Class Matrix3

The Matrix3 implements a 3x3 matrix that can be used for non-homogenous transformations of three dimensional vectors and points.

The class follows the 'copy-on-write' pattern, which means that every operation such as Matrix3.multiply returns a copy of the matrix with updated values. It also implies that the values of the matrix cannot be directly modified.

The concept of immutability improves sharing of objects as all types in TypeScript are assigned by identity, instead of by-value (e.g. a copy) as in other programming languages like C.

Note

The matrix storage is "row-major" meaning that elements [0...2] represents the first row. The first column is represented by the elements [0, 3, 6]

Constructors

constructor

new Matrix3(
    m00?: number,
    m01?: number,
    m02?: number,
    m10?: number,
    m11?: number,
    m12?: number,
    m20?: number,
    m21?: number,
    m22?: number,
): Matrix3
Parameters
- Optionalm00: number
- Optionalm01: number
- Optionalm02: number
- Optionalm10: number
- Optionalm11: number
- Optionalm12: number
- Optionalm20: number
- Optionalm21: number
- Optionalm22: number
Returns Matrix3

Properties

`Static` `Readonly`identity

identity: Immutable<Matrix3>

Identity matrix.

`Static` `Readonly`zero

zero: Immutable<Matrix3>

A matrix with all zero values.

Accessors

m00

get m00(): number

Returns number
set m00(m00: number): void
Parameters
- m00: number
Returns void

m01

get m01(): number

Returns number
set m01(m01: number): void
Parameters
- m01: number
Returns void

m02

get m02(): number

Returns number
set m02(m02: number): void
Parameters
- m02: number
Returns void

m10

get m10(): number

Returns number
set m10(m10: number): void
Parameters
- m10: number
Returns void

m11

get m11(): number

Returns number
set m11(m11: number): void
Parameters
- m11: number
Returns void

m12

get m12(): number

Returns number
set m12(m12: number): void
Parameters
- m12: number
Returns void

m20

get m20(): number

Returns number
set m20(m20: number): void
Parameters
- m20: number
Returns void

m21

get m21(): number

Returns number
set m21(m21: number): void
Parameters
- m21: number
Returns void

m22

get m22(): number

Returns number
set m22(m22: number): void
Parameters
- m22: number
Returns void

Methods

assign

assign(other: Immutable<Matrix3>): Matrix3
Copies all properties defined by the prototype of Matrix3 from other to this instance.
Parameters
- other: Immutable<Matrix3>
Returns Matrix3

calculateDeterminant

calculateDeterminant(): number

Calculates the matrix determinant.

Returns number
Determinant of the matrix.

clone

clone(): Matrix3

Clones this instance and returns a new Matrix3 with identical values.

Returns Matrix3

doInvert

doInvert(tolerance?: number): boolean
Calculates an inverse of the matrix if it exists.
Parameters
- Optionaltolerance: number
Returns boolean

doMultiply

doMultiply(rhs: Immutable<Matrix3>): Matrix3
Multiplies this matrix by another matrix and assigns the result to this matrix.
Parameters
- rhs: Immutable<Matrix3>
Returns Matrix3

doTranspose

doTranspose(): void

Returns a transpose of the matrix (switched columns and rows).

Returns void

getColumn

getColumn(columnIndex: number): Vector3
Gets a specific column in the matrix.
Parameters
- columnIndex: number
  Index of the column in range [0, 2].
Returns Vector3
The column as Vector3.

getElement

getElement(row: number, column: number): number
Gets the value of the specified element in the matrix.
Parameters
- row: number
  Row index of the element to retrieve.
- column: number
  Column index of the element to retrieve.
Returns number
Value of the element.

getElementAtIndex

getElementAtIndex(index: number): number
Value of the specified element in the matrix using a linear index. Linear index can be calculated using the following formula: idx = row * 3 + column.
Parameters
- index: number
  Linear index to get the value of.
Returns number
Value of the element.

getRotationScale

getRotationScale(): { rotation: Quaternion; scale: Vector3 }
Decompose a matrix to rotation and scale components. Matrix must consist only of rotation and uniform scale transformations, otherwise accurate results are not guaranteed. Applying non-uniform scale guarantees results will not be accurate.

Returns { rotation: Quaternion; scale: Vector3 }
An anonymous object with the following members
- rotation, the rotation quaternion.
- scale, the scale factors.

invert

invert(): Matrix3

Calculates the inverse of the matrix if it exists.

Returns Matrix3
Inverse of the matrix.

isEqual

isEqual(rhs: Immutable<Matrix3>): boolean
Determines if both matrices are element-wise equal.
Parameters
- rhs: Immutable<Matrix3>
Returns boolean

multiply

multiply(rhs: Immutable<Matrix3>): Matrix3
Parameters
- rhs: Immutable<Matrix3>
Returns Matrix3

qduDecomposition

qduDecomposition(): { matQ: Matrix3; vecD: Vector3; vecU: Vector3 }
Decomposes the matrix into a set of values.

Returns { matQ: Matrix3; vecD: Vector3; vecU: Vector3 }
An object containing the following objects:
- matQ Columns form orthonormal bases. If your matrix is affine and doesn't use non-uniform scaling this matrix will be the rotation part of the matrix.
- vecD If the matrix is affine these will be scaling factors of the matrix.
- vecU If the matrix is affine these will be shear factors of the matrix.

setColumn

setColumn(columnIndex: number, column: Immutable<Vector3>): Matrix3
Sets values of a specific column in the matrix.
Parameters
- columnIndex: number
  Index of the column in range [0, 2].
- column: Immutable<Vector3>
  Values to set in the column.
Returns Matrix3

setElement

setElement(row: number, column: number, value: number): void
Sets the value of the specified element in the matrix.
Parameters
- row: number
  Row index of the element to retrieve.
- column: number
  Column index of the element to retrieve.
- value: number
Returns void
Value of the element.

setElementAtIndex

setElementAtIndex(index: number, value: number): void
Sets value of the specified element in the matrix using a linear index. Linear index can be calculated using the following formula: idx = row * 4 + column.
Parameters
- index: number
  Linear index to gsetet the value of.
- value: number
  New value of the element.
Returns void

toAxisAngle

toAxisAngle(): { angle: rsx.Degree; axis: Vector3 }
Converts an orthonormal matrix to axis angle representation.

Returns { angle: rsx.Degree; axis: Vector3 }
An anonymous object with the following members:
- axis Axis around which the rotation is performed.
- angle Amount of rotation.

toEulerAnglesYXZ

toEulerAnglesYXZ(): Vector3

Converts an orthonormal matrix to euler angle (pitch/yaw/roll) representation with YXZ intrinsic order (RSX's default).

Returns Vector3
Euler angles in degrees representing the rotation in this matrix.

toQuaternion

toQuaternion(): Quaternion

Converts an orthonormal matrix to quaternion representation.

Returns Quaternion
Quaternion representing the rotation in this matrix.

toString

toString(): string

Returns string

transform

transform(vector: Immutable<Vector3>): Vector3
Transforms the given vector by this matrix and returns the newly transformed vector.
Parameters
- vector: Immutable<Vector3>
  Three dimensional vector to transform.
Returns Vector3
Vector transformed by the matrix.

transpose

transpose(): Matrix3

Calculates the transpose of the matrix.

Returns Matrix3

`Static`fromQuaternion

fromQuaternion(quat: Immutable<Quaternion>): Matrix3
Creates a rotation matrix from a quaternion rotation.
Parameters
- quat: Immutable<Quaternion>
  Quaternion to create the matrix from.
Returns Matrix3
rotation matrix containing the equivalent rotation of the provided quaternion.

`Static`isEqual

isEqual(lhs: Immutable<Matrix3>, rhs: Immutable<Matrix3>): boolean
Determines if both matrices are element-wise equal.
Parameters
- lhs: Immutable<Matrix3>
- rhs: Immutable<Matrix3>
Returns boolean

`Static`multiply

multiply(lhs: Immutable<Matrix3>, rhs: Immutable<Matrix3>): Matrix3
Multiplies both matrices and returns the result.
Parameters
- lhs: Immutable<Matrix3>
- rhs: Immutable<Matrix3>
Returns Matrix3

`Static`withAxisAngleInDegree

withAxisAngleInDegree(axis: Immutable<Vector3>, angle: rsx.Degree): Matrix3
Creates a rotation matrix from axis/angle rotation.
Parameters
- axis: Immutable<Vector3>
  Axis around which the rotation is performed.
- angle: rsx.Degree
  Amount of rotation.
Returns Matrix3
rotation matrix that can rotate an object around the specified axis for the specified amount.

`Static`withElements

withElements(
    m00: number,
    m01: number,
    m02: number,
    m10: number,
    m11: number,
    m12: number,
    m20: number,
    m21: number,
    m22: number,
): Matrix3
Creates a new matrix with the specified elements.
Parameters
- m00: number
- m01: number
- m02: number
- m10: number
- m11: number
- m12: number
- m20: number
- m21: number
- m22: number
Returns Matrix3

`Static`withEulerAngleInRadians

withEulerAngleInRadians(
    xAngle: rsx.Radian,
    yAngle: rsx.Radian,
    zAngle: rsx.Radian,
    order?: EnumValue<EulerAngleOrder>,
): Matrix3
Creates a rotation matrix from the provided euler angle (pitch/yaw/roll) rotation.
Parameters
- xAngle: rsx.Radian
  Pitch angle of rotation.
- yAngle: rsx.Radian
  Yaw angle of rotation.
- zAngle: rsx.Radian
  Roll angle of rotation.
- Optionalorder: EnumValue<EulerAngleOrder>
  The EulerAngleOrder in which rotations will be applied. Different rotations can be created depending on the order.
Returns Matrix3
rotation matrix that can rotate an object to the specified angles.

`Static`withEulerAnglesInDegrees

withEulerAnglesInDegrees(
euler: Immutable<Vector3>,
order?: EnumValue<EulerAngleOrder>,
): Matrix3
Creates a rotation matrix from the provided euler angle (pitch/yaw/roll) rotation.
Parameters
- euler: Immutable<Vector3>
  Euler angles in degrees.
- Optionalorder: EnumValue<EulerAngleOrder>
  The order in which rotations will be applied. Different rotations can be created depending on the order.
Returns Matrix3
rotation matrix that can rotate an object to the specified angles.

`Static`withEulerAnglesYXZ

withEulerAnglesYXZ(euler: Immutable<Vector3>): Matrix3
Creates a rotation matrix from the provided euler angle (pitch/yaw/roll) rotation.
Parameters
- euler: Immutable<Vector3>
  Euler angles in degrees.
Returns Matrix3
rotation matrix that can rotate an object to the specified angles.

Note
Angles are applied in YXZ intrinsic order (RSX's default euler order).

`Static`withEulerAngleYXZDegreeValues

withEulerAngleYXZDegreeValues(
    xAngle: rsx.Degree,
    yAngle: rsx.Degree,
    zAngle: rsx.Degree,
): Matrix3
Creates a rotation matrix from the provided euler angle (pitch/yaw/roll) rotation.
Parameters
- xAngle: rsx.Degree
  Pitch angle of rotation.
- yAngle: rsx.Degree
  Yar angle of rotation.
- zAngle: rsx.Degree
  Roll angle of rotation.
Returns Matrix3
rotation matrix that can rotate an object to the specified angles.

Note
Angles are applied in YXZ intrinsic order (RSX's default euler order).

`Static`withEulerAngleYXZRadianValues

withEulerAngleYXZRadianValues(
    xAngle: rsx.Radian,
    yAngle: rsx.Radian,
    zAngle: rsx.Radian,
): Matrix3
Creates a rotation matrix from the provided euler angle (pitch/yaw/roll) rotation.
Parameters
- xAngle: rsx.Radian
  Pitch angle of rotation.
- yAngle: rsx.Radian
  Yar angle of rotation.
- zAngle: rsx.Radian
  Roll angle of rotation.
Returns Matrix3
rotation matrix that can rotate an object to the specified angles.

Note
Angles are applied in YXZ intrinsic order (RSX's default euler order).

`Static`withRotationScale

withRotationScale(
rotation: Immutable<Quaternion>,
scale: Immutable<Vector3>,
): Matrix3
Construct a matrix that performs rotation and scale.
Parameters
- rotation: Immutable<Quaternion>
- scale: Immutable<Vector3>
Returns Matrix3

`Static`withRotationScaleSkew

withRotationScaleSkew(
    rotation: Immutable<Quaternion>,
    scale: Immutable<Vector3>,
    skew: Immutable<Vector3>,
): Matrix3
Construct a matrix that performs rotation, skew and scale.
Parameters
- rotation: Immutable<Quaternion>
- scale: Immutable<Vector3>
- skew: Immutable<Vector3>
Returns Matrix3

Class Matrix3

Note

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

Parameters

Returns Matrix3

Properties

Static Readonlyidentity

Static Readonlyzero

Accessors

m00

Returns number

Parameters

Returns void

m01

Returns number

Parameters

Returns void

m02

Returns number

Parameters

Returns void

m10

Returns number

Parameters

Returns void

m11

Returns number

Parameters

Returns void

m12

Returns number

Parameters

Returns void

m20

Returns number

Parameters

Returns void

m21

Returns number

Parameters

Returns void

m22

Returns number

Parameters

Returns void

Methods

assign

Parameters

Returns Matrix3

calculateDeterminant

Returns number

clone

Returns Matrix3

doInvert

Parameters

Returns boolean

doMultiply

Parameters

Returns Matrix3

doTranspose

Returns void

getColumn

Parameters

Returns Vector3

getElement

Parameters

Returns number

getElementAtIndex

Parameters

Returns number

getRotationScale

Returns { rotation: Quaternion; scale: Vector3 }

invert

Returns Matrix3

`Static` `Readonly`identity

`Static` `Readonly`zero

`Static`fromQuaternion

`Static`isEqual

`Static`multiply

`Static`withAxisAngleInDegree

`Static`withElements

`Static`withEulerAngleInRadians

`Static`withEulerAnglesInDegrees

`Static`withEulerAnglesYXZ

`Static`withEulerAngleYXZDegreeValues

`Static`withEulerAngleYXZRadianValues

`Static`withRotationScale

`Static`withRotationScaleSkew