    /**
+     * The fourth element of the fourth row.
+     */
+    public float m33;
+
+    /*
+     * double[] tmp = new double[9]; double[] tmp_scale = new double[3];
+     * double[] tmp_rot = new double[9];
+     */
+    private static final double EPS = 1.0E-8;
+
+    /**
+     * Constructs and initializes a Matrix4f to all zeros.
+     */
+    public Matrix4f() {
+        this.m00 = (float) 0.0;
+        this.m01 = (float) 0.0;
+        this.m02 = (float) 0.0;
+        this.m03 = (float) 0.0;
+
+        this.m10 = (float) 0.0;
+        this.m11 = (float) 0.0;
+        this.m12 = (float) 0.0;
+        this.m13 = (float) 0.0;
+
+        this.m20 = (float) 0.0;
+        this.m21 = (float) 0.0;
+        this.m22 = (float) 0.0;
+        this.m23 = (float) 0.0;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 0.0;
+
+    }
+
+    /**
+     * Constructs and initializes a Matrix4f from the specified 16 values.
+     * 
+     * @param m00
+     *            the [0][0] element
+     * @param m01
+     *            the [0][1] element
+     * @param m02
+     *            the [0][2] element
+     * @param m03
+     *            the [0][3] element
+     * @param m10
+     *            the [1][0] element
+     * @param m11
+     *            the [1][1] element
+     * @param m12
+     *            the [1][2] element
+     * @param m13
+     *            the [1][3] element
+     * @param m20
+     *            the [2][0] element
+     * @param m21
+     *            the [2][1] element
+     * @param m22
+     *            the [2][2] element
+     * @param m23
+     *            the [2][3] element
+     * @param m30
+     *            the [3][0] element
+     * @param m31
+     *            the [3][1] element
+     * @param m32
+     *            the [3][2] element
+     * @param m33
+     *            the [3][3] element
+     */
+    public Matrix4f(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;
+
+    }
+
+    /**
+     * Constructs and initializes a Matrix4f from the specified 16 element
+     * array. this.m00 =v[0], this.m01=v[1], etc.
+     * 
+     * @param v
+     *            the array of length 16 containing in order
+     */
+    public Matrix4f(float[] v) {
+        this.m00 = v[0];
+        this.m01 = v[1];
+        this.m02 = v[2];
+        this.m03 = v[3];
+
+        this.m10 = v[4];
+        this.m11 = v[5];
+        this.m12 = v[6];
+        this.m13 = v[7];
+
+        this.m20 = v[8];
+        this.m21 = v[9];
+        this.m22 = v[10];
+        this.m23 = v[11];
+
+        this.m30 = v[12];
+        this.m31 = v[13];
+        this.m32 = v[14];
+        this.m33 = v[15];
+
+    }
+
+    /**
+     * Constructs and initializes a Matrix4f from the rotation matrix,
+     * translation, and scale values; the scale is applied only to the
+     * rotational components of the matrix (upper 3x3) and not to the
+     * translational components of the matrix.
+     * 
+     * @param m1
+     *            the rotation matrix representing the rotational components
+     * @param t1
+     *            the translational components of the matrix
+     * @param s
+     *            the scale value applied to the rotational components
+     */
+    public Matrix4f(Matrix3d m1, Vec3D t1, float s) {
+        this.m00 = (float) (m1.m00 * s);
+        this.m01 = (float) (m1.m01 * s);
+        this.m02 = (float) (m1.m02 * s);
+        this.m03 = t1.x;
+
+        this.m10 = (float) (m1.m10 * s);
+        this.m11 = (float) (m1.m11 * s);
+        this.m12 = (float) (m1.m12 * s);
+        this.m13 = t1.y;
+
+        this.m20 = (float) (m1.m20 * s);
+        this.m21 = (float) (m1.m21 * s);
+        this.m22 = (float) (m1.m22 * s);
+        this.m23 = t1.z;
+
+        this.m30 = 0.0f;
+        this.m31 = 0.0f;
+        this.m32 = 0.0f;
+        this.m33 = 1.0f;
+
+    }
+
+    /**
+     * Constructs a new matrix with the same values as the Matrix4f parameter.
+     * 
+     * @param m1
+     *            the source matrix
+     */
+    public Matrix4f(Matrix4f m1) {
+        this.m00 = m1.m00;
+        this.m01 = m1.m01;
+        this.m02 = m1.m02;
+        this.m03 = m1.m03;
+
+        this.m10 = m1.m10;
+        this.m11 = m1.m11;
+        this.m12 = m1.m12;
+        this.m13 = m1.m13;
+
+        this.m20 = m1.m20;
+        this.m21 = m1.m21;
+        this.m22 = m1.m22;
+        this.m23 = m1.m23;
+
+        this.m30 = m1.m30;
+        this.m31 = m1.m31;
+        this.m32 = m1.m32;
+        this.m33 = m1.m33;
+
+    }
+
+    /**
+     * Constructs and initializes a Matrix4f from the quaternion, translation,
+     * and scale values; the scale is applied only to the rotational components
+     * of the matrix (upper 3x3) and not to the translational components.
+     * 
+     * @param q1
+     *            the quaternion value representing the rotational component
+     * @param t1
+     *            the translational component of the matrix
+     * @param s
+     *            the scale value applied to the rotational components
+     */
+    public Matrix4f(Quaternion q1, Vec3D t1, float s) {
+        m00 = (float) (s * (1.0 - 2.0 * q1.y * q1.y - 2.0 * q1.z * q1.z));
+        m10 = (float) (s * (2.0 * (q1.x * q1.y + q1.w * q1.z)));
+        m20 = (float) (s * (2.0 * (q1.x * q1.z - q1.w * q1.y)));
+
+        m01 = (float) (s * (2.0 * (q1.x * q1.y - q1.w * q1.z)));
+        m11 = (float) (s * (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.z * q1.z));
+        m21 = (float) (s * (2.0 * (q1.y * q1.z + q1.w * q1.x)));
+
+        m02 = (float) (s * (2.0 * (q1.x * q1.z + q1.w * q1.y)));
+        m12 = (float) (s * (2.0 * (q1.y * q1.z - q1.w * q1.x)));
+        m22 = (float) (s * (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.y * q1.y));
+
+        m03 = t1.x;
+        m13 = t1.y;
+        m23 = t1.z;
+
+        m30 = 0.0f;
+        m31 = 0.0f;
+        m32 = 0.0f;
+        m33 = 1.0f;
+
+    }
+
+    /**
+     * Adds a scalar to each component of this matrix.
+     * 
+     * @param scalar
+     *            the scalar adder
+     */
+    public final void add(float scalar) {
+        m00 += scalar;
+        m01 += scalar;
+        m02 += scalar;
+        m03 += scalar;
+        m10 += scalar;
+        m11 += scalar;
+        m12 += scalar;
+        m13 += scalar;
+        m20 += scalar;
+        m21 += scalar;
+        m22 += scalar;
+        m23 += scalar;
+        m30 += scalar;
+        m31 += scalar;
+        m32 += scalar;
+        m33 += scalar;
+    }
+
+    /**
+     * Adds a scalar to each component of the matrix m1 and places the result
+     * into this. Matrix m1 is not modified.
+     * 
+     * @param scalar
+     *            the scalar adder
+     * @param m1
+     *            the original matrix values
+     */
+    public final void add(float scalar, Matrix4f m1) {
+        this.m00 = m1.m00 + scalar;
+        this.m01 = m1.m01 + scalar;
+        this.m02 = m1.m02 + scalar;
+        this.m03 = m1.m03 + scalar;
+        this.m10 = m1.m10 + scalar;
+        this.m11 = m1.m11 + scalar;
+        this.m12 = m1.m12 + scalar;
+        this.m13 = m1.m13 + scalar;
+        this.m20 = m1.m20 + scalar;
+        this.m21 = m1.m21 + scalar;
+        this.m22 = m1.m22 + scalar;
+        this.m23 = m1.m23 + scalar;
+        this.m30 = m1.m30 + scalar;
+        this.m31 = m1.m31 + scalar;
+        this.m32 = m1.m32 + scalar;
+        this.m33 = m1.m33 + scalar;
+    }
+
+    /**
+     * Sets the value of this matrix to the sum of itself and matrix m1.
+     * 
+     * @param m1
+     *            the other matrix
+     */
+    public final void add(Matrix4f m1) {
+        this.m00 += m1.m00;
+        this.m01 += m1.m01;
+        this.m02 += m1.m02;
+        this.m03 += m1.m03;
+
+        this.m10 += m1.m10;
+        this.m11 += m1.m11;
+        this.m12 += m1.m12;
+        this.m13 += m1.m13;
+
+        this.m20 += m1.m20;
+        this.m21 += m1.m21;
+        this.m22 += m1.m22;
+        this.m23 += m1.m23;
+
+        this.m30 += m1.m30;
+        this.m31 += m1.m31;
+        this.m32 += m1.m32;
+        this.m33 += m1.m33;
+    }
+
+    /**
+     * Sets the value of this matrix to the matrix sum of matrices m1 and m2.
+     * 
+     * @param m1
+     *            the first matrix
+     * @param m2
+     *            the second matrix
+     */
+    public final void add(Matrix4f m1, Matrix4f m2) {
+        this.m00 = m1.m00 + m2.m00;
+        this.m01 = m1.m01 + m2.m01;
+        this.m02 = m1.m02 + m2.m02;
+        this.m03 = m1.m03 + m2.m03;
+
+        this.m10 = m1.m10 + m2.m10;
+        this.m11 = m1.m11 + m2.m11;
+        this.m12 = m1.m12 + m2.m12;
+        this.m13 = m1.m13 + m2.m13;
+
+        this.m20 = m1.m20 + m2.m20;
+        this.m21 = m1.m21 + m2.m21;
+        this.m22 = m1.m22 + m2.m22;
+        this.m23 = m1.m23 + m2.m23;
+
+        this.m30 = m1.m30 + m2.m30;
+        this.m31 = m1.m31 + m2.m31;
+        this.m32 = m1.m32 + m2.m32;
+        this.m33 = m1.m33 + m2.m33;
+    }
+
+    /**
+     * Creates a new object of the same class as this object.
+     * 
+     * @return a clone of this instance.
+     * @exception OutOfMemoryError
+     *                if there is not enough memory.
+     * @see java.lang.Cloneable
+     * @since vecmath 1.3
+     */
+//    public Object clone() {
+//        Matrix4f m1 = null;
+//        try {
+//            m1 = (Matrix4f) super.clone();
+//        } catch (CloneNotSupportedException e) {
+//            // this shouldn't happen, since we are Cloneable
+//            throw new InternalError();
+//        }
+//
+//        return m1;
+//    }
+
+    /**
+     * Computes the determinate of this matrix.
+     * 
+     * @return the determinate of the matrix
+     */
+    public final float determinant() {
+        float det;
+
+        // cofactor exapainsion along first row
+
+        det = m00
+                * (m11 * m22 * m33 + m12 * m23 * m31 + m13 * m21 * m32 - m13
+                        * m22 * m31 - m11 * m23 * m32 - m12 * m21 * m33);
+        det -= m01
+                * (m10 * m22 * m33 + m12 * m23 * m30 + m13 * m20 * m32 - m13
+                        * m22 * m30 - m10 * m23 * m32 - m12 * m20 * m33);
+        det += m02
+                * (m10 * m21 * m33 + m11 * m23 * m30 + m13 * m20 * m31 - m13
+                        * m21 * m30 - m10 * m23 * m31 - m11 * m20 * m33);
+        det -= m03
+                * (m10 * m21 * m32 + m11 * m22 * m30 + m12 * m20 * m31 - m12
+                        * m21 * m30 - m10 * m22 * m31 - m11 * m20 * m32);
+
+        return (det);
+    }
+
+    /**
+     * Returns true if the L-infinite distance between this matrix and matrix m1
+     * is less than or equal to the epsilon parameter, otherwise returns false.
+     * The L-infinite distance is equal to MAX[i=0,1,2,3 ; j=0,1,2,3 ;
+     * abs(this.m(i,j) - m1.m(i,j)]
+     * 
+     * @param m1
+     *            the matrix to be compared to this matrix
+     * @param epsilon
+     *            the threshold value
+     * @return 
+     */
+    public boolean epsilonEquals(Matrix4f m1, float epsilon) {
+
+        boolean status = true;
+
+        if (Math.abs(this.m00 - m1.m00) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m01 - m1.m01) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m02 - m1.m02) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m03 - m1.m03) > epsilon) {
+            status = false;
+        }
+
+        if (Math.abs(this.m10 - m1.m10) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m11 - m1.m11) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m12 - m1.m12) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m13 - m1.m13) > epsilon) {
+            status = false;
+        }
+
+        if (Math.abs(this.m20 - m1.m20) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m21 - m1.m21) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m22 - m1.m22) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m23 - m1.m23) > epsilon) {
+            status = false;
+        }
+
+        if (Math.abs(this.m30 - m1.m30) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m31 - m1.m31) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m32 - m1.m32) > epsilon) {
+            status = false;
+        }
+        if (Math.abs(this.m33 - m1.m33) > epsilon) {
+            status = false;
+        }
+
+        return (status);
+
+    }
+
+    /**
+     * Returns true if all of the data members of Matrix4f m1 are equal to the
+     * corresponding data members in this Matrix4f.
+     * 
+     * @param m1
+     *            the matrix with which the comparison is made.
+     * @return true or false
+     */
+    public boolean equals(Matrix4f m1) {
+        try {
+            return (this.m00 == m1.m00 && this.m01 == m1.m01
+                    && this.m02 == m1.m02 && this.m03 == m1.m03
+                    && this.m10 == m1.m10 && this.m11 == m1.m11
+                    && this.m12 == m1.m12 && this.m13 == m1.m13
+                    && this.m20 == m1.m20 && this.m21 == m1.m21
+                    && this.m22 == m1.m22 && this.m23 == m1.m23
+                    && this.m30 == m1.m30 && this.m31 == m1.m31
+                    && this.m32 == m1.m32 && this.m33 == m1.m33);
+        } catch (NullPointerException e2) {
+            return false;
+        }
+
+    }
+
+    /**
+     * Returns true if the Object t1 is of type Matrix4f and all of the data
+     * members of t1 are equal to the corresponding data members in this
+     * Matrix4f.
+     * 
+     * @param t1
+     *            the matrix with which the comparison is made.
+     * @return true or false
+     */
+    @Override
+    public boolean equals(Object t1) {
+        if (t1 instanceof Matrix4f) {
+            Matrix4f m2 = (Matrix4f) t1;
+            return (this.m00 == m2.m00 && this.m01 == m2.m01
+                    && this.m02 == m2.m02 && this.m03 == m2.m03
+                    && this.m10 == m2.m10 && this.m11 == m2.m11
+                    && this.m12 == m2.m12 && this.m13 == m2.m13
+                    && this.m20 == m2.m20 && this.m21 == m2.m21
+                    && this.m22 == m2.m22 && this.m23 == m2.m23
+                    && this.m30 == m2.m30 && this.m31 == m2.m31
+                    && this.m32 == m2.m32 && this.m33 == m2.m33);
+        }
+        return false;
+    }
+
+    /**
+     *
+     * @return
+     */
+    @Override
+    public int hashCode() {
+        int hash = 3;
+        hash = 23 * hash + Float.floatToIntBits(this.m00);
+        hash = 23 * hash + Float.floatToIntBits(this.m01);
+        hash = 23 * hash + Float.floatToIntBits(this.m02);
+        hash = 23 * hash + Float.floatToIntBits(this.m03);
+        hash = 23 * hash + Float.floatToIntBits(this.m10);
+        hash = 23 * hash + Float.floatToIntBits(this.m11);
+        hash = 23 * hash + Float.floatToIntBits(this.m12);
+        hash = 23 * hash + Float.floatToIntBits(this.m13);
+        hash = 23 * hash + Float.floatToIntBits(this.m20);
+        hash = 23 * hash + Float.floatToIntBits(this.m21);
+        hash = 23 * hash + Float.floatToIntBits(this.m22);
+        hash = 23 * hash + Float.floatToIntBits(this.m23);
+        hash = 23 * hash + Float.floatToIntBits(this.m30);
+        hash = 23 * hash + Float.floatToIntBits(this.m31);
+        hash = 23 * hash + Float.floatToIntBits(this.m32);
+        hash = 23 * hash + Float.floatToIntBits(this.m33);
+        return hash;
+    }
+
+    /**
+     * Performs an SVD normalization of this matrix in order to acquire the
+     * normalized rotational component; the values are placed into the Matrix3d
+     * parameter.
+     * 
+     * @param m1
+     *            matrix into which the rotational component is placed
+     */
+    public final void get(Matrix3d m1) {
+
+        double[] tmp_rot = new double[9]; // scratch matrix
+        double[] tmp_scale = new double[3]; // scratch matrix
+
+        getScaleRotate(tmp_scale, tmp_rot);
+
+        m1.m00 = tmp_rot[0];
+        m1.m01 = tmp_rot[1];
+        m1.m02 = tmp_rot[2];
+
+        m1.m10 = tmp_rot[3];
+        m1.m11 = tmp_rot[4];
+        m1.m12 = tmp_rot[5];
+
+        m1.m20 = tmp_rot[6];
+        m1.m21 = tmp_rot[7];
+        m1.m22 = tmp_rot[8];
+
+    }
+
+    /**
+     * Performs an SVD normalization of this matrix to calculate the rotation as
+     * a 3x3 matrix, the translation, and the scale. None of the matrix values
+     * are modified.
+     * 
+     * @param m1
+     *            the normalized matrix representing the rotation
+     * @param t1
+     *            the translation component
+     * @return the scale component of this transform
+     */
+    public final double get(Matrix3d m1, Vec3D t1) {
+        double[] tmp_rot = new double[9];
+        double[] tmp_scale = new double[3];
+        getScaleRotate(tmp_scale, tmp_rot);
+
+        m1.m00 = tmp_rot[0];
+        m1.m01 = tmp_rot[1];
+        m1.m02 = tmp_rot[2];
+
+        m1.m10 = tmp_rot[3];
+        m1.m11 = tmp_rot[4];
+        m1.m12 = tmp_rot[5];
+
+        m1.m20 = tmp_rot[6];
+        m1.m21 = tmp_rot[7];
+        m1.m22 = tmp_rot[8];
+
+        t1.x = m03;
+        t1.y = m13;
+        t1.z = m23;
+
+        return MathUtils.max(tmp_scale);
+
+    }
+
+    /**
+     * Performs an SVD normalization of this matrix in order to acquire the
+     * normalized rotational component; the values are placed into the Quat4f
+     * parameter.
+     * 
+     * @param q1
+     *            quaternion into which the rotation component is placed
+     */
+    public final void get(Quaternion q1) {
+        double[] tmp_rot = new double[9]; // scratch matrix
+        double[] tmp_scale = new double[3]; // scratch matrix
+        getScaleRotate(tmp_scale, tmp_rot);
+
+        double ww;
+
+        ww = 0.25 * (1.0 + tmp_rot[0] + tmp_rot[4] + tmp_rot[8]);
+        if (!((ww < 0 ? -ww : ww) < 1.0e-30)) {
+            q1.w = (float) Math.sqrt(ww);
+            ww = 0.25 / q1.w;
+            q1.x = (float) ((tmp_rot[7] - tmp_rot[5]) * ww);
+            q1.y = (float) ((tmp_rot[2] - tmp_rot[6]) * ww);
+            q1.z = (float) ((tmp_rot[3] - tmp_rot[1]) * ww);
+            return;
+        }
+
+        q1.w = 0.0f;
+        ww = -0.5 * (tmp_rot[4] + tmp_rot[8]);
+        if (!((ww < 0 ? -ww : ww) < 1.0e-30)) {
+            q1.x = (float) Math.sqrt(ww);
+            ww = 0.5 / q1.x;
+            q1.y = (float) (tmp_rot[3] * ww);
+            q1.z = (float) (tmp_rot[6] * ww);
+            return;
+        }
+
+        q1.x = 0.0f;
+        ww = 0.5 * (1.0 - tmp_rot[8]);
+        if (!((ww < 0 ? -ww : ww) < 1.0e-30)) {
+            q1.y = (float) (Math.sqrt(ww));
+            q1.z = (float) (tmp_rot[7] / (2.0 * q1.y));
+            return;
+        }
+
+        q1.y = 0.0f;
+        q1.z = 1.0f;
+
+    }
+
+    /**
+     * Retrieves the translational components of this matrix.
+     * 
+     * @param trans
+     *            the vector that will receive the translational component
+     */
+    public final void get(Vec3D trans) {
+        trans.x = m03;
+        trans.y = m13;
+        trans.z = m23;
+    }
+
+    /**
+     * Copies the matrix values in the specified column into the array
+     * parameter.
+     * 
+     * @param column
+     *            the matrix column
+     * @param v
+     *            the array into which the matrix row values will be copied
+     */
+    public final void getColumn(int column, float v[]) {
+        if (column == 0) {
+            v[0] = m00;
+            v[1] = m10;
+            v[2] = m20;
+            v[3] = m30;
+        } else if (column == 1) {
+            v[0] = m01;
+            v[1] = m11;
+            v[2] = m21;
+            v[3] = m31;
+        } else if (column == 2) {
+            v[0] = m02;
+            v[1] = m12;
+            v[2] = m22;
+            v[3] = m32;
+        } else if (column == 3) {
+            v[0] = m03;
+            v[1] = m13;
+            v[2] = m23;
+            v[3] = m33;
+        } else {
+            throw new ArrayIndexOutOfBoundsException();
+        }
+
+    }
+
+    /**
+     * Copies the matrix values in the specified column into the vector
+     * parameter.
+     * 
+     * @param column
+     *            the matrix column
+     * @param v
+     *            the vector into which the matrix row values will be copied
+     */
+    public final void getColumn(int column, Vec4D v) {
+        if (column == 0) {
+            v.x = m00;
+            v.y = m10;
+            v.z = m20;
+            v.w = m30;
+        } else if (column == 1) {
+            v.x = m01;
+            v.y = m11;
+            v.z = m21;
+            v.w = m31;
+        } else if (column == 2) {
+            v.x = m02;
+            v.y = m12;
+            v.z = m22;
+            v.w = m32;
+        } else if (column == 3) {
+            v.x = m03;
+            v.y = m13;
+            v.z = m23;
+            v.w = m33;
+        } else {
+            throw new ArrayIndexOutOfBoundsException();
+        }
+
+    }
+
+    /**
+     * Retrieves the value at the specified row and column of this matrix.
+     * 
+     * @param row
+     *            the row number to be retrieved (zero indexed)
+     * @param column
+     *            the column number to be retrieved (zero indexed)
+     * @return the value at the indexed element
+     */
+    public final float getElement(int row, int column) {
+        switch (row) {
+            case 0:
+                switch (column) {
+                    case 0:
+                        return (this.m00);
+                    case 1:
+                        return (this.m01);
+                    case 2:
+                        return (this.m02);
+                    case 3:
+                        return (this.m03);
+                    default:
+                        break;
+                }
+                break;
+            case 1:
+                switch (column) {
+                    case 0:
+                        return (this.m10);
+                    case 1:
+                        return (this.m11);
+                    case 2:
+                        return (this.m12);
+                    case 3:
+                        return (this.m13);
+                    default:
+                        break;
+                }
+                break;
+
+            case 2:
+                switch (column) {
+                    case 0:
+                        return (this.m20);
+                    case 1:
+                        return (this.m21);
+                    case 2:
+                        return (this.m22);
+                    case 3:
+                        return (this.m23);
+                    default:
+                        break;
+                }
+                break;
+
+            case 3:
+                switch (column) {
+                    case 0:
+                        return (this.m30);
+                    case 1:
+                        return (this.m31);
+                    case 2:
+                        return (this.m32);
+                    case 3:
+                        return (this.m33);
+                    default:
+                        break;
+                }
+                break;
+
+            default:
+                break;
+        }
+        throw new ArrayIndexOutOfBoundsException();
+    }
+
+    /**
+     * Get the first matrix element in the first row.
+     * 
+     * @return Returns the m00.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM00() {
+        return m00;
+    }
+
+    /**
+     * Get the second matrix element in the first row.
+     * 
+     * @return Returns the m01.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM01() {
+        return m01;
+    }
+
+    /**
+     * Get the third matrix element in the first row.
+     * 
+     * @return Returns the m02.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM02() {
+        return m02;
+    }
+
+    /**
+     * Get the fourth element of the first row.
+     * 
+     * @return Returns the m03.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM03() {
+        return m03;
+    }
+
+    /**
+     * Get first matrix element in the second row.
+     * 
+     * @return Returns the m10.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM10() {
+        return m10;
+    }
+
+    /**
+     * Get second matrix element in the second row.
+     * 
+     * @return Returns the m11.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM11() {
+        return m11;
+    }
+
+    /**
+     * Get the third matrix element in the second row.
+     * 
+     * @return Returns the m12.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM12() {
+        return m12;
+    }
+
+    /**
+     * Get the fourth element of the second row.
+     * 
+     * @return Returns the m13.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM13() {
+        return m13;
+    }
+
+    /**
+     * Get the first matrix element in the third row.
+     * 
+     * @return Returns the m20.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM20() {
+        return m20;
+    }
+
+    /**
+     * Get the second matrix element in the third row.
+     * 
+     * @return Returns the m21.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM21() {
+        return m21;
+    }
+
+    /**
+     * Get the third matrix element in the third row.
+     * 
+     * @return Returns the m22.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM22() {
+        return m22;
+    }
+
+    /**
+     * Get the fourth element of the third row.
+     * 
+     * @return Returns the m23.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM23() {
+        return m23;
+    }
+
+    /**
+     * Get the first element of the fourth row.
+     * 
+     * @return Returns the m30.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM30() {
+        return m30;
+    }
+
+    /**
+     * Get the second element of the fourth row.
+     * 
+     * @return Returns the m31.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM31() {
+        return m31;
+    }
+
+    /**
+     * Get the third element of the fourth row.
+     * 
+     * @return Returns the m32.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM32() {
+        return m32;
+    }
+
+    /**
+     * Get the fourth element of the fourth row.
+     * 
+     * @return Returns the m33.
+     * 
+     * @since vecmath 1.5
+     */
+    public final float getM33() {
+        return m33;
+    }
+
+    /**
+     * Gets the upper 3x3 values of this matrix and places them into the matrix
+     * m1.
+     * 
+     * @param m1
+     *            the matrix that will hold the values
+     */
+    public final void getRotationScale(Matrix3d m1) {
+        m1.m00 = m00;
+        m1.m01 = m01;
+        m1.m02 = m02;
+        m1.m10 = m10;
+        m1.m11 = m11;
+        m1.m12 = m12;
+        m1.m20 = m20;
+        m1.m21 = m21;
+        m1.m22 = m22;
+    }
+
+    /**
+     * Copies the matrix values in the specified row into the array parameter.
+     * 
+     * @param row
+     *            the matrix row
+     * @param v
+     *            the array into which the matrix row values will be copied
+     */
+    public final void getRow(int row, float v[]) {
+        if (row == 0) {
+            v[0] = m00;
+            v[1] = m01;
+            v[2] = m02;
+            v[3] = m03;
+        } else if (row == 1) {
+            v[0] = m10;
+            v[1] = m11;
+            v[2] = m12;
+            v[3] = m13;
+        } else if (row == 2) {
+            v[0] = m20;
+            v[1] = m21;
+            v[2] = m22;
+            v[3] = m23;
+        } else if (row == 3) {
+            v[0] = m30;
+            v[1] = m31;
+            v[2] = m32;
+            v[3] = m33;
+        } else {
+            throw new ArrayIndexOutOfBoundsException();
+        }
+
+    }
+
+    /**
+     * Copies the matrix values in the specified row into the vector parameter.
+     * 
+     * @param row
+     *            the matrix row
+     * @param v
+     *            the vector into which the matrix row values will be copied
+     */
+    public final void getRow(int row, Vec4D v) {
+        if (row == 0) {
+            v.x = m00;
+            v.y = m01;
+            v.z = m02;
+            v.w = m03;
+        } else if (row == 1) {
+            v.x = m10;
+            v.y = m11;
+            v.z = m12;
+            v.w = m13;
+        } else if (row == 2) {
+            v.x = m20;
+            v.y = m21;
+            v.z = m22;
+            v.w = m23;
+        } else if (row == 3) {
+            v.x = m30;
+            v.y = m31;
+            v.z = m32;
+            v.w = m33;
+        } else {
+            throw new ArrayIndexOutOfBoundsException();
+        }
+
+    }
+
+    /**
+     * Performs an SVD normalization of this matrix to calculate and return the
+     * uniform scale factor. If the matrix has non-uniform scale factors, the
+     * largest of the x, y, and z scale factors will be returned. This matrix is
+     * not modified.
+     * 
+     * @return the scale factor of this matrix
+     */
+    public final float getScale() {
+        double[] tmp_scale = new double[3];
+        getScaleRotate(tmp_scale, new double[9]);
+        return ((float) MathUtils.max(tmp_scale));
+    }
+
+    private void getScaleRotate(double scales[], double rots[]) {
+
+        double[] tmp = new double[9]; // scratch matrix
+        tmp[0] = m00;
+        tmp[1] = m01;
+        tmp[2] = m02;
+
+        tmp[3] = m10;
+        tmp[4] = m11;
+        tmp[5] = m12;
+
+        tmp[6] = m20;
+        tmp[7] = m21;
+        tmp[8] = m22;
+
+        Matrix3d.compute_svd(tmp, scales, rots);
+    }
+
+    /**
+     * Returns a hash code value based on the data values in this object. Two
+     * different Matrix4f objects with identical data values (i.e.,
+     * Matrix4f.equals returns true) will return the same hash code value. Two
+     * objects with different data members may return the same hash value,
+     * although this is not likely.
+     * 
+     * @return the integer hash code value
+     */
+    // @Override
+    // public int hashCode() {
+        // long bits = 1L;
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m00);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m01);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m02);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m03);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m10);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m11);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m12);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m13);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m20);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m21);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m22);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m23);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m30);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m31);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m32);
+        // bits = 31L * bits + VecMathUtil.floatToIntBits(m33);
+        // return (int) (bits ^ (bits >> 32));
+    // }
+
+    /**
+     * Inverts this matrix in place.
+     */
+    public final void invert() {
+        invertGeneral(this);
+    }
+
+    /**
+     * Sets the value of this matrix to the matrix inverse of the passed (user
+     * declared) matrix m1.
+     * 
+     * @param m1
+     *            the matrix to be inverted
+     */
+    public final void invert(Matrix4f m1) {
+
+        invertGeneral(m1);
+    }
+
+    /**
+     * General invert routine. Inverts m1 and places the result in "this". Note
+     * that this routine handles both the "this" version and the non-"this"
+     * version.
+     * 
+     * Also note that since this routine is slow anyway, we won't worry about
+     * allocating a little bit of garbage.
+     */
+    final void invertGeneral(Matrix4f m1) {
+        double temp[] = new double[16];
+        double result[] = new double[16];
+        int row_perm[] = new int[4];
+        int i, r, c;
+
+        // Use LU decomposition and backsubstitution code specifically
+        // for floating-point 4x4 matrices.
+
+        // Copy source matrix to t1tmp
+        temp[0] = m1.m00;
+        temp[1] = m1.m01;
+        temp[2] = m1.m02;
+        temp[3] = m1.m03;
+
+        temp[4] = m1.m10;
+        temp[5] = m1.m11;
+        temp[6] = m1.m12;
+        temp[7] = m1.m13;
+
+        temp[8] = m1.m20;
+        temp[9] = m1.m21;
+        temp[10] = m1.m22;
+        temp[11] = m1.m23;
+
+        temp[12] = m1.m30;
+        temp[13] = m1.m31;
+        temp[14] = m1.m32;
+        temp[15] = m1.m33;
+
+        // Calculate LU decomposition: Is the matrix singular?
+        if (!Matrix4x4.LUDecomposition(temp, row_perm, 4)) {
+            // Matrix has no inverse
+            throw new SingularMatrixException();
+        }
+
+        // Perform back substitution on the identity matrix
+        for (i = 0; i < 16; i++) {
+            result[i] = 0.0;
+        }
+        result[0] = 1.0;
+        result[5] = 1.0;
+        result[10] = 1.0;
+        result[15] = 1.0;
+        luBacksubstitution(temp, row_perm, result);
+
+        this.m00 = (float) result[0];
+        this.m01 = (float) result[1];
+        this.m02 = (float) result[2];
+        this.m03 = (float) result[3];
+
+        this.m10 = (float) result[4];
+        this.m11 = (float) result[5];
+        this.m12 = (float) result[6];
+        this.m13 = (float) result[7];
+
+        this.m20 = (float) result[8];
+        this.m21 = (float) result[9];
+        this.m22 = (float) result[10];
+        this.m23 = (float) result[11];
+
+        this.m30 = (float) result[12];
+        this.m31 = (float) result[13];
+        this.m32 = (float) result[14];
+        this.m33 = (float) result[15];
+
+    }
+
+    /**
+     * Multiplies each element of this matrix by a scalar.
+     * 
+     * @param scalar
+     *            the scalar multiplier.
+     */
+    public final void mul(float scalar) {
+        m00 *= scalar;
+        m01 *= scalar;
+        m02 *= scalar;
+        m03 *= scalar;
+        m10 *= scalar;
+        m11 *= scalar;
+        m12 *= scalar;
+        m13 *= scalar;
+        m20 *= scalar;
+        m21 *= scalar;
+        m22 *= scalar;
+        m23 *= scalar;
+        m30 *= scalar;
+        m31 *= scalar;
+        m32 *= scalar;
+        m33 *= scalar;
+    }
+
+    /**
+     * Multiplies each element of matrix m1 by a scalar and places the result
+     * into this. Matrix m1 is not modified.
+     * 
+     * @param scalar
+     *            the scalar multiplier.
+     * @param m1
+     *            the original matrix.
+     */
+    public final void mul(float scalar, Matrix4f m1) {
+        this.m00 = m1.m00 * scalar;
+        this.m01 = m1.m01 * scalar;
+        this.m02 = m1.m02 * scalar;
+        this.m03 = m1.m03 * scalar;
+        this.m10 = m1.m10 * scalar;
+        this.m11 = m1.m11 * scalar;
+        this.m12 = m1.m12 * scalar;
+        this.m13 = m1.m13 * scalar;
+        this.m20 = m1.m20 * scalar;
+        this.m21 = m1.m21 * scalar;
+        this.m22 = m1.m22 * scalar;
+        this.m23 = m1.m23 * scalar;
+        this.m30 = m1.m30 * scalar;
+        this.m31 = m1.m31 * scalar;
+        this.m32 = m1.m32 * scalar;
+        this.m33 = m1.m33 * scalar;
+    }
+
+    /**
+     * Sets the value of this matrix to the result of multiplying itself with
+     * matrix m1.
+     * 
+     * @param m1
+     *            the other matrix
+     */
+    public final void mul(Matrix4f m1) {
+        float mm00, mm01, mm02, mm03, mm10, mm11, mm12, mm13, mm20, mm21, mm22, mm23, mm30, mm31, mm32, mm33; // vars
+                                                                                              // for
+                                                                                              // temp
+                                                                                              // result
+                                                                                              // matrix
+
+        mm00 = this.m00 * m1.m00 + this.m01 * m1.m10 + this.m02 * m1.m20
+                + this.m03 * m1.m30;
+        mm01 = this.m00 * m1.m01 + this.m01 * m1.m11 + this.m02 * m1.m21
+                + this.m03 * m1.m31;
+        mm02 = this.m00 * m1.m02 + this.m01 * m1.m12 + this.m02 * m1.m22
+                + this.m03 * m1.m32;
+        mm03 = this.m00 * m1.m03 + this.m01 * m1.m13 + this.m02 * m1.m23
+                + this.m03 * m1.m33;
+
+        mm10 = this.m10 * m1.m00 + this.m11 * m1.m10 + this.m12 * m1.m20
+                + this.m13 * m1.m30;
+        mm11 = this.m10 * m1.m01 + this.m11 * m1.m11 + this.m12 * m1.m21
+                + this.m13 * m1.m31;
+        mm12 = this.m10 * m1.m02 + this.m11 * m1.m12 + this.m12 * m1.m22
+                + this.m13 * m1.m32;
+        mm13 = this.m10 * m1.m03 + this.m11 * m1.m13 + this.m12 * m1.m23
+                + this.m13 * m1.m33;
+
+        mm20 = this.m20 * m1.m00 + this.m21 * m1.m10 + this.m22 * m1.m20
+                + this.m23 * m1.m30;
+        mm21 = this.m20 * m1.m01 + this.m21 * m1.m11 + this.m22 * m1.m21
+                + this.m23 * m1.m31;
+        mm22 = this.m20 * m1.m02 + this.m21 * m1.m12 + this.m22 * m1.m22
+                + this.m23 * m1.m32;
+        mm23 = this.m20 * m1.m03 + this.m21 * m1.m13 + this.m22 * m1.m23
+                + this.m23 * m1.m33;
+
+        mm30 = this.m30 * m1.m00 + this.m31 * m1.m10 + this.m32 * m1.m20
+                + this.m33 * m1.m30;
+        mm31 = this.m30 * m1.m01 + this.m31 * m1.m11 + this.m32 * m1.m21
+                + this.m33 * m1.m31;
+        mm32 = this.m30 * m1.m02 + this.m31 * m1.m12 + this.m32 * m1.m22
+                + this.m33 * m1.m32;
+        mm33 = this.m30 * m1.m03 + this.m31 * m1.m13 + this.m32 * m1.m23
+                + this.m33 * m1.m33;
+
+        this.m00 = mm00;
+        this.m01 = mm01;
+        this.m02 = mm02;
+        this.m03 = mm03;
+        this.m10 = mm10;
+        this.m11 = mm11;
+        this.m12 = mm12;
+        this.m13 = mm13;
+        this.m20 = mm20;
+        this.m21 = mm21;
+        this.m22 = mm22;
+        this.m23 = mm23;
+        this.m30 = mm30;
+        this.m31 = mm31;
+        this.m32 = mm32;
+        this.m33 = mm33;
+    }
+
+    /**
+     * Sets the value of this matrix to the result of multiplying the two
+     * argument matrices together.
+     * 
+     * @param m1
+     *            the first matrix
+     * @param m2
+     *            the second matrix
+     */
+    public final void mul(Matrix4f m1, Matrix4f m2) {
+        if (this != m1 && this != m2) {
+
+            this.m00 = m1.m00 * m2.m00 + m1.m01 * m2.m10 + m1.m02 * m2.m20
+                    + m1.m03 * m2.m30;
+            this.m01 = m1.m00 * m2.m01 + m1.m01 * m2.m11 + m1.m02 * m2.m21
+                    + m1.m03 * m2.m31;
+            this.m02 = m1.m00 * m2.m02 + m1.m01 * m2.m12 + m1.m02 * m2.m22
+                    + m1.m03 * m2.m32;
+            this.m03 = m1.m00 * m2.m03 + m1.m01 * m2.m13 + m1.m02 * m2.m23
+                    + m1.m03 * m2.m33;
+
+            this.m10 = m1.m10 * m2.m00 + m1.m11 * m2.m10 + m1.m12 * m2.m20
+                    + m1.m13 * m2.m30;
+            this.m11 = m1.m10 * m2.m01 + m1.m11 * m2.m11 + m1.m12 * m2.m21
+                    + m1.m13 * m2.m31;
+            this.m12 = m1.m10 * m2.m02 + m1.m11 * m2.m12 + m1.m12 * m2.m22
+                    + m1.m13 * m2.m32;
+            this.m13 = m1.m10 * m2.m03 + m1.m11 * m2.m13 + m1.m12 * m2.m23
+                    + m1.m13 * m2.m33;
+
+            this.m20 = m1.m20 * m2.m00 + m1.m21 * m2.m10 + m1.m22 * m2.m20
+                    + m1.m23 * m2.m30;
+            this.m21 = m1.m20 * m2.m01 + m1.m21 * m2.m11 + m1.m22 * m2.m21
+                    + m1.m23 * m2.m31;
+            this.m22 = m1.m20 * m2.m02 + m1.m21 * m2.m12 + m1.m22 * m2.m22
+                    + m1.m23 * m2.m32;
+            this.m23 = m1.m20 * m2.m03 + m1.m21 * m2.m13 + m1.m22 * m2.m23
+                    + m1.m23 * m2.m33;
+
+            this.m30 = m1.m30 * m2.m00 + m1.m31 * m2.m10 + m1.m32 * m2.m20
+                    + m1.m33 * m2.m30;
+            this.m31 = m1.m30 * m2.m01 + m1.m31 * m2.m11 + m1.m32 * m2.m21
+                    + m1.m33 * m2.m31;
+            this.m32 = m1.m30 * m2.m02 + m1.m31 * m2.m12 + m1.m32 * m2.m22
+                    + m1.m33 * m2.m32;
+            this.m33 = m1.m30 * m2.m03 + m1.m31 * m2.m13 + m1.m32 * m2.m23
+                    + m1.m33 * m2.m33;
+        } else {
+            float mm00, mm01, mm02, mm03, mm10, mm11, mm12, mm13, mm20, mm21, mm22, mm23, mm30, mm31, mm32, mm33; // vars
+                                                                                                  // for
+                                                                                                  // temp
+                                                                                                  // result
+                                                                                                  // matrix
+            mm00 = m1.m00 * m2.m00 + m1.m01 * m2.m10 + m1.m02 * m2.m20 + m1.m03
+                    * m2.m30;
+            mm01 = m1.m00 * m2.m01 + m1.m01 * m2.m11 + m1.m02 * m2.m21 + m1.m03
+                    * m2.m31;
+            mm02 = m1.m00 * m2.m02 + m1.m01 * m2.m12 + m1.m02 * m2.m22 + m1.m03
+                    * m2.m32;
+            mm03 = m1.m00 * m2.m03 + m1.m01 * m2.m13 + m1.m02 * m2.m23 + m1.m03
+                    * m2.m33;
+
+            mm10 = m1.m10 * m2.m00 + m1.m11 * m2.m10 + m1.m12 * m2.m20 + m1.m13
+                    * m2.m30;
+            mm11 = m1.m10 * m2.m01 + m1.m11 * m2.m11 + m1.m12 * m2.m21 + m1.m13
+                    * m2.m31;
+            mm12 = m1.m10 * m2.m02 + m1.m11 * m2.m12 + m1.m12 * m2.m22 + m1.m13
+                    * m2.m32;
+            mm13 = m1.m10 * m2.m03 + m1.m11 * m2.m13 + m1.m12 * m2.m23 + m1.m13
+                    * m2.m33;
+
+            mm20 = m1.m20 * m2.m00 + m1.m21 * m2.m10 + m1.m22 * m2.m20 + m1.m23
+                    * m2.m30;
+            mm21 = m1.m20 * m2.m01 + m1.m21 * m2.m11 + m1.m22 * m2.m21 + m1.m23
+                    * m2.m31;
+            mm22 = m1.m20 * m2.m02 + m1.m21 * m2.m12 + m1.m22 * m2.m22 + m1.m23
+                    * m2.m32;
+            mm23 = m1.m20 * m2.m03 + m1.m21 * m2.m13 + m1.m22 * m2.m23 + m1.m23
+                    * m2.m33;
+
+            mm30 = m1.m30 * m2.m00 + m1.m31 * m2.m10 + m1.m32 * m2.m20 + m1.m33
+                    * m2.m30;
+            mm31 = m1.m30 * m2.m01 + m1.m31 * m2.m11 + m1.m32 * m2.m21 + m1.m33
+                    * m2.m31;
+            mm32 = m1.m30 * m2.m02 + m1.m31 * m2.m12 + m1.m32 * m2.m22 + m1.m33
+                    * m2.m32;
+            mm33 = m1.m30 * m2.m03 + m1.m31 * m2.m13 + m1.m32 * m2.m23 + m1.m33
+                    * m2.m33;
+
+            this.m00 = mm00;
+            this.m01 = mm01;
+            this.m02 = mm02;
+            this.m03 = mm03;
+            this.m10 = mm10;
+            this.m11 = mm11;
+            this.m12 = mm12;
+            this.m13 = mm13;
+            this.m20 = mm20;
+            this.m21 = mm21;
+            this.m22 = mm22;
+            this.m23 = mm23;
+            this.m30 = mm30;
+            this.m31 = mm31;
+            this.m32 = mm32;
+            this.m33 = mm33;
+        }
+    }
+
+    /**
+     * Multiplies the transpose of matrix m1 times the transpose of matrix m2,
+     * and places the result into this.
+     * 
+     * @param m1
+     *            the matrix on the left hand side of the multiplication
+     * @param m2
+     *            the matrix on the right hand side of the multiplication
+     */
+    public final void mulTransposeBoth(Matrix4f m1, Matrix4f m2) {
+        if (this != m1 && this != m2) {
+            this.m00 = m1.m00 * m2.m00 + m1.m10 * m2.m01 + m1.m20 * m2.m02
+                    + m1.m30 * m2.m03;
+            this.m01 = m1.m00 * m2.m10 + m1.m10 * m2.m11 + m1.m20 * m2.m12
+                    + m1.m30 * m2.m13;
+            this.m02 = m1.m00 * m2.m20 + m1.m10 * m2.m21 + m1.m20 * m2.m22
+                    + m1.m30 * m2.m23;
+            this.m03 = m1.m00 * m2.m30 + m1.m10 * m2.m31 + m1.m20 * m2.m32
+                    + m1.m30 * m2.m33;
+
+            this.m10 = m1.m01 * m2.m00 + m1.m11 * m2.m01 + m1.m21 * m2.m02
+                    + m1.m31 * m2.m03;
+            this.m11 = m1.m01 * m2.m10 + m1.m11 * m2.m11 + m1.m21 * m2.m12
+                    + m1.m31 * m2.m13;
+            this.m12 = m1.m01 * m2.m20 + m1.m11 * m2.m21 + m1.m21 * m2.m22
+                    + m1.m31 * m2.m23;
+            this.m13 = m1.m01 * m2.m30 + m1.m11 * m2.m31 + m1.m21 * m2.m32
+                    + m1.m31 * m2.m33;
+
+            this.m20 = m1.m02 * m2.m00 + m1.m12 * m2.m01 + m1.m22 * m2.m02
+                    + m1.m32 * m2.m03;
+            this.m21 = m1.m02 * m2.m10 + m1.m12 * m2.m11 + m1.m22 * m2.m12
+                    + m1.m32 * m2.m13;
+            this.m22 = m1.m02 * m2.m20 + m1.m12 * m2.m21 + m1.m22 * m2.m22
+                    + m1.m32 * m2.m23;
+            this.m23 = m1.m02 * m2.m30 + m1.m12 * m2.m31 + m1.m22 * m2.m32
+                    + m1.m32 * m2.m33;
+
+            this.m30 = m1.m03 * m2.m00 + m1.m13 * m2.m01 + m1.m23 * m2.m02
+                    + m1.m33 * m2.m03;
+            this.m31 = m1.m03 * m2.m10 + m1.m13 * m2.m11 + m1.m23 * m2.m12
+                    + m1.m33 * m2.m13;
+            this.m32 = m1.m03 * m2.m20 + m1.m13 * m2.m21 + m1.m23 * m2.m22
+                    + m1.m33 * m2.m23;
+            this.m33 = m1.m03 * m2.m30 + m1.m13 * m2.m31 + m1.m23 * m2.m32
+                    + m1.m33 * m2.m33;
+        } else {
+            float mm00, mm01, mm02, mm03, mm10, mm11, mm12, mm13, mm20, mm21, mm22, mm23, // vars
+                                                                              // for
+                                                                              // temp
+                                                                              // result
+                                                                              // matrix
+            mm30, mm31, mm32, mm33;
+
+            mm00 = m1.m00 * m2.m00 + m1.m10 * m2.m01 + m1.m20 * m2.m02 + m1.m30
+                    * m2.m03;
+            mm01 = m1.m00 * m2.m10 + m1.m10 * m2.m11 + m1.m20 * m2.m12 + m1.m30
+                    * m2.m13;
+            mm02 = m1.m00 * m2.m20 + m1.m10 * m2.m21 + m1.m20 * m2.m22 + m1.m30
+                    * m2.m23;
+            mm03 = m1.m00 * m2.m30 + m1.m10 * m2.m31 + m1.m20 * m2.m32 + m1.m30
+                    * m2.m33;
+
+            mm10 = m1.m01 * m2.m00 + m1.m11 * m2.m01 + m1.m21 * m2.m02 + m1.m31
+                    * m2.m03;
+            mm11 = m1.m01 * m2.m10 + m1.m11 * m2.m11 + m1.m21 * m2.m12 + m1.m31
+                    * m2.m13;
+            mm12 = m1.m01 * m2.m20 + m1.m11 * m2.m21 + m1.m21 * m2.m22 + m1.m31
+                    * m2.m23;
+            mm13 = m1.m01 * m2.m30 + m1.m11 * m2.m31 + m1.m21 * m2.m32 + m1.m31
+                    * m2.m33;
+
+            mm20 = m1.m02 * m2.m00 + m1.m12 * m2.m01 + m1.m22 * m2.m02 + m1.m32
+                    * m2.m03;
+            mm21 = m1.m02 * m2.m10 + m1.m12 * m2.m11 + m1.m22 * m2.m12 + m1.m32
+                    * m2.m13;
+            mm22 = m1.m02 * m2.m20 + m1.m12 * m2.m21 + m1.m22 * m2.m22 + m1.m32
+                    * m2.m23;
+            mm23 = m1.m02 * m2.m30 + m1.m12 * m2.m31 + m1.m22 * m2.m32 + m1.m32
+                    * m2.m33;
+
+            mm30 = m1.m03 * m2.m00 + m1.m13 * m2.m01 + m1.m23 * m2.m02 + m1.m33
+                    * m2.m03;
+            mm31 = m1.m03 * m2.m10 + m1.m13 * m2.m11 + m1.m23 * m2.m12 + m1.m33
+                    * m2.m13;
+            mm32 = m1.m03 * m2.m20 + m1.m13 * m2.m21 + m1.m23 * m2.m22 + m1.m33
+                    * m2.m23;
+            mm33 = m1.m03 * m2.m30 + m1.m13 * m2.m31 + m1.m23 * m2.m32 + m1.m33
+                    * m2.m33;
+
+            this.m00 = mm00;
+            this.m01 = mm01;
+            this.m02 = mm02;
+            this.m03 = mm03;
+            this.m10 = mm10;
+            this.m11 = mm11;
+            this.m12 = mm12;
+            this.m13 = mm13;
+            this.m20 = mm20;
+            this.m21 = mm21;
+            this.m22 = mm22;
+            this.m23 = mm23;
+            this.m30 = mm30;
+            this.m31 = mm31;
+            this.m32 = mm32;
+            this.m33 = mm33;
+        }
+
+    }
+
+    /**
+     * Multiplies the transpose of matrix m1 times matrix m2, and places the
+     * result into this.
+     * 
+     * @param m1
+     *            the matrix on the left hand side of the multiplication
+     * @param m2
+     *            the matrix on the right hand side of the multiplication
+     */
+    public final void mulTransposeLeft(Matrix4f m1, Matrix4f m2) {
+        if (this != m1 && this != m2) {
+            this.m00 = m1.m00 * m2.m00 + m1.m10 * m2.m10 + m1.m20 * m2.m20
+                    + m1.m30 * m2.m30;
+            this.m01 = m1.m00 * m2.m01 + m1.m10 * m2.m11 + m1.m20 * m2.m21
+                    + m1.m30 * m2.m31;
+            this.m02 = m1.m00 * m2.m02 + m1.m10 * m2.m12 + m1.m20 * m2.m22
+                    + m1.m30 * m2.m32;
+            this.m03 = m1.m00 * m2.m03 + m1.m10 * m2.m13 + m1.m20 * m2.m23
+                    + m1.m30 * m2.m33;
+
+            this.m10 = m1.m01 * m2.m00 + m1.m11 * m2.m10 + m1.m21 * m2.m20
+                    + m1.m31 * m2.m30;
+            this.m11 = m1.m01 * m2.m01 + m1.m11 * m2.m11 + m1.m21 * m2.m21
+                    + m1.m31 * m2.m31;
+            this.m12 = m1.m01 * m2.m02 + m1.m11 * m2.m12 + m1.m21 * m2.m22
+                    + m1.m31 * m2.m32;
+            this.m13 = m1.m01 * m2.m03 + m1.m11 * m2.m13 + m1.m21 * m2.m23
+                    + m1.m31 * m2.m33;
+
+            this.m20 = m1.m02 * m2.m00 + m1.m12 * m2.m10 + m1.m22 * m2.m20
+                    + m1.m32 * m2.m30;
+            this.m21 = m1.m02 * m2.m01 + m1.m12 * m2.m11 + m1.m22 * m2.m21
+                    + m1.m32 * m2.m31;
+            this.m22 = m1.m02 * m2.m02 + m1.m12 * m2.m12 + m1.m22 * m2.m22
+                    + m1.m32 * m2.m32;
+            this.m23 = m1.m02 * m2.m03 + m1.m12 * m2.m13 + m1.m22 * m2.m23
+                    + m1.m32 * m2.m33;
+
+            this.m30 = m1.m03 * m2.m00 + m1.m13 * m2.m10 + m1.m23 * m2.m20
+                    + m1.m33 * m2.m30;
+            this.m31 = m1.m03 * m2.m01 + m1.m13 * m2.m11 + m1.m23 * m2.m21
+                    + m1.m33 * m2.m31;
+            this.m32 = m1.m03 * m2.m02 + m1.m13 * m2.m12 + m1.m23 * m2.m22
+                    + m1.m33 * m2.m32;
+            this.m33 = m1.m03 * m2.m03 + m1.m13 * m2.m13 + m1.m23 * m2.m23
+                    + m1.m33 * m2.m33;
+        } else {
+            float mm00, mm01, mm02, mm03, mm10, mm11, mm12, mm13, mm20, mm21, mm22, mm23, // vars
+                                                                              // for
+                                                                              // temp
+                                                                              // result
+                                                                              // matrix
+            mm30, mm31, mm32, mm33;
+
+            mm00 = m1.m00 * m2.m00 + m1.m10 * m2.m10 + m1.m20 * m2.m20 + m1.m30
+                    * m2.m30;
+            mm01 = m1.m00 * m2.m01 + m1.m10 * m2.m11 + m1.m20 * m2.m21 + m1.m30
+                    * m2.m31;
+            mm02 = m1.m00 * m2.m02 + m1.m10 * m2.m12 + m1.m20 * m2.m22 + m1.m30
+                    * m2.m32;
+            mm03 = m1.m00 * m2.m03 + m1.m10 * m2.m13 + m1.m20 * m2.m23 + m1.m30
+                    * m2.m33;
+
+            mm10 = m1.m01 * m2.m00 + m1.m11 * m2.m10 + m1.m21 * m2.m20 + m1.m31
+                    * m2.m30;
+            mm11 = m1.m01 * m2.m01 + m1.m11 * m2.m11 + m1.m21 * m2.m21 + m1.m31
+                    * m2.m31;
+            mm12 = m1.m01 * m2.m02 + m1.m11 * m2.m12 + m1.m21 * m2.m22 + m1.m31
+                    * m2.m32;
+            mm13 = m1.m01 * m2.m03 + m1.m11 * m2.m13 + m1.m21 * m2.m23 + m1.m31
+                    * m2.m33;
+
+            mm20 = m1.m02 * m2.m00 + m1.m12 * m2.m10 + m1.m22 * m2.m20 + m1.m32
+                    * m2.m30;
+            mm21 = m1.m02 * m2.m01 + m1.m12 * m2.m11 + m1.m22 * m2.m21 + m1.m32
+                    * m2.m31;
+            mm22 = m1.m02 * m2.m02 + m1.m12 * m2.m12 + m1.m22 * m2.m22 + m1.m32
+                    * m2.m32;
+            mm23 = m1.m02 * m2.m03 + m1.m12 * m2.m13 + m1.m22 * m2.m23 + m1.m32
+                    * m2.m33;
+
+            mm30 = m1.m03 * m2.m00 + m1.m13 * m2.m10 + m1.m23 * m2.m20 + m1.m33
+                    * m2.m30;
+            mm31 = m1.m03 * m2.m01 + m1.m13 * m2.m11 + m1.m23 * m2.m21 + m1.m33
+                    * m2.m31;
+            mm32 = m1.m03 * m2.m02 + m1.m13 * m2.m12 + m1.m23 * m2.m22 + m1.m33
+                    * m2.m32;
+            mm33 = m1.m03 * m2.m03 + m1.m13 * m2.m13 + m1.m23 * m2.m23 + m1.m33
+                    * m2.m33;
+
+            this.m00 = mm00;
+            this.m01 = mm01;
+            this.m02 = mm02;
+            this.m03 = mm03;
+            this.m10 = mm10;
+            this.m11 = mm11;
+            this.m12 = mm12;
+            this.m13 = mm13;
+            this.m20 = mm20;
+            this.m21 = mm21;
+            this.m22 = mm22;
+            this.m23 = mm23;
+            this.m30 = mm30;
+            this.m31 = mm31;
+            this.m32 = mm32;
+            this.m33 = mm33;
+        }
+
+    }
+
+    /**
+     * Multiplies matrix m1 times the transpose of matrix m2, and places the
+     * result into this.
+     * 
+     * @param m1
+     *            the matrix on the left hand side of the multiplication
+     * @param m2
+     *            the matrix on the right hand side of the multiplication
+     */
+    public final void mulTransposeRight(Matrix4f m1, Matrix4f m2) {
+        if (this != m1 && this != m2) {
+            this.m00 = m1.m00 * m2.m00 + m1.m01 * m2.m01 + m1.m02 * m2.m02
+                    + m1.m03 * m2.m03;
+            this.m01 = m1.m00 * m2.m10 + m1.m01 * m2.m11 + m1.m02 * m2.m12
+                    + m1.m03 * m2.m13;
+            this.m02 = m1.m00 * m2.m20 + m1.m01 * m2.m21 + m1.m02 * m2.m22
+                    + m1.m03 * m2.m23;
+            this.m03 = m1.m00 * m2.m30 + m1.m01 * m2.m31 + m1.m02 * m2.m32
+                    + m1.m03 * m2.m33;
+
+            this.m10 = m1.m10 * m2.m00 + m1.m11 * m2.m01 + m1.m12 * m2.m02
+                    + m1.m13 * m2.m03;
+            this.m11 = m1.m10 * m2.m10 + m1.m11 * m2.m11 + m1.m12 * m2.m12
+                    + m1.m13 * m2.m13;
+            this.m12 = m1.m10 * m2.m20 + m1.m11 * m2.m21 + m1.m12 * m2.m22
+                    + m1.m13 * m2.m23;
+            this.m13 = m1.m10 * m2.m30 + m1.m11 * m2.m31 + m1.m12 * m2.m32
+                    + m1.m13 * m2.m33;
+
+            this.m20 = m1.m20 * m2.m00 + m1.m21 * m2.m01 + m1.m22 * m2.m02
+                    + m1.m23 * m2.m03;
+            this.m21 = m1.m20 * m2.m10 + m1.m21 * m2.m11 + m1.m22 * m2.m12
+                    + m1.m23 * m2.m13;
+            this.m22 = m1.m20 * m2.m20 + m1.m21 * m2.m21 + m1.m22 * m2.m22
+                    + m1.m23 * m2.m23;
+            this.m23 = m1.m20 * m2.m30 + m1.m21 * m2.m31 + m1.m22 * m2.m32
+                    + m1.m23 * m2.m33;
+
+            this.m30 = m1.m30 * m2.m00 + m1.m31 * m2.m01 + m1.m32 * m2.m02
+                    + m1.m33 * m2.m03;
+            this.m31 = m1.m30 * m2.m10 + m1.m31 * m2.m11 + m1.m32 * m2.m12
+                    + m1.m33 * m2.m13;
+            this.m32 = m1.m30 * m2.m20 + m1.m31 * m2.m21 + m1.m32 * m2.m22
+                    + m1.m33 * m2.m23;
+            this.m33 = m1.m30 * m2.m30 + m1.m31 * m2.m31 + m1.m32 * m2.m32
+                    + m1.m33 * m2.m33;
+        } else {
+            float mm00, mm01, mm02, mm03, mm10, mm11, mm12, mm13, mm20, mm21, mm22, mm23, // vars
+                                                                              // for
+                                                                              // temp
+                                                                              // result
+                                                                              // matrix
+            mm30, mm31, mm32, mm33;
+
+            mm00 = m1.m00 * m2.m00 + m1.m01 * m2.m01 + m1.m02 * m2.m02 + m1.m03
+                    * m2.m03;
+            mm01 = m1.m00 * m2.m10 + m1.m01 * m2.m11 + m1.m02 * m2.m12 + m1.m03
+                    * m2.m13;
+            mm02 = m1.m00 * m2.m20 + m1.m01 * m2.m21 + m1.m02 * m2.m22 + m1.m03
+                    * m2.m23;
+            mm03 = m1.m00 * m2.m30 + m1.m01 * m2.m31 + m1.m02 * m2.m32 + m1.m03
+                    * m2.m33;
+
+            mm10 = m1.m10 * m2.m00 + m1.m11 * m2.m01 + m1.m12 * m2.m02 + m1.m13
+                    * m2.m03;
+            mm11 = m1.m10 * m2.m10 + m1.m11 * m2.m11 + m1.m12 * m2.m12 + m1.m13
+                    * m2.m13;
+            mm12 = m1.m10 * m2.m20 + m1.m11 * m2.m21 + m1.m12 * m2.m22 + m1.m13
+                    * m2.m23;
+            mm13 = m1.m10 * m2.m30 + m1.m11 * m2.m31 + m1.m12 * m2.m32 + m1.m13
+                    * m2.m33;
+
+            mm20 = m1.m20 * m2.m00 + m1.m21 * m2.m01 + m1.m22 * m2.m02 + m1.m23
+                    * m2.m03;
+            mm21 = m1.m20 * m2.m10 + m1.m21 * m2.m11 + m1.m22 * m2.m12 + m1.m23
+                    * m2.m13;
+            mm22 = m1.m20 * m2.m20 + m1.m21 * m2.m21 + m1.m22 * m2.m22 + m1.m23
+                    * m2.m23;
+            mm23 = m1.m20 * m2.m30 + m1.m21 * m2.m31 + m1.m22 * m2.m32 + m1.m23
+                    * m2.m33;
+
+            mm30 = m1.m30 * m2.m00 + m1.m31 * m2.m01 + m1.m32 * m2.m02 + m1.m33
+                    * m2.m03;
+            mm31 = m1.m30 * m2.m10 + m1.m31 * m2.m11 + m1.m32 * m2.m12 + m1.m33
+                    * m2.m13;
+            mm32 = m1.m30 * m2.m20 + m1.m31 * m2.m21 + m1.m32 * m2.m22 + m1.m33
+                    * m2.m23;
+            mm33 = m1.m30 * m2.m30 + m1.m31 * m2.m31 + m1.m32 * m2.m32 + m1.m33
+                    * m2.m33;
+
+            this.m00 = mm00;
+            this.m01 = mm01;
+            this.m02 = mm02;
+            this.m03 = mm03;
+            this.m10 = mm10;
+            this.m11 = mm11;
+            this.m12 = mm12;
+            this.m13 = mm13;
+            this.m20 = mm20;
+            this.m21 = mm21;
+            this.m22 = mm22;
+            this.m23 = mm23;
+            this.m30 = mm30;
+            this.m31 = mm31;
+            this.m32 = mm32;
+            this.m33 = mm33;
+        }
+
+    }
+
+    /**
+     * Negates the value of this matrix: this = -this.
+     */
+    public final void negate() {
+        m00 = -m00;
+        m01 = -m01;
+        m02 = -m02;
+        m03 = -m03;
+        m10 = -m10;
+        m11 = -m11;
+        m12 = -m12;
+        m13 = -m13;
+        m20 = -m20;
+        m21 = -m21;
+        m22 = -m22;
+        m23 = -m23;
+        m30 = -m30;
+        m31 = -m31;
+        m32 = -m32;
+        m33 = -m33;
+    }
+
+    /**
+     * Sets the value of this matrix equal to the negation of of the Matrix4f
+     * parameter.
+     * 
+     * @param m1
+     *            the source matrix
+     */
+    public final void negate(Matrix4f m1) {
+        this.m00 = -m1.m00;
+        this.m01 = -m1.m01;
+        this.m02 = -m1.m02;
+        this.m03 = -m1.m03;
+        this.m10 = -m1.m10;
+        this.m11 = -m1.m11;
+        this.m12 = -m1.m12;
+        this.m13 = -m1.m13;
+        this.m20 = -m1.m20;
+        this.m21 = -m1.m21;
+        this.m22 = -m1.m22;
+        this.m23 = -m1.m23;
+        this.m30 = -m1.m30;
+        this.m31 = -m1.m31;
+        this.m32 = -m1.m32;
+        this.m33 = -m1.m33;
+    }
+
+    /**
+     * Sets the value of this matrix to a counter clockwise rotation about the x
+     * axis.
+     * 
+     * @param angle
+     *            the angle to rotate about the X axis in radians
+     */
+    public final void rotX(float angle) {
+        float sinAngle, cosAngle;
+
+        sinAngle = (float) Math.sin(angle);
+        cosAngle = (float) Math.cos(angle);
+
+        this.m00 = (float) 1.0;
+        this.m01 = (float) 0.0;
+        this.m02 = (float) 0.0;
+        this.m03 = (float) 0.0;
+
+        this.m10 = (float) 0.0;
+        this.m11 = cosAngle;
+        this.m12 = -sinAngle;
+        this.m13 = (float) 0.0;
+
+        this.m20 = (float) 0.0;
+        this.m21 = sinAngle;
+        this.m22 = cosAngle;
+        this.m23 = (float) 0.0;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Sets the value of this matrix to a counter clockwise rotation about the y
+     * axis.
+     * 
+     * @param angle
+     *            the angle to rotate about the Y axis in radians
+     */
+    public final void rotY(float angle) {
+        float sinAngle, cosAngle;
+
+        sinAngle = (float) Math.sin(angle);
+        cosAngle = (float) Math.cos(angle);
+
+        this.m00 = cosAngle;
+        this.m01 = (float) 0.0;
+        this.m02 = sinAngle;
+        this.m03 = (float) 0.0;
+
+        this.m10 = (float) 0.0;
+        this.m11 = (float) 1.0;
+        this.m12 = (float) 0.0;
+        this.m13 = (float) 0.0;
+
+        this.m20 = -sinAngle;
+        this.m21 = (float) 0.0;
+        this.m22 = cosAngle;
+        this.m23 = (float) 0.0;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Sets the value of this matrix to a counter clockwise rotation about the z
+     * axis.
+     * 
+     * @param angle
+     *            the angle to rotate about the Z axis in radians
+     */
+    public final void rotZ(float angle) {
+        float sinAngle, cosAngle;
+
+        sinAngle = (float) Math.sin(angle);
+        cosAngle = (float) Math.cos(angle);
+
+        this.m00 = cosAngle;
+        this.m01 = -sinAngle;
+        this.m02 = (float) 0.0;
+        this.m03 = (float) 0.0;
+
+        this.m10 = sinAngle;
+        this.m11 = cosAngle;
+        this.m12 = (float) 0.0;
+        this.m13 = (float) 0.0;
+
+        this.m20 = (float) 0.0;
+        this.m21 = (float) 0.0;
+        this.m22 = (float) 1.0;
+        this.m23 = (float) 0.0;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Sets the value of this matrix to a scale matrix with the the passed scale
+     * amount.
+     * 
+     * @param scale
+     *            the scale factor for the matrix
+     */
+    public final void set(float scale) {
+        this.m00 = scale;
+        this.m01 = (float) 0.0;
+        this.m02 = (float) 0.0;
+        this.m03 = (float) 0.0;
+
+        this.m10 = (float) 0.0;
+        this.m11 = scale;
+        this.m12 = (float) 0.0;
+        this.m13 = (float) 0.0;
+
+        this.m20 = (float) 0.0;
+        this.m21 = (float) 0.0;
+        this.m22 = scale;
+        this.m23 = (float) 0.0;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Sets the value of this transform to a scale and translation matrix; the
+     * scale is not applied to the translation and all of the matrix values are
+     * modified.
+     * 
+     * @param scale
+     *            the scale factor for the matrix
+     * @param t1
+     *            the translation amount
+     */
+    public final void set(float scale, Vec3D t1) {
+        this.m00 = scale;
+        this.m01 = (float) 0.0;
+        this.m02 = (float) 0.0;
+        this.m03 = t1.x;
+
+        this.m10 = (float) 0.0;
+        this.m11 = scale;
+        this.m12 = (float) 0.0;
+        this.m13 = t1.y;
+
+        this.m20 = (float) 0.0;
+        this.m21 = (float) 0.0;
+        this.m22 = scale;
+        this.m23 = t1.z;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Sets the values in this Matrix4f equal to the row-major array parameter
+     * (ie, the first four elements of the array will be copied into the first
+     * row of this matrix, etc.).
+     * 
+     * @param m
+     *            the single precision array of length 16
+     */
+    public final void set(float[] m) {
+        m00 = m[0];
+        m01 = m[1];
+        m02 = m[2];
+        m03 = m[3];
+        m10 = m[4];
+        m11 = m[5];
+        m12 = m[6];
+        m13 = m[7];
+        m20 = m[8];
+        m21 = m[9];
+        m22 = m[10];
+        m23 = m[11];
+        m30 = m[12];
+        m31 = m[13];
+        m32 = m[14];
+        m33 = m[15];
+    }
+
+    /**
+     * Sets the rotational component (upper 3x3) of this matrix to the matrix
+     * values in the double precision Matrix3d argument; the other elements of
+     * this matrix are initialized as if this were an identity matrix (i.e.,
+     * affine matrix with no translational component).
+     * 
+     * @param m1
+     *            the double-precision 3x3 matrix
+     */
+    public final void set(Matrix3d m1) {
+        m00 = (float) m1.m00;
+        m01 = (float) m1.m01;
+        m02 = (float) m1.m02;
+        m03 = 0.0f;
+        m10 = (float) m1.m10;
+        m11 = (float) m1.m11;
+        m12 = (float) m1.m12;
+        m13 = 0.0f;
+        m20 = (float) m1.m20;
+        m21 = (float) m1.m21;
+        m22 = (float) m1.m22;
+        m23 = 0.0f;
+        m30 = 0.0f;
+        m31 = 0.0f;
+        m32 = 0.0f;
+        m33 = 1.0f;
+    }
+
+    /**
+     * Sets the value of this matrix from the rotation expressed by the rotation
+     * matrix m1, the translation t1, and the scale factor. The translation is
+     * not modified by the scale.
+     * 
+     * @param m1
+     *            the rotation component
+     * @param t1
+     *            the translation component
+     * @param scale
+     *            the scale factor
+     */
+    public final void set(Matrix3d m1, Vec3D t1, double scale) {
+        this.m00 = (float) (m1.m00 * scale);
+        this.m01 = (float) (m1.m01 * scale);
+        this.m02 = (float) (m1.m02 * scale);
+        this.m03 = t1.x;
+
+        this.m10 = (float) (m1.m10 * scale);
+        this.m11 = (float) (m1.m11 * scale);
+        this.m12 = (float) (m1.m12 * scale);
+        this.m13 = t1.y;
+
+        this.m20 = (float) (m1.m20 * scale);
+        this.m21 = (float) (m1.m21 * scale);
+        this.m22 = (float) (m1.m22 * scale);
+        this.m23 = t1.z;
+
+        this.m30 = 0.0f;
+        this.m31 = 0.0f;
+        this.m32 = 0.0f;
+        this.m33 = 1.0f;
+    }
+
+    /**
+     * Sets the value of this matrix to a copy of the passed matrix m1.
+     * 
+     * @param m1
+     *            the matrix to be copied
+     */
+    public final void set(Matrix4f m1) {
+        this.m00 = m1.m00;
+        this.m01 = m1.m01;
+        this.m02 = m1.m02;
+        this.m03 = m1.m03;
+
+        this.m10 = m1.m10;
+        this.m11 = m1.m11;
+        this.m12 = m1.m12;
+        this.m13 = m1.m13;
+
+        this.m20 = m1.m20;
+        this.m21 = m1.m21;
+        this.m22 = m1.m22;
+        this.m23 = m1.m23;
+
+        this.m30 = m1.m30;
+        this.m31 = m1.m31;
+        this.m32 = m1.m32;
+        this.m33 = m1.m33;
+    }
+
+    /**
+     * Sets the value of this matrix to the matrix conversion of the single
+     * precision quaternion argument.
+     * 
+     * @param q1
+     *            the quaternion to be converted
+     */
+    public final void set(Quaternion q1) {
+        this.m00 = (1.0f - 2.0f * q1.y * q1.y - 2.0f * q1.z * q1.z);
+        this.m10 = (2.0f * (q1.x * q1.y + q1.w * q1.z));
+        this.m20 = (2.0f * (q1.x * q1.z - q1.w * q1.y));
+
+        this.m01 = (2.0f * (q1.x * q1.y - q1.w * q1.z));
+        this.m11 = (1.0f - 2.0f * q1.x * q1.x - 2.0f * q1.z * q1.z);
+        this.m21 = (2.0f * (q1.y * q1.z + q1.w * q1.x));
+
+        this.m02 = (2.0f * (q1.x * q1.z + q1.w * q1.y));
+        this.m12 = (2.0f * (q1.y * q1.z - q1.w * q1.x));
+        this.m22 = (1.0f - 2.0f * q1.x * q1.x - 2.0f * q1.y * q1.y);
+
+        this.m03 = (float) 0.0;
+        this.m13 = (float) 0.0;
+        this.m23 = (float) 0.0;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Sets the value of this matrix from the rotation expressed by the
+     * quaternion q1, the translation t1, and the scale s.
+     * 
+     * @param q1
+     *            the rotation expressed as a quaternion
+     * @param t1
+     *            the translation
+     * @param s
+     *            the scale value
+     */
+    public final void set(Quaternion q1, Vec3D t1, double s) {
+        this.m00 = (float) (s * (1.0 - 2.0 * q1.y * q1.y - 2.0 * q1.z * q1.z));
+        this.m10 = (float) (s * (2.0 * (q1.x * q1.y + q1.w * q1.z)));
+        this.m20 = (float) (s * (2.0 * (q1.x * q1.z - q1.w * q1.y)));
+
+        this.m01 = (float) (s * (2.0 * (q1.x * q1.y - q1.w * q1.z)));
+        this.m11 = (float) (s * (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.z * q1.z));
+        this.m21 = (float) (s * (2.0 * (q1.y * q1.z + q1.w * q1.x)));
+
+        this.m02 = (float) (s * (2.0 * (q1.x * q1.z + q1.w * q1.y)));
+        this.m12 = (float) (s * (2.0 * (q1.y * q1.z - q1.w * q1.x)));
+        this.m22 = (float) (s * (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.y * q1.y));
+
+        this.m03 = t1.x;
+        this.m13 = t1.y;
+        this.m23 = t1.z;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Sets the value of this matrix from the rotation expressed by the
+     * quaternion q1, the translation t1, and the scale s.
+     * 
+     * @param q1
+     *            the rotation expressed as a quaternion
+     * @param t1
+     *            the translation
+     * @param s
+     *            the scale value
+     */
+    public final void set(Quaternion q1, Vec3D t1, float s) {
+        this.m00 = (s * (1.0f - 2.0f * q1.y * q1.y - 2.0f * q1.z * q1.z));
+        this.m10 = (s * (2.0f * (q1.x * q1.y + q1.w * q1.z)));
+        this.m20 = (s * (2.0f * (q1.x * q1.z - q1.w * q1.y)));
+
+        this.m01 = (s * (2.0f * (q1.x * q1.y - q1.w * q1.z)));
+        this.m11 = (s * (1.0f - 2.0f * q1.x * q1.x - 2.0f * q1.z * q1.z));
+        this.m21 = (s * (2.0f * (q1.y * q1.z + q1.w * q1.x)));
+
+        this.m02 = (s * (2.0f * (q1.x * q1.z + q1.w * q1.y)));
+        this.m12 = (s * (2.0f * (q1.y * q1.z - q1.w * q1.x)));
+        this.m22 = (s * (1.0f - 2.0f * q1.x * q1.x - 2.0f * q1.y * q1.y));
+
+        this.m03 = t1.x;
+        this.m13 = t1.y;
+        this.m23 = t1.z;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Sets the value of this matrix to a translate matrix with the passed
+     * translation value.
+     * 
+     * @param v1
+     *            the translation amount
+     */
+    public final void set(Vec3D v1) {
+        this.m00 = (float) 1.0;
+        this.m01 = (float) 0.0;
+        this.m02 = (float) 0.0;
+        this.m03 = v1.x;
+
+        this.m10 = (float) 0.0;
+        this.m11 = (float) 1.0;
+        this.m12 = (float) 0.0;
+        this.m13 = v1.y;
+
+        this.m20 = (float) 0.0;
+        this.m21 = (float) 0.0;
+        this.m22 = (float) 1.0;
+        this.m23 = v1.z;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Sets the value of this transform to a scale and translation matrix; the
+     * translation is scaled by the scale factor and all of the matrix values
+     * are modified.
+     * 
+     * @param t1
+     *            the translation amount
+     * @param scale
+     *            the scale factor for the matrix
+     */
+    public final void set(Vec3D t1, float scale) {
+        this.m00 = scale;
+        this.m01 = (float) 0.0;
+        this.m02 = (float) 0.0;
+        this.m03 = scale * t1.x;
+
+        this.m10 = (float) 0.0;
+        this.m11 = scale;
+        this.m12 = (float) 0.0;
+        this.m13 = scale * t1.y;
+
+        this.m20 = (float) 0.0;
+        this.m21 = (float) 0.0;
+        this.m22 = scale;
+        this.m23 = scale * t1.z;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Sets the specified column of this matrix4f to the four values provided.
+     * 
+     * @param column
+     *            the column number to be modified (zero indexed)
+     * @param v
+     *            the replacement column
+     */
+    public final void setColumn(int column, float v[]) {
+        switch (column) {
+            case 0:
+                this.m00 = v[0];
+                this.m10 = v[1];
+                this.m20 = v[2];
+                this.m30 = v[3];
+                break;
+
+            case 1:
+                this.m01 = v[0];
+                this.m11 = v[1];
+                this.m21 = v[2];
+                this.m31 = v[3];
+                break;
+
+            case 2:
+                this.m02 = v[0];
+                this.m12 = v[1];
+                this.m22 = v[2];
+                this.m32 = v[3];
+                break;
+
+            case 3:
+                this.m03 = v[0];
+                this.m13 = v[1];
+                this.m23 = v[2];
+                this.m33 = v[3];
+                break;
+
+            default:
+                throw new ArrayIndexOutOfBoundsException();
+        }
+    }
+
+    /**
+     * Sets the specified column of this matrix4f to the four values provided.
+     * 
+     * @param column
+     *            the column number to be modified (zero indexed)
+     * @param x
+     *            the first row element
+     * @param y
+     *            the second row element
+     * @param z
+     *            the third row element
+     * @param w
+     *            the fourth row element
+     */
+    public final void setColumn(int column, float x, float y, float z, float w) {
+        switch (column) {
+            case 0:
+                this.m00 = x;
+                this.m10 = y;
+                this.m20 = z;
+                this.m30 = w;
+                break;
+
+            case 1:
+                this.m01 = x;
+                this.m11 = y;
+                this.m21 = z;
+                this.m31 = w;
+                break;
+
+            case 2:
+                this.m02 = x;
+                this.m12 = y;
+                this.m22 = z;
+                this.m32 = w;
+                break;
+
+            case 3:
+                this.m03 = x;
+                this.m13 = y;
+                this.m23 = z;
+                this.m33 = w;
+                break;
+
+            default:
+                throw new ArrayIndexOutOfBoundsException();
+        }
+    }
+
+    /**
+     * Sets the specified column of this matrix4f to the vector provided.
+     * 
+     * @param column
+     *            the column number to be modified (zero indexed)
+     * @param v
+     *            the replacement column
+     */
+    public final void setColumn(int column, Vec4D v) {
+        switch (column) {
+            case 0:
+                this.m00 = v.x;
+                this.m10 = v.y;
+                this.m20 = v.z;
+                this.m30 = v.w;
+                break;
+
+            case 1:
+                this.m01 = v.x;
+                this.m11 = v.y;
+                this.m21 = v.z;
+                this.m31 = v.w;
+                break;
+
+            case 2:
+                this.m02 = v.x;
+                this.m12 = v.y;
+                this.m22 = v.z;
+                this.m32 = v.w;
+                break;
+
+            case 3:
+                this.m03 = v.x;
+                this.m13 = v.y;
+                this.m23 = v.z;
+                this.m33 = v.w;
+                break;
+
+            default:
+                throw new ArrayIndexOutOfBoundsException();
+        }
+    }
+
+    /**
+     * Sets the specified element of this matrix4f to the value provided.
+     * 
+     * @param row
+     *            the row number to be modified (zero indexed)
+     * @param column
+     *            the column number to be modified (zero indexed)
+     * @param value
+     *            the new value
+     */
+    public final void setElement(int row, int column, float value) {
+        switch (row) {
+            case 0:
+                switch (column) {
+                    case 0:
+                        this.m00 = value;
+                        break;
+                    case 1:
+                        this.m01 = value;
+                        break;
+                    case 2:
+                        this.m02 = value;
+                        break;
+                    case 3:
+                        this.m03 = value;
+                        break;
+                    default:
+                        throw new ArrayIndexOutOfBoundsException();
+                }
+                break;
+
+            case 1:
+                switch (column) {
+                    case 0:
+                        this.m10 = value;
+                        break;
+                    case 1:
+                        this.m11 = value;
+                        break;
+                    case 2:
+                        this.m12 = value;
+                        break;
+                    case 3:
+                        this.m13 = value;
+                        break;
+                    default:
+                        throw new ArrayIndexOutOfBoundsException();
+                }
+                break;
+
+            case 2:
+                switch (column) {
+                    case 0:
+                        this.m20 = value;
+                        break;
+                    case 1:
+                        this.m21 = value;
+                        break;
+                    case 2:
+                        this.m22 = value;
+                        break;
+                    case 3:
+                        this.m23 = value;
+                        break;
+                    default:
+                        throw new ArrayIndexOutOfBoundsException();
+                }
+                break;
+
+            case 3:
+                switch (column) {
+                    case 0:
+                        this.m30 = value;
+                        break;
+                    case 1:
+                        this.m31 = value;
+                        break;
+                    case 2:
+                        this.m32 = value;
+                        break;
+                    case 3:
+                        this.m33 = value;
+                        break;
+                    default:
+                        throw new ArrayIndexOutOfBoundsException();
+                }
+                break;
+
+            default:
+                throw new ArrayIndexOutOfBoundsException();
+        }
+    }
+
+    /**
+     * Sets this Matrix4f to identity.
+     */
+    public final void setIdentity() {
+        this.m00 = (float) 1.0;
+        this.m01 = (float) 0.0;
+        this.m02 = (float) 0.0;
+        this.m03 = (float) 0.0;
+
+        this.m10 = (float) 0.0;
+        this.m11 = (float) 1.0;
+        this.m12 = (float) 0.0;
+        this.m13 = (float) 0.0;
+
+        this.m20 = (float) 0.0;
+        this.m21 = (float) 0.0;
+        this.m22 = (float) 1.0;
+        this.m23 = (float) 0.0;
+
+        this.m30 = (float) 0.0;
+        this.m31 = (float) 0.0;
+        this.m32 = (float) 0.0;
+        this.m33 = (float) 1.0;
+    }
+
+    /**
+     * Set the first matrix element in the first row.
+     * 
+     * @param m00
+     *            The m00 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM00(float m00) {
+        this.m00 = m00;
+    }
+
+    /**
+     * Set the second matrix element in the first row.
+     * 
+     * @param m01
+     *            The m01 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM01(float m01) {
+        this.m01 = m01;
+    }
+
+    /**
+     * Set the third matrix element in the first row.
+     * 
+     * @param m02
+     *            The m02 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM02(float m02) {
+        this.m02 = m02;
+    }
+
+    /**
+     * Set the fourth element of the first row.
+     * 
+     * @param m03
+     *            The m03 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM03(float m03) {
+        this.m03 = m03;
+    }
+
+    /**
+     * Set first matrix element in the second row.
+     * 
+     * @param m10
+     *            The m10 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM10(float m10) {
+        this.m10 = m10;
+    }
+
+    /**
+     * Set the second matrix element in the second row.
+     * 
+     * @param m11
+     *            The m11 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM11(float m11) {
+        this.m11 = m11;
+    }
+
+    /**
+     * Set the third matrix element in the second row.
+     * 
+     * @param m12
+     *            The m12 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM12(float m12) {
+        this.m12 = m12;
+    }
+
+    /**
+     * Set the fourth element of the second row.
+     * 
+     * @param m13
+     *            The m13 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM13(float m13) {
+        this.m13 = m13;
+    }
+
+    /**
+     * Set the first matrix element in the third row.
+     * 
+     * @param m20
+     *            The m20 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM20(float m20) {
+        this.m20 = m20;
+    }
+
+    /**
+     * Set the second matrix element in the third row.
+     * 
+     * @param m21
+     *            The m21 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM21(float m21) {
+        this.m21 = m21;
+    }
+
+    /**
+     * Set the third matrix element in the third row.
+     * 
+     * @param m22
+     *            The m22 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM22(float m22) {
+        this.m22 = m22;
+    }
+
+    /**
+     * Set the fourth element of the third row.
+     * 
+     * @param m23
+     *            The m23 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM23(float m23) {
+        this.m23 = m23;
+    }
+
+    /**
+     * Set the first element of the fourth row.
+     * 
+     * @param m30
+     *            The m30 to set.
+     * 
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM30(float m30) {
+        this.m30 = m30;
+    }
+
+    /**
+     * Set the second element of the fourth row.
+     * 
+     * @param m31
+     *            The m31 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM31(float m31) {
+        this.m31 = m31;
+    }
+
+    /**
+     * Set the third element of the fourth row.
+     * 
+     * @param m32
+     *            The m32 to set.
+     * 
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM32(float m32) {
+        this.m32 = m32;
+    }
+
+    /**
+     * Set the fourth element of the fourth row.
+     * 
+     * @param m33
+     *            The m33 to set.
+     * 
+     * @since vecmath 1.5
+     */
+    public final void setM33(float m33) {
+        this.m33 = m33;
+    }
+
+    /**
+     * Sets the rotational component (upper 3x3) of this matrix to the matrix
+     * values in the double precision Matrix3d argument; the other elements of
+     * this matrix are unchanged; a singular value decomposition is performed on
+     * this object's upper 3x3 matrix to factor out the scale, then this
+     * object's upper 3x3 matrix components are replaced by the passed rotation
+     * components, and then the scale is reapplied to the rotational components.
+     * 
+     * @param m1
+     *            double precision 3x3 matrix
+     */
+    public final void setRotation(Matrix3d m1) {
+        double[] tmp_rot = new double[9];
+        double[] tmp_scale = new double[3];
+
+        getScaleRotate(tmp_scale, tmp_rot);
+
+        m00 = (float) (m1.m00 * tmp_scale[0]);
+        m01 = (float) (m1.m01 * tmp_scale[1]);
+        m02 = (float) (m1.m02 * tmp_scale[2]);
+
+        m10 = (float) (m1.m10 * tmp_scale[0]);
+        m11 = (float) (m1.m11 * tmp_scale[1]);
+        m12 = (float) (m1.m12 * tmp_scale[2]);
+
+        m20 = (float) (m1.m20 * tmp_scale[0]);
+        m21 = (float) (m1.m21 * tmp_scale[1]);
+        m22 = (float) (m1.m22 * tmp_scale[2]);
+
+    }
+
+    /**
+     * Sets the rotational component (upper 3x3) of this matrix to the matrix
+     * equivalent values of the quaternion argument; the other elements of this
+     * matrix are unchanged; a singular value decomposition is performed on this
+     * object's upper 3x3 matrix to factor out the scale, then this object's
+     * upper 3x3 matrix components are replaced by the matrix equivalent of the
+     * quaternion, and then the scale is reapplied to the rotational components.
+     * 
+     * @param q1
+     *            the quaternion that specifies the rotation
+     */
+    public final void setRotation(Quaternion q1) {
+        double[] tmp_rot = new double[9]; // scratch matrix
+        double[] tmp_scale = new double[3]; // scratch matrix
+        getScaleRotate(tmp_scale, tmp_rot);
+
+        m00 = (float) ((1.0f - 2.0f * q1.y * q1.y - 2.0f * q1.z * q1.z) * tmp_scale[0]);
+        m10 = (float) ((2.0f * (q1.x * q1.y + q1.w * q1.z)) * tmp_scale[0]);
+        m20 = (float) ((2.0f * (q1.x * q1.z - q1.w * q1.y)) * tmp_scale[0]);
+
+        m01 = (float) ((2.0f * (q1.x * q1.y - q1.w * q1.z)) * tmp_scale[1]);
+        m11 = (float) ((1.0f - 2.0f * q1.x * q1.x - 2.0f * q1.z * q1.z) * tmp_scale[1]);
+        m21 = (float) ((2.0f * (q1.y * q1.z + q1.w * q1.x)) * tmp_scale[1]);
+
+        m02 = (float) ((2.0f * (q1.x * q1.z + q1.w * q1.y)) * tmp_scale[2]);
+        m12 = (float) ((2.0f * (q1.y * q1.z - q1.w * q1.x)) * tmp_scale[2]);
+        m22 = (float) ((1.0f - 2.0f * q1.x * q1.x - 2.0f * q1.y * q1.y) * tmp_scale[2]);
+
+    }
+
+    /**
+     * Replaces the upper 3x3 matrix values of this matrix with the values in
+     * the matrix m1.
+     * 
+     * @param m1
+     *            the matrix that will be the new upper 3x3
+     */
+    public final void setRotationScale(Matrix3d m1) {
+        m00 = (float) m1.m00;
+        m01 = (float) m1.m01;
+        m02 = (float) m1.m02;
+        m10 = (float) m1.m10;
+        m11 = (float) m1.m11;
+        m12 = (float) m1.m12;
+        m20 = (float) m1.m20;
+        m21 = (float) m1.m21;
+        m22 = (float) m1.m22;
+    }
+
+    /**
+     * Sets the specified row of this matrix4f to the four values provided in
+     * the passed array.
+     * 
+     * @param row
+     *            the row number to be modified (zero indexed)
+     * @param v
+     *            the replacement row
+     */
+    public final void setRow(int row, float v[]) {
+        switch (row) {
+            case 0:
+                this.m00 = v[0];
+                this.m01 = v[1];
+                this.m02 = v[2];
+                this.m03 = v[3];
+                break;
+
+            case 1:
+                this.m10 = v[0];
+                this.m11 = v[1];
+                this.m12 = v[2];
+                this.m13 = v[3];
+                break;
+
+            case 2:
+                this.m20 = v[0];
+                this.m21 = v[1];
+                this.m22 = v[2];
+                this.m23 = v[3];
+                break;
+
+            case 3:
+                this.m30 = v[0];
+                this.m31 = v[1];
+                this.m32 = v[2];
+                this.m33 = v[3];
+                break;
+
+            default:
+                throw new ArrayIndexOutOfBoundsException();
+        }
+    }
+
+    /**
+     * Sets the specified row of this matrix4f to the four values provided.
+     * 
+     * @param row
+     *            the row number to be modified (zero indexed)
+     * @param x
+     *            the first column element
+     * @param y
+     *            the second column element
+     * @param z
+     *            the third column element
+     * @param w
+     *            the fourth column element
+     */
+    public final void setRow(int row, float x, float y, float z, float w) {
+        switch (row) {
+            case 0:
+                this.m00 = x;
+                this.m01 = y;
+                this.m02 = z;
+                this.m03 = w;
+                break;
+
+            case 1:
+                this.m10 = x;
+                this.m11 = y;
+                this.m12 = z;
+                this.m13 = w;
+                break;
+
+            case 2:
+                this.m20 = x;
+                this.m21 = y;
+                this.m22 = z;
+                this.m23 = w;
+                break;
+
+            case 3:
+                this.m30 = x;
+                this.m31 = y;
+                this.m32 = z;
+                this.m33 = w;
+                break;
+
+            default:
+                throw new ArrayIndexOutOfBoundsException();
+        }
+    }
+
+    /**
+     * Sets the specified row of this matrix4f to the Vector provided.
+     * 
+     * @param row
+     *            the row number to be modified (zero indexed)
+     * @param v
+     *            the replacement row
+     */
+    public final void setRow(int row, Vec4D v) {
+        switch (row) {
+            case 0:
+                this.m00 = v.x;
+                this.m01 = v.y;
+                this.m02 = v.z;
+                this.m03 = v.w;
+                break;
+
+            case 1:
+                this.m10 = v.x;
+                this.m11 = v.y;
+                this.m12 = v.z;
+                this.m13 = v.w;
+                break;
+
+            case 2:
+                this.m20 = v.x;
+                this.m21 = v.y;
+                this.m22 = v.z;
+                this.m23 = v.w;
+                break;
+
+            case 3:
+                this.m30 = v.x;
+                this.m31 = v.y;
+                this.m32 = v.z;
+                this.m33 = v.w;
+                break;
+
+            default:
+                throw new ArrayIndexOutOfBoundsException();
+        }
+    }
+
+    /**
+     * Sets the scale component of the current matrix by factoring out the
+     * current scale (by doing an SVD) from the rotational component and
+     * multiplying by the new scale.
+     * 
+     * @param scale
+     *            the new scale amount
+     */
+    public final void setScale(float scale) {
+
+        double[] tmp_rot = new double[9]; // scratch matrix
+        double[] tmp_scale = new double[3]; // scratch matrix
+        getScaleRotate(tmp_scale, tmp_rot);
+
+        m00 = (float) (tmp_rot[0] * scale);
+        m01 = (float) (tmp_rot[1] * scale);
+        m02 = (float) (tmp_rot[2] * scale);
+
+        m10 = (float) (tmp_rot[3] * scale);
+        m11 = (float) (tmp_rot[4] * scale);
+        m12 = (float) (tmp_rot[5] * scale);
+
+        m20 = (float) (tmp_rot[6] * scale);
+        m21 = (float) (tmp_rot[7] * scale);
+        m22 = (float) (tmp_rot[8] * scale);
+
+    }
+
+    /**
+     * Modifies the translational components of this matrix to the values of the
+     * Vector3f argument; the other values of this matrix are not modified.
+     * 
+     * @param trans
+     *            the translational component
+     */
+    public final void setTranslation(Vec3D trans) {
+        m03 = trans.x;
+        m13 = trans.y;
+        m23 = trans.z;
+    }
+
+    /**
+     * Sets this matrix to all zeros.
+     */
+    public final void setZero() {
+        m00 = 0.0f;
+        m01 = 0.0f;
+        m02 = 0.0f;
+        m03 = 0.0f;
+        m10 = 0.0f;
+        m11 = 0.0f;
+        m12 = 0.0f;
+        m13 = 0.0f;
+        m20 = 0.0f;
+        m21 = 0.0f;
+        m22 = 0.0f;
+        m23 = 0.0f;
+        m30 = 0.0f;
+        m31 = 0.0f;
+        m32 = 0.0f;
+        m33 = 0.0f;
+    }
+
+    /**
+     * Sets this matrix to the matrix difference of itself and matrix m1 (this =
+     * this - m1).
+     * 
+     * @param m1
+     *            the other matrix
+     */
+    public final void sub(Matrix4f m1) {
+        this.m00 -= m1.m00;
+        this.m01 -= m1.m01;
+        this.m02 -= m1.m02;
+        this.m03 -= m1.m03;
+
+        this.m10 -= m1.m10;
+        this.m11 -= m1.m11;
+        this.m12 -= m1.m12;
+        this.m13 -= m1.m13;
+
+        this.m20 -= m1.m20;
+        this.m21 -= m1.m21;
+        this.m22 -= m1.m22;
+        this.m23 -= m1.m23;
+
+        this.m30 -= m1.m30;
+        this.m31 -= m1.m31;
+        this.m32 -= m1.m32;
+        this.m33 -= m1.m33;
+    }
+
+    /**
+     * Performs an element-by-element subtraction of matrix m2 from matrix m1
+     * and places the result into matrix this (this = m2 - m1).
+     * 
+     * @param m1
+     *            the first matrix
+     * @param m2
+     *            the second matrix
+     */
+    public final void sub(Matrix4f m1, Matrix4f m2) {
+        this.m00 = m1.m00 - m2.m00;
+        this.m01 = m1.m01 - m2.m01;
+        this.m02 = m1.m02 - m2.m02;
+        this.m03 = m1.m03 - m2.m03;
+
+        this.m10 = m1.m10 - m2.m10;
+        this.m11 = m1.m11 - m2.m11;
+        this.m12 = m1.m12 - m2.m12;
+        this.m13 = m1.m13 - m2.m13;
+
+        this.m20 = m1.m20 - m2.m20;
+        this.m21 = m1.m21 - m2.m21;
+        this.m22 = m1.m22 - m2.m22;
+        this.m23 = m1.m23 - m2.m23;
+
+        this.m30 = m1.m30 - m2.m30;
+        this.m31 = m1.m31 - m2.m31;
+        this.m32 = m1.m32 - m2.m32;
+        this.m33 = m1.m33 - m2.m33;
+    }
+
+    /**
+     * Returns a string that contains the values of this Matrix4f.
+     * 
+     * @return the String representation
+     */
+    @Override
+    public String toString() {
+        return this.m00 + ", " + this.m01 + ", " + this.m02 + ", " + this.m03
+                + "\n" + this.m10 + ", " + this.m11 + ", " + this.m12 + ", "
+                + this.m13 + "\n" + this.m20 + ", " + this.m21 + ", "
+                + this.m22 + ", " + this.m23 + "\n" + this.m30 + ", "
+                + this.m31 + ", " + this.m32 + ", " + this.m33 + "\n";
+    }
+
+    /**
+     * Transform the vector vec using this Transform and place the result back
+     * into vec.
+     * 
+     * @param vec
+     *            the single precision vector to be transformed
+     */
+    public final void transform(Vec4D vec) {
+        float x, y, z;
+
+        x = m00 * vec.x + m01 * vec.y + m02 * vec.z + m03 * vec.w;
+        y = m10 * vec.x + m11 * vec.y + m12 * vec.z + m13 * vec.w;
+        z = m20 * vec.x + m21 * vec.y + m22 * vec.z + m23 * vec.w;
+        vec.w = m30 * vec.x + m31 * vec.y + m32 * vec.z + m33 * vec.w;
+        vec.x = x;
+        vec.y = y;
+        vec.z = z;
+    }
+
+    /**
+     * Transform the vector vec using this Matrix4f and place the result into
+     * vecOut.
+     * 
+     * @param vec
+     *            the single precision vector to be transformed
+     * @param vecOut
+     *            the vector into which the transformed values are placed
+     */
+    public final void transform(Vec4D vec, Vec4D vecOut) {
+        float x, y, z;
+        x = m00 * vec.x + m01 * vec.y + m02 * vec.z + m03 * vec.w;
+        y = m10 * vec.x + m11 * vec.y + m12 * vec.z + m13 * vec.w;
+        z = m20 * vec.x + m21 * vec.y + m22 * vec.z + m23 * vec.w;
+        vecOut.w = m30 * vec.x + m31 * vec.y + m32 * vec.z + m33 * vec.w;
+        vecOut.x = x;
+        vecOut.y = y;
+        vecOut.z = z;
+    }
+
+    /**
+     * Transforms the point parameter with this Matrix4f and places the result
+     * back into point. The fourth element of the point input paramter is
+     * assumed to be one.
+     * 
+     * @param point
+     *            the input point to be transformed.
+     */
+    public final void transformOne(Vec3D point) {
+        float x, y;
+        x = m00 * point.x + m01 * point.y + m02 * point.z + m03;
+        y = m10 * point.x + m11 * point.y + m12 * point.z + m13;
+        point.z = m20 * point.x + m21 * point.y + m22 * point.z + m23;
+        point.x = x;
+        point.y = y;
+    }
+
+    /**
+     * Transforms the point parameter with this Matrix4f and places the result
+     * into pointOut. The fourth element of the point input paramter is assumed
+     * to be one.
+     * 
+     * @param point
+     *            the input point to be transformed.
+     * @param pointOut
+     *            the transformed point
+     */
+    public final void transformOne(Vec3D point, Vec3D pointOut) {
+        float x, y;
+        x = m00 * point.x + m01 * point.y + m02 * point.z + m03;
+        y = m10 * point.x + m11 * point.y + m12 * point.z + m13;
+        pointOut.z = m20 * point.x + m21 * point.y + m22 * point.z + m23;
+        pointOut.x = x;
+        pointOut.y = y;
+    }
+
+    /**
+     * Transforms the normal parameter by this transform and places the value
+     * back into normal. The fourth element of the normal is assumed to be zero.
+     * 
+     * @param normal
+     *            the input normal to be transformed.
+     */
+    public final void transformZero(Vec3D normal) {
+        float x, y;
+
+        x = m00 * normal.x + m01 * normal.y + m02 * normal.z;
+        y = m10 * normal.x + m11 * normal.y + m12 * normal.z;
+        normal.z = m20 * normal.x + m21 * normal.y + m22 * normal.z;
+        normal.x = x;
+        normal.y = y;
+    }
+
+    /**
+     * Transforms the normal parameter by this Matrix4f and places the value
+     * into normalOut. The fourth element of the normal is assumed to be zero.
+     * 
+     * @param normal
+     *            the input normal to be transformed.
+     * @param normalOut
+     *            the transformed normal
+     */
+    public final void transformZero(Vec3D normal, Vec3D normalOut) {
+        float x, y;
+        x = m00 * normal.x + m01 * normal.y + m02 * normal.z;
+        y = m10 * normal.x + m11 * normal.y + m12 * normal.z;
+        normalOut.z = m20 * normal.x + m21 * normal.y + m22 * normal.z;
+        normalOut.x = x;
+        normalOut.y = y;
+    }
+
+    /**
+     * Sets the value of this matrix to its transpose in place.
+     */
+    public final void transpose() {
+        float temp;
+
+        temp = this.m10;
+        this.m10 = this.m01;
+        this.m01 = temp;
+
+        temp = this.m20;
+        this.m20 = this.m02;
+        this.m02 = temp;
+
+        temp = this.m30;
+        this.m30 = this.m03;
+        this.m03 = temp;
+
+        temp = this.m21;
+        this.m21 = this.m12;
+        this.m12 = temp;
+
+        temp = this.m31;
+        this.m31 = this.m13;
+        this.m13 = temp;
+
+        temp = this.m32;
+        this.m32 = this.m23;
+        this.m23 = temp;
+    }
+
+    /**
+     * Sets the value of this matrix to the transpose of the argument matrix.
+     * 
+     * @param m1
+     *            the matrix to be transposed
+     */
+    public final void transpose(Matrix4f m1) {
+        if (this != m1) {
+            this.m00 = m1.m00;
+            this.m01 = m1.m10;
+            this.m02 = m1.m20;
+            this.m03 = m1.m30;
+
+            this.m10 = m1.m01;
+            this.m11 = m1.m11;
+            this.m12 = m1.m21;
+            this.m13 = m1.m31;
+
+            this.m20 = m1.m02;
+            this.m21 = m1.m12;
+            this.m22 = m1.m22;
+            this.m23 = m1.m32;
+
+            this.m30 = m1.m03;
+            this.m31 = m1.m13;
+            this.m32 = m1.m23;
+            this.m33 = m1.m33;
+        } else {
+            this.transpose();
+        }
+    }
+}