RMat44Arg: add 7 methods

src/main/java/com/github/stephengold/joltjni/RMat44.java

@@ -263,6 +263,22 @@ public Vec3 getAxisZ() {
         return result;
     }
 
+    /**
+     * Copy the diagonal elements to a {@code Vec3}. The matrix is unaffected.
+     *
+     * @return a new vector
+     */
+    @Override
+    public Vec3 getDiagonal3() {
+        long matrixVa = va();
+        float x = (float) getElement(matrixVa, 0, 0);
+        float y = (float) getElement(matrixVa, 1, 1);
+        float z = (float) getElement(matrixVa, 2, 2);
+        Vec3 result = new Vec3(x, y, z);
+
+        return result;
+    }
+
     /**
      * Return the specified element in double precision. The matrix is
      * unaffected.
@@ -328,13 +344,28 @@ public RMat44 inversed() {
         return result;
     }
 
+    /**
+     * Return the inverse of the 3x3 portion. The current matrix is unaffected.
+     *
+     * @return a new matrix
+     */
+    @Override
+    public RMat44 inversed3x3() {
+        long currentVa = va();
+        long resultVa = inversed3x3(currentVa);
+        RMat44 result = new RMat44(resultVa, true);
+
+        return result;
+    }
+
     /**
      * Return the inverse of the current matrix, assuming the current matrix
      * consists entirely of rotation and translation. The current matrix is
      * unaffected.
      *
      * @return a new matrix
      */
+    @Override
     public RMat44 inversedRotationTranslation() {
         long currentVa = va();
         long resultVa = inversedRotationTranslation(currentVa);
@@ -359,6 +390,20 @@ public boolean isEqual(RMat44Arg m2) {
         return result;
     }
 
+    /**
+     * Test whether the current matrix is an identity matrix. The matrix is
+     * unaffected.
+     *
+     * @return {@code true} if exactly equal, otherwise {@code false}
+     */
+    @Override
+    public boolean isIdentity() {
+        long matrixVa = va();
+        boolean result = isIdentity(matrixVa);
+
+        return result;
+    }
+
     /**
      * Multiply the current matrix by the argument. The current matrix is
      * unaffected.
@@ -376,6 +421,23 @@ public RMat44 multiply(RMat44Arg right) {
         return result;
     }
 
+    /**
+     * Multiply the current 3x3 matrix by the specified 3x3 matrix. The current
+     * matrix is unaffected.
+     *
+     * @param right the right factor (not null, unaffected)
+     * @return a new matrix
+     */
+    @Override
+    public RMat44 multiply3x3(RMat44Arg right) {
+        long leftVa = va();
+        long rightVa = right.targetVa();
+        long productVa = multiply3x3(leftVa, rightVa);
+        RMat44 result = new RMat44(productVa, true);
+
+        return result;
+    }
+
     /**
      * Multiply the 3x3 matrix by the specified column vector. The matrix is
      * unaffected.
@@ -449,12 +511,32 @@ public RVec3 multiply3x4(Vec3Arg vec3) {
         return result;
     }
 
+    /**
+     * Post multiply by the specified translation vector. The current matrix is
+     * unaffected.
+     *
+     * @param rvec3 the left factor (not null, unaffected)
+     * @return a new matrix
+     */
+    @Override
+    public RMat44 postTranslated(RVec3Arg rvec3) {
+        long matrixVa = va();
+        double xx = rvec3.xx();
+        double yy = rvec3.yy();
+        double zz = rvec3.zz();
+        long resultVa = postTranslated(matrixVa, xx, yy, zz);
+        RMat44 result = new RMat44(resultVa, true);
+
+        return result;
+    }
+
     /**
      * Copy the current matrix to a new, single-precision matrix. The current
      * matrix is unaffected.
      *
      * @return the new matrix
      */
+    @Override
     public Mat44 toMat44() {
         Mat44 result = new Mat44(this);
         return result;
@@ -535,12 +617,18 @@ native private static void getQuaternion(
 
     native private static long inversed(long currentVa);
 
+    native private static long inversed3x3(long currentVa);
+
     native private static long inversedRotationTranslation(long currentVa);
 
+    native private static boolean isIdentity(long matrixVa);
+
     native private static long multiply(long leftVa, long rightVa);
 
     native private static void multiply3x3(long matrixVa, float[] tmpFloats);
 
+    native private static long multiply3x3(long leftVa, long rightVa);
+
     native private static void multiply3x3Transposed(
             long matrixVa, float[] tmpFloats);
 
@@ -549,6 +637,9 @@ native private static void multiply3x4(
 
     native private static void multiply3x4r(long matrixVa, double[] tmpDoubles);
 
+    native private static long postTranslated(
+            long matrixVa, double xx, double yy, double zz);
+
     native private static void setElement(
             long matrixVa, int row, int column, double value);
 

src/main/java/com/github/stephengold/joltjni/readonly/RMat44Arg.java

@@ -21,6 +21,7 @@ of this software and associated documentation files (the "Software"), to deal
  */
 package com.github.stephengold.joltjni.readonly;
 
+import com.github.stephengold.joltjni.Mat44;
 import com.github.stephengold.joltjni.Quat;
 import com.github.stephengold.joltjni.RMat44;
 import com.github.stephengold.joltjni.RVec3;
@@ -56,6 +57,13 @@ public interface RMat44Arg extends ConstJoltPhysicsObject {
      */
     Vec3 getAxisZ();
 
+    /**
+     * Copy the diagonal elements to a {@code Vec3}. The matrix is unaffected.
+     *
+     * @return a new vector
+     */
+    Vec3 getDiagonal3();
+
     /**
      * Return the specified element in double precision. The matrix is
      * unaffected.
@@ -87,6 +95,22 @@ public interface RMat44Arg extends ConstJoltPhysicsObject {
      */
     RMat44 inversed();
 
+    /**
+     * Return the inverse of the 3x3 portion. The current matrix is unaffected.
+     *
+     * @return a new matrix
+     */
+    RMat44 inversed3x3();
+
+    /**
+     * Return the inverse of the current matrix, assuming the current matrix
+     * consists entirely of rotation and translation. The current matrix is
+     * unaffected.
+     *
+     * @return a new matrix
+     */
+    RMat44 inversedRotationTranslation();
+
     /**
      * Test whether the current matrix is equal to the argument. The current
      * matrix is unaffected.
@@ -96,6 +120,14 @@ public interface RMat44Arg extends ConstJoltPhysicsObject {
      */
     boolean isEqual(RMat44Arg m2);
 
+    /**
+     * Test whether the current matrix is an identity matrix. The matrix is
+     * unaffected.
+     *
+     * @return {@code true} if exactly equal, otherwise {@code false}
+     */
+    boolean isIdentity();
+
     /**
      * Multiply the current matrix by the argument. The current matrix is
      * unaffected.
@@ -105,6 +137,15 @@ public interface RMat44Arg extends ConstJoltPhysicsObject {
      */
     RMat44 multiply(RMat44Arg right);
 
+    /**
+     * Multiply the current 3x3 matrix by the specified 3x3 matrix. The current
+     * matrix is unaffected.
+     *
+     * @param right the right factor (not null, unaffected)
+     * @return a new matrix
+     */
+    RMat44 multiply3x3(RMat44Arg right);
+
     /**
      * Multiply the 3x3 matrix by the specified column vector. The matrix is
      * unaffected.
@@ -142,4 +183,21 @@ public interface RMat44Arg extends ConstJoltPhysicsObject {
      * @return a new vector
      */
     RVec3 multiply3x4(Vec3Arg vec3);
+
+    /**
+     * Post multiply by the specified translation vector. The current matrix is
+     * unaffected.
+     *
+     * @param rvec3 the left factor (not null, unaffected)
+     * @return a new matrix
+     */
+    RMat44 postTranslated(RVec3Arg rvec3);
+
+    /**
+     * Copy the current matrix to a new, single-precision matrix. The current
+     * matrix is unaffected.
+     *
+     * @return the new matrix
+     */
+    Mat44 toMat44();
 }

src/main/native/glue/r/RMat44.cpp

@@ -270,6 +270,20 @@ JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_RMat44_inversed
     return reinterpret_cast<jlong> (pResult);
 }
 
+/*
+ * Class:     com_github_stephengold_joltjni_RMat44
+ * Method:    inversed3x3
+ * Signature: (J)J
+ */
+JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_RMat44_inversed3x3
+  (JNIEnv *, jclass, jlong currentVa) {
+    const RMat44 * const pCurrent = reinterpret_cast<RMat44 *> (currentVa);
+    RMat44 * const pResult = new RMat44();
+    TRACE_NEW("RMat44", pResult)
+    *pResult = pCurrent->Inversed3x3();
+    return reinterpret_cast<jlong> (pResult);
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_RMat44
  * Method:    inversedRotationTranslation
@@ -284,6 +298,18 @@ JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_RMat44_inversedRotat
     return reinterpret_cast<jlong> (pResult);
 }
 
+/*
+ * Class:     com_github_stephengold_joltjni_RMat44
+ * Method:    isIdentity
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_github_stephengold_joltjni_RMat44_isIdentity
+  (JNIEnv *, jclass, jlong matrixVa) {
+    const RMat44 * const pMatrix = reinterpret_cast<RMat44 *> (matrixVa);
+    const bool result = (*pMatrix == RMat44::sIdentity());
+    return result;
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_RMat44
  * Method:    multiply
@@ -304,7 +330,7 @@ JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_RMat44_multiply
  * Method:    multiply3x3
  * Signature: (J[F)V
  */
-JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_RMat44_multiply3x3
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_RMat44_multiply3x3__J_3F
   (JNIEnv *pEnv, jclass, jlong matrixVa, jfloatArray tmpFloats) {
     const RMat44 * const pMatrix = reinterpret_cast<RMat44 *> (matrixVa);
     jboolean isCopy;
@@ -318,6 +344,21 @@ JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_RMat44_multiply3x3
     pEnv->ReleaseFloatArrayElements(tmpFloats, pTmpFloats, 0);
 }
 
+/*
+ * Class:     com_github_stephengold_joltjni_RMat44
+ * Method:    multiply3x3
+ * Signature: (JJ)J
+ */
+JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_RMat44_multiply3x3__JJ
+  (JNIEnv *, jclass, jlong leftVa, jlong rightVa) {
+    const RMat44 * const pLeft = reinterpret_cast<RMat44 *> (leftVa);
+    const RMat44 * const pRight = reinterpret_cast<RMat44 *> (rightVa);
+    RMat44 * const pResult = new RMat44();
+    TRACE_NEW("RMat44", pResult)
+    *pResult = pLeft->Multiply3x3(*pRight);
+    return reinterpret_cast<jlong> (pResult);
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_RMat44
  * Method:    multiply3x3Transposed
@@ -374,6 +415,21 @@ JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_RMat44_multiply3x4r
     pEnv->ReleaseDoubleArrayElements(tmpDoubles, pTmpDoubles, 0);
 }
 
+/*
+ * Class:     com_github_stephengold_joltjni_RMat44
+ * Method:    postTranslated
+ * Signature: (JDDD)J
+ */
+JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_RMat44_postTranslated
+  (JNIEnv *, jclass, jlong matrixVa, jdouble xx, jdouble yy, jdouble zz) {
+    const RMat44 * const pMatrix = reinterpret_cast<RMat44 *> (matrixVa);
+    const RVec3 offset(xx, yy, zz);
+    RMat44 * const pResult = new RMat44();
+    TRACE_NEW("RMat44", pResult)
+    *pResult = pMatrix->PostTranslated(offset);
+    return reinterpret_cast<jlong> (pResult);
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_RMat44
  * Method:    setElement