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Added missing Matrix4./Matrix4d.CreateRotation[XYZ] methods.

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Added missing Matrix4d.CreateFromAxisAngle method.
Fixed Matrix4d constructor to take double parameters instead of float.
This commit is contained in:
the_fiddler 2009-09-04 13:02:23 +00:00
parent e29c681f11
commit 6c5d3a90c3
2 changed files with 217 additions and 4 deletions
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88
Source/OpenTK/Math/Matrix4.cs
View file

@ -309,6 +309,94 @@ namespace OpenTK
#endregion
#region CreateRotation[XYZ]
/// <summary>
/// Builds a rotation matrix for a rotation around the x-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <param name="result">The resulting Matrix4 instance.</param>
public static void CreateRotationX(float angle, out Matrix4 result)
{
float cos = (float)System.Math.Cos(angle);
float sin = (float)System.Math.Sin(angle);
result.Row0 = Vector4.UnitX;
result.Row1 = new Vector4(0.0f, cos, sin, 0.0f);
result.Row2 = new Vector4(0.0f, -sin, cos, 0.0f);
result.Row3 = Vector4.UnitW;
}
/// <summary>
/// Builds a rotation matrix for a rotation around the x-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <returns>The resulting Matrix4 instance.</returns>
public static Matrix4 CreateRotationX(float angle)
{
Matrix4 result;
CreateRotationX(angle, out result);
return result;
}
/// <summary>
/// Builds a rotation matrix for a rotation around the y-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <param name="result">The resulting Matrix4 instance.</param>
public static void CreateRotationY(float angle, out Matrix4 result)
{
float cos = (float)System.Math.Cos(angle);
float sin = (float)System.Math.Sin(angle);
result.Row0 = new Vector4(cos, 0.0f, -sin, 0.0f);
result.Row1 = Vector4.UnitY;
result.Row2 = new Vector4(sin, 0.0f, cos, 0.0f);
result.Row3 = Vector4.UnitW;
}
/// <summary>
/// Builds a rotation matrix for a rotation around the y-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <returns>The resulting Matrix4 instance.</returns>
public static Matrix4 CreateRotationY(float angle)
{
Matrix4 result;
CreateRotationY(angle, out result);
return result;
}
/// <summary>
/// Builds a rotation matrix for a rotation around the z-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <param name="result">The resulting Matrix4 instance.</param>
public static void CreateRotationZ(float angle, out Matrix4 result)
{
float cos = (float)System.Math.Cos(angle);
float sin = (float)System.Math.Sin(angle);
result.Row0 = new Vector4(cos, sin, 0.0f, 0.0f);
result.Row1 = new Vector4(-sin, cos, 0.0f, 0.0f);
result.Row2 = Vector4.UnitZ;
result.Row3 = Vector4.UnitW;
}
/// <summary>
/// Builds a rotation matrix for a rotation around the z-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <returns>The resulting Matrix4 instance.</returns>
public static Matrix4 CreateRotationZ(float angle)
{
Matrix4 result;
CreateRotationZ(angle, out result);
return result;
}
#endregion
#region CreateTranslation
/// <summary>

133
Source/OpenTK/Math/Matrix4d.cs
View file

@ -97,10 +97,10 @@ namespace OpenTK
/// <param name="m32">Third item of the fourth row.</param>
/// <param name="m33">Fourth item of the fourth row.</param>
public Matrix4d(
float m00, float m01, float m02, float m03,
float m10, float m11, float m12, float m13,
float m20, float m21, float m22, float m23,
float m30, float m31, float m32, float m33)
double m00, double m01, double m02, double m03,
double m10, double m11, double m12, double m13,
double m20, double m21, double m22, double m23,
double m30, double m31, double m32, double m33)
{
Row0 = new Vector4d(m00, m01, m02, m03);
Row1 = new Vector4d(m10, m11, m12, m13);
@ -301,6 +301,131 @@ namespace OpenTK
#region Static
#region CreateFromAxisAngle
/// <summary>
/// Build a rotation matrix from the specified axis/angle rotation.
/// </summary>
/// <param name="axis">The axis to rotate about.</param>
/// <param name="angle">Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).</param>
/// <param name="result">A matrix instance.</param>
public static void CreateFromAxisAngle(Vector3d axis, double angle, out Matrix4d result)
{
double cos = System.Math.Cos(-angle);
double sin = System.Math.Sin(-angle);
double t = 1.0f - cos;
axis.Normalize();
result = new Matrix4d(t * axis.X * axis.X + cos, t * axis.X * axis.Y - sin * axis.Z, t * axis.X * axis.Z + sin * axis.Y, 0.0f,
t * axis.X * axis.Y + sin * axis.Z, t * axis.Y * axis.Y + cos, t * axis.Y * axis.Z - sin * axis.X, 0.0f,
t * axis.X * axis.Z - sin * axis.Y, t * axis.Y * axis.Z + sin * axis.X, t * axis.Z * axis.Z + cos, 0.0f,
0, 0, 0, 1);
}
/// <summary>
/// Build a rotation matrix from the specified axis/angle rotation.
/// </summary>
/// <param name="axis">The axis to rotate about.</param>
/// <param name="angle">Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).</param>
/// <returns>A matrix instance.</returns>
public static Matrix4d CreateFromAxisAngle(Vector3d axis, double angle)
{
Matrix4d result;
CreateFromAxisAngle(axis, angle, out result);
return result;
}
#endregion
#region CreateRotation[XYZ]
/// <summary>
/// Builds a rotation matrix for a rotation around the x-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <param name="result">The resulting Matrix4 instance.</param>
public static void CreateRotationX(double angle, out Matrix4d result)
{
double cos = System.Math.Cos(angle);
double sin = System.Math.Sin(angle);
result.Row0 = Vector4d.UnitX;
result.Row1 = new Vector4d(0, cos, sin, 0);
result.Row2 = new Vector4d(0, -sin, cos, 0);
result.Row3 = Vector4d.UnitW;
}
/// <summary>
/// Builds a rotation matrix for a rotation around the x-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <returns>The resulting Matrix4 instance.</returns>
public static Matrix4d CreateRotationX(double angle)
{
Matrix4d result;
CreateRotationX(angle, out result);
return result;
}
/// <summary>
/// Builds a rotation matrix for a rotation around the y-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <param name="result">The resulting Matrix4 instance.</param>
public static void CreateRotationY(double angle, out Matrix4d result)
{
double cos = System.Math.Cos(angle);
double sin = System.Math.Sin(angle);
result.Row0 = new Vector4d(cos, 0, -sin, 0);
result.Row1 = Vector4d.UnitY;
result.Row2 = new Vector4d(sin, 0, cos, 0);
result.Row3 = Vector4d.UnitW;
}
/// <summary>
/// Builds a rotation matrix for a rotation around the y-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <returns>The resulting Matrix4 instance.</returns>
public static Matrix4d CreateRotationY(double angle)
{
Matrix4d result;
CreateRotationY(angle, out result);
return result;
}
/// <summary>
/// Builds a rotation matrix for a rotation around the z-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <param name="result">The resulting Matrix4 instance.</param>
public static void CreateRotationZ(double angle, out Matrix4d result)
{
double cos = System.Math.Cos(angle);
double sin = System.Math.Sin(angle);
result.Row0 = new Vector4d(cos, sin, 0, 0);
result.Row1 = new Vector4d(-sin, cos, 0, 0);
result.Row2 = Vector4d.UnitZ;
result.Row3 = Vector4d.UnitW;
}
/// <summary>
/// Builds a rotation matrix for a rotation around the z-axis.
/// </summary>
/// <param name="angle">The counter-clockwise angle in radians.</param>
/// <returns>The resulting Matrix4 instance.</returns>
public static Matrix4d CreateRotationZ(double angle)
{
Matrix4d result;
CreateRotationZ(angle, out result);
return result;
}
#endregion
#region CreateTranslation
/// <summary>