diff --git a/Source/OpenTK/Math/Matrix2.cs b/Source/OpenTK/Math/Matrix2.cs index ae628ba9..202e6ec3 100644 --- a/Source/OpenTK/Math/Matrix2.cs +++ b/Source/OpenTK/Math/Matrix2.cs @@ -181,6 +181,18 @@ namespace OpenTK #endregion + #region public void Invert() + + /// + /// Converts this instance into its inverse. + /// + public void Invert() + { + this = Matrix2.Invert(this); + } + + #endregion + #endregion #region Static @@ -495,7 +507,39 @@ namespace OpenTK #region Invert Functions - //TODO implement + /// + /// Calculate the inverse of the given matrix + /// + /// The matrix to invert + /// The inverse of the given matrix if it has one, or the input if it is singular + /// Thrown if the Matrix2 is singular. + public static void Invert(ref Matrix2 mat, out Matrix2 result) + { + float det = mat.Determinant; + + if (det == 0) + throw new InvalidOperationException("Matrix is singular and cannot be inverted."); + + float invDet = 1f / det; + + result.Row0.X = mat.Row1.Y * invDet; + result.Row0.Y = -mat.Row0.Y * invDet; + result.Row1.X = -mat.Row1.X * invDet; + result.Row1.Y = mat.Row0.X * invDet; + } + + /// + /// Calculate the inverse of the given matrix + /// + /// The matrix to invert + /// The inverse of the given matrix if it has one, or the input if it is singular + /// Thrown if the Matrix2 is singular. + public static Matrix2 Invert(Matrix2 mat) + { + Matrix2 result; + Invert(ref mat, out result); + return result; + } #endregion diff --git a/Source/OpenTK/Math/Matrix2d.cs b/Source/OpenTK/Math/Matrix2d.cs index 7309bf3e..beef7a28 100644 --- a/Source/OpenTK/Math/Matrix2d.cs +++ b/Source/OpenTK/Math/Matrix2d.cs @@ -27,8 +27,717 @@ using System.Runtime.InteropServices; namespace OpenTK { - //TODO copy from Matrix2.cs when it's mostly feature-complete. - /*public struct Matrix2d : IEquatable + /// + /// Represents a 2x2 matrix + /// + public struct Matrix2d : IEquatable { - }*/ + #region Fields + + /// + /// Top row of the matrix. + /// + public Vector2d Row0; + + /// + /// Bottom row of the matrix. + /// + public Vector2d Row1; + + /// + /// The identity matrix. + /// + public static readonly Matrix2d Identity = new Matrix2d(Vector2d.UnitX, Vector2d.UnitY); + + /// + /// The zero matrix. + /// + public static readonly Matrix2d Zero = new Matrix2d(Vector2d.Zero, Vector2d.Zero); + + #endregion + + #region Constructors + + /// + /// Constructs a new instance. + /// + /// Top row of the matrix. + /// Bottom row of the matrix. + public Matrix2d(Vector2d row0, Vector2d row1) + { + Row0 = row0; + Row1 = row1; + } + + /// + /// Constructs a new instance + /// + /// First item of the first row of the matrix. + /// Second item of the first row of the matrix. + /// First item of the second row of the matrix. + /// Second item of the second row of the matrix. + public Matrix2d( + double m00, double m01, + double m10, double m11) + { + Row0 = new Vector2d(m00, m01); + Row1 = new Vector2d(m10, m11); + } + + #endregion + + #region Public Members + + #region Properties + + /// + /// Gets the determinant of this matrix. + /// + public double Determinant + { + get + { + double m11 = Row0.X, m12 = Row0.Y, + m21 = Row1.X, m22 = Row1.Y; + + return m11 * m22 - m12 * m21; + } + } + + /// + /// Gets or sets the first column of this matrix. + /// + public Vector2d Column0 + { + get { return new Vector2d(Row0.X, Row1.X); } + set { Row0.X = value.X; Row1.X = value.Y; } + } + + /// + /// Gets or sets the second column of this matrix. + /// + public Vector2d Column1 + { + get { return new Vector2d(Row0.Y, Row1.Y); } + set { Row0.Y = value.X; Row1.Y = value.Y; } + } + + /// + /// Gets or sets the value at row 1, column 1 of this instance. + /// + public double M11 { get { return Row0.X; } set { Row0.X = value; } } + + /// + /// Gets or sets the value at row 1, column 2 of this instance. + /// + public double M12 { get { return Row0.Y; } set { Row0.Y = value; } } + + /// + /// Gets or sets the value at row 2, column 1 of this instance. + /// + public double M21 { get { return Row1.X; } set { Row1.X = value; } } + + /// + /// Gets or sets the value at row 2, column 2 of this instance. + /// + public double M22 { get { return Row1.Y; } set { Row1.Y = value; } } + + #endregion + + #region Indexers + + /// + /// Gets or sets the value at a specified row and column. + /// + public double this[int rowIndex, int columnIndex] + { + get + { + if (rowIndex == 0) return Row0[columnIndex]; + else if (rowIndex == 1) return Row1[columnIndex]; + throw new IndexOutOfRangeException("You tried to access this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + set + { + if (rowIndex == 0) Row0[columnIndex] = value; + else if (rowIndex == 1) Row1[columnIndex] = value; + throw new IndexOutOfRangeException("You tried to set this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + } + + #endregion + + #region Instance + + #region public void Transpose() + + /// + /// Converts this instance to it's transpose. + /// + public void Transpose() + { + this = Matrix2d.Transpose(this); + } + + #endregion + + #region public void Invert() + + /// + /// Converts this instance into its inverse. + /// + public void Invert() + { + this = Matrix2d.Invert(this); + } + + #endregion + + #endregion + + #region Static + + #region CreateRotation + + /// + /// Builds a rotation matrix. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix2d instance. + public static void CreateRotation(double angle, out Matrix2d result) + { + double cos = (double)System.Math.Cos(angle); + double sin = (double)System.Math.Sin(angle); + + result.Row0.X = cos; + result.Row0.Y = sin; + result.Row1.X = -sin; + result.Row1.Y = cos; + } + + /// + /// Builds a rotation matrix. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix2d instance. + public static Matrix2d CreateRotation(double angle) + { + Matrix2d result; + CreateRotation(angle, out result); + return result; + } + + #endregion + + #region CreateScale + + /// + /// Creates a scale matrix. + /// + /// Single scale factor for the x, y, and z axes. + /// A scale matrix. + public static void CreateScale(double scale, out Matrix2d result) + { + result.Row0.X = scale; + result.Row0.Y = 0; + result.Row1.X = 0; + result.Row1.Y = scale; + } + + /// + /// Creates a scale matrix. + /// + /// Single scale factor for the x and y axes. + /// A scale matrix. + public static Matrix2d CreateScale(double scale) + { + Matrix2d result; + CreateScale(scale, out result); + return result; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factors for the x and y axes. + /// A scale matrix. + public static void CreateScale(Vector2d scale, out Matrix2d result) + { + result.Row0.X = scale.X; + result.Row0.Y = 0; + result.Row1.X = 0; + result.Row1.Y = scale.Y; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factors for the x and y axes. + /// A scale matrix. + public static Matrix2d CreateScale(Vector2d scale) + { + Matrix2d result; + CreateScale(scale, out result); + return result; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factor for the x axis. + /// Scale factor for the y axis. + /// A scale matrix. + public static void CreateScale(double x, double y, out Matrix2d result) + { + result.Row0.X = x; + result.Row0.Y = 0; + result.Row1.X = 0; + result.Row1.Y = y; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factor for the x axis. + /// Scale factor for the y axis. + /// A scale matrix. + public static Matrix2d CreateScale(double x, double y) + { + Matrix2d result; + CreateScale(x, y, out result); + return result; + } + + #endregion + + #region Multiply Functions + + /// + /// Multiplies and instance by a scalar. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2d left, double right, out Matrix2d result) + { + result.Row0.X = left.Row0.X * right; + result.Row0.Y = left.Row0.Y * right; + result.Row1.X = left.Row1.X * right; + result.Row1.Y = left.Row1.Y * right; + } + + /// + /// Multiplies and instance by a scalar. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2d Mult(Matrix2d left, double right) + { + Matrix2d result; + Mult(ref left, right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2d left, ref Matrix2d right, out Matrix2d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, + lM21 = left.Row1.X, lM22 = left.Row1.Y, + rM11 = right.Row0.X, rM12 = right.Row0.Y, + rM21 = right.Row1.X, rM22 = right.Row1.Y; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2d Mult(Matrix2d left, Matrix2d right) + { + Matrix2d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2d left, ref Matrix2x3d right, out Matrix2x3d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, + lM21 = left.Row1.X, lM22 = left.Row1.Y, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22); + result.Row0.Z = (lM11 * rM13) + (lM12 * rM23); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22); + result.Row1.Z = (lM21 * rM13) + (lM22 * rM23); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2x3d Mult(Matrix2d left, Matrix2x3d right) + { + Matrix2x3d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2d left, ref Matrix2x4d right, out Matrix2x4d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, + lM21 = left.Row1.X, lM22 = left.Row1.Y, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22); + result.Row0.Z = (lM11 * rM13) + (lM12 * rM23); + result.Row0.W = (lM11 * rM14) + (lM12 * rM24); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22); + result.Row1.Z = (lM21 * rM13) + (lM22 * rM23); + result.Row1.W = (lM21 * rM14) + (lM22 * rM24); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2x4d Mult(Matrix2d left, Matrix2x4d right) + { + Matrix2x4d result; + Mult(ref left, ref right, out result); + return result; + } + + #endregion + + #region Add + + /// + /// Adds two instances. + /// + /// The left operand of the addition. + /// The right operand of the addition. + /// A new instance that is the result of the addition. + public static void Add(ref Matrix2d left, ref Matrix2d right, out Matrix2d result) + { + result.Row0.X = left.Row0.X + right.Row0.X; + result.Row0.Y = left.Row0.Y + right.Row0.Y; + result.Row1.X = left.Row1.X + right.Row1.X; + result.Row1.Y = left.Row1.Y + right.Row1.Y; + } + + /// + /// Adds two instances. + /// + /// The left operand of the addition. + /// The right operand of the addition. + /// A new instance that is the result of the addition. + public static Matrix2d Add(Matrix2d left, Matrix2d right) + { + Matrix2d result; + Add(ref left, ref right, out result); + return result; + } + + #endregion + + #region Subtract + + /// + /// Subtracts two instances. + /// + /// The left operand of the subtraction. + /// The right operand of the subtraction. + /// A new instance that is the result of the subtraction. + public static void Subtract(ref Matrix2d left, ref Matrix2d right, out Matrix2d result) + { + result.Row0.X = left.Row0.X - right.Row0.X; + result.Row0.Y = left.Row0.Y - right.Row0.Y; + result.Row1.X = left.Row1.X - right.Row1.X; + result.Row1.Y = left.Row1.Y - right.Row1.Y; + } + + /// + /// Subtracts two instances. + /// + /// The left operand of the subtraction. + /// The right operand of the subtraction. + /// A new instance that is the result of the subtraction. + public static Matrix2d Subtract(Matrix2d left, Matrix2d right) + { + Matrix2d result; + Subtract(ref left, ref right, out result); + return result; + } + + #endregion + + #region Invert Functions + + /// + /// Calculate the inverse of the given matrix + /// + /// The matrix to invert + /// The inverse of the given matrix if it has one, or the input if it is singular + /// Thrown if the Matrix2d is singular. + public static void Invert(ref Matrix2d mat, out Matrix2d result) + { + double det = mat.Determinant; + + if (det == 0) + throw new InvalidOperationException("Matrix is singular and cannot be inverted."); + + double invDet = 1f / det; + + result.Row0.X = mat.Row1.Y * invDet; + result.Row0.Y = -mat.Row0.Y * invDet; + result.Row1.X = -mat.Row1.X * invDet; + result.Row1.Y = mat.Row0.X * invDet; + } + + /// + /// Calculate the inverse of the given matrix + /// + /// The matrix to invert + /// The inverse of the given matrix if it has one, or the input if it is singular + /// Thrown if the Matrix2d is singular. + public static Matrix2d Invert(Matrix2d mat) + { + Matrix2d result; + Invert(ref mat, out result); + return result; + } + + #endregion + + #region Transpose + + /// + /// Calculate the transpose of the given matrix. + /// + /// The matrix to transpose. + /// The transpose of the given matrix. + public static void Transpose(ref Matrix2d mat, out Matrix2d result) + { + result.Row0.X = mat.Row0.X; + result.Row0.Y = mat.Row1.X; + result.Row1.X = mat.Row0.Y; + result.Row1.Y = mat.Row1.Y; + } + + /// + /// Calculate the transpose of the given matrix. + /// + /// The matrix to transpose. + /// The transpose of the given matrix. + public static Matrix2d Transpose(Matrix2d mat) + { + Matrix2d result; + Transpose(ref mat, out result); + return result; + } + + #endregion + + #endregion + + #region Operators + + /// + /// Scalar multiplication. + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2d which holds the result of the multiplication + public static Matrix2d operator *(double left, Matrix2d right) + { + return Mult(right, left); + } + + /// + /// Scalar multiplication. + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2d which holds the result of the multiplication + public static Matrix2d operator *(Matrix2d left, double right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2d which holds the result of the multiplication + public static Matrix2d operator *(Matrix2d left, Matrix2d right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x3d which holds the result of the multiplication + public static Matrix2x3d operator *(Matrix2d left, Matrix2x3d right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x4d which holds the result of the multiplication + public static Matrix2x4d operator *(Matrix2d left, Matrix2x4d right) + { + return Mult(left, right); + } + + /// + /// Matrix addition + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2d which holds the result of the addition + public static Matrix2d operator +(Matrix2d left, Matrix2d right) + { + return Add(left, right); + } + + /// + /// Matrix subtraction + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2d which holds the result of the subtraction + public static Matrix2d operator -(Matrix2d left, Matrix2d right) + { + return Subtract(left, right); + } + + /// + /// Compares two instances for equality. + /// + /// The first instance. + /// The second instance. + /// True, if left equals right; false otherwise. + public static bool operator ==(Matrix2d left, Matrix2d right) + { + return left.Equals(right); + } + + /// + /// Compares two instances for inequality. + /// + /// The first instance. + /// The second instance. + /// True, if left does not equal right; false otherwise. + public static bool operator !=(Matrix2d left, Matrix2d right) + { + return !left.Equals(right); + } + + #endregion + + #region Overrides + + #region public override string ToString() + + /// + /// Returns a System.String that represents the current Matrix4. + /// + /// The string representation of the matrix. + public override string ToString() + { + return String.Format("{0}\n{1}", Row0, Row1); + } + + #endregion + + #region public override int GetHashCode() + + /// + /// Returns the hashcode for this instance. + /// + /// A System.Int32 containing the unique hashcode for this instance. + public override int GetHashCode() + { + return Row0.GetHashCode() ^ Row1.GetHashCode(); + } + + #endregion + + #region public override bool Equals(object obj) + + /// + /// Indicates whether this instance and a specified object are equal. + /// + /// The object to compare to. + /// True if the instances are equal; false otherwise. + public override bool Equals(object obj) + { + if (!(obj is Matrix2d)) + return false; + + return this.Equals((Matrix2d)obj); + } + + #endregion + + #endregion + + #endregion + + #region IEquatable Members + + /// Indicates whether the current matrix is equal to another matrix. + /// An matrix to compare with this matrix. + /// true if the current matrix is equal to the matrix parameter; otherwise, false. + public bool Equals(Matrix2d other) + { + return + Row0 == other.Row0 && + Row1 == other.Row1; + } + + #endregion + } } diff --git a/Source/OpenTK/Math/Matrix2x3d.cs b/Source/OpenTK/Math/Matrix2x3d.cs index 73a48678..0cc907b8 100644 --- a/Source/OpenTK/Math/Matrix2x3d.cs +++ b/Source/OpenTK/Math/Matrix2x3d.cs @@ -23,12 +23,681 @@ SOFTWARE. #endregion using System; -using System.Runtime.InteropServices; +using System.Collections.Generic; namespace OpenTK { - //TODO copy from Matrix2x3.cs when it's mostly feature-complete. - /*public struct Matrix2x3d : IEquatable + /// + /// Represents a 2x3 matrix. + /// + public struct Matrix2x3d : IEquatable { - }*/ + #region Fields + + /// + /// Top row of the matrix. + /// + public Vector3d Row0; + + /// + /// Bottom row of the matrix. + /// + public Vector3d Row1; + + /// + /// The zero matrix. + /// + public static readonly Matrix2x3d Zero = new Matrix2x3d(Vector3d.Zero, Vector3d.Zero); + + #endregion + + #region Constructors + + /// + /// Constructs a new instance. + /// + /// Top row of the matrix. + /// Bottom row of the matrix. + public Matrix2x3d(Vector3d row0, Vector3d row1) + { + Row0 = row0; + Row1 = row1; + } + + /// + /// Constructs a new instance + /// + /// First item of the first row of the matrix. + /// Second item of the first row of the matrix. + /// Third item of the first row of the matrix. + /// First item of the second row of the matrix. + /// Second item of the second row of the matrix. + /// Third item of the second row of the matrix. + public Matrix2x3d( + double m00, double m01, double m02, + double m10, double m11, double m12) + { + Row0 = new Vector3d(m00, m01, m02); + Row1 = new Vector3d(m10, m11, m12); + } + + #endregion + + #region Public Members + + #region Properties + + /// + /// Gets or sets the first column of this matrix. + /// + public Vector2d Column0 + { + get { return new Vector2d(Row0.X, Row1.X); } + set { Row0.X = value.X; Row1.X = value.Y; } + } + + /// + /// Gets or sets the second column of this matrix. + /// + public Vector2d Column1 + { + get { return new Vector2d(Row0.Y, Row1.Y); } + set { Row0.Y = value.X; Row1.Y = value.Y; } + } + + /// + /// Gets or sets the third column of this matrix. + /// + public Vector2d Column2 + { + get { return new Vector2d(Row0.Z, Row1.Z); } + set { Row0.Z = value.X; Row1.Z = value.Y; } + } + + /// + /// Gets or sets the value at row 1, column 1 of this instance. + /// + public double M11 { get { return Row0.X; } set { Row0.X = value; } } + + /// + /// Gets or sets the value at row 1, column 2 of this instance. + /// + public double M12 { get { return Row0.Y; } set { Row0.Y = value; } } + + /// + /// Gets or sets the value at row 1, column 3 of this instance. + /// + public double M13 { get { return Row0.Z; } set { Row0.Z = value; } } + + /// + /// Gets or sets the value at row 2, column 1 of this instance. + /// + public double M21 { get { return Row1.X; } set { Row1.X = value; } } + + /// + /// Gets or sets the value at row 2, column 2 of this instance. + /// + public double M22 { get { return Row1.Y; } set { Row1.Y = value; } } + + /// + /// Gets or sets the value at row 2, column 3 of this instance. + /// + public double M23 { get { return Row1.Z; } set { Row1.Z = value; } } + + #endregion + + #region Indexers + + /// + /// Gets or sets the value at a specified row and column. + /// + public double this[int rowIndex, int columnIndex] + { + get + { + if (rowIndex == 0) return Row0[columnIndex]; + else if (rowIndex == 1) return Row1[columnIndex]; + throw new IndexOutOfRangeException("You tried to access this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + set + { + if (rowIndex == 0) Row0[columnIndex] = value; + else if (rowIndex == 1) Row1[columnIndex] = value; + throw new IndexOutOfRangeException("You tried to set this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + } + + #endregion + + #region Instance + #endregion + + #region Static + + #region CreateRotation + + /// + /// Builds a rotation matrix. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix2x3d instance. + public static void CreateRotation(double angle, out Matrix2x3d result) + { + double cos = System.Math.Cos(angle); + double sin = System.Math.Sin(angle); + + result.Row0.X = cos; + result.Row0.Y = sin; + result.Row0.Z = 0; + result.Row1.X = -sin; + result.Row1.Y = cos; + result.Row1.Z = 0; + } + + /// + /// Builds a rotation matrix. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix2x3d instance. + public static Matrix2x3d CreateRotation(double angle) + { + Matrix2x3d result; + CreateRotation(angle, out result); + return result; + } + + #endregion + + #region CreateScale + + /// + /// Creates a scale matrix. + /// + /// Single scale factor for the x, y, and z axes. + /// A scale matrix. + public static void CreateScale(double scale, out Matrix2x3d result) + { + result.Row0.X = scale; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row1.X = 0; + result.Row1.Y = scale; + result.Row1.Z = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Single scale factor for the x and y axes. + /// A scale matrix. + public static Matrix2x3d CreateScale(double scale) + { + Matrix2x3d result; + CreateScale(scale, out result); + return result; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factors for the x and y axes. + /// A scale matrix. + public static void CreateScale(Vector2d scale, out Matrix2x3d result) + { + result.Row0.X = scale.X; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row1.X = 0; + result.Row1.Y = scale.Y; + result.Row1.Z = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factors for the x and y axes. + /// A scale matrix. + public static Matrix2x3d CreateScale(Vector2d scale) + { + Matrix2x3d result; + CreateScale(scale, out result); + return result; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factor for the x axis. + /// Scale factor for the y axis. + /// A scale matrix. + public static void CreateScale(double x, double y, out Matrix2x3d result) + { + result.Row0.X = x; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row1.X = 0; + result.Row1.Y = y; + result.Row1.Z = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factor for the x axis. + /// Scale factor for the y axis. + /// A scale matrix. + public static Matrix2x3d CreateScale(double x, double y) + { + Matrix2x3d result; + CreateScale(x, y, out result); + return result; + } + + #endregion + + #region Multiply Functions + + /// + /// Multiplies and instance by a scalar. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2x3d left, double right, out Matrix2x3d result) + { + result.Row0.X = left.Row0.X * right; + result.Row0.Y = left.Row0.Y * right; + result.Row0.Z = left.Row0.Z * right; + result.Row1.X = left.Row1.X * right; + result.Row1.Y = left.Row1.Y * right; + result.Row1.Z = left.Row1.Z * right; + } + + /// + /// Multiplies and instance by a scalar. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2x3d Mult(Matrix2x3d left, double right) + { + Matrix2x3d result; + Mult(ref left, right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2x3d left, ref Matrix3x2 right, out Matrix2d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, + lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, + rM11 = right.Row0.X, rM12 = right.Row0.Y, + rM21 = right.Row1.X, rM22 = right.Row1.Y, + rM31 = right.Row2.X, rM32 = right.Row2.Y; + + result.Row0.X = ((lM11 * rM11) + (lM12 * rM21)) + (lM13 * rM31); + result.Row0.Y = ((lM11 * rM12) + (lM12 * rM22)) + (lM13 * rM32); + result.Row1.X = ((lM21 * rM11) + (lM22 * rM21)) + (lM23 * rM31); + result.Row1.Y = ((lM21 * rM12) + (lM22 * rM22)) + (lM23 * rM32); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2d Mult(Matrix2x3d left, Matrix3x2 right) + { + Matrix2d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2x3d left, ref Matrix3 right, out Matrix2x3d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, + lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, + rM31 = right.Row2.X, rm32 = right.Row2.Y, rM33 = right.Row2.Z; + + result.Row0.X = ((lM11 * rM11) + (lM12 * rM21)) + (lM13 * rM31); + result.Row0.Y = ((lM11 * rM12) + (lM12 * rM22)) + (lM13 * rm32); + result.Row0.Z = ((lM11 * rM13) + (lM12 * rM23)) + (lM13 * rM33); + result.Row1.X = ((lM21 * rM11) + (lM22 * rM21)) + (lM23 * rM31); + result.Row1.Y = ((lM21 * rM12) + (lM22 * rM22)) + (lM23 * rm32); + result.Row1.Z = ((lM21 * rM13) + (lM22 * rM23)) + (lM23 * rM33); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2x3d Mult(Matrix2x3d left, Matrix3 right) + { + Matrix2x3d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2x3d left, ref Matrix3x4 right, out Matrix2x4d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, + lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W, + rM31 = right.Row2.X, rm32 = right.Row2.Y, rM33 = right.Row2.Z, rM34 = right.Row2.W; + + result.Row0.X = ((lM11 * rM11) + (lM12 * rM21)) + (lM13 * rM31); + result.Row0.Y = ((lM11 * rM12) + (lM12 * rM22)) + (lM13 * rm32); + result.Row0.Z = ((lM11 * rM13) + (lM12 * rM23)) + (lM13 * rM33); + result.Row0.W = ((lM11 * rM14) + (lM12 * rM24)) + (lM13 * rM34); + result.Row1.X = ((lM21 * rM11) + (lM22 * rM21)) + (lM23 * rM31); + result.Row1.Y = ((lM21 * rM12) + (lM22 * rM22)) + (lM23 * rm32); + result.Row1.Z = ((lM21 * rM13) + (lM22 * rM23)) + (lM23 * rM33); + result.Row1.W = ((lM21 * rM14) + (lM22 * rM24)) + (lM23 * rM34); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2x4d Mult(Matrix2x3d left, Matrix3x4 right) + { + Matrix2x4d result; + Mult(ref left, ref right, out result); + return result; + } + + #endregion + + #region Add + + /// + /// Adds two instances. + /// + /// The left operand of the addition. + /// The right operand of the addition. + /// A new instance that is the result of the addition. + public static void Add(ref Matrix2x3d left, ref Matrix2x3d right, out Matrix2x3d result) + { + result.Row0.X = left.Row0.X + right.Row0.X; + result.Row0.Y = left.Row0.Y + right.Row0.Y; + result.Row0.Z = left.Row0.Z + right.Row0.Z; + result.Row1.X = left.Row1.X + right.Row1.X; + result.Row1.Y = left.Row1.Y + right.Row1.Y; + result.Row1.Z = left.Row1.Z + right.Row1.Z; + } + + /// + /// Adds two instances. + /// + /// The left operand of the addition. + /// The right operand of the addition. + /// A new instance that is the result of the addition. + public static Matrix2x3d Add(Matrix2x3d left, Matrix2x3d right) + { + Matrix2x3d result; + Add(ref left, ref right, out result); + return result; + } + + #endregion + + #region Subtract + + /// + /// Subtracts two instances. + /// + /// The left operand of the subtraction. + /// The right operand of the subtraction. + /// A new instance that is the result of the subtraction. + public static void Subtract(ref Matrix2x3d left, ref Matrix2x3d right, out Matrix2x3d result) + { + result.Row0.X = left.Row0.X - right.Row0.X; + result.Row0.Y = left.Row0.Y - right.Row0.Y; + result.Row0.Z = left.Row0.Z - right.Row0.Z; + result.Row1.X = left.Row1.X - right.Row1.X; + result.Row1.Y = left.Row1.Y - right.Row1.Y; + result.Row1.Z = left.Row1.Z - right.Row1.Z; + } + + /// + /// Subtracts two instances. + /// + /// The left operand of the subtraction. + /// The right operand of the subtraction. + /// A new instance that is the result of the subtraction. + public static Matrix2x3d Subtract(Matrix2x3d left, Matrix2x3d right) + { + Matrix2x3d result; + Subtract(ref left, ref right, out result); + return result; + } + + #endregion + + #region Transpose + + /// + /// Calculate the transpose of the given matrix. + /// + /// The matrix to transpose. + /// The transpose of the given matrix. + public static void Transpose(ref Matrix2x3d mat, out Matrix3x2d result) + { + result.Row0.X = mat.Row0.X; + result.Row0.Y = mat.Row1.X; + result.Row1.X = mat.Row0.Y; + result.Row1.Y = mat.Row1.Y; + result.Row2.X = mat.Row0.Z; + result.Row2.Y = mat.Row1.Z; + } + + /// + /// Calculate the transpose of the given matrix. + /// + /// The matrix to transpose. + /// The transpose of the given matrix. + public static Matrix3x2d Transpose(Matrix2x3d mat) + { + Matrix3x2d result; + Transpose(ref mat, out result); + return result; + } + + #endregion + + #endregion + + #region Operators + + /// + /// Scalar multiplication. + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x3d which holds the result of the multiplication + public static Matrix2x3d operator *(double left, Matrix2x3d right) + { + return Mult(right, left); + } + + /// + /// Scalar multiplication. + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x3d which holds the result of the multiplication + public static Matrix2x3d operator *(Matrix2x3d left, double right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2d which holds the result of the multiplication + public static Matrix2d operator *(Matrix2x3d left, Matrix3x2 right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x3d which holds the result of the multiplication + public static Matrix2x3d operator *(Matrix2x3d left, Matrix3 right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x4d which holds the result of the multiplication + public static Matrix2x4d operator *(Matrix2x3d left, Matrix3x4 right) + { + return Mult(left, right); + } + + /// + /// Matrix addition + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x3d which holds the result of the addition + public static Matrix2x3d operator +(Matrix2x3d left, Matrix2x3d right) + { + return Add(left, right); + } + + /// + /// Matrix subtraction + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x3d which holds the result of the subtraction + public static Matrix2x3d operator -(Matrix2x3d left, Matrix2x3d right) + { + return Subtract(left, right); + } + + /// + /// Compares two instances for equality. + /// + /// The first instance. + /// The second instance. + /// True, if left equals right; false otherwise. + public static bool operator ==(Matrix2x3d left, Matrix2x3d right) + { + return left.Equals(right); + } + + /// + /// Compares two instances for inequality. + /// + /// The first instance. + /// The second instance. + /// True, if left does not equal right; false otherwise. + public static bool operator !=(Matrix2x3d left, Matrix2x3d right) + { + return !left.Equals(right); + } + + #endregion + + #region Overrides + + #region public override string ToString() + + /// + /// Returns a System.String that represents the current Matrix2x3d. + /// + /// The string representation of the matrix. + public override string ToString() + { + return String.Format("{0}\n{1}", Row0, Row1); + } + + #endregion + + #region public override int GetHashCode() + + /// + /// Returns the hashcode for this instance. + /// + /// A System.Int32 containing the unique hashcode for this instance. + public override int GetHashCode() + { + return Row0.GetHashCode() ^ Row1.GetHashCode(); + } + + #endregion + + #region public override bool Equals(object obj) + + /// + /// Indicates whether this instance and a specified object are equal. + /// + /// The object to compare tresult. + /// True if the instances are equal; false otherwise. + public override bool Equals(object obj) + { + if (!(obj is Matrix2x3d)) + return false; + + return this.Equals((Matrix2x3d)obj); + } + + #endregion + + #endregion + + #endregion + + #region IEquatable Members + + /// + /// Indicates whether the current matrix is equal to another matrix. + /// + /// An matrix to compare with this matrix. + /// true if the current matrix is equal to the matrix parameter; otherwise, false. + public bool Equals(Matrix2x3d other) + { + return + Row0 == other.Row0 && + Row1 == other.Row1; + } + + #endregion + } } diff --git a/Source/OpenTK/Math/Matrix2x4d.cs b/Source/OpenTK/Math/Matrix2x4d.cs index fd5207d8..5b8521d7 100644 --- a/Source/OpenTK/Math/Matrix2x4d.cs +++ b/Source/OpenTK/Math/Matrix2x4d.cs @@ -27,8 +27,714 @@ using System.Runtime.InteropServices; namespace OpenTK { - //TODO copy from Matrix2x4.cs when it's mostly feature-complete. - /*public struct Matrix2x4d : IEquatable + /// + /// Represents a 2x4 matrix. + /// + public struct Matrix2x4d : IEquatable { - }*/ + #region Fields + + /// + /// Top row of the matrix. + /// + public Vector4d Row0; + + /// + /// Bottom row of the matrix. + /// + public Vector4d Row1; + + /// + /// The zero matrix. + /// + public static readonly Matrix2x4d Zero = new Matrix2x4d(Vector4d.Zero, Vector4d.Zero); + + #endregion + + #region Constructors + + /// + /// Constructs a new instance. + /// + /// Top row of the matrix. + /// Bottom row of the matrix. + public Matrix2x4d(Vector4d row0, Vector4d row1) + { + Row0 = row0; + Row1 = row1; + } + + /// + /// Constructs a new instance + /// + /// First item of the first row of the matrix. + /// Second item of the first row of the matrix. + /// Third item of the first row of the matrix. + /// Fourth item of the first row of the matrix. + /// First item of the second row of the matrix. + /// Second item of the second row of the matrix. + /// Third item of the second row of the matrix. + /// Fourth item of the second row of the matrix. + public Matrix2x4d( + double m00, double m01, double m02, double m03, + double m10, double m11, double m12, double m13) + { + Row0 = new Vector4d(m00, m01, m02, m03); + Row1 = new Vector4d(m10, m11, m12, m13); + } + + #endregion + + #region Public Members + + #region Properties + + /// + /// Gets or sets the first column of the matrix. + /// + public Vector2d Column0 + { + get { return new Vector2d(Row0.X, Row1.X); } + set { Row0.X = value.X; Row1.X = value.Y; } + } + + /// + /// Gets or sets the second column of the matrix. + /// + public Vector2d Column1 + { + get { return new Vector2d(Row0.Y, Row1.Y); } + set { Row0.Y = value.X; Row1.Y = value.Y; } + } + + /// + /// Gets or sets the third column of the matrix. + /// + public Vector2d Column2 + { + get { return new Vector2d(Row0.Z, Row1.Z); } + set { Row0.Z = value.X; Row1.Z = value.Y; } + } + + /// + /// Gets or sets the fourth column of the matrix. + /// + public Vector2d Column3 + { + get { return new Vector2d(Row0.W, Row1.W); } + set { Row0.W = value.X; Row1.W = value.Y; } + } + + /// + /// Gets or sets the value at row 1, column 1 of this instance. + /// + public double M11 { get { return Row0.X; } set { Row0.X = value; } } + + /// + /// Gets or sets the value at row 1, column 2 of this instance. + /// + public double M12 { get { return Row0.Y; } set { Row0.Y = value; } } + + /// + /// Gets or sets the value at row 1, column 3 of this instance. + /// + public double M13 { get { return Row0.Z; } set { Row0.Z = value; } } + + /// + /// Gets or sets the value at row 1, column 4 of this instance. + /// + public double M14 { get { return Row0.W; } set { Row0.W = value; } } + + /// + /// Gets or sets the value at row 2, column 1 of this instance. + /// + public double M21 { get { return Row1.X; } set { Row1.X = value; } } + + /// + /// Gets or sets the value at row 2, column 2 of this instance. + /// + public double M22 { get { return Row1.Y; } set { Row1.Y = value; } } + + /// + /// Gets or sets the value at row 2, column 3 of this instance. + /// + public double M23 { get { return Row1.Z; } set { Row1.Z = value; } } + + /// + /// Gets or sets the value at row 2, column 4 of this instance. + /// + public double M24 { get { return Row1.W; } set { Row1.W = value; } } + + #endregion + + #region Indexers + + /// + /// Gets or sets the value at a specified row and column. + /// + public double this[int rowIndex, int columnIndex] + { + get + { + if (rowIndex == 0) return Row0[columnIndex]; + else if (rowIndex == 1) return Row1[columnIndex]; + throw new IndexOutOfRangeException("You tried to access this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + set + { + if (rowIndex == 0) Row0[columnIndex] = value; + else if (rowIndex == 1) Row1[columnIndex] = value; + throw new IndexOutOfRangeException("You tried to set this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + } + + #endregion + + #region Static + + #region CreateRotation + + /// + /// Builds a rotation matrix. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix2x4d instance. + public static void CreateRotation(double angle, out Matrix2x4d result) + { + double cos = System.Math.Cos(angle); + double sin = System.Math.Sin(angle); + + result.Row0.X = cos; + result.Row0.Y = sin; + result.Row0.Z = 0; + result.Row0.W = 0; + result.Row1.X = -sin; + result.Row1.Y = cos; + result.Row1.Z = 0; + result.Row1.W = 0; + } + + /// + /// Builds a rotation matrix. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix2x3d instance. + public static Matrix2x4d CreateRotation(double angle) + { + Matrix2x4d result; + CreateRotation(angle, out result); + return result; + } + + #endregion + + #region CreateScale + + /// + /// Creates a scale matrix. + /// + /// Single scale factor for the x, y, and z axes. + /// A scale matrix. + public static void CreateScale(double scale, out Matrix2x4d result) + { + result.Row0.X = scale; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row0.W = 0; + result.Row1.X = 0; + result.Row1.Y = scale; + result.Row1.Z = 0; + result.Row1.W = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Single scale factor for the x and y axes. + /// A scale matrix. + public static Matrix2x4d CreateScale(double scale) + { + Matrix2x4d result; + CreateScale(scale, out result); + return result; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factors for the x and y axes. + /// A scale matrix. + public static void CreateScale(Vector2d scale, out Matrix2x4d result) + { + result.Row0.X = scale.X; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row0.W = 0; + result.Row1.X = 0; + result.Row1.Y = scale.Y; + result.Row1.Z = 0; + result.Row1.W = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factors for the x and y axes. + /// A scale matrix. + public static Matrix2x4d CreateScale(Vector2d scale) + { + Matrix2x4d result; + CreateScale(scale, out result); + return result; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factor for the x axis. + /// Scale factor for the y axis. + /// A scale matrix. + public static void CreateScale(double x, double y, out Matrix2x4d result) + { + result.Row0.X = x; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row0.W = 0; + result.Row1.X = 0; + result.Row1.Y = y; + result.Row1.Z = 0; + result.Row1.W = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factor for the x axis. + /// Scale factor for the y axis. + /// A scale matrix. + public static Matrix2x4d CreateScale(double x, double y) + { + Matrix2x4d result; + CreateScale(x, y, out result); + return result; + } + + #endregion + + #region Multiply Functions + + /// + /// Multiplies and instance by a scalar. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2x4d left, double right, out Matrix2x4d result) + { + result.Row0.X = left.Row0.X * right; + result.Row0.Y = left.Row0.Y * right; + result.Row0.Z = left.Row0.Z * right; + result.Row0.W = left.Row0.W * right; + result.Row1.X = left.Row1.X * right; + result.Row1.Y = left.Row1.Y * right; + result.Row1.Z = left.Row1.Z * right; + result.Row1.W = left.Row1.W * right; + } + + /// + /// Multiplies and instance by a scalar. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2x4d Mult(Matrix2x4d left, double right) + { + Matrix2x4d result; + Mult(ref left, right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2x4d left, ref Matrix4x2 right, out Matrix2d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W, + lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, lM24 = left.Row1.W, + rM11 = right.Row0.X, rM12 = right.Row0.Y, + rM21 = right.Row1.X, rM22 = right.Row1.Y, + rM31 = right.Row2.X, rM32 = right.Row2.Y, + rM41 = right.Row3.X, rM42 = right.Row3.Y; + + result.Row0.X = (((lM11 * rM11) + (lM12 * rM21)) + (lM13 * rM31)) + (lM14 * rM41); + result.Row0.Y = (((lM11 * rM12) + (lM12 * rM22)) + (lM13 * rM32)) + (lM14 * rM42); + result.Row1.X = (((lM21 * rM11) + (lM22 * rM21)) + (lM23 * rM31)) + (lM24 * rM41); + result.Row1.Y = (((lM21 * rM12) + (lM22 * rM22)) + (lM23 * rM32)) + (lM24 * rM42); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2d Mult(Matrix2x4d left, Matrix4x2 right) + { + Matrix2d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2x4d left, ref Matrix4x3 right, out Matrix2x3d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W, + lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, lM24 = left.Row1.W, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, + rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z, + rM41 = right.Row3.X, rM42 = right.Row3.Y, rM43 = right.Row3.Z; + + result.Row0.X = (((lM11 * rM11) + (lM12 * rM21)) + (lM13 * rM31)) + (lM14 * rM41); + result.Row0.Y = (((lM11 * rM12) + (lM12 * rM22)) + (lM13 * rM32)) + (lM14 * rM42); + result.Row0.Z = (((lM11 * rM13) + (lM12 * rM23)) + (lM13 * rM33)) + (lM14 * rM43); + result.Row1.X = (((lM21 * rM11) + (lM22 * rM21)) + (lM23 * rM31)) + (lM24 * rM41); + result.Row1.Y = (((lM21 * rM12) + (lM22 * rM22)) + (lM23 * rM32)) + (lM24 * rM42); + result.Row1.Z = (((lM21 * rM13) + (lM22 * rM23)) + (lM23 * rM33)) + (lM24 * rM43); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2x3d Mult(Matrix2x4d left, Matrix4x3 right) + { + Matrix2x3d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix2x4d left, ref Matrix4 right, out Matrix2x4d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W, + lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, lM24 = left.Row1.W, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W, + rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z, rM34 = right.Row2.W, + rM41 = right.Row3.X, rM42 = right.Row3.Y, rM43 = right.Row3.Z, rM44 = right.Row3.W; + + result.Row0.X = (((lM11 * rM11) + (lM12 * rM21)) + (lM13 * rM31)) + (lM14 * rM41); + result.Row0.Y = (((lM11 * rM12) + (lM12 * rM22)) + (lM13 * rM32)) + (lM14 * rM42); + result.Row0.Z = (((lM11 * rM13) + (lM12 * rM23)) + (lM13 * rM33)) + (lM14 * rM43); + result.Row0.W = (((lM11 * rM14) + (lM12 * rM24)) + (lM13 * rM34)) + (lM14 * rM44); + result.Row1.X = (((lM21 * rM11) + (lM22 * rM21)) + (lM23 * rM31)) + (lM24 * rM41); + result.Row1.Y = (((lM21 * rM12) + (lM22 * rM22)) + (lM23 * rM32)) + (lM24 * rM42); + result.Row1.Z = (((lM21 * rM13) + (lM22 * rM23)) + (lM23 * rM33)) + (lM24 * rM43); + result.Row1.W = (((lM21 * rM14) + (lM22 * rM24)) + (lM23 * rM34)) + (lM24 * rM44); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix2x4d Mult(Matrix2x4d left, Matrix4 right) + { + Matrix2x4d result; + Mult(ref left, ref right, out result); + return result; + } + + #endregion + + #region Add + + /// + /// Adds two instances. + /// + /// The left operand of the addition. + /// The right operand of the addition. + /// A new instance that is the result of the addition. + public static void Add(ref Matrix2x4d left, ref Matrix2x4d right, out Matrix2x4d result) + { + result.Row0.X = left.Row0.X + right.Row0.X; + result.Row0.Y = left.Row0.Y + right.Row0.Y; + result.Row0.Z = left.Row0.Z + right.Row0.Z; + result.Row0.W = left.Row0.W + right.Row0.W; + result.Row1.X = left.Row1.X + right.Row1.X; + result.Row1.Y = left.Row1.Y + right.Row1.Y; + result.Row1.Z = left.Row1.Z + right.Row1.Z; + result.Row1.W = left.Row1.W + right.Row1.W; + } + + /// + /// Adds two instances. + /// + /// The left operand of the addition. + /// The right operand of the addition. + /// A new instance that is the result of the addition. + public static Matrix2x4d Add(Matrix2x4d left, Matrix2x4d right) + { + Matrix2x4d result; + Add(ref left, ref right, out result); + return result; + } + + #endregion + + #region Subtract + + /// + /// Subtracts two instances. + /// + /// The left operand of the subtraction. + /// The right operand of the subtraction. + /// A new instance that is the result of the subtraction. + public static void Subtract(ref Matrix2x4d left, ref Matrix2x4d right, out Matrix2x4d result) + { + result.Row0.X = left.Row0.X - right.Row0.X; + result.Row0.Y = left.Row0.Y - right.Row0.Y; + result.Row0.Z = left.Row0.Z - right.Row0.Z; + result.Row0.W = left.Row0.W - right.Row0.W; + result.Row1.X = left.Row1.X - right.Row1.X; + result.Row1.Y = left.Row1.Y - right.Row1.Y; + result.Row1.Z = left.Row1.Z - right.Row1.Z; + result.Row1.W = left.Row1.W - right.Row1.W; + } + + /// + /// Subtracts two instances. + /// + /// The left operand of the subtraction. + /// The right operand of the subtraction. + /// A new instance that is the result of the subtraction. + public static Matrix2x4d Subtract(Matrix2x4d left, Matrix2x4d right) + { + Matrix2x4d result; + Subtract(ref left, ref right, out result); + return result; + } + + #endregion + + #region Transpose + + /// + /// Calculate the transpose of the given matrix. + /// + /// The matrix to transpose. + /// The transpose of the given matrix. + public static void Transpose(ref Matrix2x4d mat, out Matrix4x2d result) + { + result.Row0.X = mat.Row0.X; + result.Row0.Y = mat.Row1.X; + result.Row1.X = mat.Row0.Y; + result.Row1.Y = mat.Row1.Y; + result.Row2.X = mat.Row0.Z; + result.Row2.Y = mat.Row1.Z; + result.Row3.X = mat.Row0.W; + result.Row3.Y = mat.Row1.W; + } + + /// + /// Calculate the transpose of the given matrix. + /// + /// The matrix to transpose. + /// The transpose of the given matrix. + public static Matrix4x2d Transpose(Matrix2x4d mat) + { + Matrix4x2d result; + Transpose(ref mat, out result); + return result; + } + + #endregion + + #endregion + + #region Operators + + /// + /// Scalar multiplication. + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x4d which holds the result of the multiplication + public static Matrix2x4d operator *(double left, Matrix2x4d right) + { + return Mult(right, left); + } + + /// + /// Scalar multiplication. + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x4d which holds the result of the multiplication + public static Matrix2x4d operator *(Matrix2x4d left, double right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2d which holds the result of the multiplication + public static Matrix2d operator *(Matrix2x4d left, Matrix4x2 right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x3d which holds the result of the multiplication + public static Matrix2x3d operator *(Matrix2x4d left, Matrix4x3 right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x4d which holds the result of the multiplication + public static Matrix2x4d operator *(Matrix2x4d left, Matrix4 right) + { + return Mult(left, right); + } + + /// + /// Matrix addition + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2d which holds the result of the addition + public static Matrix2x4d operator +(Matrix2x4d left, Matrix2x4d right) + { + return Add(left, right); + } + + /// + /// Matrix subtraction + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2x4d which holds the result of the subtraction + public static Matrix2x4d operator -(Matrix2x4d left, Matrix2x4d right) + { + return Subtract(left, right); + } + + /// + /// Compares two instances for equality. + /// + /// The first instance. + /// The second instance. + /// True, if left equals right; false otherwise. + public static bool operator ==(Matrix2x4d left, Matrix2x4d right) + { + return left.Equals(right); + } + + /// + /// Compares two instances for inequality. + /// + /// The first instance. + /// The second instance. + /// True, if left does not equal right; false otherwise. + public static bool operator !=(Matrix2x4d left, Matrix2x4d right) + { + return !left.Equals(right); + } + + #endregion + + #region Overrides + + #region public override string ToString() + + /// + /// Returns a System.String that represents the current Matrix4. + /// + /// The string representation of the matrix. + public override string ToString() + { + return String.Format("{0}\n{1}", Row0, Row1); + } + + #endregion + + #region public override int GetHashCode() + + /// + /// Returns the hashcode for this instance. + /// + /// A System.Int32 containing the unique hashcode for this instance. + public override int GetHashCode() + { + return Row0.GetHashCode() ^ Row1.GetHashCode(); + } + + #endregion + + #region public override bool Equals(object obj) + + /// + /// Indicates whether this instance and a specified object are equal. + /// + /// The object to compare to. + /// True if the instances are equal; false otherwise. + public override bool Equals(object obj) + { + if (!(obj is Matrix2x4d)) + return false; + + return this.Equals((Matrix2x4d)obj); + } + + #endregion + + #endregion + + #endregion + + #region IEquatable Members + + /// + /// Indicates whether the current matrix is equal to another matrix. + /// + /// An matrix to compare with this matrix. + /// true if the current matrix is equal to the matrix parameter; otherwise, false. + public bool Equals(Matrix2x4d other) + { + return + Row0 == other.Row0 && + Row1 == other.Row1; + } + + #endregion + } } diff --git a/Source/OpenTK/Math/Matrix3x2d.cs b/Source/OpenTK/Math/Matrix3x2d.cs index c38c7a97..ac82a2ec 100644 --- a/Source/OpenTK/Math/Matrix3x2d.cs +++ b/Source/OpenTK/Math/Matrix3x2d.cs @@ -27,8 +27,689 @@ using System.Runtime.InteropServices; namespace OpenTK { - //TODO copy from Matrix3x2.cs when it's mostly feature-complete. - /*public struct Matrix3x2d : IEquatable + /// + /// Represents a 3x2 matrix. + /// + public struct Matrix3x2d : IEquatable { - }*/ + #region Fields + + /// + /// Top row of the matrix. + /// + public Vector2d Row0; + + /// + /// Second row of the matrix. + /// + public Vector2d Row1; + + /// + /// Bottom row of the matrix. + /// + public Vector2d Row2; + + /// + /// The zero matrix. + /// + public static readonly Matrix3x2d Zero = new Matrix3x2d(Vector2d.Zero, Vector2d.Zero, Vector2d.Zero); + + #endregion + + #region Constructors + + /// + /// Constructs a new instance. + /// + /// Top row of the matrix. + /// Second row of the matrix. + /// Bottom row of the matrix. + public Matrix3x2d(Vector2d row0, Vector2d row1, Vector2d row2) + { + Row0 = row0; + Row1 = row1; + Row2 = row2; + } + + /// + /// Constructs a new instance + /// + /// First item of the first row of the matrix. + /// Second item of the first row of the matrix. + /// First item of the second row of the matrix. + /// Second item of the second row of the matrix. + /// First item of the third row of the matrix. + /// Second item of the third row of the matrix. + public Matrix3x2d( + double m00, double m01, + double m10, double m11, + double m20, double m21) + { + Row0 = new Vector2d(m00, m01); + Row1 = new Vector2d(m10, m11); + Row2 = new Vector2d(m20, m21); + } + + #endregion + + #region Public Members + + #region Properties + + /// + /// Gets or sets the first column of this matrix. + /// + public Vector3d Column0 + { + get { return new Vector3d(Row0.X, Row1.X, Row2.X); } + set { Row0.X = value.X; Row1.X = value.Y; Row2.X = value.Z; } + } + + /// + /// Gets or sets the second column of this matrix. + /// + public Vector3d Column1 + { + get { return new Vector3d(Row0.Y, Row1.Y, Row2.Y); } + set { Row0.Y = value.X; Row1.Y = value.Y; Row2.Y = value.Z; } + } + + /// + /// Gets or sets the value at row 1, column 1 of this instance. + /// + public double M11 { get { return Row0.X; } set { Row0.X = value; } } + + /// + /// Gets or sets the value at row 1, column 2 of this instance. + /// + public double M12 { get { return Row0.Y; } set { Row0.Y = value; } } + + /// + /// Gets or sets the value at row 2, column 1 of this instance. + /// + public double M21 { get { return Row1.X; } set { Row1.X = value; } } + + /// + /// Gets or sets the value at row 2, column 2 of this instance. + /// + public double M22 { get { return Row1.Y; } set { Row1.Y = value; } } + + /// + /// Gets or sets the value at row 3, column 1 of this instance. + /// + public double M31 { get { return Row2.X; } set { Row2.X = value; } } + + /// + /// Gets or sets the value at row 3, column 2 of this instance. + /// + public double M32 { get { return Row2.Y; } set { Row2.Y = value; } } + + #endregion + + #region Indexers + + /// + /// Gets or sets the value at a specified row and column. + /// + public double this[int rowIndex, int columnIndex] + { + get + { + if (rowIndex == 0) return Row0[columnIndex]; + else if (rowIndex == 1) return Row1[columnIndex]; + else if (rowIndex == 2) return Row2[columnIndex]; + throw new IndexOutOfRangeException("You tried to access this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + set + { + if (rowIndex == 0) Row0[columnIndex] = value; + else if (rowIndex == 1) Row1[columnIndex] = value; + else if (rowIndex == 2) Row2[columnIndex] = value; + throw new IndexOutOfRangeException("You tried to set this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + } + + #endregion + + #region Instance + #endregion + + #region Static + + #region CreateRotation + + /// + /// Builds a rotation matrix. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix3x2d instance. + public static void CreateRotation(double angle, out Matrix3x2d result) + { + double cos = System.Math.Cos(angle); + double sin = System.Math.Sin(angle); + + result.Row0.X = cos; + result.Row0.Y = sin; + result.Row1.X = -sin; + result.Row1.Y = cos; + result.Row2.X = 0; + result.Row2.Y = 0; + } + + /// + /// Builds a rotation matrix. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix3x2d instance. + public static Matrix3x2d CreateRotation(double angle) + { + Matrix3x2d result; + CreateRotation(angle, out result); + return result; + } + + #endregion + + #region CreateScale + + /// + /// Creates a scale matrix. + /// + /// Single scale factor for the x, y, and z axes. + /// A scale matrix. + public static void CreateScale(double scale, out Matrix3x2d result) + { + result.Row0.X = scale; + result.Row0.Y = 0; + result.Row1.X = 0; + result.Row1.Y = scale; + result.Row2.X = 0; + result.Row2.Y = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Single scale factor for the x and y axes. + /// A scale matrix. + public static Matrix3x2d CreateScale(double scale) + { + Matrix3x2d result; + CreateScale(scale, out result); + return result; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factors for the x and y axes. + /// A scale matrix. + public static void CreateScale(Vector2d scale, out Matrix3x2d result) + { + result.Row0.X = scale.X; + result.Row0.Y = 0; + result.Row1.X = 0; + result.Row1.Y = scale.Y; + result.Row2.X = 0; + result.Row2.Y = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factors for the x and y axes. + /// A scale matrix. + public static Matrix3x2d CreateScale(Vector2d scale) + { + Matrix3x2d result; + CreateScale(scale, out result); + return result; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factor for the x axis. + /// Scale factor for the y axis. + /// A scale matrix. + public static void CreateScale(double x, double y, out Matrix3x2d result) + { + result.Row0.X = x; + result.Row0.Y = 0; + result.Row1.X = 0; + result.Row1.Y = y; + result.Row2.X = 0; + result.Row2.Y = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factor for the x axis. + /// Scale factor for the y axis. + /// A scale matrix. + public static Matrix3x2d CreateScale(double x, double y) + { + Matrix3x2d result; + CreateScale(x, y, out result); + return result; + } + + #endregion + + #region Multiply Functions + + /// + /// Multiplies and instance by a scalar. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix3x2d left, double right, out Matrix3x2d result) + { + result.Row0.X = left.Row0.X * right; + result.Row0.Y = left.Row0.Y * right; + result.Row1.X = left.Row1.X * right; + result.Row1.Y = left.Row1.Y * right; + result.Row2.X = left.Row2.X * right; + result.Row2.Y = left.Row2.Y * right; + } + + /// + /// Multiplies and instance by a scalar. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix3x2d Mult(Matrix3x2d left, double right) + { + Matrix3x2d result; + Mult(ref left, right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix3x2d left, ref Matrix2d right, out Matrix3x2d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, + lM21 = left.Row1.X, lM22 = left.Row1.Y, + lM31 = left.Row2.X, lM32 = left.Row2.Y, + rM11 = right.Row0.X, rM12 = right.Row0.Y, + rM21 = right.Row1.X, rM22 = right.Row1.Y; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22); + result.Row2.X = (lM31 * rM11) + (lM32 * rM21); + result.Row2.Y = (lM31 * rM12) + (lM32 * rM22); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix3x2d Mult(Matrix3x2d left, Matrix2d right) + { + Matrix3x2d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix3x2d left, ref Matrix2x3d right, out Matrix3d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, + lM21 = left.Row1.X, lM22 = left.Row1.Y, + lM31 = left.Row2.X, lM32 = left.Row2.Y, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22); + result.Row0.Z = (lM11 * rM13) + (lM12 * rM23); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22); + result.Row1.Z = (lM21 * rM13) + (lM22 * rM23); + result.Row2.X = (lM31 * rM11) + (lM32 * rM21); + result.Row2.Y = (lM31 * rM12) + (lM32 * rM22); + result.Row2.Z = (lM31 * rM13) + (lM32 * rM23); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix3d Mult(Matrix3x2d left, Matrix2x3d right) + { + Matrix3d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix3x2d left, ref Matrix2x4d right, out Matrix3x4d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, + lM21 = left.Row1.X, lM22 = left.Row1.Y, + lM31 = left.Row2.X, lM32 = left.Row2.Y, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22); + result.Row0.Z = (lM11 * rM13) + (lM12 * rM23); + result.Row0.W = (lM11 * rM14) + (lM12 * rM24); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22); + result.Row1.Z = (lM21 * rM13) + (lM22 * rM23); + result.Row1.W = (lM21 * rM14) + (lM22 * rM24); + result.Row2.X = (lM31 * rM11) + (lM32 * rM21); + result.Row2.Y = (lM31 * rM12) + (lM32 * rM22); + result.Row2.Z = (lM31 * rM13) + (lM32 * rM23); + result.Row2.W = (lM31 * rM14) + (lM32 * rM24); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix3x4d Mult(Matrix3x2d left, Matrix2x4d right) + { + Matrix3x4d result; + Mult(ref left, ref right, out result); + return result; + } + + #endregion + + #region Add + + /// + /// Adds two instances. + /// + /// The left operand of the addition. + /// The right operand of the addition. + /// A new instance that is the result of the addition. + public static void Add(ref Matrix3x2d left, ref Matrix3x2d right, out Matrix3x2d result) + { + result.Row0.X = left.Row0.X + right.Row0.X; + result.Row0.Y = left.Row0.Y + right.Row0.Y; + result.Row1.X = left.Row1.X + right.Row1.X; + result.Row1.Y = left.Row1.Y + right.Row1.Y; + result.Row2.X = left.Row2.X + right.Row2.X; + result.Row2.Y = left.Row2.Y + right.Row2.Y; + } + + /// + /// Adds two instances. + /// + /// The left operand of the addition. + /// The right operand of the addition. + /// A new instance that is the result of the addition. + public static Matrix3x2d Add(Matrix3x2d left, Matrix3x2d right) + { + Matrix3x2d result; + Add(ref left, ref right, out result); + return result; + } + + #endregion + + #region Subtract + + /// + /// Subtracts two instances. + /// + /// The left operand of the subtraction. + /// The right operand of the subtraction. + /// A new instance that is the result of the subtraction. + public static void Subtract(ref Matrix3x2d left, ref Matrix3x2d right, out Matrix3x2d result) + { + result.Row0.X = left.Row0.X - right.Row0.X; + result.Row0.Y = left.Row0.Y - right.Row0.Y; + result.Row1.X = left.Row1.X - right.Row1.X; + result.Row1.Y = left.Row1.Y - right.Row1.Y; + result.Row2.X = left.Row2.X - right.Row2.X; + result.Row2.Y = left.Row2.Y - right.Row2.Y; + } + + /// + /// Subtracts two instances. + /// + /// The left operand of the subtraction. + /// The right operand of the subtraction. + /// A new instance that is the result of the subtraction. + public static Matrix3x2d Subtract(Matrix3x2d left, Matrix3x2d right) + { + Matrix3x2d result; + Subtract(ref left, ref right, out result); + return result; + } + + #endregion + + #region Transpose + + /// + /// Calculate the transpose of the given matrix. + /// + /// The matrix to transpose. + /// The transpose of the given matrix. + public static void Transpose(ref Matrix3x2d mat, out Matrix2x3d result) + { + result.Row0.X = mat.Row0.X; + result.Row0.Y = mat.Row1.X; + result.Row0.Z = mat.Row2.X; + result.Row1.X = mat.Row0.Y; + result.Row1.Y = mat.Row1.Y; + result.Row1.Z = mat.Row2.Y; + } + + /// + /// Calculate the transpose of the given matrix. + /// + /// The matrix to transpose. + /// The transpose of the given matrix. + public static Matrix2x3d Transpose(Matrix3x2d mat) + { + Matrix2x3d result; + Transpose(ref mat, out result); + return result; + } + + #endregion + + #endregion + + #region Operators + + /// + /// Scalar multiplication. + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix3x2d which holds the result of the multiplication + public static Matrix3x2d operator *(double left, Matrix3x2d right) + { + return Mult(right, left); + } + + /// + /// Scalar multiplication. + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix3x2d which holds the result of the multiplication + public static Matrix3x2d operator *(Matrix3x2d left, double right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix3x2d which holds the result of the multiplication + public static Matrix3x2d operator *(Matrix3x2d left, Matrix2d right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix3d which holds the result of the multiplication + public static Matrix3d operator *(Matrix3x2d left, Matrix2x3d right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix3x4 which holds the result of the multiplication + public static Matrix3x4d operator *(Matrix3x2d left, Matrix2x4d right) + { + return Mult(left, right); + } + + /// + /// Matrix addition + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix3x2d which holds the result of the addition + public static Matrix3x2d operator +(Matrix3x2d left, Matrix3x2d right) + { + return Add(left, right); + } + + /// + /// Matrix subtraction + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix3x2d which holds the result of the subtraction + public static Matrix3x2d operator -(Matrix3x2d left, Matrix3x2d right) + { + return Subtract(left, right); + } + + /// + /// Compares two instances for equality. + /// + /// The first instance. + /// The second instance. + /// True, if left equals right; false otherwise. + public static bool operator ==(Matrix3x2d left, Matrix3x2d right) + { + return left.Equals(right); + } + + /// + /// Compares two instances for inequality. + /// + /// The first instance. + /// The second instance. + /// True, if left does not equal right; false otherwise. + public static bool operator !=(Matrix3x2d left, Matrix3x2d right) + { + return !left.Equals(right); + } + + #endregion + + #region Overrides + + #region public override string ToString() + + /// + /// Returns a System.String that represents the current Matrix3d. + /// + /// The string representation of the matrix. + public override string ToString() + { + return String.Format("{0}\n{1}\n{2}", Row0, Row1, Row2); + } + + #endregion + + #region public override int GetHashCode() + + /// + /// Returns the hashcode for this instance. + /// + /// A System.Int32 containing the unique hashcode for this instance. + public override int GetHashCode() + { + return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode(); + } + + #endregion + + #region public override bool Equals(object obj) + + /// + /// Indicates whether this instance and a specified object are equal. + /// + /// The object to compare to. + /// True if the instances are equal; false otherwise. + public override bool Equals(object obj) + { + if (!(obj is Matrix3x2d)) + return false; + + return this.Equals((Matrix3x2d)obj); + } + + #endregion + + #endregion + + #endregion + + #region IEquatable Members + + /// + /// Indicates whether the current matrix is equal to another matrix. + /// + /// An matrix to compare with this matrix. + /// true if the current matrix is equal to the matrix parameter; otherwise, false. + public bool Equals(Matrix3x2d other) + { + return + Row0 == other.Row0 && + Row1 == other.Row1 && + Row2 == other.Row2; + } + + #endregion + } } diff --git a/Source/OpenTK/Math/Matrix3x4d.cs b/Source/OpenTK/Math/Matrix3x4d.cs index be023cad..76ce0ce2 100644 --- a/Source/OpenTK/Math/Matrix3x4d.cs +++ b/Source/OpenTK/Math/Matrix3x4d.cs @@ -27,8 +27,824 @@ using System.Runtime.InteropServices; namespace OpenTK { - //TODO copy from Matrix3x4.cs when it's mostly feature-complete. - /*public struct Matrix3x4d : IEquatable + /// + /// Represents a 3x4 Matrix + /// + [Serializable] + [StructLayout(LayoutKind.Sequential)] + public struct Matrix3x4d : IEquatable { - }*/ + #region Fields + + /// + /// Top row of the matrix + /// + public Vector4d Row0; + + /// + /// 2nd row of the matrix + /// + public Vector4d Row1; + + /// + /// Bottom row of the matrix + /// + public Vector4d Row2; + + /// + /// The zero matrix + /// + public static Matrix3x4d Zero = new Matrix3x4d(Vector4d.Zero, Vector4d.Zero, Vector4d.Zero); + + #endregion + + #region Constructors + + /// + /// Constructs a new instance. + /// + /// Top row of the matrix + /// Second row of the matrix + /// Bottom row of the matrix + public Matrix3x4d(Vector4d row0, Vector4d row1, Vector4d row2) + { + Row0 = row0; + Row1 = row1; + Row2 = row2; + } + + /// + /// Constructs a new instance. + /// + /// First item of the first row of the matrix. + /// Second item of the first row of the matrix. + /// Third item of the first row of the matrix. + /// Fourth item of the first row of the matrix. + /// First item of the second row of the matrix. + /// Second item of the second row of the matrix. + /// Third item of the second row of the matrix. + /// Fourth item of the second row of the matrix. + /// First item of the third row of the matrix. + /// Second item of the third row of the matrix. + /// Third item of the third row of the matrix. + /// First item of the third row of the matrix. + public Matrix3x4d( + double m00, double m01, double m02, double m03, + double m10, double m11, double m12, double m13, + double m20, double m21, double m22, double m23) + { + Row0 = new Vector4d(m00, m01, m02, m03); + Row1 = new Vector4d(m10, m11, m12, m13); + Row2 = new Vector4d(m20, m21, m22, m23); + } + + #endregion + + #region Public Members + + #region Properties + + /// + /// Gets the first column of this matrix. + /// + public Vector3d Column0 + { + get { return new Vector3d(Row0.X, Row1.X, Row2.X); } + } + + /// + /// Gets the second column of this matrix. + /// + public Vector3d Column1 + { + get { return new Vector3d(Row0.Y, Row1.Y, Row2.Y); } + } + + /// + /// Gets the third column of this matrix. + /// + public Vector3d Column2 + { + get { return new Vector3d(Row0.Z, Row1.Z, Row2.Z); } + } + + /// + /// Gets the fourth column of this matrix. + /// + public Vector3d Column3 + { + get { return new Vector3d(Row0.W, Row1.W, Row2.W); } + } + + /// + /// Gets or sets the value at row 1, column 1 of this instance. + /// + public double M11 { get { return Row0.X; } set { Row0.X = value; } } + + /// + /// Gets or sets the value at row 1, column 2 of this instance. + /// + public double M12 { get { return Row0.Y; } set { Row0.Y = value; } } + + /// + /// Gets or sets the value at row 1, column 3 of this instance. + /// + public double M13 { get { return Row0.Z; } set { Row0.Z = value; } } + + /// + /// Gets or sets the value at row 1, column 4 of this instance. + /// + public double M14 { get { return Row0.W; } set { Row0.W = value; } } + + /// + /// Gets or sets the value at row 2, column 1 of this instance. + /// + public double M21 { get { return Row1.X; } set { Row1.X = value; } } + + /// + /// Gets or sets the value at row 2, column 2 of this instance. + /// + public double M22 { get { return Row1.Y; } set { Row1.Y = value; } } + + /// + /// Gets or sets the value at row 2, column 3 of this instance. + /// + public double M23 { get { return Row1.Z; } set { Row1.Z = value; } } + + /// + /// Gets or sets the value at row 2, column 4 of this instance. + /// + public double M24 { get { return Row1.W; } set { Row1.W = value; } } + + /// + /// Gets or sets the value at row 3, column 1 of this instance. + /// + public double M31 { get { return Row2.X; } set { Row2.X = value; } } + + /// + /// Gets or sets the value at row 3, column 2 of this instance. + /// + public double M32 { get { return Row2.Y; } set { Row2.Y = value; } } + + /// + /// Gets or sets the value at row 3, column 3 of this instance. + /// + public double M33 { get { return Row2.Z; } set { Row2.Z = value; } } + + /// + /// Gets or sets the value at row 3, column 4 of this instance. + /// + public double M34 { get { return Row2.W; } set { Row2.W = value; } } + + #endregion + + #region Indexers + + /// + /// Gets or sets the value at a specified row and column. + /// + public double this[int rowIndex, int columnIndex] + { + get + { + if (rowIndex == 0) return Row0[columnIndex]; + else if (rowIndex == 1) return Row1[columnIndex]; + else if (rowIndex == 2) return Row2[columnIndex]; + throw new IndexOutOfRangeException("You tried to access this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + set + { + if (rowIndex == 0) Row0[columnIndex] = value; + else if (rowIndex == 1) Row1[columnIndex] = value; + else if (rowIndex == 2) Row2[columnIndex] = value; + throw new IndexOutOfRangeException("You tried to set this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + } + + #endregion + + #region Instance + + #region public void Invert() + + public void Invert() + { + this = Matrix3x4d.Invert(this); + } + + #endregion + + #endregion + + #region Static + + #region CreateFromAxisAngle + + /// + /// Build a rotation matrix from the specified axis/angle rotation. + /// + /// The axis to rotate about. + /// Angle in radians to rotate counter-clockwise (looking in the direction of the given axis). + /// A matrix instance. + public static void CreateFromAxisAngle(Vector3d axis, double angle, out Matrix3x4d result) + { + axis.Normalize(); + double axisX = axis.X, axisY = axis.Y, axisZ = axis.Z; + + double cos = (double)System.Math.Cos(angle); + double sin = (double)System.Math.Sin(angle); + double t = 1.0f - cos; + + double tXX = t * axisX * axisX, + tXY = t * axisX * axisY, + tXZ = t * axisX * axisZ, + tYY = t * axisY * axisY, + tYZ = t * axisY * axisZ, + tZZ = t * axisZ * axisZ; + + double sinX = sin * axisX, + sinY = sin * axisY, + sinZ = sin * axisZ; + + result.Row0.X = tXX + cos; + result.Row0.Y = tXY - sinZ; + result.Row0.Z = tXZ + sinY; + result.Row0.W = 0; + result.Row1.X = tXY + sinZ; + result.Row1.Y = tYY + cos; + result.Row1.Z = tYZ - sinX; + result.Row1.W = 0; + result.Row2.X = tXZ - sinY; + result.Row2.Y = tYZ + sinX; + result.Row2.Z = tZZ + cos; + result.Row2.W = 0; + } + + /// + /// Build a rotation matrix from the specified axis/angle rotation. + /// + /// The axis to rotate about. + /// Angle in radians to rotate counter-clockwise (looking in the direction of the given axis). + /// A matrix instance. + public static Matrix3x4d CreateFromAxisAngle(Vector3d axis, double angle) + { + Matrix3x4d result; + CreateFromAxisAngle(axis, angle, out result); + return result; + } + + #endregion + + #region CreateFromQuaternion + + /// + /// Builds a rotation matrix from a quaternion. + /// + /// The quaternion to rotate by. + /// A matrix instance. + public static void CreateFromQuaternion(ref Quaternion q, out Matrix3x4d result) + { + double x = q.X, y = q.Y, z = q.Z, w = q.W, + tx = 2 * x, ty = 2 * y, tz = 2 * z, + txx = tx * x, tyy = ty * y, tzz = tz * z, + txy = tx * y, txz = tx * z, tyz = ty * z, + txw = tx * w, tyw = ty * w, tzw = tz * w; + + result.Row0.X = 1f - (tyy + tzz); + result.Row0.Y = txy + tzw; + result.Row0.Z = txz - tyw; + result.Row0.W = 0f; + result.Row1.X = txy - tzw; + result.Row1.Y = 1f - (txx + tzz); + result.Row1.Z = tyz + txw; + result.Row1.W = 0f; + result.Row2.X = txz + tyw; + result.Row2.Y = tyz - txw; + result.Row2.Z = 1f - (txx + tyy); + result.Row2.W = 0f; + + /*Vector3d axis; + double angle; + q.ToAxisAngle(out axis, out angle); + CreateFromAxisAngle(axis, angle, out result);*/ + } + + /// + /// Builds a rotation matrix from a quaternion. + /// + /// The quaternion to rotate by. + /// A matrix instance. + public static Matrix3x4d CreateFromQuaternion(Quaternion q) + { + Matrix3x4d result; + CreateFromQuaternion(ref q, out result); + return result; + } + + #endregion + + #region CreateRotation[XYZ] + + /// + /// Builds a rotation matrix for a rotation around the x-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4 instance. + public static void CreateRotationX(double angle, out Matrix3x4d result) + { + double cos = (double)System.Math.Cos(angle); + double sin = (double)System.Math.Sin(angle); + + result.Row0.X = 1; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row0.W = 0; + result.Row1.X = 0; + result.Row1.Y = cos; + result.Row1.Z = sin; + result.Row1.W = 0; + result.Row2.X = 0; + result.Row2.Y = -sin; + result.Row2.Z = cos; + result.Row2.W = 0; + } + + /// + /// Builds a rotation matrix for a rotation around the x-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4 instance. + public static Matrix3x4d CreateRotationX(double angle) + { + Matrix3x4d result; + CreateRotationX(angle, out result); + return result; + } + + /// + /// Builds a rotation matrix for a rotation around the y-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4 instance. + public static void CreateRotationY(double angle, out Matrix3x4d result) + { + double cos = (double)System.Math.Cos(angle); + double sin = (double)System.Math.Sin(angle); + + result.Row0.X = cos; + result.Row0.Y = 0; + result.Row0.Z = -sin; + result.Row0.W = 0; + result.Row1.X = 0; + result.Row1.Y = 1; + result.Row1.Z = 0; + result.Row1.W = 0; + result.Row2.X = sin; + result.Row2.Y = 0; + result.Row2.Z = cos; + result.Row2.W = 0; + } + + /// + /// Builds a rotation matrix for a rotation around the y-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4 instance. + public static Matrix3x4d CreateRotationY(double angle) + { + Matrix3x4d result; + CreateRotationY(angle, out result); + return result; + } + + /// + /// Builds a rotation matrix for a rotation around the z-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4 instance. + public static void CreateRotationZ(double angle, out Matrix3x4d result) + { + double cos = (double)System.Math.Cos(angle); + double sin = (double)System.Math.Sin(angle); + + result.Row0.X = cos; + result.Row0.Y = sin; + result.Row0.Z = 0; + result.Row0.W = 0; + result.Row1.X = -sin; + result.Row1.Y = cos; + result.Row1.Z = 0; + result.Row1.W = 0; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row2.Z = 1; + result.Row2.W = 0; + } + + /// + /// Builds a rotation matrix for a rotation around the z-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4 instance. + public static Matrix3x4d CreateRotationZ(double angle) + { + Matrix3x4d result; + CreateRotationZ(angle, out result); + return result; + } + + #endregion + + #region CreateTranslation + + /// + /// Creates a translation matrix. + /// + /// X translation. + /// Y translation. + /// Z translation. + /// The resulting Matrix4 instance. + public static void CreateTranslation(double x, double y, double z, out Matrix3x4d result) + { + result.Row0.X = 1; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row0.W = x; + result.Row1.X = 0; + result.Row1.Y = 1; + result.Row1.Z = 0; + result.Row1.W = y; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row2.Z = 1; + result.Row2.W = z; + } + + /// + /// Creates a translation matrix. + /// + /// The translation vector. + /// The resulting Matrix4 instance. + public static void CreateTranslation(ref Vector3d vector, out Matrix3x4d result) + { + result.Row0.X = 1; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row0.W = vector.X; + result.Row1.X = 0; + result.Row1.Y = 1; + result.Row1.Z = 0; + result.Row1.W = vector.Y; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row2.Z = 1; + result.Row2.W = vector.Z; + } + + /// + /// Creates a translation matrix. + /// + /// X translation. + /// Y translation. + /// Z translation. + /// The resulting Matrix4 instance. + public static Matrix3x4d CreateTranslation(double x, double y, double z) + { + Matrix3x4d result; + CreateTranslation(x, y, z, out result); + return result; + } + + /// + /// Creates a translation matrix. + /// + /// The translation vector. + /// The resulting Matrix4 instance. + public static Matrix3x4d CreateTranslation(Vector3d vector) + { + Matrix3x4d result; + CreateTranslation(vector.X, vector.Y, vector.Z, out result); + return result; + } + + #endregion + + #region CreateScale + + /// + /// Build a scaling matrix + /// + /// Single scale factor for x,y and z axes + /// A scaling matrix + public static Matrix3x4d CreateScale(double scale) + { + return CreateScale(scale, scale, scale); + } + + /// + /// Build a scaling matrix + /// + /// Scale factors for x,y and z axes + /// A scaling matrix + public static Matrix3x4d CreateScale(Vector3d scale) + { + return CreateScale(scale.X, scale.Y, scale.Z); + } + + /// + /// Build a scaling matrix + /// + /// Scale factor for x-axis + /// Scale factor for y-axis + /// Scale factor for z-axis + /// A scaling matrix + public static Matrix3x4d CreateScale(double x, double y, double z) + { + Matrix3x4d result; + result.Row0.X = x; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row0.W = 0; + result.Row1.X = 0; + result.Row1.Y = y; + result.Row1.Z = 0; + result.Row1.W = 0; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row2.Z = z; + result.Row2.W = 0; + return result; + } + + #endregion + + #region Multiply Functions + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication + public static Matrix3d Mult(Matrix3x4d left, Matrix4x3d right) + { + Matrix3d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication + public static void Mult(ref Matrix3x4d left, ref Matrix4x3d right, out Matrix3d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W, + lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, lM24 = left.Row1.W, + lM31 = left.Row2.X, lM32 = left.Row2.Y, lM33 = left.Row2.Z, lM34 = left.Row2.W, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, + rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z, + rM41 = right.Row3.X, rM42 = right.Row3.Y, rM43 = right.Row3.Z; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21) + (lM13 * rM31) + (lM14 * rM41); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22) + (lM13 * rM32) + (lM14 * rM42); + result.Row0.Z = (lM11 * rM13) + (lM12 * rM23) + (lM13 * rM33) + (lM14 * rM43); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21) + (lM23 * rM31) + (lM24 * rM41); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22) + (lM23 * rM32) + (lM24 * rM42); + result.Row1.Z = (lM21 * rM13) + (lM22 * rM23) + (lM23 * rM33) + (lM24 * rM43); + result.Row2.X = (lM31 * rM11) + (lM32 * rM21) + (lM33 * rM31) + (lM34 * rM41); + result.Row2.Y = (lM31 * rM12) + (lM32 * rM22) + (lM33 * rM32) + (lM34 * rM42); + result.Row2.Z = (lM31 * rM13) + (lM32 * rM23) + (lM33 * rM33) + (lM34 * rM43); + } + + public static Matrix3x4d Mult(Matrix3x4d left, Matrix3x4d right) + { + Matrix3x4d result; + Mult(ref left, ref right, out result); + return result; + } + + public static void Mult(ref Matrix3x4d left, ref Matrix3x4d right, out Matrix3x4d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W, + lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, lM24 = left.Row1.W, + lM31 = left.Row2.X, lM32 = left.Row2.Y, lM33 = left.Row2.Z, lM34 = left.Row2.W, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W, + rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z, rM34 = right.Row2.W; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21) + (lM13 * rM31); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22) + (lM13 * rM32); + result.Row0.Z = (lM11 * rM13) + (lM12 * rM23) + (lM13 * rM33); + result.Row0.W = (lM11 * rM14) + (lM12 * rM24) + (lM13 * rM34) + lM14; + result.Row1.X = (lM21 * rM11) + (lM22 * rM21) + (lM23 * rM31); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22) + (lM23 * rM32); + result.Row1.Z = (lM21 * rM13) + (lM22 * rM23) + (lM23 * rM33); + result.Row1.W = (lM21 * rM14) + (lM22 * rM24) + (lM23 * rM34) + lM24; + result.Row2.X = (lM31 * rM11) + (lM32 * rM21) + (lM33 * rM31); + result.Row2.Y = (lM31 * rM12) + (lM32 * rM22) + (lM33 * rM32); + result.Row2.Z = (lM31 * rM13) + (lM32 * rM23) + (lM33 * rM33); + result.Row2.W = (lM31 * rM14) + (lM32 * rM24) + (lM33 * rM34) + lM34; + + /*result.Row0 = (right.Row0 * lM11 + right.Row1 * lM12 + right.Row2 * lM13); + result.Row0.W += lM14; + + result.Row1 = (right.Row0 * lM21 + right.Row1 * lM22 + right.Row2 * lM23); + result.Row1.W += lM24; + + result.Row2 = (right.Row0 * lM31 + right.Row1 * lM32 + right.Row2 * lM33); + result.Row2.W += lM34;*/ + } + + public static Matrix3x4d Mult(Matrix3x4d left, double right) + { + Matrix3x4d result; + Mult(ref left, right, out result); + return result; + } + + public static void Mult(ref Matrix3x4d left, double right, out Matrix3x4d result) + { + result.Row0 = left.Row0 * right; + result.Row1 = left.Row1 * right; + result.Row2 = left.Row2 * right; + } + + #endregion + + #region Add Functions + + public static Matrix3x4d Add(Matrix3x4d left, Matrix3x4d right) + { + Matrix3x4d result; + Add(ref left, ref right, out result); + return result; + } + + public static void Add(ref Matrix3x4d left, ref Matrix3x4d right, out Matrix3x4d result) + { + result.Row0 = left.Row0 + right.Row0; + result.Row1 = left.Row1 + right.Row1; + result.Row2 = left.Row2 + right.Row2; + } + + #endregion + + #region Subtract Functions + + public static Matrix3x4d Subtract(Matrix3x4d left, Matrix3x4d right) + { + Matrix3x4d result; + Subtract(ref left, ref right, out result); + return result; + } + + public static void Subtract(ref Matrix3x4d left, ref Matrix3x4d right, out Matrix3x4d result) + { + result.Row0 = left.Row0 - right.Row0; + result.Row1 = left.Row1 - right.Row1; + result.Row2 = left.Row2 - right.Row2; + } + + #endregion + + #region Invert Functions + + public static Matrix3x4d Invert(Matrix3x4d mat) + { + Matrix3x4d result; + Invert(ref mat, out result); + return result; + } + + public static void Invert(ref Matrix3x4d mat, out Matrix3x4d result) + { + Matrix3d inverseRotation = new Matrix3d(mat.Column0, mat.Column1, mat.Column2); + inverseRotation.Row0 /= inverseRotation.Row0.LengthSquared; + inverseRotation.Row1 /= inverseRotation.Row1.LengthSquared; + inverseRotation.Row2 /= inverseRotation.Row2.LengthSquared; + + Vector3d translation = new Vector3d(mat.Row0.W, mat.Row1.W, mat.Row2.W); + + result.Row0 = new Vector4d(inverseRotation.Row0, -Vector3d.Dot(inverseRotation.Row0, translation)); + result.Row1 = new Vector4d(inverseRotation.Row1, -Vector3d.Dot(inverseRotation.Row1, translation)); + result.Row2 = new Vector4d(inverseRotation.Row2, -Vector3d.Dot(inverseRotation.Row2, translation)); + } + + #endregion + + #region Transpose + + public static Matrix4x3d Transpose(Matrix3x4d mat) + { + return new Matrix4x3d(mat.Column0, mat.Column1, mat.Column2, mat.Column3); + } + + public static void Transpose(ref Matrix3x4d mat, out Matrix4x3d result) + { + result.Row0 = mat.Column0; + result.Row1 = mat.Column1; + result.Row2 = mat.Column2; + result.Row3 = mat.Column3; + } + + #endregion + + #endregion + + #region Operators + + public static Matrix3d operator *(Matrix3x4d left, Matrix4x3d right) + { + return Matrix3x4d.Mult(left, right); + } + + public static Matrix3x4d operator *(Matrix3x4d left, Matrix3x4d right) + { + return Matrix3x4d.Mult(left, right); + } + + public static Matrix3x4d operator *(Matrix3x4d left, double right) + { + return Matrix3x4d.Mult(left, right); + } + + public static Matrix3x4d operator +(Matrix3x4d left, Matrix3x4d right) + { + return Matrix3x4d.Add(left, right); + } + + public static Matrix3x4d operator -(Matrix3x4d left, Matrix3x4d right) + { + return Matrix3x4d.Subtract(left, right); + } + + public static bool operator ==(Matrix3x4d left, Matrix3x4d right) + { + return left.Equals(right); + } + + public static bool operator !=(Matrix3x4d left, Matrix3x4d right) + { + return !left.Equals(right); + } + + #endregion + + #region Overrides + + #region public override string ToString() + + public override string ToString() + { + return string.Format("{0}\n{1}\n{2}", Row0, Row1, Row2); + } + + #endregion + + #region public override int GetHashCode() + + public override int GetHashCode() + { + return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode(); + } + + #endregion + + #region public override bool Equals(object obj) + + public override bool Equals(object obj) + { + if (!(obj is Matrix3x4d)) + return false; + + return this.Equals((Matrix3x4d)obj); + } + + #endregion + + #endregion + + #endregion + + #region IEquatable Members + + /// + /// Indicates whether the current matrix is equal to another matrix. + /// + /// An matrix to compare with this matrix. + /// true if the current matrix is equal to the matrix parameter; otherwise, false. + public bool Equals(Matrix3x4d other) + { + return + Row0 == other.Row0 && + Row1 == other.Row1 && + Row2 == other.Row2; + } + + #endregion + } } diff --git a/Source/OpenTK/Math/Matrix4x2d.cs b/Source/OpenTK/Math/Matrix4x2d.cs index 17294fc0..f6f32ff9 100644 --- a/Source/OpenTK/Math/Matrix4x2d.cs +++ b/Source/OpenTK/Math/Matrix4x2d.cs @@ -27,8 +27,739 @@ using System.Runtime.InteropServices; namespace OpenTK { - //TODO copy from Matrix4x2.cs when it's mostly feature-complete. - /*public struct Matrix4x2d : IEquatable + /// + /// Represents a 4x2 matrix. + /// + public struct Matrix4x2d : IEquatable { - }*/ + #region Fields + + /// + /// Top row of the matrix. + /// + public Vector2d Row0; + + /// + /// Second row of the matrix. + /// + public Vector2d Row1; + + /// + /// Third row of the matrix. + /// + public Vector2d Row2; + + /// + /// Bottom row of the matrix. + /// + public Vector2d Row3; + + /// + /// The zero matrix. + /// + public static readonly Matrix4x2d Zero = new Matrix4x2d(Vector2d.Zero, Vector2d.Zero, Vector2d.Zero, Vector2d.Zero); + + #endregion + + #region Constructors + + /// + /// Constructs a new instance. + /// + /// Top row of the matrix. + /// Second row of the matrix. + /// Third row of the matrix. + /// Bottom row of the matrix. + public Matrix4x2d(Vector2d row0, Vector2d row1, Vector2d row2, Vector2d row3) + { + Row0 = row0; + Row1 = row1; + Row2 = row2; + Row3 = row3; + } + + + /// + /// Constructs a new instance + /// + /// First item of the first row of the matrix. + /// Second item of the first row of the matrix. + /// First item of the second row of the matrix. + /// Second item of the second row of the matrix. + /// First item of the third row of the matrix. + /// Second item of the third row of the matrix. + /// First item of the fourth row of the matrix. + /// Second item of the fourth row of the matrix. + public Matrix4x2d( + double m00, double m01, + double m10, double m11, + double m20, double m21, + double m30, double m31) + { + Row0 = new Vector2d(m00, m01); + Row1 = new Vector2d(m10, m11); + Row2 = new Vector2d(m20, m21); + Row3 = new Vector2d(m30, m31); + } + + #endregion + + #region Public Members + + #region Properties + + /// + /// Gets or sets the first column of this matrix. + /// + public Vector4d Column0 + { + get { return new Vector4d(Row0.X, Row1.X, Row2.X, Row3.X); } + set { Row0.X = value.X; Row1.X = value.Y; Row2.X = value.Z; Row3.X = value.W; } + } + + /// + /// Gets or sets the second column of this matrix. + /// + public Vector4d Column1 + { + get { return new Vector4d(Row0.Y, Row1.Y, Row2.Y, Row3.X); } + set { Row0.Y = value.X; Row1.Y = value.Y; Row2.Y = value.Z; Row3.Y = value.W; } + } + + /// + /// Gets or sets the value at row 1, column 1 of this instance. + /// + public double M11 { get { return Row0.X; } set { Row0.X = value; } } + + /// + /// Gets or sets the value at row 1, column 2 of this instance. + /// + public double M12 { get { return Row0.Y; } set { Row0.Y = value; } } + + /// + /// Gets or sets the value at row 2, column 1 of this instance. + /// + public double M21 { get { return Row1.X; } set { Row1.X = value; } } + + /// + /// Gets or sets the value at row 2, column 2 of this instance. + /// + public double M22 { get { return Row1.Y; } set { Row1.Y = value; } } + + /// + /// Gets or sets the value at row 3, column 1 of this instance. + /// + public double M31 { get { return Row2.X; } set { Row2.X = value; } } + + /// + /// Gets or sets the value at row 3, column 2 of this instance. + /// + public double M32 { get { return Row2.Y; } set { Row2.Y = value; } } + + /// + /// Gets or sets the value at row 4, column 1 of this instance. + /// + public double M41 { get { return Row3.X; } set { Row3.X = value; } } + + /// + /// Gets or sets the value at row 4, column 2 of this instance. + /// + public double M42 { get { return Row3.Y; } set { Row3.Y = value; } } + + #endregion + + #region Indexers + + /// + /// Gets or sets the value at a specified row and column. + /// + public double this[int rowIndex, int columnIndex] + { + get + { + if (rowIndex == 0) return Row0[columnIndex]; + else if (rowIndex == 1) return Row1[columnIndex]; + else if (rowIndex == 2) return Row2[columnIndex]; + else if (rowIndex == 3) return Row3[columnIndex]; + throw new IndexOutOfRangeException("You tried to access this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + set + { + if (rowIndex == 0) Row0[columnIndex] = value; + else if (rowIndex == 1) Row1[columnIndex] = value; + else if (rowIndex == 2) Row2[columnIndex] = value; + else if (rowIndex == 3) Row3[columnIndex] = value; + throw new IndexOutOfRangeException("You tried to set this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + } + + #endregion + + #region Static + + #region CreateRotation + + /// + /// Builds a rotation matrix. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix3x2 instance. + public static void CreateRotation(double angle, out Matrix4x2d result) + { + double cos = (double)System.Math.Cos(angle); + double sin = (double)System.Math.Sin(angle); + + result.Row0.X = cos; + result.Row0.Y = sin; + result.Row1.X = -sin; + result.Row1.Y = cos; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row3.X = 0; + result.Row3.Y = 0; + } + + /// + /// Builds a rotation matrix. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix3x2 instance. + public static Matrix4x2d CreateRotation(double angle) + { + Matrix4x2d result; + CreateRotation(angle, out result); + return result; + } + + #endregion + + #region CreateScale + + /// + /// Creates a scale matrix. + /// + /// Single scale factor for the x, y, and z axes. + /// A scale matrix. + public static void CreateScale(double scale, out Matrix4x2d result) + { + result.Row0.X = scale; + result.Row0.Y = 0; + result.Row1.X = 0; + result.Row1.Y = scale; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row3.X = 0; + result.Row3.Y = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Single scale factor for the x and y axes. + /// A scale matrix. + public static Matrix4x2d CreateScale(double scale) + { + Matrix4x2d result; + CreateScale(scale, out result); + return result; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factors for the x and y axes. + /// A scale matrix. + public static void CreateScale(Vector2d scale, out Matrix4x2d result) + { + result.Row0.X = scale.X; + result.Row0.Y = 0; + result.Row1.X = 0; + result.Row1.Y = scale.Y; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row3.X = 0; + result.Row3.Y = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factors for the x and y axes. + /// A scale matrix. + public static Matrix4x2d CreateScale(Vector2d scale) + { + Matrix4x2d result; + CreateScale(scale, out result); + return result; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factor for the x axis. + /// Scale factor for the y axis. + /// A scale matrix. + public static void CreateScale(double x, double y, out Matrix4x2d result) + { + result.Row0.X = x; + result.Row0.Y = 0; + result.Row1.X = 0; + result.Row1.Y = y; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row3.X = 0; + result.Row3.Y = 0; + } + + /// + /// Creates a scale matrix. + /// + /// Scale factor for the x axis. + /// Scale factor for the y axis. + /// A scale matrix. + public static Matrix4x2d CreateScale(double x, double y) + { + Matrix4x2d result; + CreateScale(x, y, out result); + return result; + } + + #endregion + + #region Multiply Functions + + /// + /// Multiplies and instance by a scalar. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix4x2d left, double right, out Matrix4x2d result) + { + result.Row0.X = left.Row0.X * right; + result.Row0.Y = left.Row0.Y * right; + result.Row1.X = left.Row1.X * right; + result.Row1.Y = left.Row1.Y * right; + result.Row2.X = left.Row2.X * right; + result.Row2.Y = left.Row2.Y * right; + result.Row3.X = left.Row3.X * right; + result.Row3.Y = left.Row3.Y * right; + } + + /// + /// Multiplies and instance by a scalar. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix4x2d Mult(Matrix4x2d left, double right) + { + Matrix4x2d result; + Mult(ref left, right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix4x2d left, ref Matrix2d right, out Matrix4x2d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, + lM21 = left.Row1.X, lM22 = left.Row1.Y, + lM31 = left.Row2.X, lM32 = left.Row2.Y, + lM41 = left.Row3.X, lM42 = left.Row3.Y, + rM11 = right.Row0.X, rM12 = right.Row0.Y, + rM21 = right.Row1.X, rM22 = right.Row1.Y; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22); + result.Row2.X = (lM31 * rM11) + (lM32 * rM21); + result.Row2.Y = (lM31 * rM12) + (lM32 * rM22); + result.Row3.X = (lM41 * rM11) + (lM42 * rM21); + result.Row3.Y = (lM41 * rM12) + (lM42 * rM22); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix4x2d Mult(Matrix4x2d left, Matrix2d right) + { + Matrix4x2d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix4x2d left, ref Matrix2x3d right, out Matrix4x3d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, + lM21 = left.Row1.X, lM22 = left.Row1.Y, + lM31 = left.Row2.X, lM32 = left.Row2.Y, + lM41 = left.Row3.X, lM42 = left.Row3.Y, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22); + result.Row0.Z = (lM11 * rM13) + (lM12 * rM23); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22); + result.Row1.Z = (lM21 * rM13) + (lM22 * rM23); + result.Row2.X = (lM31 * rM11) + (lM32 * rM21); + result.Row2.Y = (lM31 * rM12) + (lM32 * rM22); + result.Row2.Z = (lM31 * rM13) + (lM32 * rM23); + result.Row3.X = (lM41 * rM11) + (lM42 * rM21); + result.Row3.Y = (lM41 * rM12) + (lM42 * rM22); + result.Row3.Z = (lM41 * rM13) + (lM42 * rM23); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix4x3d Mult(Matrix4x2d left, Matrix2x3d right) + { + Matrix4x3d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static void Mult(ref Matrix4x2d left, ref Matrix2x4d right, out Matrix4d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, + lM21 = left.Row1.X, lM22 = left.Row1.Y, + lM31 = left.Row2.X, lM32 = left.Row2.Y, + lM41 = left.Row3.X, lM42 = left.Row3.Y, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22); + result.Row0.Z = (lM11 * rM13) + (lM12 * rM23); + result.Row0.W = (lM11 * rM14) + (lM12 * rM24); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22); + result.Row1.Z = (lM21 * rM13) + (lM22 * rM23); + result.Row1.W = (lM21 * rM14) + (lM22 * rM24); + result.Row2.X = (lM31 * rM11) + (lM32 * rM21); + result.Row2.Y = (lM31 * rM12) + (lM32 * rM22); + result.Row2.Z = (lM31 * rM13) + (lM32 * rM23); + result.Row2.W = (lM31 * rM14) + (lM32 * rM24); + result.Row3.X = (lM41 * rM11) + (lM42 * rM21); + result.Row3.Y = (lM41 * rM12) + (lM42 * rM22); + result.Row3.Z = (lM41 * rM13) + (lM42 * rM23); + result.Row3.W = (lM41 * rM14) + (lM42 * rM24); + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication. + public static Matrix4d Mult(Matrix4x2d left, Matrix2x4d right) + { + Matrix4d result; + Mult(ref left, ref right, out result); + return result; + } + + #endregion + + #region Add + + /// + /// Adds two instances. + /// + /// The left operand of the addition. + /// The right operand of the addition. + /// A new instance that is the result of the addition. + public static void Add(ref Matrix4x2d left, ref Matrix4x2d right, out Matrix4x2d result) + { + result.Row0.X = left.Row0.X + right.Row0.X; + result.Row0.Y = left.Row0.Y + right.Row0.Y; + result.Row1.X = left.Row1.X + right.Row1.X; + result.Row1.Y = left.Row1.Y + right.Row1.Y; + result.Row2.X = left.Row2.X + right.Row2.X; + result.Row2.Y = left.Row2.Y + right.Row2.Y; + result.Row3.X = left.Row3.X + right.Row3.X; + result.Row3.Y = left.Row3.Y + right.Row3.Y; + } + + /// + /// Adds two instances. + /// + /// The left operand of the addition. + /// The right operand of the addition. + /// A new instance that is the result of the addition. + public static Matrix4x2d Add(Matrix4x2d left, Matrix4x2d right) + { + Matrix4x2d result; + Add(ref left, ref right, out result); + return result; + } + + #endregion + + #region Subtract + + /// + /// Subtracts two instances. + /// + /// The left operand of the subtraction. + /// The right operand of the subtraction. + /// A new instance that is the result of the subtraction. + public static void Subtract(ref Matrix4x2d left, ref Matrix4x2d right, out Matrix4x2d result) + { + result.Row0.X = left.Row0.X - right.Row0.X; + result.Row0.Y = left.Row0.Y - right.Row0.Y; + result.Row1.X = left.Row1.X - right.Row1.X; + result.Row1.Y = left.Row1.Y - right.Row1.Y; + result.Row2.X = left.Row2.X - right.Row2.X; + result.Row2.Y = left.Row2.Y - right.Row2.Y; + result.Row3.X = left.Row3.X - right.Row3.X; + result.Row3.Y = left.Row3.Y - right.Row3.Y; + } + + /// + /// Subtracts two instances. + /// + /// The left operand of the subtraction. + /// The right operand of the subtraction. + /// A new instance that is the result of the subtraction. + public static Matrix4x2d Subtract(Matrix4x2d left, Matrix4x2d right) + { + Matrix4x2d result; + Subtract(ref left, ref right, out result); + return result; + } + + #endregion + + #region Transpose + + /// + /// Calculate the transpose of the given matrix. + /// + /// The matrix to transpose. + /// The transpose of the given matrix. + public static void Transpose(ref Matrix4x2d mat, out Matrix2x4d result) + { + result.Row0.X = mat.Row0.X; + result.Row0.Y = mat.Row1.X; + result.Row0.Z = mat.Row2.X; + result.Row0.W = mat.Row3.X; + result.Row1.X = mat.Row0.Y; + result.Row1.Y = mat.Row1.Y; + result.Row1.Z = mat.Row2.Y; + result.Row1.W = mat.Row3.Y; + } + + /// + /// Calculate the transpose of the given matrix. + /// + /// The matrix to transpose. + /// The transpose of the given matrix. + public static Matrix2x4d Transpose(Matrix4x2d mat) + { + Matrix2x4d result; + Transpose(ref mat, out result); + return result; + } + + #endregion + + #endregion + + #region Operators + + /// + /// Scalar multiplication. + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix4x2d which holds the result of the multiplication + public static Matrix4x2d operator *(double left, Matrix4x2d right) + { + return Mult(right, left); + } + + /// + /// Scalar multiplication. + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix4x2d which holds the result of the multiplication + public static Matrix4x2d operator *(Matrix4x2d left, double right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix2d which holds the result of the multiplication + public static Matrix4x2d operator *(Matrix4x2d left, Matrix2d right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix4x3d which holds the result of the multiplication + public static Matrix4x3d operator *(Matrix4x2d left, Matrix2x3d right) + { + return Mult(left, right); + } + + /// + /// Matrix multiplication + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix4d which holds the result of the multiplication + public static Matrix4d operator *(Matrix4x2d left, Matrix2x4d right) + { + return Mult(left, right); + } + + /// + /// Matrix addition + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix4x2d which holds the result of the addition + public static Matrix4x2d operator +(Matrix4x2d left, Matrix4x2d right) + { + return Add(left, right); + } + + /// + /// Matrix subtraction + /// + /// left-hand operand + /// right-hand operand + /// A new Matrix4x2d which holds the result of the subtraction + public static Matrix4x2d operator -(Matrix4x2d left, Matrix4x2d right) + { + return Subtract(left, right); + } + + /// + /// Compares two instances for equality. + /// + /// The first instance. + /// The second instance. + /// True, if left equals right; false otherwise. + public static bool operator ==(Matrix4x2d left, Matrix4x2d right) + { + return left.Equals(right); + } + + /// + /// Compares two instances for inequality. + /// + /// The first instance. + /// The second instance. + /// True, if left does not equal right; false otherwise. + public static bool operator !=(Matrix4x2d left, Matrix4x2d right) + { + return !left.Equals(right); + } + + #endregion + + #region Overrides + + #region public override string ToString() + + /// + /// Returns a System.String that represents the current Matrix3d. + /// + /// The string representation of the matrix. + public override string ToString() + { + return String.Format("{0}\n{1}\n{2}\n{3}", Row0, Row1, Row2, Row3); + } + + #endregion + + #region public override int GetHashCode() + + /// + /// Returns the hashcode for this instance. + /// + /// A System.Int32 containing the unique hashcode for this instance. + public override int GetHashCode() + { + return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode() ^ Row3.GetHashCode(); + } + + #endregion + + #region public override bool Equals(object obj) + + /// + /// Indicates whether this instance and a specified object are equal. + /// + /// The object to compare to. + /// True if the instances are equal; false otherwise. + public override bool Equals(object obj) + { + if (!(obj is Matrix4x2d)) + return false; + + return this.Equals((Matrix4x2d)obj); + } + + #endregion + + #endregion + + #endregion + + #region IEquatable Members + + /// + /// Indicates whether the current matrix is equal to another matrix. + /// + /// An matrix to compare with this matrix. + /// true if the current matrix is equal to the matrix parameter; otherwise, false. + public bool Equals(Matrix4x2d other) + { + return + Row0 == other.Row0 && + Row1 == other.Row1 && + Row2 == other.Row2 && + Row3 == other.Row3; + } + + #endregion + } } diff --git a/Source/OpenTK/Math/Matrix4x3.cs b/Source/OpenTK/Math/Matrix4x3.cs index af57a1d9..fde723db 100644 --- a/Source/OpenTK/Math/Matrix4x3.cs +++ b/Source/OpenTK/Math/Matrix4x3.cs @@ -745,17 +745,17 @@ namespace OpenTK #region Transpose - /*public static Matrix3x4 Transpose(Matrix4x3 mat) + public static Matrix3x4 Transpose(Matrix4x3 mat) { return new Matrix3x4(mat.Column0, mat.Column1, mat.Column2); } - public static void Transpose(ref Matrix4x3 mat, out Matrix4x3 result) + public static void Transpose(ref Matrix4x3 mat, out Matrix3x4 result) { result.Row0 = mat.Column0; result.Row1 = mat.Column1; result.Row2 = mat.Column2; - }*/ + } #endregion diff --git a/Source/OpenTK/Math/Matrix4x3d.cs b/Source/OpenTK/Math/Matrix4x3d.cs index bb262dfd..163b04ef 100644 --- a/Source/OpenTK/Math/Matrix4x3d.cs +++ b/Source/OpenTK/Math/Matrix4x3d.cs @@ -27,8 +27,842 @@ using System.Runtime.InteropServices; namespace OpenTK { - //TODO copy from Matrix4x3.cs when it's mostly feature-complete. - /*public struct Matrix4x3d : IEquatable + /// + /// Represents a 3x4 matrix. + /// + [Serializable] + [StructLayout(LayoutKind.Sequential)] + public struct Matrix4x3d : IEquatable { - }*/ + #region Fields + + /// + /// Top row of the matrix + /// + public Vector3d Row0; + + /// + /// 2nd row of the matrix + /// + public Vector3d Row1; + + /// + /// 3rd row of the matrix + /// + public Vector3d Row2; + + /// + /// Bottom row of the matrix + /// + public Vector3d Row3; + + /// + /// The zero matrix + /// + public static Matrix4x3d Zero = new Matrix4x3d(Vector3d.Zero, Vector3d.Zero, Vector3d.Zero, Vector3d.Zero); + + #endregion + + #region Constructors + + /// + /// Constructs a new instance. + /// + /// Top row of the matrix + /// Second row of the matrix + /// Third row of the matrix + /// Bottom row of the matrix + public Matrix4x3d(Vector3d row0, Vector3d row1, Vector3d row2, Vector3d row3) + { + Row0 = row0; + Row1 = row1; + Row2 = row2; + Row3 = row3; + } + + /// + /// Constructs a new instance. + /// + /// First item of the first row of the matrix. + /// Second item of the first row of the matrix. + /// Third item of the first row of the matrix. + /// First item of the second row of the matrix. + /// Second item of the second row of the matrix. + /// Third item of the second row of the matrix. + /// First item of the third row of the matrix. + /// Second item of the third row of the matrix. + /// Third item of the third row of the matrix. + /// First item of the fourth row of the matrix. + /// Second item of the fourth row of the matrix. + /// Third item of the fourth row of the matrix. + public Matrix4x3d( + double m00, double m01, double m02, + double m10, double m11, double m12, + double m20, double m21, double m22, + double m30, double m31, double m32) + { + Row0 = new Vector3d(m00, m01, m02); + Row1 = new Vector3d(m10, m11, m12); + Row2 = new Vector3d(m20, m21, m22); + Row3 = new Vector3d(m30, m31, m32); + } + + #endregion + + #region Public Members + + #region Properties + + /// + /// Gets the first column of this matrix. + /// + public Vector4d Column0 + { + get { return new Vector4d(Row0.X, Row1.X, Row2.X, Row3.X); } + } + + /// + /// Gets the second column of this matrix. + /// + public Vector4d Column1 + { + get { return new Vector4d(Row0.Y, Row1.Y, Row2.Y, Row3.Y); } + } + + /// + /// Gets the third column of this matrix. + /// + public Vector4d Column2 + { + get { return new Vector4d(Row0.Z, Row1.Z, Row2.Z, Row3.Z); } + } + + /// + /// Gets or sets the value at row 1, column 1 of this instance. + /// + public double M11 { get { return Row0.X; } set { Row0.X = value; } } + + /// + /// Gets or sets the value at row 1, column 2 of this instance. + /// + public double M12 { get { return Row0.Y; } set { Row0.Y = value; } } + + /// + /// Gets or sets the value at row 1, column 3 of this instance. + /// + public double M13 { get { return Row0.Z; } set { Row0.Z = value; } } + + /// + /// Gets or sets the value at row 2, column 1 of this instance. + /// + public double M21 { get { return Row1.X; } set { Row1.X = value; } } + + /// + /// Gets or sets the value at row 2, column 2 of this instance. + /// + public double M22 { get { return Row1.Y; } set { Row1.Y = value; } } + + /// + /// Gets or sets the value at row 2, column 3 of this instance. + /// + public double M23 { get { return Row1.Z; } set { Row1.Z = value; } } + + /// + /// Gets or sets the value at row 3, column 1 of this instance. + /// + public double M31 { get { return Row2.X; } set { Row2.X = value; } } + + /// + /// Gets or sets the value at row 3, column 2 of this instance. + /// + public double M32 { get { return Row2.Y; } set { Row2.Y = value; } } + + /// + /// Gets or sets the value at row 3, column 3 of this instance. + /// + public double M33 { get { return Row2.Z; } set { Row2.Z = value; } } + + /// + /// Gets or sets the value at row 4, column 1 of this instance. + /// + public double M41 { get { return Row3.X; } set { Row3.X = value; } } + + /// + /// Gets or sets the value at row 4, column 2 of this instance. + /// + public double M42 { get { return Row3.Y; } set { Row3.Y = value; } } + + /// + /// Gets or sets the value at row 4, column 3 of this instance. + /// + public double M43 { get { return Row3.Z; } set { Row3.Z = value; } } + + #endregion + + #region Indexers + + /// + /// Gets or sets the value at a specified row and column. + /// + public double this[int rowIndex, int columnIndex] + { + get + { + if (rowIndex == 0) return Row0[columnIndex]; + else if (rowIndex == 1) return Row1[columnIndex]; + else if (rowIndex == 2) return Row2[columnIndex]; + else if (rowIndex == 3) return Row3[columnIndex]; + throw new IndexOutOfRangeException("You tried to access this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + set + { + if (rowIndex == 0) Row0[columnIndex] = value; + else if (rowIndex == 1) Row1[columnIndex] = value; + else if (rowIndex == 2) Row2[columnIndex] = value; + else if (rowIndex == 3) Row3[columnIndex] = value; + throw new IndexOutOfRangeException("You tried to set this matrix at: (" + rowIndex + ", " + columnIndex + ")"); + } + } + + #endregion + + #region Instance + + #region public void Invert() + + public void Invert() + { + this = Matrix4x3d.Invert(this); + } + + #endregion + + #endregion + + #region Static + + #region CreateFromAxisAngle + + /// + /// Build a rotation matrix from the specified axis/angle rotation. + /// + /// The axis to rotate about. + /// Angle in radians to rotate counter-clockwise (looking in the direction of the given axis). + /// A matrix instance. + public static void CreateFromAxisAngle(Vector3d axis, double angle, out Matrix4x3d result) + { + axis.Normalize(); + double axisX = axis.X, axisY = axis.Y, axisZ = axis.Z; + + double cos = (double)System.Math.Cos(-angle); + double sin = (double)System.Math.Sin(-angle); + double t = 1.0f - cos; + + double tXX = t * axisX * axisX, + tXY = t * axisX * axisY, + tXZ = t * axisX * axisZ, + tYY = t * axisY * axisY, + tYZ = t * axisY * axisZ, + tZZ = t * axisZ * axisZ; + + double sinX = sin * axisX, + sinY = sin * axisY, + sinZ = sin * axisZ; + + result.Row0.X = tXX + cos; + result.Row0.Y = tXY - sinZ; + result.Row0.Z = tXZ + sinY; + result.Row1.X = tXY + sinZ; + result.Row1.Y = tYY + cos; + result.Row1.Z = tYZ - sinX; + result.Row2.X = tXZ - sinY; + result.Row2.Y = tYZ + sinX; + result.Row2.Z = tZZ + cos; + result.Row3.X = 0; + result.Row3.Y = 0; + result.Row3.Z = 0; + } + + /// + /// Build a rotation matrix from the specified axis/angle rotation. + /// + /// The axis to rotate about. + /// Angle in radians to rotate counter-clockwise (looking in the direction of the given axis). + /// A matrix instance. + public static Matrix4x3d CreateFromAxisAngle(Vector3d axis, double angle) + { + Matrix4x3d result; + CreateFromAxisAngle(axis, angle, out result); + return result; + } + + #endregion + + #region CreateFromQuaternion + + /// + /// Builds a rotation matrix from a quaternion. + /// + /// The quaternion to rotate by. + /// A matrix instance. + public static void CreateFromQuaternion(ref Quaternion q, out Matrix4x3d result) + { + double x = q.X, y = q.Y, z = q.Z, w = q.W, + tx = 2 * x, ty = 2 * y, tz = 2 * z, + txx = tx * x, tyy = ty * y, tzz = tz * z, + txy = tx * y, txz = tx * z, tyz = ty * z, + twx = w * tx, twy = w * ty, twz = w * tz; + + result.Row0.X = 1f - tyy - tzz; + result.Row0.Y = txy - twz; + result.Row0.Z = txz + twy; + result.Row1.X = txy + twz; + result.Row1.Y = 1f - txx - tzz; + result.Row1.Z = tyz - twx; + result.Row2.X = txz - twy; + result.Row2.Y = tyz + twx; + result.Row2.Z = 1f - txx - tyy; + result.Row3.X = 0; + result.Row3.Y = 0; + result.Row3.Z = 0; + + /*Vector3d axis; + double angle; + q.ToAxisAngle(out axis, out angle); + CreateFromAxisAngle(axis, angle, out result);*/ + } + + /// + /// Builds a rotation matrix from a quaternion. + /// + /// The quaternion to rotate by. + /// A matrix instance. + public static Matrix4x3d CreateFromQuaternion(Quaternion q) + { + Matrix4x3d result; + CreateFromQuaternion(ref q, out result); + return result; + } + + #endregion + + #region CreateRotation[XYZ] + + /// + /// Builds a rotation matrix for a rotation around the x-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4dinstance. + public static void CreateRotationX(double angle, out Matrix4x3d result) + { + double cos = (double)System.Math.Cos(angle); + double sin = (double)System.Math.Sin(angle); + + result.Row0.X = 1; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row1.X = 0; + result.Row1.Y = cos; + result.Row1.Z = sin; + result.Row2.X = 0; + result.Row2.Y = -sin; + result.Row2.Z = cos; + result.Row3.X = 0; + result.Row3.Y = 0; + result.Row3.Z = 0; + } + + /// + /// Builds a rotation matrix for a rotation around the x-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4dinstance. + public static Matrix4x3d CreateRotationX(double angle) + { + Matrix4x3d result; + CreateRotationX(angle, out result); + return result; + } + + /// + /// Builds a rotation matrix for a rotation around the y-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4dinstance. + public static void CreateRotationY(double angle, out Matrix4x3d result) + { + double cos = (double)System.Math.Cos(angle); + double sin = (double)System.Math.Sin(angle); + + result.Row0.X = cos; + result.Row0.Y = 0; + result.Row0.Z = -sin; + result.Row1.X = 0; + result.Row1.Y = 1; + result.Row1.Z = 0; + result.Row2.X = sin; + result.Row2.Y = 0; + result.Row2.Z = cos; + result.Row3.X = 0; + result.Row3.Y = 0; + result.Row3.Z = 0; + } + + /// + /// Builds a rotation matrix for a rotation around the y-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4dinstance. + public static Matrix4x3d CreateRotationY(double angle) + { + Matrix4x3d result; + CreateRotationY(angle, out result); + return result; + } + + /// + /// Builds a rotation matrix for a rotation around the z-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4dinstance. + public static void CreateRotationZ(double angle, out Matrix4x3d result) + { + double cos = (double)System.Math.Cos(angle); + double sin = (double)System.Math.Sin(angle); + + result.Row0.X = cos; + result.Row0.Y = sin; + result.Row0.Z = 0; + result.Row1.X = -sin; + result.Row1.Y = cos; + result.Row1.Z = 0; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row2.Z = 1; + result.Row3.X = 0; + result.Row3.Y = 0; + result.Row3.Z = 0; + } + + /// + /// Builds a rotation matrix for a rotation around the z-axis. + /// + /// The counter-clockwise angle in radians. + /// The resulting Matrix4dinstance. + public static Matrix4x3d CreateRotationZ(double angle) + { + Matrix4x3d result; + CreateRotationZ(angle, out result); + return result; + } + + #endregion + + #region CreateTranslation + + /// + /// Creates a translation matrix. + /// + /// X translation. + /// Y translation. + /// Z translation. + /// The resulting Matrix4dinstance. + public static void CreateTranslation(double x, double y, double z, out Matrix4x3d result) + { + result.Row0.X = 1; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row1.X = 0; + result.Row1.Y = 1; + result.Row1.Z = 0; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row2.Z = 1; + result.Row3.X = x; + result.Row3.Y = y; + result.Row3.Z = z; + } + + /// + /// Creates a translation matrix. + /// + /// The translation vector. + /// The resulting Matrix4dinstance. + public static void CreateTranslation(ref Vector3d vector, out Matrix4x3d result) + { + result.Row0.X = 1; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row1.X = 0; + result.Row1.Y = 1; + result.Row1.Z = 0; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row2.Z = 1; + result.Row3.X = vector.X; + result.Row3.Y = vector.Y; + result.Row3.Z = vector.Z; + } + + /// + /// Creates a translation matrix. + /// + /// X translation. + /// Y translation. + /// Z translation. + /// The resulting Matrix4dinstance. + public static Matrix4x3d CreateTranslation(double x, double y, double z) + { + Matrix4x3d result; + CreateTranslation(x, y, z, out result); + return result; + } + + /// + /// Creates a translation matrix. + /// + /// The translation vector. + /// The resulting Matrix4dinstance. + public static Matrix4x3d CreateTranslation(Vector3d vector) + { + Matrix4x3d result; + CreateTranslation(vector.X, vector.Y, vector.Z, out result); + return result; + } + + #endregion + + #region CreateScale + + /// + /// Build a scaling matrix + /// + /// Single scale factor for x,y and z axes + /// A scaling matrix + public static Matrix4x3d CreateScale(double scale) + { + return CreateScale(scale, scale, scale); + } + + /// + /// Build a scaling matrix + /// + /// Scale factors for x,y and z axes + /// A scaling matrix + public static Matrix4x3d CreateScale(Vector3d scale) + { + return CreateScale(scale.X, scale.Y, scale.Z); + } + + /// + /// Build a scaling matrix + /// + /// Scale factor for x-axis + /// Scale factor for y-axis + /// Scale factor for z-axis + /// A scaling matrix + public static Matrix4x3d CreateScale(double x, double y, double z) + { + Matrix4x3d result; + result.Row0.X = x; + result.Row0.Y = 0; + result.Row0.Z = 0; + result.Row1.X = 0; + result.Row1.Y = y; + result.Row1.Z = 0; + result.Row2.X = 0; + result.Row2.Y = 0; + result.Row2.Z = z; + result.Row3.X = 0; + result.Row3.Y = 0; + result.Row3.Z = 0; + return result; + } + + #endregion + + #region Multiply Functions + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication + public static Matrix4d Mult(Matrix4x3d left, Matrix3x4d right) + { + Matrix4d result; + Mult(ref left, ref right, out result); + return result; + } + + /// + /// Multiplies two instances. + /// + /// The left operand of the multiplication. + /// The right operand of the multiplication. + /// A new instance that is the result of the multiplication + public static void Mult(ref Matrix4x3d left, ref Matrix3x4d right, out Matrix4d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, + lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, + lM31 = left.Row2.X, lM32 = left.Row2.Y, lM33 = left.Row2.Z, + lM41 = left.Row3.X, lM42 = left.Row3.Y, lM43 = left.Row3.Z, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W, + rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z, rM34 = right.Row2.W; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21) + (lM13 * rM31); + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22) + (lM13 * rM32); + result.Row0.Z = (lM11 * rM13) + (lM12 * rM23) + (lM13 * rM33); + result.Row0.W = (lM11 * rM14) + (lM12 * rM24) + (lM13 * rM34); + result.Row1.X = (lM21 * rM11) + (lM22 * rM21) + (lM23 * rM31); + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22) + (lM23 * rM32); + result.Row1.Z = (lM21 * rM13) + (lM22 * rM23) + (lM23 * rM33); + result.Row1.W = (lM21 * rM14) + (lM22 * rM24) + (lM23 * rM34); + result.Row2.X = (lM31 * rM11) + (lM32 * rM21) + (lM33 * rM31); + result.Row2.Y = (lM31 * rM12) + (lM32 * rM22) + (lM33 * rM32); + result.Row2.Z = (lM31 * rM13) + (lM32 * rM23) + (lM33 * rM33); + result.Row2.W = (lM31 * rM14) + (lM32 * rM24) + (lM33 * rM34); + result.Row3.X = (lM41 * rM11) + (lM42 * rM21) + (lM43 * rM31); + result.Row3.Y = (lM41 * rM12) + (lM42 * rM22) + (lM43 * rM32); + result.Row3.Z = (lM41 * rM13) + (lM42 * rM23) + (lM43 * rM33); + result.Row3.W = (lM41 * rM14) + (lM42 * rM24) + (lM43 * rM34); + } + + public static Matrix4x3d Mult(Matrix4x3d left, Matrix4x3d right) + { + Matrix4x3d result; + Mult(ref left, ref right, out result); + return result; + } + + public static void Mult(ref Matrix4x3d left, ref Matrix4x3d right, out Matrix4x3d result) + { + double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, + lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, + lM31 = left.Row2.X, lM32 = left.Row2.Y, lM33 = left.Row2.Z, + lM41 = left.Row3.X, lM42 = left.Row3.Y, lM43 = left.Row3.Z, + rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, + rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, + rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z, + rM41 = right.Row3.X, rM42 = right.Row3.Y, rM43 = right.Row3.Z; + + result.Row0.X = (lM11 * rM11) + (lM12 * rM21) + (lM13 * rM31) + rM41; + result.Row0.Y = (lM11 * rM12) + (lM12 * rM22) + (lM13 * rM32) + rM42; + result.Row0.Z = (lM11 * rM13) + (lM12 * rM23) + (lM13 * rM33) + rM43; + result.Row1.X = (lM21 * rM11) + (lM22 * rM21) + (lM23 * rM31) + rM41; + result.Row1.Y = (lM21 * rM12) + (lM22 * rM22) + (lM23 * rM32) + rM42; + result.Row1.Z = (lM21 * rM13) + (lM22 * rM23) + (lM23 * rM33) + rM43; + result.Row2.X = (lM31 * rM11) + (lM32 * rM21) + (lM33 * rM31) + rM41; + result.Row2.Y = (lM31 * rM12) + (lM32 * rM22) + (lM33 * rM32) + rM42; + result.Row2.Z = (lM31 * rM13) + (lM32 * rM23) + (lM33 * rM33) + rM43; + result.Row3.X = (lM41 * rM11) + (lM42 * rM21) + (lM43 * rM31) + rM41; + result.Row3.Y = (lM41 * rM12) + (lM42 * rM22) + (lM43 * rM32) + rM42; + result.Row3.Z = (lM41 * rM13) + (lM42 * rM23) + (lM43 * rM33) + rM43; + } + + public static Matrix4x3d Mult(Matrix4x3d left, double right) + { + Matrix4x3d result; + Mult(ref left, right, out result); + return result; + } + + public static void Mult(ref Matrix4x3d left, double right, out Matrix4x3d result) + { + result.Row0 = left.Row0 * right; + result.Row1 = left.Row1 * right; + result.Row2 = left.Row2 * right; + result.Row3 = left.Row3 * right; + } + + #endregion + + #region Add Functions + + public static Matrix4x3d Add(Matrix4x3d left, Matrix4x3d right) + { + Matrix4x3d result; + Add(ref left, ref right, out result); + return result; + } + + public static void Add(ref Matrix4x3d left, ref Matrix4x3d right, out Matrix4x3d result) + { + result.Row0 = left.Row0 + right.Row0; + result.Row1 = left.Row1 + right.Row1; + result.Row2 = left.Row2 + right.Row2; + result.Row3 = left.Row3 + right.Row3; + } + + #endregion + + #region Subtract Functions + + public static Matrix4x3d Subtract(Matrix4x3d left, Matrix4x3d right) + { + Matrix4x3d result; + Subtract(ref left, ref right, out result); + return result; + } + + public static void Subtract(ref Matrix4x3d left, ref Matrix4x3d right, out Matrix4x3d result) + { + result.Row0 = left.Row0 - right.Row0; + result.Row1 = left.Row1 - right.Row1; + result.Row2 = left.Row2 - right.Row2; + result.Row3 = left.Row3 - right.Row3; + } + + #endregion + + #region Invert Functions + + public static Matrix4x3d Invert(Matrix4x3d mat) + { + Matrix4x3d result; + Invert(ref mat, out result); + return result; + } + + public static void Invert(ref Matrix4x3d mat, out Matrix4x3d result) + { + Matrix3d inverseRotation = new Matrix3d(mat.Column0.Xyz, mat.Column1.Xyz, mat.Column2.Xyz); + inverseRotation.Row0 /= inverseRotation.Row0.LengthSquared; + inverseRotation.Row1 /= inverseRotation.Row1.LengthSquared; + inverseRotation.Row2 /= inverseRotation.Row2.LengthSquared; + + Vector3d translation = mat.Row3; + + result.Row0 = inverseRotation.Row0; + result.Row1 = inverseRotation.Row1; + result.Row2 = inverseRotation.Row2; + result.Row3 = new Vector3d(-Vector3d.Dot(inverseRotation.Row0, translation), -Vector3d.Dot(inverseRotation.Row1, translation), -Vector3d.Dot(inverseRotation.Row2, translation)); + } + + #endregion + + #region Transpose + + public static Matrix3x4d Transpose(Matrix4x3d mat) + { + return new Matrix3x4d(mat.Column0, mat.Column1, mat.Column2); + } + + public static void Transpose(ref Matrix4x3d mat, out Matrix3x4d result) + { + result.Row0 = mat.Column0; + result.Row1 = mat.Column1; + result.Row2 = mat.Column2; + } + + #endregion + + #endregion + + #region Operators + + public static Matrix4d operator *(Matrix4x3d left, Matrix3x4d right) + { + return Matrix4x3d.Mult(left, right); + } + + public static Matrix4x3d operator *(Matrix4x3d left, Matrix4x3d right) + { + return Matrix4x3d.Mult(left, right); + } + + public static Matrix4x3d operator *(Matrix4x3d left, double right) + { + return Matrix4x3d.Mult(left, right); + } + + public static Matrix4x3d operator +(Matrix4x3d left, Matrix4x3d right) + { + return Matrix4x3d.Add(left, right); + } + + public static Matrix4x3d operator -(Matrix4x3d left, Matrix4x3d right) + { + return Matrix4x3d.Subtract(left, right); + } + + public static bool operator ==(Matrix4x3d left, Matrix4x3d right) + { + return left.Equals(right); + } + + public static bool operator !=(Matrix4x3d left, Matrix4x3d right) + { + return !left.Equals(right); + } + + #endregion + + #region Overrides + + #region public override string ToString() + + /// + /// Returns a System.String that represents the current Matrix4x3d. + /// + /// The string representation of the matrix. + public override string ToString() + { + return string.Format("{0}\n{1}\n{2}", Row0, Row1, Row2); + } + + #endregion + + #region public override int GetHashCode() + + /// + /// Returns the hashcode for this instance. + /// + /// A System.Int32 containing the unique hashcode for this instance. + public override int GetHashCode() + { + return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode(); + } + + #endregion + + #region public override bool Equals(object obj) + + /// + /// Indicates whether this instance and a specified object are equal. + /// + /// The object to compare tresult. + /// True if the instances are equal; false otherwise. + public override bool Equals(object obj) + { + if (!(obj is Matrix4x3d)) + return false; + + return this.Equals((Matrix4x3d)obj); + } + + #endregion + + #endregion + + #endregion + + #region IEquatable Members + + /// Indicates whether the current matrix is equal to another matrix. + /// An matrix to compare with this matrix. + /// true if the current matrix is equal to the matrix parameter; otherwise, false. + public bool Equals(Matrix4x3d other) + { + return + Row0 == other.Row0 && + Row1 == other.Row1 && + Row2 == other.Row2 && + Row3 == other.Row3; + } + + #endregion + } }