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869 lines
31 KiB
C#
869 lines
31 KiB
C#
#region --- License ---
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/*
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Copyright (c) 2006 - 2008 The Open Toolkit library.
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Permission is hereby granted, free of charge, to any person obtaining a copy of
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this software and associated documentation files (the "Software"), to deal in
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the Software without restriction, including without limitation the rights to
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use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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of the Software, and to permit persons to whom the Software is furnished to do
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so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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*/
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#endregion
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using System;
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using System.Runtime.InteropServices;
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namespace OpenTK
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{
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/// <summary>
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/// Represents a 3x4 matrix.
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/// </summary>
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[Serializable]
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[StructLayout(LayoutKind.Sequential)]
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public struct Matrix4x3d : IEquatable<Matrix4x3d>
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{
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#region Fields
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/// <summary>
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/// Top row of the matrix
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/// </summary>
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public Vector3d Row0;
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/// <summary>
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/// 2nd row of the matrix
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/// </summary>
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public Vector3d Row1;
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/// <summary>
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/// 3rd row of the matrix
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/// </summary>
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public Vector3d Row2;
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/// <summary>
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/// Bottom row of the matrix
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/// </summary>
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public Vector3d Row3;
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/// <summary>
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/// The zero matrix
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/// </summary>
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public static Matrix4x3d Zero = new Matrix4x3d(Vector3d.Zero, Vector3d.Zero, Vector3d.Zero, Vector3d.Zero);
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#endregion
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#region Constructors
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/// <summary>
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/// Constructs a new instance.
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/// </summary>
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/// <param name="row0">Top row of the matrix</param>
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/// <param name="row1">Second row of the matrix</param>
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/// <param name="row2">Third row of the matrix</param>
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/// <param name="row3">Bottom row of the matrix</param>
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public Matrix4x3d(Vector3d row0, Vector3d row1, Vector3d row2, Vector3d row3)
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{
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Row0 = row0;
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Row1 = row1;
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Row2 = row2;
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Row3 = row3;
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}
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/// <summary>
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/// Constructs a new instance.
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/// </summary>
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/// <param name="m00">First item of the first row of the matrix.</param>
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/// <param name="m01">Second item of the first row of the matrix.</param>
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/// <param name="m02">Third item of the first row of the matrix.</param>
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/// <param name="m10">First item of the second row of the matrix.</param>
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/// <param name="m11">Second item of the second row of the matrix.</param>
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/// <param name="m12">Third item of the second row of the matrix.</param>
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/// <param name="m20">First item of the third row of the matrix.</param>
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/// <param name="m21">Second item of the third row of the matrix.</param>
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/// <param name="m22">Third item of the third row of the matrix.</param>
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/// <param name="m30">First item of the fourth row of the matrix.</param>
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/// <param name="m31">Second item of the fourth row of the matrix.</param>
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/// <param name="m32">Third item of the fourth row of the matrix.</param>
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public Matrix4x3d(
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double m00, double m01, double m02,
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double m10, double m11, double m12,
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double m20, double m21, double m22,
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double m30, double m31, double m32)
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{
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Row0 = new Vector3d(m00, m01, m02);
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Row1 = new Vector3d(m10, m11, m12);
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Row2 = new Vector3d(m20, m21, m22);
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Row3 = new Vector3d(m30, m31, m32);
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}
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#endregion
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#region Public Members
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#region Properties
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/// <summary>
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/// Gets the first column of this matrix.
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/// </summary>
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public Vector4d Column0
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{
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get { return new Vector4d(Row0.X, Row1.X, Row2.X, Row3.X); }
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}
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/// <summary>
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/// Gets the second column of this matrix.
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/// </summary>
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public Vector4d Column1
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{
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get { return new Vector4d(Row0.Y, Row1.Y, Row2.Y, Row3.Y); }
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}
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/// <summary>
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/// Gets the third column of this matrix.
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/// </summary>
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public Vector4d Column2
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{
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get { return new Vector4d(Row0.Z, Row1.Z, Row2.Z, Row3.Z); }
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}
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/// <summary>
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/// Gets or sets the value at row 1, column 1 of this instance.
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/// </summary>
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public double M11 { get { return Row0.X; } set { Row0.X = value; } }
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/// <summary>
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/// Gets or sets the value at row 1, column 2 of this instance.
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/// </summary>
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public double M12 { get { return Row0.Y; } set { Row0.Y = value; } }
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/// <summary>
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/// Gets or sets the value at row 1, column 3 of this instance.
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/// </summary>
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public double M13 { get { return Row0.Z; } set { Row0.Z = value; } }
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/// <summary>
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/// Gets or sets the value at row 2, column 1 of this instance.
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/// </summary>
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public double M21 { get { return Row1.X; } set { Row1.X = value; } }
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/// <summary>
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/// Gets or sets the value at row 2, column 2 of this instance.
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/// </summary>
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public double M22 { get { return Row1.Y; } set { Row1.Y = value; } }
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/// <summary>
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/// Gets or sets the value at row 2, column 3 of this instance.
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/// </summary>
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public double M23 { get { return Row1.Z; } set { Row1.Z = value; } }
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/// <summary>
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/// Gets or sets the value at row 3, column 1 of this instance.
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/// </summary>
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public double M31 { get { return Row2.X; } set { Row2.X = value; } }
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/// <summary>
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/// Gets or sets the value at row 3, column 2 of this instance.
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/// </summary>
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public double M32 { get { return Row2.Y; } set { Row2.Y = value; } }
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/// <summary>
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/// Gets or sets the value at row 3, column 3 of this instance.
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/// </summary>
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public double M33 { get { return Row2.Z; } set { Row2.Z = value; } }
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/// <summary>
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/// Gets or sets the value at row 4, column 1 of this instance.
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/// </summary>
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public double M41 { get { return Row3.X; } set { Row3.X = value; } }
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/// <summary>
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/// Gets or sets the value at row 4, column 2 of this instance.
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/// </summary>
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public double M42 { get { return Row3.Y; } set { Row3.Y = value; } }
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/// <summary>
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/// Gets or sets the value at row 4, column 3 of this instance.
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/// </summary>
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public double M43 { get { return Row3.Z; } set { Row3.Z = value; } }
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#endregion
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#region Indexers
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/// <summary>
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/// Gets or sets the value at a specified row and column.
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/// </summary>
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public double this[int rowIndex, int columnIndex]
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{
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get
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{
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if (rowIndex == 0) return Row0[columnIndex];
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else if (rowIndex == 1) return Row1[columnIndex];
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else if (rowIndex == 2) return Row2[columnIndex];
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else if (rowIndex == 3) return Row3[columnIndex];
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throw new IndexOutOfRangeException("You tried to access this matrix at: (" + rowIndex + ", " + columnIndex + ")");
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}
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set
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{
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if (rowIndex == 0) Row0[columnIndex] = value;
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else if (rowIndex == 1) Row1[columnIndex] = value;
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else if (rowIndex == 2) Row2[columnIndex] = value;
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else if (rowIndex == 3) Row3[columnIndex] = value;
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throw new IndexOutOfRangeException("You tried to set this matrix at: (" + rowIndex + ", " + columnIndex + ")");
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}
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}
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#endregion
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#region Instance
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#region public void Invert()
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public void Invert()
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{
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this = Matrix4x3d.Invert(this);
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}
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#endregion
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#endregion
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#region Static
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#region CreateFromAxisAngle
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/// <summary>
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/// Build a rotation matrix from the specified axis/angle rotation.
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/// </summary>
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/// <param name="axis">The axis to rotate about.</param>
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/// <param name="angle">Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).</param>
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/// <param name="result">A matrix instance.</param>
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public static void CreateFromAxisAngle(Vector3d axis, double angle, out Matrix4x3d result)
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{
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axis.Normalize();
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double axisX = axis.X, axisY = axis.Y, axisZ = axis.Z;
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double cos = (double)System.Math.Cos(-angle);
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double sin = (double)System.Math.Sin(-angle);
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double t = 1.0f - cos;
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double tXX = t * axisX * axisX,
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tXY = t * axisX * axisY,
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tXZ = t * axisX * axisZ,
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tYY = t * axisY * axisY,
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tYZ = t * axisY * axisZ,
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tZZ = t * axisZ * axisZ;
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double sinX = sin * axisX,
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sinY = sin * axisY,
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sinZ = sin * axisZ;
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result.Row0.X = tXX + cos;
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result.Row0.Y = tXY - sinZ;
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result.Row0.Z = tXZ + sinY;
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result.Row1.X = tXY + sinZ;
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result.Row1.Y = tYY + cos;
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result.Row1.Z = tYZ - sinX;
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result.Row2.X = tXZ - sinY;
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result.Row2.Y = tYZ + sinX;
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result.Row2.Z = tZZ + cos;
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result.Row3.X = 0;
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result.Row3.Y = 0;
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result.Row3.Z = 0;
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}
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/// <summary>
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/// Build a rotation matrix from the specified axis/angle rotation.
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/// </summary>
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/// <param name="axis">The axis to rotate about.</param>
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/// <param name="angle">Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).</param>
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/// <returns>A matrix instance.</returns>
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public static Matrix4x3d CreateFromAxisAngle(Vector3d axis, double angle)
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{
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Matrix4x3d result;
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CreateFromAxisAngle(axis, angle, out result);
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return result;
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}
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#endregion
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#region CreateFromQuaternion
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/// <summary>
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/// Builds a rotation matrix from a quaternion.
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/// </summary>
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/// <param name="q">The quaternion to rotate by.</param>
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/// <param name="result">A matrix instance.</param>
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public static void CreateFromQuaternion(ref Quaternion q, out Matrix4x3d result)
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{
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double x = q.X, y = q.Y, z = q.Z, w = q.W,
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tx = 2 * x, ty = 2 * y, tz = 2 * z,
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txx = tx * x, tyy = ty * y, tzz = tz * z,
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txy = tx * y, txz = tx * z, tyz = ty * z,
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twx = w * tx, twy = w * ty, twz = w * tz;
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result.Row0.X = 1f - tyy - tzz;
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result.Row0.Y = txy - twz;
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result.Row0.Z = txz + twy;
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result.Row1.X = txy + twz;
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result.Row1.Y = 1f - txx - tzz;
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result.Row1.Z = tyz - twx;
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result.Row2.X = txz - twy;
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result.Row2.Y = tyz + twx;
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result.Row2.Z = 1f - txx - tyy;
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result.Row3.X = 0;
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result.Row3.Y = 0;
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result.Row3.Z = 0;
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/*Vector3d axis;
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double angle;
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q.ToAxisAngle(out axis, out angle);
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CreateFromAxisAngle(axis, angle, out result);*/
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}
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/// <summary>
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/// Builds a rotation matrix from a quaternion.
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/// </summary>
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/// <param name="q">The quaternion to rotate by.</param>
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/// <returns>A matrix instance.</returns>
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public static Matrix4x3d CreateFromQuaternion(Quaternion q)
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{
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Matrix4x3d result;
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CreateFromQuaternion(ref q, out result);
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return result;
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}
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#endregion
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#region CreateRotation[XYZ]
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/// <summary>
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/// Builds a rotation matrix for a rotation around the x-axis.
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/// </summary>
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/// <param name="angle">The counter-clockwise angle in radians.</param>
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/// <param name="result">The resulting Matrix4dinstance.</param>
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public static void CreateRotationX(double angle, out Matrix4x3d result)
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{
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double cos = (double)System.Math.Cos(angle);
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double sin = (double)System.Math.Sin(angle);
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result.Row0.X = 1;
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result.Row0.Y = 0;
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result.Row0.Z = 0;
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result.Row1.X = 0;
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result.Row1.Y = cos;
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result.Row1.Z = sin;
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result.Row2.X = 0;
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result.Row2.Y = -sin;
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result.Row2.Z = cos;
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result.Row3.X = 0;
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result.Row3.Y = 0;
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result.Row3.Z = 0;
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}
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/// <summary>
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/// Builds a rotation matrix for a rotation around the x-axis.
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/// </summary>
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/// <param name="angle">The counter-clockwise angle in radians.</param>
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/// <returns>The resulting Matrix4dinstance.</returns>
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public static Matrix4x3d CreateRotationX(double angle)
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{
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Matrix4x3d result;
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CreateRotationX(angle, out result);
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return result;
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}
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/// <summary>
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/// Builds a rotation matrix for a rotation around the y-axis.
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/// </summary>
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/// <param name="angle">The counter-clockwise angle in radians.</param>
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/// <param name="result">The resulting Matrix4dinstance.</param>
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public static void CreateRotationY(double angle, out Matrix4x3d result)
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{
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double cos = (double)System.Math.Cos(angle);
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double sin = (double)System.Math.Sin(angle);
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result.Row0.X = cos;
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result.Row0.Y = 0;
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result.Row0.Z = -sin;
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result.Row1.X = 0;
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result.Row1.Y = 1;
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result.Row1.Z = 0;
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result.Row2.X = sin;
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result.Row2.Y = 0;
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result.Row2.Z = cos;
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result.Row3.X = 0;
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result.Row3.Y = 0;
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result.Row3.Z = 0;
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}
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/// <summary>
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/// Builds a rotation matrix for a rotation around the y-axis.
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/// </summary>
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/// <param name="angle">The counter-clockwise angle in radians.</param>
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/// <returns>The resulting Matrix4dinstance.</returns>
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public static Matrix4x3d CreateRotationY(double angle)
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{
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Matrix4x3d result;
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CreateRotationY(angle, out result);
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return result;
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}
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/// <summary>
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/// Builds a rotation matrix for a rotation around the z-axis.
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/// </summary>
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/// <param name="angle">The counter-clockwise angle in radians.</param>
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/// <param name="result">The resulting Matrix4dinstance.</param>
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public static void CreateRotationZ(double angle, out Matrix4x3d result)
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{
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double cos = (double)System.Math.Cos(angle);
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double sin = (double)System.Math.Sin(angle);
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result.Row0.X = cos;
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result.Row0.Y = sin;
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result.Row0.Z = 0;
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result.Row1.X = -sin;
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result.Row1.Y = cos;
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result.Row1.Z = 0;
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result.Row2.X = 0;
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result.Row2.Y = 0;
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result.Row2.Z = 1;
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result.Row3.X = 0;
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result.Row3.Y = 0;
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result.Row3.Z = 0;
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}
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/// <summary>
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/// Builds a rotation matrix for a rotation around the z-axis.
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/// </summary>
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/// <param name="angle">The counter-clockwise angle in radians.</param>
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/// <returns>The resulting Matrix4dinstance.</returns>
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public static Matrix4x3d CreateRotationZ(double angle)
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{
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Matrix4x3d result;
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CreateRotationZ(angle, out result);
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return result;
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}
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#endregion
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#region CreateTranslation
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/// <summary>
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/// Creates a translation matrix.
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/// </summary>
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/// <param name="x">X translation.</param>
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/// <param name="y">Y translation.</param>
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/// <param name="z">Z translation.</param>
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/// <param name="result">The resulting Matrix4dinstance.</param>
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public static void CreateTranslation(double x, double y, double z, out Matrix4x3d result)
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{
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result.Row0.X = 1;
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result.Row0.Y = 0;
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result.Row0.Z = 0;
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result.Row1.X = 0;
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result.Row1.Y = 1;
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result.Row1.Z = 0;
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result.Row2.X = 0;
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result.Row2.Y = 0;
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result.Row2.Z = 1;
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result.Row3.X = x;
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result.Row3.Y = y;
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result.Row3.Z = z;
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}
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/// <summary>
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/// Creates a translation matrix.
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/// </summary>
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/// <param name="vector">The translation vector.</param>
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/// <param name="result">The resulting Matrix4dinstance.</param>
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public static void CreateTranslation(ref Vector3d vector, out Matrix4x3d result)
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{
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result.Row0.X = 1;
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result.Row0.Y = 0;
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result.Row0.Z = 0;
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result.Row1.X = 0;
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result.Row1.Y = 1;
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result.Row1.Z = 0;
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result.Row2.X = 0;
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result.Row2.Y = 0;
|
|
result.Row2.Z = 1;
|
|
result.Row3.X = vector.X;
|
|
result.Row3.Y = vector.Y;
|
|
result.Row3.Z = vector.Z;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Creates a translation matrix.
|
|
/// </summary>
|
|
/// <param name="x">X translation.</param>
|
|
/// <param name="y">Y translation.</param>
|
|
/// <param name="z">Z translation.</param>
|
|
/// <returns>The resulting Matrix4dinstance.</returns>
|
|
public static Matrix4x3d CreateTranslation(double x, double y, double z)
|
|
{
|
|
Matrix4x3d result;
|
|
CreateTranslation(x, y, z, out result);
|
|
return result;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Creates a translation matrix.
|
|
/// </summary>
|
|
/// <param name="vector">The translation vector.</param>
|
|
/// <returns>The resulting Matrix4dinstance.</returns>
|
|
public static Matrix4x3d CreateTranslation(Vector3d vector)
|
|
{
|
|
Matrix4x3d result;
|
|
CreateTranslation(vector.X, vector.Y, vector.Z, out result);
|
|
return result;
|
|
}
|
|
|
|
#endregion
|
|
|
|
#region CreateScale
|
|
|
|
/// <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 Matrix4x3d CreateScale(double scale)
|
|
{
|
|
return CreateScale(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 Matrix4x3d CreateScale(Vector3d scale)
|
|
{
|
|
return CreateScale(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 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
|
|
|
|
/// <summary>
|
|
/// Multiplies two instances.
|
|
/// </summary>
|
|
/// <param name="left">The left operand of the multiplication.</param>
|
|
/// <param name="right">The right operand of the multiplication.</param>
|
|
/// <returns>A new instance that is the result of the multiplication</returns>
|
|
public static Matrix4d Mult(Matrix4x3d left, Matrix3x4d right)
|
|
{
|
|
Matrix4d result;
|
|
Mult(ref left, ref right, out result);
|
|
return result;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Multiplies two instances.
|
|
/// </summary>
|
|
/// <param name="left">The left operand of the multiplication.</param>
|
|
/// <param name="right">The right operand of the multiplication.</param>
|
|
/// <param name="result">A new instance that is the result of the multiplication</param>
|
|
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()
|
|
|
|
/// <summary>
|
|
/// Returns a System.String that represents the current Matrix4x3d.
|
|
/// </summary>
|
|
/// <returns>The string representation of the matrix.</returns>
|
|
public override string ToString()
|
|
{
|
|
return string.Format("{0}\n{1}\n{2}", Row0, Row1, Row2);
|
|
}
|
|
|
|
#endregion
|
|
|
|
#region public override int GetHashCode()
|
|
|
|
/// <summary>
|
|
/// Returns the hashcode for this instance.
|
|
/// </summary>
|
|
/// <returns>A System.Int32 containing the unique hashcode for this instance.</returns>
|
|
public override int GetHashCode()
|
|
{
|
|
return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode();
|
|
}
|
|
|
|
#endregion
|
|
|
|
#region public override bool Equals(object obj)
|
|
|
|
/// <summary>
|
|
/// Indicates whether this instance and a specified object are equal.
|
|
/// </summary>
|
|
/// <param name="obj">The object to compare tresult.</param>
|
|
/// <returns>True if the instances are equal; false otherwise.</returns>
|
|
public override bool Equals(object obj)
|
|
{
|
|
if (!(obj is Matrix4x3d))
|
|
return false;
|
|
|
|
return this.Equals((Matrix4x3d)obj);
|
|
}
|
|
|
|
#endregion
|
|
|
|
#endregion
|
|
|
|
#endregion
|
|
|
|
#region IEquatable<Matrix4x3d> Members
|
|
|
|
/// <summary>Indicates whether the current matrix is equal to another matrix.</summary>
|
|
/// <param name="other">An matrix to compare with this matrix.</param>
|
|
/// <returns>true if the current matrix is equal to the matrix parameter; otherwise, false.</returns>
|
|
public bool Equals(Matrix4x3d other)
|
|
{
|
|
return
|
|
Row0 == other.Row0 &&
|
|
Row1 == other.Row1 &&
|
|
Row2 == other.Row2 &&
|
|
Row3 == other.Row3;
|
|
}
|
|
|
|
#endregion
|
|
}
|
|
}
|