/**
* Post multiplies this {@link Matrix4} with the rotation specified by the provided {@link
* Quaternion}.
*
* @param quat {@link Quaternion} describing the rotation to apply.
* @return A reference to this {@link Matrix4} to facilitate chaining.
*/
@NonNull
public Matrix4 rotate(@NonNull Quaternion quat) {
if (mMatrix == null) {
mMatrix = quat.toRotationMatrix();
} else {
quat.toRotationMatrix(mMatrix);
}
return multiply(mMatrix);
}
public void inverseTransform(
final Number3D position, final Number3D scale, final Quaternion orientation) {
Number3D invTranslate = position.inverse();
Number3D invScale = new Number3D(1 / scale.x, 1 / scale.y, 1 / scale.z);
Quaternion invRot = orientation.inverse();
invTranslate = invRot.multiply(invTranslate);
invTranslate.multiply(invScale);
invRot.toRotationMatrix(mTmp);
m[0] = invScale.x * mTmp[0];
m[1] = invScale.x * mTmp[1];
m[2] = invScale.x * mTmp[2];
m[3] = invTranslate.x;
m[4] = invScale.y * mTmp[4];
m[5] = invScale.y * mTmp[5];
m[6] = invScale.y * mTmp[6];
m[7] = invTranslate.y;
m[8] = invScale.z * mTmp[8];
m[9] = invScale.z * mTmp[9];
m[10] = invScale.z * mTmp[10];
m[11] = invTranslate.z;
m[12] = 0;
m[13] = 0;
m[14] = 0;
m[15] = 1;
}
public void transform(
final Number3D position, final Number3D scale, final Quaternion orientation) {
orientation.toRotationMatrix(mTmp);
m[0] = scale.x * mTmp[0];
m[1] = scale.y * mTmp[1];
m[2] = scale.z * mTmp[2];
m[3] = position.x;
m[4] = scale.x * mTmp[4];
m[5] = scale.y * mTmp[5];
m[6] = scale.z * mTmp[6];
m[7] = position.y;
m[8] = scale.x * mTmp[8];
m[9] = scale.y * mTmp[9];
m[10] = scale.z * mTmp[10];
m[11] = position.z;
m[12] = 0;
m[13] = 0;
m[14] = 0;
m[15] = 1;
}
/**
* Sets the elements of this {@link Matrix4} based on the rotation represented by the provided
* {@link Quaternion}.
*
* @param quat {@link Quaternion} The {@link Quaternion} to represent.
* @return A reference to this {@link Matrix4} to facilitate chaining.
*/
@NonNull
public Matrix4 setAll(@NonNull Quaternion quat) {
quat.toRotationMatrix(m);
return this;
}
