Vector3d (Artisynth API documentation)

java.lang.Object
- maspack.matrix.VectorBase
- - maspack.matrix.Vector3d

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable, Vector, VectorObject<Vector3d>, Clonable, Scannable

Direct Known Subclasses:

Point3d
```
public class Vector3d
extends VectorBase
implements java.io.Serializable, Clonable, VectorObject<Vector3d>
```
Implements a 3 element vector, along with its most commonly used operations.
The size of these vectors is fixed.

See Also:

Serialized Form

Field Summary

Fields
Modifier and Type	Field and Description
`static Vector3d`	`NEG_X_UNIT` Global unit vector along the negative x axis.
`static Vector3d`	`NEG_Y_UNIT` Global unit vector along the negative y axis.
`static Vector3d`	`NEG_Z_UNIT` Global unit vector along the negative z axis.
`static Vector3d`	`ONES` Global vector containing ones.
`double`	`x` First element
`static Vector3d`	`X_UNIT` Global unit vector along the x axis.
`double`	`y` Second element
`static Vector3d`	`Y_UNIT` Global unit vector along the y axis.
`double`	`z` Third element
`static Vector3d`	`Z_UNIT` Global unit vector along the z axis.
`static Vector3d`	`ZERO` Global zero vector.

Constructor Summary

Constructors
Constructor and Description
`Vector3d()` Creates a 3-vector and initializes its elements to 0.
`Vector3d(double[] values)` Creates a 3-vector with the supplied element values.
`Vector3d(double x, double y, double z)` Creates a 3-vector with the supplied element values.
`Vector3d(Vector v)` Creates a 3-vector by copying an existing Vector.
`Vector3d(Vector3d v)` Creates a 3-vector by copying an existing one.
`Vector3d(Vector3i v)` Creates a 3-vector for an integer 3 vector.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`Vector3d`	`absolute()` Sets the elements of this vector to their absolute values.
`Vector3d`	`absolute(Vector3d v1)` Sets the elements of this vector to the absolute value of v1.
`Vector3d`	`add(double dx, double dy, double dz)` Adds specified increments to the components of this vector.
`Vector3d`	`add(Vector3d v1)` Adds this vector to v1 and places the result in this vector.
`Vector3d`	`add(Vector3d v1, Vector3d v2)` Adds vector v1 to v2 and places the result in this vector.
`void`	`addObj(Vector3d v1)` Adds `v1` to this vector.
`double`	`angle(Vector3d v1)` Returns the angle between this vector and v1.
`void`	`angleWeightedCross(Vector3d p0, Vector3d p1, Vector3d p2)` Computes the cross product v2 x v1, where v2 = p1 - p2 and v1 = p1 - p0, and then sets the length of the result to the angle between v1 and v2.
`void`	`angleWeightedCrossAdd(Vector3d p0, Vector3d p1, Vector3d p2)` Computes the cross product v2 x v1, where v2 = p1 - p2 and v1 = p1 - p0, and then sets the length of the result to the angle between v1 and v2.
`Vector3d`	`clone()`
`Vector3d`	`combine(double s1, Vector3d v1, double s2, Vector3d v2)` Computes `s1 v1 + s2 v2` and places the result in this vector.
`Vector3d`	`cross(Vector3d v1)` Computes the cross product of this vector and v1, and places the result in this vector.
`Vector3d`	`cross(Vector3d v1, Vector3d v2)` Computes the cross product of v1 and v2 and places the result in this vector.
`Vector3d`	`crossAdd(Vector3d v1, Vector3d v2, Vector3d v3)` Computes the cross product of v1 and v2, adds this to v3, and places the result in this vector.
`double`	`distance(Vector3d v)` Returns the Euclidean distance between this vector and vector v.
`double`	`distanceSquared(Vector3d v)` Returns the squared of the Euclidean distance between this vector and vector v.
`double`	`dot(Vector3d v1)` Returns the dot product of this vector and v1.
`boolean`	`epsilonEquals(Vector3d v1, double eps)` Returns true if the elements of this vector equal those of vector `v1`within a prescribed tolerance `epsilon`.
`boolean`	`equals(Vector3d v1)` Returns true if the elements of this vector exactly equal those of vector `v1`.
`void`	`get(double[] values)` Copies the elements of this vector into an array of doubles.
`float[]`	`get(float[] values)` Copies the elements of this vector into an array of floats.
`double`	`get(int i)` Gets a single element of this vector.
`void`	`get(Matrix3x1 M)` Copies the elements of this vector into a Matrix3x1.
`void`	`get(VectorNd v1, int idx)` Copies the values of this vector into a general length vector v1, starting at a specified index.
`boolean`	`greater(Vector3d v1)` Returns true if all the elements of this vector are greater than those of vector`v1`.
`boolean`	`greaterEquals(Vector3d v1)` Returns true if all the elements of this vector are greater than or equal to those of vector`v1`.
`static void`	`hermiteInterpolate(Vector3d pr, Vector3d p0, Vector3d v0, Vector3d p1, Vector3d v1, double s, double h)` Interpolates the value at a location along a cubic Hermite spline.
`static void`	`hermiteVelocity(Vector3d vr, Vector3d p0, Vector3d v0, Vector3d p1, Vector3d v1, double s, double h)` Interpolates velocity at a location along a cubic Hermite spline.
`double`	`infinityNorm()` Returns the infinity norm of this vector.
`void`	`interpolate(double s, Vector3d v1)` Computes the interpolation `(1-s) this + s v1` and places the result in this vector.
`void`	`interpolate(Vector3d v1, double s, Vector3d v2)` Computes the interpolation `(1-s) v1 + s v2` and places the result in this vector.
`void`	`inverseTransform(AffineTransform3dBase X)` Applies an inverse affine transformation to this vector, in place.
`void`	`inverseTransform(AffineTransform3dBase X, Vector3d v1)` Applies an inverse affine transformation to the vector v1, and places the result in this vector.
`void`	`inverseTransform(RotationMatrix3d R)` Applies an inverse rotational transformation to this vector, in place.
`void`	`inverseTransform(RotationMatrix3d R, Vector3d v1)` Applies an inverse rotational transformation to the vector v1, and stores the result in this vector.
`static void`	`main(java.lang.String[] args)`
`Vector3d`	`max(Vector3d v)` Computes the element-wise maximum of this vector and vector v and places the result in this vector.
`int`	`maxAbsIndex()` Returns the index (0, 1, or 2) of the element of this vector with the largest absolute value.
`double`	`maxElement()` Returns the maximum element value of this vector.
`Vector3d`	`min(Vector3d v)` Computes the element-wise minimum of this vector and vector v and places the result in this vector.
`int`	`minAbsIndex()` Returns the index (0, 1, or 2) of the element of this vector with the smallest absolute value.
`double`	`minElement()` Returns the minimum element value of this vector.
`Vector3d`	`mul(Matrix3dBase X, Vector3d v1)` Multiplies matrix X by vector v1 and places the result in this vector.
`Vector3d`	`mulAdd(Matrix3dBase X, Vector3d v1, Vector3d v2)` Multiplies matrix X by vector v1, adds vector v2, and places the result in this vector.
`Vector3d`	`mulTranspose(Matrix3dBase X, Vector3d v1)` Multiplies the transpose of matrix X by vector v1 and places the result in this vector.
`Vector3d`	`mulTransposeAdd(Matrix3dBase X, Vector3d v1, Vector3d v2)` Multiplies the transpose of matrix X by vector v1, adds vector v2, and places the result in this vector.
`Vector3d`	`negate()` Negates this vector in place.
`Vector3d`	`negate(Vector3d v1)` Sets this vector to the negative of v1.
`double`	`norm()` Returns the 2 norm of this vector.
`Vector3d`	`normalize()` Normalizes this vector in place.
`Vector3d`	`normalize(Vector3d v1)` Computes a unit vector in the direction of v1 and places the result in this vector.
`double`	`normSquared()` Returns the square of the 2 norm of this vector.
`double`	`oneNorm()` Returns the 1 norm of this vector.
`Vector3d`	`perpendicular(Vector3d v1)` Sets this vector to one which is perpendicular to v1.
`Vector3d`	`scale(double s)` Scales the elements of this vector by `s`.
`Vector3d`	`scale(double sx, double sy, double sz)` Scales the elements of this vector by the values in the given direction.
`Vector3d`	`scale(double s, Vector3d v1)` Scales the elements of vector v1 by `s` and places the results in this vector.
`Vector3d`	`scaledAdd(double s, Vector3d v1)` Computes `s v1` and adds the result to this vector.
`Vector3d`	`scaledAdd(double s, Vector3d v1, Vector3d v2)` Computes `s v1 + v2` and places the result in this vector.
`void`	`scaledAddObj(double s, Vector3d v1)` Scales `v1` by `s` and adds it to this vector.
`void`	`scaleObj(double s)` Scales this vector by `s`.
`void`	`scan(ReaderTokenizer rtok)` Sets the contents of this vector to values read from a ReaderTokenizer.
`void`	`set(double[] values)` Sets the elements of this vector from an array of doubles.
`int`	`set(double[] values, int idx)` Sets the elements of this vector from an array of doubles, starting from a particular location.
`void`	`set(double x, double y, double z)` Sets the elements of this vector to the prescribed values.
`void`	`set(int i, double value)` Sets a single element of this vector.
`void`	`set(Matrix3x1 M)` Sets the elements of this vector from a Matrix3x1.
`void`	`set(Vector3d v1)` Sets the values of this vector to those of v1.
`void`	`set(Vector3i v1)` Sets the values of this vector to those of v1.
`void`	`set(VectorNd v1, int idx)` Sets the values of this vector from the elements of a general length vector v1, starting at a specified index.
`void`	`setFromHomogeneous(Vector4d v1)` Sets the values of this vector from a homogeneous representation stored in the 4-vector v1.
`void`	`setRandom()` Sets the elements of this vector to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).
`void`	`setRandom(double lower, double upper)` Sets the elements of this vector to uniformly distributed random values in a specified range.
`void`	`setRandom(double lower, double upper, java.util.Random generator)` Sets the elements of this vector to uniformly distributed random values in a specified range, using a supplied random number generator.
`void`	`setZero()` Sets the elements of this vector to zero.
`int`	`size()` Returns the size of this vector (which is always 3)
`void`	`sort()` Sorts the contents of this vector by element value, with x being set to the largest value and z being set to the smallest value.
`void`	`sort(Vector3d v1)` Sorts the contents of vector v1 by element value, with x being set to the largest value and z being set to the smallest value, and places the results in this vector.
`void`	`sortAbsolute()` Sorts the contents of this vector by absolute element value, with x being set to the largest value and z being set to the smallest value.
`Vector3d`	`sub(Vector3d v1)` Subtracts v1 from this vector and places the result in this vector.
`Vector3d`	`sub(Vector3d v1, Vector3d v2)` Subtracts vector v2 from v1 and places the result in this vector.
`void`	`transform(AffineTransform3dBase X)` Applies a affine transformation to this vector, in place.
`void`	`transform(AffineTransform3dBase X, Vector3d v1)` Applies an affine transformation to the vector v1, and places the result in this vector.
`void`	`transform(RotationMatrix3d R)` Applies a rotational transformation to this vector, in place.
`void`	`transform(RotationMatrix3d R, Vector3d v1)` Applies a rotational transformation to the vector v1 and stores the result in this vector.
`double`	`triangleArea(Vector3d v1, Vector3d v2)` Returns the area of the triangle whose vertices are formed by this vector, and the vectors v1 and v2.
`void`	`updateBounds(Vector3d vmin, Vector3d vmax)` Updates a bounding box to include this vector.
`void`	`write(java.io.PrintWriter pw, NumberFormat fmt, boolean withBrackets)` Writes the contents of this vector to a PrintWriter.

Methods inherited from class maspack.matrix.VectorBase
containsNaN, copy, copyAndAdd, copyAndNegate, copyAndScale, copyAndSub, copyAndSubLeft, dot, epsilonEquals, equals, get, getDefaultFormat, hasInf, hasNaN, isColumnVectorStringsVertical, isFixedSize, isRowVector, isWritable, scan, set, set, setColumnVectorStringsVertical, setDefaultFormat, setRowVector, setSize, toString, toString, toString, write, write, writeToFile

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface maspack.matrix.VectorObject
getThreeVectorValue

Methods inherited from interface maspack.util.Scannable
isWritable, scan, write

- Field Detail
  - ZERO
```
public static final Vector3d ZERO
```
    Global zero vector. Should not be modified.
  - X_UNIT
```
public static final Vector3d X_UNIT
```
    Global unit vector along the x axis. Should not be modified.
  - Y_UNIT
```
public static final Vector3d Y_UNIT
```
    Global unit vector along the y axis. Should not be modified.
  - Z_UNIT
```
public static final Vector3d Z_UNIT
```
    Global unit vector along the z axis. Should not be modified.
  - NEG_X_UNIT
```
public static final Vector3d NEG_X_UNIT
```
    Global unit vector along the negative x axis. Should not be modified.
  - NEG_Y_UNIT
```
public static final Vector3d NEG_Y_UNIT
```
    Global unit vector along the negative y axis. Should not be modified.
  - NEG_Z_UNIT
```
public static final Vector3d NEG_Z_UNIT
```
    Global unit vector along the negative z axis. Should not be modified.
  - ONES
```
public static final Vector3d ONES
```
    Global vector containing ones. Should not be modified.
  - x
```
public double x
```
    First element
  - y
```
public double y
```
    Second element
  - z
```
public double z
```
    Third element
- Constructor Detail
  - Vector3d
```
public Vector3d()
```
    Creates a 3-vector and initializes its elements to 0.
  - Vector3d
```
public Vector3d(Vector3d v)
```
    Creates a 3-vector by copying an existing one.
    
    Parameters:
    
    v - vector to be copied
  - Vector3d
```
public Vector3d(Vector3i v)
```
    Creates a 3-vector for an integer 3 vector.
    
    Parameters:
    
    v - vector to be copied
  - Vector3d
```
public Vector3d(Vector v)
```
    Creates a 3-vector by copying an existing Vector. The size of the copied vector must be at least 3.
    
    Parameters:
    
    v - vector to be copied
  - Vector3d
```
public Vector3d(double x,
                double y,
                double z)
```
    Creates a 3-vector with the supplied element values.
    
    Parameters:
    
    x - first element
    
    y - second element
    
    z - third element
  - Vector3d
```
public Vector3d(double[] values)
```
    Creates a 3-vector with the supplied element values.
    
    Parameters:
    
    values - element values
- Method Detail
  - size
```
public int size()
```
    Returns the size of this vector (which is always 3)
    
    Specified by:
    
    size in interface Vector
    
    Specified by:
    
    size in class VectorBase
    
    Returns:
    
    3
  - get
```
public double get(int i)
```
    Gets a single element of this vector. Elements 0, 1, and 2 correspond to x, y, and z.
    
    Specified by:
    
    get in interface Vector
    
    Specified by:
    
    get in class VectorBase
    
    Parameters:
    
    i - element index
    
    Returns:
    
    element value throws ArrayIndexOutOfBoundsException if i is not in the range 0 to 2.
  - get
```
public void get(double[] values)
```
    Copies the elements of this vector into an array of doubles. The array length must be >= the size of the vector.
    
    Specified by:
    
    get in interface Vector
    
    Overrides:
    
    get in class VectorBase
    
    Parameters:
    
    values - array into which values are copied
  - get
```
public float[] get(float[] values)
```
    Copies the elements of this vector into an array of floats. If values is null, it is allocated internally.
    
    Parameters:
    
    values - array into which values are copied, or null if array should be allocated
    
    Returns:
    
    the array of floats
  - get
```
public void get(VectorNd v1,
                int idx)
```
    Copies the values of this vector into a general length vector v1, starting at a specified index.
    
    Parameters:
    
    v1 - vector into which values are to be copied
    
    idx - starting index for copying values
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if idx specifies a region within v1 that exceeds its bounds
  - get
```
public void get(Matrix3x1 M)
```
    Copies the elements of this vector into a Matrix3x1.
    
    Parameters:
    
    M - matrix into which values are copied
  - set
```
public void set(int i,
                double value)
```
    Sets a single element of this vector. Elements 0, 1, and 2 correspond to x, y, and z.
    
    Specified by:
    
    set in interface Vector
    
    Specified by:
    
    set in class VectorBase
    
    Parameters:
    
    i - element index
    
    value - element value
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if i is not in the range 0 to 2.
  - set
```
public void set(double[] values)
```
    Sets the elements of this vector from an array of doubles. The array must have a length of at least 3.
    
    Specified by:
    
    set in interface Vector
    
    Overrides:
    
    set in class VectorBase
    
    Parameters:
    
    values - array from which values are copied
  - set
```
public int set(double[] values,
               int idx)
```
    Sets the elements of this vector from an array of doubles, starting from a particular location.
    
    Specified by:
    
    set in interface Vector
    
    Parameters:
    
    values - array from which values are copied
    
    idx - starting point within values from which copying should begin
    
    Returns:
    
    updated idx value
  - set
```
public void set(Vector3d v1)
```
    Sets the values of this vector to those of v1.
    
    Specified by:
    
    set in interface VectorObject<Vector3d>
    
    Parameters:
    
    v1 - vector whose values are copied
  - set
```
public void set(Vector3i v1)
```
    Sets the values of this vector to those of v1.
    
    Parameters:
    
    v1 - vector whose values are copied
  - set
```
public void set(VectorNd v1,
                int idx)
```
    Sets the values of this vector from the elements of a general length vector v1, starting at a specified index.
    
    Parameters:
    
    v1 - vector from which new values are copied
    
    idx - starting index for new values
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if idx specifies a region within v1 that exceeds its bounds
  - set
```
public void set(Matrix3x1 M)
```
    Sets the elements of this vector from a Matrix3x1.
    
    Parameters:
    
    M - matrix from which values are taken
  - setFromHomogeneous
```
public void setFromHomogeneous(Vector4d v1)
```
    Sets the values of this vector from a homogeneous representation stored in the 4-vector v1. This involves dividing the x, y, and z elements of v1 by its w element.
    
    Parameters:
    
    v1 - homogenous vector
  - add
```
public Vector3d add(Vector3d v1,
                    Vector3d v2)
```
    Adds vector v1 to v2 and places the result in this vector.
    
    Parameters:
    
    v1 - left-hand vector
    
    v2 - right-hand vector
    
    Returns:
    
    this vector
  - add
```
public Vector3d add(Vector3d v1)
```
    Adds this vector to v1 and places the result in this vector.
    
    Parameters:
    
    v1 - right-hand vector
    
    Returns:
    
    this vector
  - add
```
public Vector3d add(double dx,
                    double dy,
                    double dz)
```
    Adds specified increments to the components of this vector.
    
    Parameters:
    
    dx - x increment
    
    dy - y increment
    
    dz - z increment
    
    Returns:
    
    this vector
  - sub
```
public Vector3d sub(Vector3d v1,
                    Vector3d v2)
```
    Subtracts vector v2 from v1 and places the result in this vector.
    
    Parameters:
    
    v1 - left-hand vector
    
    v2 - right-hand vector
    
    Returns:
    
    this vector
  - sub
```
public Vector3d sub(Vector3d v1)
```
    Subtracts v1 from this vector and places the result in this vector.
    
    Parameters:
    
    v1 - right-hand vector
    
    Returns:
    
    this vector
  - negate
```
public Vector3d negate(Vector3d v1)
```
    Sets this vector to the negative of v1.
    
    Parameters:
    
    v1 - vector to negate
    
    Returns:
    
    this vector
  - negate
```
public Vector3d negate()
```
    Negates this vector in place.
    
    Returns:
    
    this vector
  - scale
```
public Vector3d scale(double s)
```
    Scales the elements of this vector by s.
    
    Parameters:
    
    s - scaling factor
    
    Returns:
    
    this vector
  - scale
```
public Vector3d scale(double sx,
                      double sy,
                      double sz)
```
    Scales the elements of this vector by the values in the given direction.
    
    Parameters:
    
    sx - scaling factor in the x direction
    
    sy - scaling factor in the y direction
    
    sz - scaling factor in the z direction
    
    Returns:
    
    this vector
  - scale
```
public Vector3d scale(double s,
                      Vector3d v1)
```
    Scales the elements of vector v1 by s and places the results in this vector.
    
    Parameters:
    
    s - scaling factor
    
    v1 - vector to be scaled
    
    Returns:
    
    this vector
  - interpolate
```
public void interpolate(Vector3d v1,
                        double s,
                        Vector3d v2)
```
    Computes the interpolation (1-s) v1 + s v2 and places the result in this vector.
    
    Parameters:
    
    v1 - left-hand vector
    
    s - interpolation factor
    
    v2 - right-hand vector
  - interpolate
```
public void interpolate(double s,
                        Vector3d v1)
```
    Computes the interpolation (1-s) this + s v1 and places the result in this vector.
    
    Parameters:
    
    s - interpolation factor
    
    v1 - right-hand vector
  - scaledAdd
```
public Vector3d scaledAdd(double s,
                          Vector3d v1,
                          Vector3d v2)
```
    Computes s v1 + v2 and places the result in this vector.
    
    Parameters:
    
    s - scaling factor
    
    v1 - vector to be scaled
    
    v2 - vector to be added
    
    Returns:
    
    this vector
  - scaledAdd
```
public Vector3d scaledAdd(double s,
                          Vector3d v1)
```
    Computes s v1 and adds the result to this vector.
    
    Parameters:
    
    s - scaling factor
    
    v1 - vector to be scaled and added
    
    Returns:
    
    this vector
  - combine
```
public Vector3d combine(double s1,
                        Vector3d v1,
                        double s2,
                        Vector3d v2)
```
    Computes s1 v1 + s2 v2 and places the result in this vector.
    
    Parameters:
    
    s1 - left-hand scaling factor
    
    v1 - left-hand vector
    
    s2 - right-hand scaling factor
    
    v2 - right-hand vector
    
    Returns:
    
    this vector
  - norm
```
public double norm()
```
    Returns the 2 norm of this vector. This is the square root of the sum of the squares of the elements.
    
    Specified by:
    
    norm in interface Vector
    
    Overrides:
    
    norm in class VectorBase
    
    Returns:
    
    vector 2 norm
  - normSquared
```
public double normSquared()
```
    Returns the square of the 2 norm of this vector. This is the sum of the squares of the elements.
    
    Specified by:
    
    normSquared in interface Vector
    
    Overrides:
    
    normSquared in class VectorBase
    
    Returns:
    
    square of the 2 norm
  - distance
```
public double distance(Vector3d v)
```
    Returns the Euclidean distance between this vector and vector v.
    
    Returns:
    
    distance between this vector and v
  - distanceSquared
```
public double distanceSquared(Vector3d v)
```
    Returns the squared of the Euclidean distance between this vector and vector v.
    
    Returns:
    
    squared distance between this vector and v
  - maxElement
```
public double maxElement()
```
    Returns the maximum element value of this vector.
    
    Specified by:
    
    maxElement in interface Vector
    
    Overrides:
    
    maxElement in class VectorBase
    
    Returns:
    
    maximal element
  - minElement
```
public double minElement()
```
    Returns the minimum element value of this vector.
    
    Specified by:
    
    minElement in interface Vector
    
    Overrides:
    
    minElement in class VectorBase
    
    Returns:
    
    minimal element
  - infinityNorm
```
public double infinityNorm()
```
    Returns the infinity norm of this vector. This is the maximum absolute value over all elements.
    
    Specified by:
    
    infinityNorm in interface Vector
    
    Overrides:
    
    infinityNorm in class VectorBase
    
    Returns:
    
    vector infinity norm
  - oneNorm
```
public double oneNorm()
```
    Returns the 1 norm of this vector. This is the sum of the absolute values of the elements.
    
    Specified by:
    
    oneNorm in interface Vector
    
    Overrides:
    
    oneNorm in class VectorBase
    
    Returns:
    
    vector 1 norm
  - dot
```
public double dot(Vector3d v1)
```
    Returns the dot product of this vector and v1.
    
    Parameters:
    
    v1 - right-hand vector
    
    Returns:
    
    dot product
  - angle
```
public double angle(Vector3d v1)
```
    Returns the angle between this vector and v1. The angle is defined as acos(c), where c is the dot product of unit vectors parallel to this vector and v1.
    
    Parameters:
    
    v1 - right-hand vector
    
    Returns:
    
    angle between vectors, in radians
  - normalize
```
public Vector3d normalize()
```
    Normalizes this vector in place.
    
    Returns:
    
    this vector
  - normalize
```
public Vector3d normalize(Vector3d v1)
```
    Computes a unit vector in the direction of v1 and places the result in this vector.
    
    Parameters:
    
    v1 - vector to normalize
    
    Returns:
    
    this vector
  - perpendicular
```
public Vector3d perpendicular(Vector3d v1)
```
    Sets this vector to one which is perpendicular to v1. The resulting vector will not be normalized.
    
    Parameters:
    
    v1 - perpendicular reference vector
    
    Returns:
    
    this vector
  - epsilonEquals
```
public boolean epsilonEquals(Vector3d v1,
                             double eps)
```
    Returns true if the elements of this vector equal those of vector v1within a prescribed tolerance epsilon.
    
    Specified by:
    
    epsilonEquals in interface VectorObject<Vector3d>
    
    Parameters:
    
    v1 - vector to compare with
    
    eps - comparison tolerance
    
    Returns:
    
    false if the vectors are not equal within the specified tolerance
  - equals
```
public boolean equals(Vector3d v1)
```
    Returns true if the elements of this vector exactly equal those of vector v1.
    
    Parameters:
    
    v1 - vector to compare with
    
    Returns:
    
    false if the vectors are not equal
  - greater
```
public boolean greater(Vector3d v1)
```
    Returns true if all the elements of this vector are greater than those of vectorv1.
    
    Parameters:
    
    v1 - vector to compare with
    
    Returns:
    
    true if all elements of this vector are greater
  - greaterEquals
```
public boolean greaterEquals(Vector3d v1)
```
    Returns true if all the elements of this vector are greater than or equal to those of vectorv1.
    
    Parameters:
    
    v1 - vector to compare with
    
    Returns:
    
    true if all elements of this vector are greater or equal
  - setZero
```
public void setZero()
```
    Sets the elements of this vector to zero.
    
    Specified by:
    
    setZero in interface VectorObject<Vector3d>
  - set
```
public void set(double x,
                double y,
                double z)
```
    Sets the elements of this vector to the prescribed values.
    
    Parameters:
    
    x - value for first element
    
    y - value for second element
    
    z - value for third element
  - absolute
```
public Vector3d absolute()
```
    Sets the elements of this vector to their absolute values.
    
    Returns:
    
    this vector
  - absolute
```
public Vector3d absolute(Vector3d v1)
```
    Sets the elements of this vector to the absolute value of v1.
    
    Parameters:
    
    v1 - vector to take the absolute value of
    
    Returns:
    
    this vector
  - sortAbsolute
```
public void sortAbsolute()
```
    Sorts the contents of this vector by absolute element value, with x being set to the largest value and z being set to the smallest value.
  - maxAbsIndex
```
public int maxAbsIndex()
```
    Returns the index (0, 1, or 2) of the element of this vector with the largest absolute value.
    
    Returns:
    
    index of largest absolute value
  - minAbsIndex
```
public int minAbsIndex()
```
    Returns the index (0, 1, or 2) of the element of this vector with the smallest absolute value.
    
    Returns:
    
    index of smallest absolute value
  - sort
```
public void sort(Vector3d v1)
```
    Sorts the contents of vector v1 by element value, with x being set to the largest value and z being set to the smallest value, and places the results in this vector.
    
    Parameters:
    
    v1 - vector to sort
  - sort
```
public void sort()
```
    Sorts the contents of this vector by element value, with x being set to the largest value and z being set to the smallest value.
  - cross
```
public Vector3d cross(Vector3d v1,
                      Vector3d v2)
```
    Computes the cross product of v1 and v2 and places the result in this vector.
    
    Parameters:
    
    v1 - left-hand vector
    
    v2 - right-hand vector
    
    Returns:
    
    this vector
  - cross
```
public Vector3d cross(Vector3d v1)
```
    Computes the cross product of this vector and v1, and places the result in this vector.
    
    Parameters:
    
    v1 - right-hand vector
    
    Returns:
    
    this vector
  - crossAdd
```
public Vector3d crossAdd(Vector3d v1,
                         Vector3d v2,
                         Vector3d v3)
```
    Computes the cross product of v1 and v2, adds this to v3, and places the result in this vector.
    
    Parameters:
    
    v1 - left-hand vector for cross product
    
    v2 - right-hand vector for cross product
    
    v3 - vector to add
    
    Returns:
    
    this vector
  - angleWeightedCross
```
public void angleWeightedCross(Vector3d p0,
                               Vector3d p1,
                               Vector3d p2)
```
    Computes the cross product v2 x v1, where v2 = p1 - p2 and v1 = p1 - p0, and then sets the length of the result to the angle between v1 and v2. The result is returned in this vector.
    
    Parameters:
    
    p0 - tail point for vector v1
    
    p1 - head point for vectors v1 and v2
    
    p2 - tail point for vector v2
  - angleWeightedCrossAdd
```
public void angleWeightedCrossAdd(Vector3d p0,
                                  Vector3d p1,
                                  Vector3d p2)
```
    Computes the cross product v2 x v1, where v2 = p1 - p2 and v1 = p1 - p0, and then sets the length of the result to the angle between v1 and v2. The result is added to this vector.
    
    Parameters:
    
    p0 - tail point for vector v1
    
    p1 - head point for vectors v1 and v2
    
    p2 - tail point for vector v2
  - triangleArea
```
public double triangleArea(Vector3d v1,
                           Vector3d v2)
```
    Returns the area of the triangle whose vertices are formed by this vector, and the vectors v1 and v2.
    
    Parameters:
    
    v1 - second vertex
    
    v2 - third vertex
    
    Returns:
    
    area of the triangle
  - transform
```
public void transform(RotationMatrix3d R)
```
    Applies a rotational transformation to this vector, in place. This is equivalent to multiplying the rotation matrix by this vector.
    
    Parameters:
    
    R - rotational transformation matrix
  - transform
```
public void transform(RotationMatrix3d R,
                      Vector3d v1)
```
    Applies a rotational transformation to the vector v1 and stores the result in this vector. This is equivalent to multiplying the rotation matrix by v1.
    
    Parameters:
    
    R - rotational transformation matrix
    
    v1 - vector to transform
  - inverseTransform
```
public void inverseTransform(RotationMatrix3d R)
```
    Applies an inverse rotational transformation to this vector, in place. This is equivalent to multiplying the transpose (or inverse) of the rotation matrix by this vector.
    
    Parameters:
    
    R - rotational transformation matrix
  - inverseTransform
```
public void inverseTransform(RotationMatrix3d R,
                             Vector3d v1)
```
    Applies an inverse rotational transformation to the vector v1, and stores the result in this vector. This is equivalent to multiplying the transpose (or inverse) of the rotation matrix by this v1.
    
    Parameters:
    
    R - rotational transformation matrix
    
    v1 - vector to transform
  - transform
```
public void transform(AffineTransform3dBase X)
```
    Applies a affine transformation to this vector, in place.
    
    Parameters:
    
    X - affine transformation
  - transform
```
public void transform(AffineTransform3dBase X,
                      Vector3d v1)
```
    Applies an affine transformation to the vector v1, and places the result in this vector.
    
    Parameters:
    
    X - affine transformation
    
    v1 - vector to be transformed
  - inverseTransform
```
public void inverseTransform(AffineTransform3dBase X)
```
    Applies an inverse affine transformation to this vector, in place.
    
    Parameters:
    
    X - affine transformation
  - inverseTransform
```
public void inverseTransform(AffineTransform3dBase X,
                             Vector3d v1)
```
    Applies an inverse affine transformation to the vector v1, and places the result in this vector.
    
    Parameters:
    
    X - affine transformation
    
    v1 - vector to be transformed
  - mul
```
public Vector3d mul(Matrix3dBase X,
                    Vector3d v1)
```
    Multiplies matrix X by vector v1 and places the result in this vector.
    
    Parameters:
    
    X - matrix
    
    v1 - vector
    
    Returns:
    
    this vector
  - mulAdd
```
public Vector3d mulAdd(Matrix3dBase X,
                       Vector3d v1,
                       Vector3d v2)
```
    Multiplies matrix X by vector v1, adds vector v2, and places the result in this vector.
    
    Parameters:
    
    X - matrix
    
    v1 - vector to multiply
    
    v2 - vector to add
    
    Returns:
    
    this vector
  - mulTranspose
```
public Vector3d mulTranspose(Matrix3dBase X,
                             Vector3d v1)
```
    Multiplies the transpose of matrix X by vector v1 and places the result in this vector.
    
    Parameters:
    
    X - matrix
    
    v1 - vector to multiply
    
    Returns:
    
    this vector
  - mulTransposeAdd
```
public Vector3d mulTransposeAdd(Matrix3dBase X,
                                Vector3d v1,
                                Vector3d v2)
```
    Multiplies the transpose of matrix X by vector v1, adds vector v2, and places the result in this vector.
    
    Parameters:
    
    X - matrix
    
    v1 - vector to multiply
    
    v2 - vector to add
    
    Returns:
    
    this vector
  - setRandom
```
public void setRandom()
```
    Sets the elements of this vector to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).
  - setRandom
```
public void setRandom(double lower,
                      double upper)
```
    Sets the elements of this vector to uniformly distributed random values in a specified range.
    
    Parameters:
    
    lower - lower random value (inclusive)
    
    upper - upper random value (exclusive)
  - setRandom
```
public void setRandom(double lower,
                      double upper,
                      java.util.Random generator)
```
    Sets the elements of this vector to uniformly distributed random values in a specified range, using a supplied random number generator.
    
    Parameters:
    
    lower - lower random value (inclusive)
    
    upper - upper random value (exclusive)
    
    generator - random number generator
  - updateBounds
```
public void updateBounds(Vector3d vmin,
                         Vector3d vmax)
```
    Updates a bounding box to include this vector. The box is described by minimum and maximum corner points, which are changed if necessary. This method will only grow bounds, not shrink them.
    
    Parameters:
    
    vmin - minimum corner of the bounding box
    
    vmax - maximum corner of the bounding box
  - max
```
public Vector3d max(Vector3d v)
```
    Computes the element-wise maximum of this vector and vector v and places the result in this vector.
    
    Parameters:
    
    v - vector to compare with
    
    Returns:
    
    this vector
  - min
```
public Vector3d min(Vector3d v)
```
    Computes the element-wise minimum of this vector and vector v and places the result in this vector.
    
    Parameters:
    
    v - vector to compare with
    
    Returns:
    
    this vector
  - hermiteInterpolate
```
public static void hermiteInterpolate(Vector3d pr,
                                      Vector3d p0,
                                      Vector3d v0,
                                      Vector3d p1,
                                      Vector3d v1,
                                      double s,
                                      double h)
```
    Interpolates the value at a location along a cubic Hermite spline. The spline itself is defined by position and velocities at interval end-points. The location is defined by the parameter s in the range [0,1], and the actual time duration of the interval is given by h.
    
    Parameters:
    
    pr - returns interpolated position
    
    p0 - position at the interval beginning
    
    v0 - velocity at the interval beginning
    
    p1 - position at the interval end
    
    v1 - velocity at the interval end
    
    s - interpolation location on the interval (in the range [0,1])
    
    h - interval time duration
  - hermiteVelocity
```
public static void hermiteVelocity(Vector3d vr,
                                   Vector3d p0,
                                   Vector3d v0,
                                   Vector3d p1,
                                   Vector3d v1,
                                   double s,
                                   double h)
```
    Interpolates velocity at a location along a cubic Hermite spline. The spline itself is defined by position and velocities at interval end-points. The location is defined by the parameter s in the range [0,1], and the actual time duration of the interval is given by h.
    
    Parameters:
    
    vr - returns interpolated velocity
    
    p0 - position at the interval beginning
    
    v0 - velocity at the interval beginning
    
    p1 - position at the interval end
    
    v1 - velocity at the interval end
    
    s - interpolation location on the interval (in the range [0,1])
    
    h - interval time duration
  - clone
```
public Vector3d clone()
```
    Specified by:
    
    clone in interface Clonable
    
    Overrides:
    
    clone in class VectorBase
  - write
```
public void write(java.io.PrintWriter pw,
                  NumberFormat fmt,
                  boolean withBrackets)
           throws java.io.IOException
```
    Writes the contents of this vector to a PrintWriter. Element values are separated by spaces, and optionally surrounded by square brackets [ ] if withBrackets is set true. Each element is formatted using a C printf style as decribed by the parameter NumberFormat.
    
    Specified by:
    
    write in interface Vector
    
    Overrides:
    
    write in class VectorBase
    
    Parameters:
    
    pw - PrintWriter to write this vector to
    
    fmt - numeric format
    
    withBrackets - if true, causes the output to be surrounded by square brackets.
    
    Throws:
    
    java.io.IOException
  - scan
```
public void scan(ReaderTokenizer rtok)
          throws java.io.IOException
```
    Sets the contents of this vector to values read from a ReaderTokenizer. The input should consist of a sequence of numbers, separated by white space and optionally surrounded by square brackets [ ].
    If the input is not surrounded by square brackets, then the number of values should equal the current size of this vector.
    If the input is surrounded by square brackets, then all values up to the closing bracket are read, and the resulting number of values should either equal the current size of this vector, or this vector should be resizeable to fit the input. For example,
```
 [ 1.2 4 5 3.1 ]
 
```
    defines a vector of size 4.
    Specified by:
    
    scan in interface Vector
    
    Overrides:
    
    scan in class VectorBase
    
    Parameters:
    
    rtok - Tokenizer from which vector values are read. Number parsing should be enabled.
    
    Throws:
    
    java.io.IOException
  - main
```
public static void main(java.lang.String[] args)
```
  - scaleObj
```
public void scaleObj(double s)
```
    Scales this vector by s.
    
    Specified by:
    
    scaleObj in interface VectorObject<Vector3d>
  - addObj
```
public void addObj(Vector3d v1)
```
    Adds v1 to this vector.
    
    Specified by:
    
    addObj in interface VectorObject<Vector3d>
  - scaledAddObj
```
public void scaledAddObj(double s,
                         Vector3d v1)
```
    Scales v1 by s and adds it to this vector.
    
    Specified by:
    
    scaledAddObj in interface VectorObject<Vector3d>

Class Vector3d

Field Summary

Constructor Summary

Method Summary

Methods inherited from class maspack.matrix.VectorBase

Methods inherited from class java.lang.Object

Methods inherited from interface maspack.matrix.VectorObject

Methods inherited from interface maspack.util.Scannable

Field Detail

ZERO

X_UNIT

Y_UNIT

Z_UNIT

NEG_X_UNIT

NEG_Y_UNIT

NEG_Z_UNIT

ONES

x

y

z

Constructor Detail

Vector3d

Vector3d

Vector3d

Vector3d

Vector3d

Vector3d

Method Detail

size

get

get

get

get

get

set

set

set

set

set

set

set

setFromHomogeneous

add

add

add

sub

sub

negate

negate

scale

scale

scale

interpolate

interpolate

scaledAdd

scaledAdd

combine

norm

normSquared

distance

distanceSquared

maxElement

minElement

infinityNorm

oneNorm

dot

angle

normalize

normalize

perpendicular

epsilonEquals

equals

greater

greaterEquals

setZero

set

absolute

absolute

sortAbsolute

maxAbsIndex