Matrix4 optimizations

.gitignore

@@ -1,135 +1,56 @@
-# Ignores specific to OpenTK.
-Binaries/
-OpenTK.userprefs
-Source/GlobalAssemblyInfo.cs
-Version.txt
 
-# OpenTK Resource files that seem like they should be ignored:
+#OS junk files
-Source/Compatibility/Properties/Resources.resources
+[Tt]humbs.db
-Source/Compatibility/Tao/Platform/Windows/SimpleOpenGlControl.resources
+*.DS_Store
-Source/Examples/ExampleBrowser.resources
-Source/Examples/OpenAL/1.1/Parrot.resources
-Source/Examples/OpenTK/Fonts/FontRenderingBasic.resources
-Source/Examples/OpenTK/GLControl/DerivedGLControl.resources
-Source/Examples/OpenTK/GLControl/GLControlGameLoop.resources
-Source/Examples/OpenTK/GLControl/GLControlSimple.resources
-Source/Examples/OpenTK/GLControl/MultipleGLControls.resources
-Source/Examples/OpenTK/Test/Extensions.resources
-Source/Examples/OpenTK/Test/InputLogger.resources
-Source/Examples/Properties/Resources.resources
-Source/OpenTK/Properties/Resources.resources
 
-
+#Visual Studio files
-# Build Folders (you can keep bin if you'd like, to store dlls and pdbs)
+*.exe
-[Bb]in/
-[Oo]bj/
-
-# mstest test results
-TestResults
-
-## Ignore Visual Studio temporary files, build results, and
-## files generated by popular Visual Studio add-ons.
-
-# User-specific files
-*.suo
-*.user
-*.sln.docstates
-
-# Build results
-[Dd]ebug/
-[Rr]elease/
-x64/
-*_i.c
-*_p.c
-*.ilk
-*.meta
-*.obj
-*.pch
 *.pdb
-*.pgc
+*.user
-*.pgd
+*.aps
-*.rsp
+*.pch
-*.sbr
-*.tlb
-*.tli
-*.tlh
-*.tmp
-*.log
 *.vspscc
 *.vssscc
-.builds
+*_i.c
-
+*_p.c
-# Visual C++ cache files
-ipch/
-*.aps
 *.ncb
-*.opensdf
+*.suo
+*.tlb
+*.tlh
+*.bak
+*.[Cc]ache
+*.ilk
+*.log
+*.lib
+*.sbr
 *.sdf
+ipch/
+obj/
+[Bb]in
+[Dd]ebug*/
+[Rr]elease*/
+Ankh.NoLoad
 
-# Visual Studio profiler
+#Tooling
-*.psess
+_ReSharper*/
-*.vsp
+*.resharper
-*.vspx
-
-# Guidance Automation Toolkit
-*.gpState
-
-# ReSharper is a .NET coding add-in
-_ReSharper*
-
-# Mindbench SASS cache
-.sass-cache/
-
-# NCrunch
-*.ncrunch*
-.*crunch*.local.xml
-
-# Installshield output folder 
-[Ee]xpress
-
-# DocProject is a documentation generator add-in
-DocProject/buildhelp/
-DocProject/Help/*.HxT
-DocProject/Help/*.HxC
-DocProject/Help/*.hhc
-DocProject/Help/*.hhk
-DocProject/Help/*.hhp
-DocProject/Help/Html2
-DocProject/Help/html
-
-# Click-Once directory
-publish
-
-# Publish Web Output
-*.Publish.xml
-
-# NuGet Packages Directory
-packages
-
-# Windows Azure Build Output
-csx
-*.build.csdef
-
-# Windows Store app package directory
-AppPackages/
-
-# Others
-sql
-TestResults
 [Tt]est[Rr]esult*
-*.Cache
+
-ClientBin
+#Project files
-[Ss]tyle[Cc]op.*
+[Bb]uild/
+
+#Subversion files
+.svn
+
+# Office Temp Files
 ~$*
-*.dbmdl
-Generated_Code #added for RIA/Silverlight projects
 
-# Backup & report files from converting an old project file to a newer
+#MonoDevelop files
-# Visual Studio version. Backup files are not needed, because we have git ;-)
+*.userprefs
-_UpgradeReport_Files/
+*.pidb
-Backup*/
-UpgradeLog*.XML
 
-# SQL Server files
+#Generated
-App_Data/*.mdf
+/Version.txt
-App_Data/*.ldf
+/Source/GlobalAssemblyInfo.cs
+/Source/OpenTK/OpenTK.xml
+/Source/GLControl/OpenTK.GLControl.xml

Source/OpenTK/Math/Matrix4.cs

@@ -37,24 +37,27 @@ namespace OpenTK
         #region Fields
 
         /// <summary>
-        /// Top row of the matrix
+        /// Top row of the matrix.
         /// </summary>
         public Vector4 Row0;
+
         /// <summary>
-        /// 2nd row of the matrix
+        /// 2nd row of the matrix.
         /// </summary>
         public Vector4 Row1;
+
         /// <summary>
-        /// 3rd row of the matrix
+        /// 3rd row of the matrix.
         /// </summary>
         public Vector4 Row2;
+
         /// <summary>
-        /// Bottom row of the matrix
+        /// Bottom row of the matrix.
         /// </summary>
         public Vector4 Row3;
  
         /// <summary>
-        /// The identity matrix
+        /// The identity matrix.
         /// </summary>
         public static Matrix4 Identity = new Matrix4(Vector4.UnitX, Vector4.UnitY, Vector4.UnitZ, Vector4.UnitW);
 
@@ -65,10 +68,10 @@ namespace OpenTK
         /// <summary>
         /// Constructs a new instance.
         /// </summary>
-        /// <param name="row0">Top row of the matrix</param>
+        /// <param name="row0">Top row of the matrix.</param>
-        /// <param name="row1">Second row of the matrix</param>
+        /// <param name="row1">Second row of the matrix.</param>
-        /// <param name="row2">Third row of the matrix</param>
+        /// <param name="row2">Third row of the matrix.</param>
-        /// <param name="row3">Bottom row of the matrix</param>
+        /// <param name="row3">Bottom row of the matrix.</param>
         public Matrix4(Vector4 row0, Vector4 row1, Vector4 row2, Vector4 row3)
         {
             Row0 = row0;
@@ -134,23 +137,29 @@ namespace OpenTK
 
         /// <summary>
         /// The determinant of this matrix
+        /// Gets the determinant of this matrix.
         /// </summary>
         public float Determinant
         {
             get
             {
+                float m11 = Row0.X, m12 = Row0.Y, m13 = Row0.Z, m14 = Row0.W,
+                      m21 = Row1.X, m22 = Row1.Y, m23 = Row1.Z, m24 = Row1.W,
+                      m31 = Row2.X, m32 = Row2.Y, m33 = Row2.Z, m34 = Row2.W,
+                      m41 = Row3.X, m42 = Row3.Y, m43 = Row3.Z, m44 = Row3.W;
+
                 return
-                    Row0.X * Row1.Y * Row2.Z * Row3.W - Row0.X * Row1.Y * Row2.W * Row3.Z + Row0.X * Row1.Z * Row2.W * Row3.Y - Row0.X * Row1.Z * Row2.Y * Row3.W
+                    m11 * m22 * m33 * m44 - m11 * m22 * m34 * m43 + m11 * m23 * m34 * m42 - m11 * m23 * m32 * m44
-                  + Row0.X * Row1.W * Row2.Y * Row3.Z - Row0.X * Row1.W * Row2.Z * Row3.Y - Row0.Y * Row1.Z * Row2.W * Row3.X + Row0.Y * Row1.Z * Row2.X * Row3.W
+                  + m11 * m24 * m32 * m43 - m11 * m24 * m33 * m42 - m12 * m23 * m34 * m41 + m12 * m23 * m31 * m44
-                  - Row0.Y * Row1.W * Row2.X * Row3.Z + Row0.Y * Row1.W * Row2.Z * Row3.X - Row0.Y * Row1.X * Row2.Z * Row3.W + Row0.Y * Row1.X * Row2.W * Row3.Z
+                  - m12 * m24 * m31 * m43 + m12 * m24 * m33 * m41 - m12 * m21 * m33 * m44 + m12 * m21 * m34 * m43
-                  + Row0.Z * Row1.W * Row2.X * Row3.Y - Row0.Z * Row1.W * Row2.Y * Row3.X + Row0.Z * Row1.X * Row2.Y * Row3.W - Row0.Z * Row1.X * Row2.W * Row3.Y
+                  + m13 * m24 * m31 * m42 - m13 * m24 * m32 * m41 + m13 * m21 * m32 * m44 - m13 * m21 * m34 * m42
-                  + Row0.Z * Row1.Y * Row2.W * Row3.X - Row0.Z * Row1.Y * Row2.X * Row3.W - Row0.W * Row1.X * Row2.Y * Row3.Z + Row0.W * Row1.X * Row2.Z * Row3.Y
+                  + m13 * m22 * m34 * m41 - m13 * m22 * m31 * m44 - m14 * m21 * m32 * m43 + m14 * m21 * m33 * m42
-                  - Row0.W * Row1.Y * Row2.Z * Row3.X + Row0.W * Row1.Y * Row2.X * Row3.Z - Row0.W * Row1.Z * Row2.X * Row3.Y + Row0.W * Row1.Z * Row2.Y * Row3.X;
+                  - m14 * m22 * m33 * m41 + m14 * m22 * m31 * m43 - m14 * m23 * m31 * m42 + m14 * m23 * m32 * m41;
             }
         }
 
         /// <summary>
-        /// The first column of this matrix
+        /// Gets the first column of this matrix.
         /// </summary>
         public Vector4 Column0
         {
@@ -158,7 +167,7 @@ namespace OpenTK
         }
 
         /// <summary>
-        /// The second column of this matrix
+        /// Gets the second column of this matrix.
         /// </summary>
         public Vector4 Column1
         {
@@ -166,7 +175,7 @@ namespace OpenTK
         }
 
         /// <summary>
-        /// The third column of this matrix
+        /// Gets the third column of this matrix.
         /// </summary>
         public Vector4 Column2
         {
@@ -174,7 +183,7 @@ namespace OpenTK
         }
 
         /// <summary>
-        /// The fourth column of this matrix
+        /// Gets the fourth column of this matrix.
         /// </summary>
         public Vector4 Column3
         {
@@ -303,16 +312,40 @@ namespace OpenTK
         /// <param name="result">A matrix instance.</param>
         public static void CreateFromAxisAngle(Vector3 axis, float angle, out Matrix4 result)
         {
+            // normalize and create a local copy of the vector.
+            axis.Normalize();
+            float axisX = axis.X, axisY = axis.Y, axisZ = axis.Z;
+
+            // calculate angles
             float cos = (float)System.Math.Cos(-angle);
             float sin = (float)System.Math.Sin(-angle);
             float t = 1.0f - cos;
 
-            axis.Normalize();
+            // do the conversion math once
+            float tXX = t * axisX * axisX,
+                tXY = t * axisX * axisY,
+                tXZ = t * axisX * axisZ,
+                tYY = t * axisY * axisY,
+                tYZ = t * axisY * axisZ,
+                tZZ = t * axisZ * axisZ;
 
-            result = new Matrix4(t * axis.X * axis.X + cos, t * axis.X * axis.Y - sin * axis.Z, t * axis.X * axis.Z + sin * axis.Y, 0.0f,
+            float sinX = sin * axisX,
-                                 t * axis.X * axis.Y + sin * axis.Z, t * axis.Y * axis.Y + cos, t * axis.Y * axis.Z - sin * axis.X, 0.0f,
+                sinY = sin * axisY,
-                                 t * axis.X * axis.Z - sin * axis.Y, t * axis.Y * axis.Z + sin * axis.X, t * axis.Z * axis.Z + cos, 0.0f,
+                sinZ = sin * axisZ;
-                                 0, 0, 0, 1);
+
+            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;
+            result.Row3 = Vector4.UnitW;
         }
         
         /// <summary>
@@ -330,6 +363,35 @@ namespace OpenTK
         
         #endregion
 
+        #region CreateFromQuaternion
+
+        /// <summary>
+        /// Builds a rotation matrix from a quaternion.
+        /// </summary>
+        /// <param name="q">The quaternion to rotate by.</param>
+        /// <param name="result">A matrix instance.</param>
+        public static void CreateFromQuaternion(ref Quaternion q, out Matrix4 result)
+        {
+            Vector3 axis;
+            float angle;
+            q.ToAxisAngle(out axis, out angle);
+            CreateFromAxisAngle(axis, angle, out result);
+        }
+
+        /// <summary>
+        /// Builds a rotation matrix from a quaternion.
+        /// </summary>
+        /// <param name="q">The quaternion to rotate by.</param>
+        /// <returns>A matrix instance.</returns>
+        public static Matrix4 CreateFromQuaternion(Quaternion q)
+        {
+            Matrix4 result;
+            CreateFromQuaternion(ref q, out result);
+            return result;
+        }
+
+        #endregion
+
         #region CreateRotation[XYZ]
 
         /// <summary>
@@ -342,10 +404,11 @@ namespace OpenTK
             float cos = (float)System.Math.Cos(angle);
             float sin = (float)System.Math.Sin(angle);
 
-            result.Row0 = Vector4.UnitX;
+            result = Identity;
-            result.Row1 = new Vector4(0.0f, cos, sin, 0.0f);
+            result.Row1.Y = cos;
-            result.Row2 = new Vector4(0.0f, -sin, cos, 0.0f);
+            result.Row1.Z = sin;
-            result.Row3 = Vector4.UnitW;
+            result.Row2.Y = -sin;
+            result.Row2.Z = cos;
         }
 
         /// <summary>
@@ -370,10 +433,11 @@ namespace OpenTK
             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 = Identity;
-            result.Row1 = Vector4.UnitY;
+            result.Row0.X = cos;
-            result.Row2 = new Vector4(sin, 0.0f, cos, 0.0f);
+            result.Row0.Z = -sin;
-            result.Row3 = Vector4.UnitW;
+            result.Row2.X = sin;
+            result.Row2.Z = cos;
         }
 
         /// <summary>
@@ -398,10 +462,11 @@ namespace OpenTK
             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 = Identity;
-            result.Row1 = new Vector4(-sin, cos, 0.0f, 0.0f);
+            result.Row0.X = cos;
-            result.Row2 = Vector4.UnitZ;
+            result.Row0.Y = sin;
-            result.Row3 = Vector4.UnitW;
+            result.Row1.X = -sin;
+            result.Row1.Y = cos;
         }
 
         /// <summary>
@@ -430,7 +495,9 @@ namespace OpenTK
         public static void CreateTranslation(float x, float y, float z, out Matrix4 result)
         {
             result = Identity;
-            result.Row3 = new Vector4(x, y, z, 1);
+            result.Row3.X = x;
+            result.Row3.Y = y;
+            result.Row3.Z = z;
         }
 
         /// <summary>
@@ -441,7 +508,9 @@ namespace OpenTK
         public static void CreateTranslation(ref Vector3 vector, out Matrix4 result)
         {
             result = Identity;
-            result.Row3 = new Vector4(vector.X, vector.Y, vector.Z, 1);
+            result.Row3.X = vector.X;
+            result.Row3.Y = vector.Y;
+            result.Row3.Z = vector.Z;
         }
 
         /// <summary>
@@ -472,6 +541,89 @@ namespace OpenTK
 
         #endregion
 
+        #region CreateScale
+
+        /// <summary>
+        /// Creates a scale matrix.
+        /// </summary>
+        /// <param name="scale">Single scale factor for the x, y, and z axes.</param>
+        /// <returns>A scale matrix.</returns>
+        public static Matrix4 CreateScale(float scale)
+        {
+            Matrix4 result;
+            CreateScale(scale, out result);
+            return result;
+        }
+
+        /// <summary>
+        /// Creates a scale matrix.
+        /// </summary>
+        /// <param name="scale">Scale factors for the x, y, and z axes.</param>
+        /// <returns>A scale matrix.</returns>
+        public static Matrix4 CreateScale(Vector3 scale)
+        {
+            Matrix4 result;
+            CreateScale(ref scale, out result);
+            return result;
+        }
+
+        /// <summary>
+        /// Creates a scale matrix.
+        /// </summary>
+        /// <param name="x">Scale factor for the x axis.</param>
+        /// <param name="y">Scale factor for the y axis.</param>
+        /// <param name="z">Scale factor for the z axis.</param>
+        /// <returns>A scale matrix.</returns>
+        public static Matrix4 CreateScale(float x, float y, float z)
+        {
+            Matrix4 result;
+            CreateScale(x, y, z, out result);
+            return result;
+        }
+
+        /// <summary>
+        /// Creates a scale matrix.
+        /// </summary>
+        /// <param name="scale">Single scale factor for the x, y, and z axes.</param>
+        /// <param name="result">A scale matrix.</param>
+        public static void CreateScale(float scale, out Matrix4 result)
+        {
+            result = Identity;
+            result.Row0.X = scale;
+            result.Row1.Y = scale;
+            result.Row2.Z = scale;
+        }
+
+        /// <summary>
+        /// Creates a scale matrix.
+        /// </summary>
+        /// <param name="scale">Scale factors for the x, y, and z axes.</param>
+        /// <param name="result">A scale matrix.</param>
+        public static void CreateScale(ref Vector3 scale, out Matrix4 result)
+        {
+            result = Identity;
+            result.Row0.X = scale.X;
+            result.Row1.Y = scale.Y;
+            result.Row2.Z = scale.Z;
+        }
+
+        /// <summary>
+        /// Creates a scale matrix.
+        /// </summary>
+        /// <param name="x">Scale factor for the x axis.</param>
+        /// <param name="y">Scale factor for the y axis.</param>
+        /// <param name="z">Scale factor for the z axis.</param>
+        /// <param name="result">A scale matrix.</returns>
+        public static void CreateScale(float x, float y, float z, out Matrix4 result)
+        {
+            result = Identity;
+            result.Row0.X = x;
+            result.Row1.Y = y;
+            result.Row2.Z = z;
+        }
+
+        #endregion
+
         #region CreateOrthographic
 
         /// <summary>
@@ -518,20 +670,19 @@ namespace OpenTK
         /// <param name="result">The resulting Matrix4 instance.</param>
         public static void CreateOrthographicOffCenter(float left, float right, float bottom, float top, float zNear, float zFar, out Matrix4 result)
         {
-            result = new Matrix4();
+            result = Identity;
 
-            float invRL = 1 / (right - left);
+            float invRL = 1.0f / (right - left);
-            float invTB = 1 / (top - bottom);
+            float invTB = 1.0f / (top - bottom);
-            float invFN = 1 / (zFar - zNear);
+            float invFN = 1.0f / (zFar - zNear);
 
-            result.M11 = 2 * invRL;
+            result.Row0.X = 2 * invRL;
-            result.M22 = 2 * invTB;
+            result.Row1.Y = 2 * invTB;
-            result.M33 = -2 * invFN;
+            result.Row2.Z = -2 * invFN;
 
-            result.M41 = -(right + left) * invRL;
+            result.Row3.X = -(right + left) * invRL;
-            result.M42 = -(top + bottom) * invTB;
+            result.Row3.Y = -(top + bottom) * invTB;
-            result.M43 = -(zFar + zNear) * invFN;
+            result.Row3.Z = -(zFar + zNear) * invFN;
-            result.M44 = 1;
         }
 
         /// <summary>
@@ -655,10 +806,15 @@ namespace OpenTK
             float c = -(zFar + zNear) / (zFar - zNear);
             float d = -(2.0f * zFar * zNear) / (zFar - zNear);
 
-            result = new Matrix4(x, 0, 0,  0,
+            result = Identity;
-                                 0, y, 0,  0,
+            result.Row0.X = x;
-                                 a, b, c, -1,
+            result.Row1.Y = y;
-                                 0, 0, d,  0);
+            result.Row2.X = a;
+            result.Row2.Y = b;
+            result.Row2.Z = c;
+            result.Row2.W = -1;
+            result.Row3.Z = d;
+            result.Row3.W = 0;
         }
         
         /// <summary>
@@ -775,7 +931,7 @@ namespace OpenTK
         [Obsolete("Use CreateTranslation instead.")]
         public static Matrix4 Translation(Vector3 trans)
         {
-            return Translation(trans.X, trans.Y, trans.Z);
+            return CreateTranslation(trans);
         }
 
         /// <summary>
@@ -788,52 +944,7 @@ namespace OpenTK
         [Obsolete("Use CreateTranslation instead.")]
         public static Matrix4 Translation(float x, float y, float z)
         {
-            Matrix4 result = Identity;
+            return CreateTranslation(x, y, z);
-            result.Row3 = new Vector4(x, y, z, 1.0f);
-            return result;
-        }
-
-        #endregion
-
-        #endregion
-
-        #region Scale Functions
-
-        /// <summary>
-        /// Build a scaling matrix
-        /// </summary>
-        /// <param name="scale">Single scale factor for x,y and z axes</param>
-        /// <returns>A scaling matrix</returns>
-        public static Matrix4 Scale(float scale)
-        {
-            return Scale(scale, scale, scale);
-        }
-
-        /// <summary>
-        /// Build a scaling matrix
-        /// </summary>
-        /// <param name="scale">Scale factors for x,y and z axes</param>
-        /// <returns>A scaling matrix</returns>
-        public static Matrix4 Scale(Vector3 scale)
-        {
-            return Scale(scale.X, scale.Y, scale.Z);
-        }
-
-        /// <summary>
-        /// Build a scaling matrix
-        /// </summary>
-        /// <param name="x">Scale factor for x-axis</param>
-        /// <param name="y">Scale factor for y-axis</param>
-        /// <param name="z">Scale factor for z-axis</param>
-        /// <returns>A scaling matrix</returns>
-        public static Matrix4 Scale(float x, float y, float z)
-        {
-            Matrix4 result;
-            result.Row0 = Vector4.UnitX * x;
-            result.Row1 = Vector4.UnitY * y;
-            result.Row2 = Vector4.UnitZ * z;
-            result.Row3 = Vector4.UnitW;
-            return result;
         }
 
         #endregion
@@ -848,15 +959,7 @@ namespace OpenTK
         [Obsolete("Use CreateRotationX instead.")]
         public static Matrix4 RotateX(float angle)
         {
-            float cos = (float)System.Math.Cos(angle);
+            return CreateRotationX(angle);
-            float sin = (float)System.Math.Sin(angle);
-
-            Matrix4 result;
-            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;
-            return result;
         }
 
         /// <summary>
@@ -867,15 +970,7 @@ namespace OpenTK
         [Obsolete("Use CreateRotationY instead.")]
         public static Matrix4 RotateY(float angle)
         {
-            float cos = (float)System.Math.Cos(angle);
+            return CreateRotationY(angle);
-            float sin = (float)System.Math.Sin(angle);
-
-            Matrix4 result;
-            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;
-            return result;
         }
 
         /// <summary>
@@ -886,15 +981,7 @@ namespace OpenTK
         [Obsolete("Use CreateRotationZ instead.")]
         public static Matrix4 RotateZ(float angle)
         {
-            float cos = (float)System.Math.Cos(angle);
+            return CreateRotationZ(angle);
-            float sin = (float)System.Math.Sin(angle);
-
-            Matrix4 result;
-            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;
-            return result;
         }
 
         /// <summary>
@@ -906,18 +993,7 @@ namespace OpenTK
         [Obsolete("Use CreateFromAxisAngle instead.")]
         public static Matrix4 Rotate(Vector3 axis, float angle)
         {
-            float cos = (float)System.Math.Cos(-angle);
+            return CreateFromAxisAngle(axis, angle);
-            float sin = (float)System.Math.Sin(-angle);
-            float t = 1.0f - cos;
-
-            axis.Normalize();
-
-            Matrix4 result;
-            result.Row0 = new Vector4(t * axis.X * axis.X + cos, t * axis.X * axis.Y - sin * axis.Z, t * axis.X * axis.Z + sin * axis.Y, 0.0f);
-            result.Row1 = new Vector4(t * axis.X * axis.Y + sin * axis.Z, t * axis.Y * axis.Y + cos, t * axis.Y * axis.Z - sin * axis.X, 0.0f);
-            result.Row2 = new Vector4(t * axis.X * axis.Z - sin * axis.Y, t * axis.Y * axis.Z + sin * axis.X, t * axis.Z * axis.Z + cos, 0.0f);
-            result.Row3 = Vector4.UnitW;
-            return result;
         }
 
         /// <summary>
@@ -925,59 +1001,60 @@ namespace OpenTK
         /// </summary>
         /// <param name="q">the quaternion</param>
         /// <returns>A rotation matrix</returns>
+        [Obsolete("Use CreateRotation instead.")]
         public static Matrix4 Rotate(Quaternion q)
         {
-            Vector3 axis;
+            return CreateFromQuaternion(q);
-            float angle;
+        }
-            q.ToAxisAngle(out axis, out angle);
+
-            return CreateFromAxisAngle(axis, angle);
+        #endregion
+
+        #region Scale Functions
+
+        /// <summary>
+        /// Build a scaling matrix
+        /// </summary>
+        /// <param name="scale">Single scale factor for x,y and z axes</param>
+        /// <returns>A scaling matrix</returns>
+        [Obsolete("Use CreateScale instead.")]
+        public static Matrix4 Scale(float scale)
+        {
+            return Scale(scale, scale, scale);
+        }
+
+        /// <summary>
+        /// Build a scaling matrix
+        /// </summary>
+        /// <param name="scale">Scale factors for x,y and z axes</param>
+        /// <returns>A scaling matrix</returns>
+        [Obsolete("Use CreateScale instead.")]
+        public static Matrix4 Scale(Vector3 scale)
+        {
+            return Scale(scale.X, scale.Y, scale.Z);
+        }
+
+        /// <summary>
+        /// Build a scaling matrix
+        /// </summary>
+        /// <param name="x">Scale factor for x-axis</param>
+        /// <param name="y">Scale factor for y-axis</param>
+        /// <param name="z">Scale factor for z-axis</param>
+        /// <returns>A scaling matrix</returns>
+        [Obsolete("Use CreateScale instead.")]
+        public static Matrix4 Scale(float x, float y, float z)
+        {
+            Matrix4 result;
+            result.Row0 = Vector4.UnitX * x;
+            result.Row1 = Vector4.UnitY * y;
+            result.Row2 = Vector4.UnitZ * z;
+            result.Row3 = Vector4.UnitW;
+            return result;
         }
 
         #endregion
 
         #region Camera Helper Functions
 
-        /// <summary>
-        /// Build a world space to camera space matrix
-        /// </summary>
-        /// <param name="eye">Eye (camera) position in world space</param>
-        /// <param name="target">Target position in world space</param>
-        /// <param name="up">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
-        /// <returns>A Matrix4 that transforms world space to camera space</returns>
-        public static Matrix4 LookAt(Vector3 eye, Vector3 target, Vector3 up)
-        {
-            Vector3 z = Vector3.Normalize(eye - target);
-            Vector3 x = Vector3.Normalize(Vector3.Cross(up, z));
-            Vector3 y = Vector3.Normalize(Vector3.Cross(z, x));
-
-            Matrix4 rot = new Matrix4(new Vector4(x.X, y.X, z.X, 0.0f),
-                                        new Vector4(x.Y, y.Y, z.Y, 0.0f),
-                                        new Vector4(x.Z, y.Z, z.Z, 0.0f),
-                                        Vector4.UnitW);
-
-            Matrix4 trans = Matrix4.CreateTranslation(-eye);
-
-            return trans * rot;
-        }
-
-        /// <summary>
-        /// Build a world space to camera space matrix
-        /// </summary>
-        /// <param name="eyeX">Eye (camera) position in world space</param>
-        /// <param name="eyeY">Eye (camera) position in world space</param>
-        /// <param name="eyeZ">Eye (camera) position in world space</param>
-        /// <param name="targetX">Target position in world space</param>
-        /// <param name="targetY">Target position in world space</param>
-        /// <param name="targetZ">Target position in world space</param>
-        /// <param name="upX">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
-        /// <param name="upY">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
-        /// <param name="upZ">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
-        /// <returns>A Matrix4 that transforms world space to camera space</returns>
-        public static Matrix4 LookAt(float eyeX, float eyeY, float eyeZ, float targetX, float targetY, float targetZ, float upX, float upY, float upZ)
-        {
-            return LookAt(new Vector3(eyeX, eyeY, eyeZ), new Vector3(targetX, targetY, targetZ), new Vector3(upX, upY, upZ));
-        }
-
         /// <summary>
         /// Build a projection matrix
         /// </summary>
@@ -1021,6 +1098,64 @@ namespace OpenTK
 
         #endregion
 
+        #endregion
+
+        #region Camera Helper Functions
+
+        /// <summary>
+        /// Build a world space to camera space matrix
+        /// </summary>
+        /// <param name="eye">Eye (camera) position in world space</param>
+        /// <param name="target">Target position in world space</param>
+        /// <param name="up">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
+        /// <returns>A Matrix4 that transforms world space to camera space</returns>
+        public static Matrix4 LookAt(Vector3 eye, Vector3 target, Vector3 up)
+        {
+            Vector3 z = Vector3.Normalize(eye - target);
+            Vector3 x = Vector3.Normalize(Vector3.Cross(up, z));
+            Vector3 y = Vector3.Normalize(Vector3.Cross(z, x));
+
+            Matrix4 result = Identity;
+
+            //rotation
+            result.Row0.X = x.X;
+            result.Row0.Y = y.X;
+            result.Row0.Z = z.X;
+            result.Row1.X = x.Y;
+            result.Row1.Y = y.Y;
+            result.Row1.Z = z.Y;
+            result.Row2.X = x.Z;
+            result.Row2.Y = y.Z;
+            result.Row2.Z = z.Z;
+
+            //position
+            result.Row0.W = -eye.X;
+            result.Row1.W = -eye.Y;
+            result.Row2.W = -eye.Z;
+
+            return result;
+        }
+
+        /// <summary>
+        /// Build a world space to camera space matrix
+        /// </summary>
+        /// <param name="eyeX">Eye (camera) position in world space</param>
+        /// <param name="eyeY">Eye (camera) position in world space</param>
+        /// <param name="eyeZ">Eye (camera) position in world space</param>
+        /// <param name="targetX">Target position in world space</param>
+        /// <param name="targetY">Target position in world space</param>
+        /// <param name="targetZ">Target position in world space</param>
+        /// <param name="upX">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
+        /// <param name="upY">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
+        /// <param name="upZ">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
+        /// <returns>A Matrix4 that transforms world space to camera space</returns>
+        public static Matrix4 LookAt(float eyeX, float eyeY, float eyeZ, float targetX, float targetY, float targetZ, float upX, float upY, float upZ)
+        {
+            return LookAt(new Vector3(eyeX, eyeY, eyeZ), new Vector3(targetX, targetY, targetZ), new Vector3(upX, upY, upZ));
+        }
+
+        #endregion
+
         #region Multiply Functions
 
         /// <summary>
@@ -1178,10 +1313,23 @@ namespace OpenTK
                 }
             }
 
-            mat.Row0 = new Vector4(inverse[0, 0], inverse[0, 1], inverse[0, 2], inverse[0, 3]);
+            mat.Row0.X = inverse[0, 0];
-            mat.Row1 = new Vector4(inverse[1, 0], inverse[1, 1], inverse[1, 2], inverse[1, 3]);
+            mat.Row0.Y = inverse[0, 1];
-            mat.Row2 = new Vector4(inverse[2, 0], inverse[2, 1], inverse[2, 2], inverse[2, 3]);
+            mat.Row0.Z = inverse[0, 2];
-            mat.Row3 = new Vector4(inverse[3, 0], inverse[3, 1], inverse[3, 2], inverse[3, 3]);
+            mat.Row0.W = inverse[0, 3];
+            mat.Row1.X = inverse[1, 0];
+            mat.Row1.Y = inverse[1, 1];
+            mat.Row1.Z = inverse[1, 2];
+            mat.Row1.W = inverse[1, 3];
+            mat.Row2.X = inverse[2, 0];
+            mat.Row2.Y = inverse[2, 1];
+            mat.Row2.Z = inverse[2, 2];
+            mat.Row2.W = inverse[2, 3];
+            mat.Row3.X = inverse[3, 0];
+            mat.Row3.Y = inverse[3, 1];
+            mat.Row3.Z = inverse[3, 2];
+            mat.Row3.W = inverse[3, 3];
+
             return mat;
         }
 
@@ -1224,7 +1372,7 @@ namespace OpenTK
         /// </summary>
         /// <param name="left">left-hand operand</param>
         /// <param name="right">right-hand operand</param>
-        /// <returns>A new Matrix44 which holds the result of the multiplication</returns>
+        /// <returns>A new Matrix4 which holds the result of the multiplication</returns>
         public static Matrix4 operator *(Matrix4 left, Matrix4 right)
         {
             return Matrix4.Mult(left, right);
@@ -1259,9 +1407,9 @@ namespace OpenTK
         #region public override string ToString()
 
         /// <summary>
-        /// Returns a System.String that represents the current Matrix44.
+        /// Returns a System.String that represents the current Matrix4.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>The string representation of the matrix.</returns>
         public override string ToString()
         {
             return String.Format("{0}\n{1}\n{2}\n{3}", Row0, Row1, Row2, Row3);