mirror of
https://github.com/Memorix101/UnityXNA/
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1531 lines
62 KiB
C#
1531 lines
62 KiB
C#
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#region License
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/*
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MIT License
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Copyright © 2006 The Mono.Xna Team
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All rights reserved.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do 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 License
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using System;
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using System.ComponentModel;
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using System.Runtime.InteropServices;
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//using Microsoft.Xna.Framework.Design;
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namespace Microsoft.Xna.Framework
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{
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[Serializable]
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[StructLayout(LayoutKind.Sequential)]
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//[TypeConverter(typeof(MatrixConverter))]
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public struct Matrix : IEquatable<Matrix>
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{
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#region Public Fields
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public float M11;
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public float M12;
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public float M13;
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public float M14;
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public float M21;
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public float M22;
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public float M23;
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public float M24;
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public float M31;
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public float M32;
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public float M33;
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public float M34;
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public float M41;
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public float M42;
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public float M43;
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public float M44;
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#endregion Public Fields
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#region Static Properties
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private static Matrix identity = new Matrix(1f, 0f, 0f, 0f, 0f, 1f, 0f, 0f, 0f, 0f, 1f, 0f, 0f, 0f, 0f, 1f);
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public static Matrix Identity
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{
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get { return identity; }
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}
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#endregion Static Properties
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#region Public Properties
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public Vector3 Backward
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{
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get { return new Vector3(this.M31, this.M32, this.M33); }
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set
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{
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this.M31 = value.X;
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this.M32 = value.Y;
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this.M33 = value.Z;
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}
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}
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public Vector3 Down
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{
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get { return new Vector3(-this.M21, -this.M22, -this.M23); }
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set
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{
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this.M21 = -value.X;
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this.M22 = -value.Y;
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this.M23 = -value.Z;
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}
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}
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public Vector3 Forward
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{
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get { return new Vector3(-this.M31, -this.M32, -this.M33); }
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set
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{
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this.M31 = -value.X;
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this.M32 = -value.Y;
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this.M33 = -value.Z;
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}
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}
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public Vector3 Left
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{
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get { return new Vector3(-this.M11, -this.M12, -this.M13); }
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set
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{
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this.M11 = -value.X;
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this.M12 = -value.Y;
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this.M13 = -value.Z;
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}
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}
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public Vector3 Right
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{
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get { return new Vector3(this.M11, this.M12, this.M13); }
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set
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{
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this.M11 = value.X;
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this.M12 = value.Y;
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this.M13 = value.Z;
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}
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}
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public Vector3 Translation
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{
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get { return new Vector3(this.M41, this.M42, this.M43); }
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set
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{
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this.M41 = value.X;
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this.M42 = value.Y;
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this.M43 = value.Z;
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}
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}
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public Vector3 Up
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{
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get { return new Vector3(this.M21, this.M22, this.M23); }
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set
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{
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this.M21 = value.X;
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this.M22 = value.Y;
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this.M23 = value.Z;
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}
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}
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#endregion Public Properties
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#region Constructors
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/// <summary>
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/// Constructor for 4x4 Matrix
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/// </summary>
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/// <param name="m11">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m12">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m13">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m14">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m21">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m22">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m23">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m24">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m31">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m32">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m33">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m34">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m41">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m42">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m43">
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/// A <see cref="System.Single"/>
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/// </param>
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/// <param name="m44">
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/// A <see cref="System.Single"/>
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/// </param>
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public Matrix(float m11, float m12, float m13, float m14, float m21, float m22, float m23, float m24,
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float m31, float m32, float m33, float m34, float m41, float m42, float m43, float m44)
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{
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this.M11 = m11;
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this.M12 = m12;
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this.M13 = m13;
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this.M14 = m14;
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this.M21 = m21;
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this.M22 = m22;
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this.M23 = m23;
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this.M24 = m24;
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this.M31 = m31;
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this.M32 = m32;
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this.M33 = m33;
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this.M34 = m34;
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this.M41 = m41;
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this.M42 = m42;
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this.M43 = m43;
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this.M44 = m44;
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}
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#endregion Constructors
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#region Public Static Methods
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public static Matrix CreateWorld(Vector3 position, Vector3 forward, Vector3 up)
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{
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Matrix ret;
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CreateWorld(ref position, ref forward, ref up, out ret);
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return ret;
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}
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public static void CreateWorld(ref Vector3 position, ref Vector3 forward, ref Vector3 up, out Matrix result)
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{
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Vector3 x, y, z;
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Vector3.Normalize(ref forward, out z);
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Vector3.Cross(ref forward, ref up, out x);
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Vector3.Cross(ref x, ref forward, out y);
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x.Normalize();
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y.Normalize();
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result = new Matrix();
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result.Right = x;
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result.Up = y;
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result.Forward = z;
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result.Translation = position;
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result.M44 = 1f;
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}
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public static Matrix CreateShadow(Vector3 lightDirection, Plane plane)
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{
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Matrix ret;
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CreateShadow(ref lightDirection, ref plane, out ret);
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return ret;
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}
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public static void CreateShadow(ref Vector3 lightDirection, ref Plane plane, out Matrix result)
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{
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// Formula:
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// http://msdn.microsoft.com/en-us/library/bb205364(v=VS.85).aspx
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Plane p = Plane.Normalize(plane);
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float d = Vector3.Dot(p.Normal, lightDirection);
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result.M11 = -1 * p.Normal.X * lightDirection.X + d;
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result.M12 = -1 * p.Normal.X * lightDirection.Y;
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result.M13 = -1 * p.Normal.X * lightDirection.Z;
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result.M14 = 0;
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result.M21 = -1 * p.Normal.Y * lightDirection.X;
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result.M22 = -1 * p.Normal.Y * lightDirection.Y + d;
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result.M23 = -1 * p.Normal.Y * lightDirection.Z;
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result.M24 = 0;
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result.M31 = -1 * p.Normal.Z * lightDirection.X;
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result.M32 = -1 * p.Normal.Z * lightDirection.Y;
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result.M33 = -1 * p.Normal.Z * lightDirection.Z + d;
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result.M34 = 0;
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result.M41 = -1 * p.D * lightDirection.X;
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result.M42 = -1 * p.D * lightDirection.Y;
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result.M43 = -1 * p.D * lightDirection.Z;
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result.M44 = d;
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}
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public static void CreateReflection(ref Plane value, out Matrix result)
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{
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// Formula:
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// http://msdn.microsoft.com/en-us/library/bb205356(v=VS.85).aspx
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Plane p = Plane.Normalize(value);
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result.M11 = -2 * p.Normal.X * p.Normal.X + 1;
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result.M12 = -2 * p.Normal.X * p.Normal.Y;
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result.M13 = -2 * p.Normal.X * p.Normal.Z;
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result.M14 = 0;
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result.M21 = -2 * p.Normal.Y * p.Normal.X;
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result.M22 = -2 * p.Normal.Y * p.Normal.Y + 1;
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result.M23 = -2 * p.Normal.Y * p.Normal.Z;
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result.M24 = 0;
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result.M31 = -2 * p.Normal.Z * p.Normal.X;
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result.M32 = -2 * p.Normal.Z * p.Normal.Y;
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result.M33 = -2 * p.Normal.Z * p.Normal.Z + 1;
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result.M34 = 0;
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result.M41 = -2 * p.D * p.Normal.X;
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result.M42 = -2 * p.D * p.Normal.Y;
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result.M43 = -2 * p.D * p.Normal.Z;
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result.M44 = 1;
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}
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public static Matrix CreateReflection(Plane value)
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{
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Matrix ret;
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CreateReflection(ref value, out ret);
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return ret;
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}
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public static Matrix CreateFromYawPitchRoll(float yaw, float pitch, float roll)
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{
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Matrix matrix;
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Quaternion quaternion;
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Quaternion.CreateFromYawPitchRoll(yaw, pitch, roll, out quaternion);
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CreateFromQuaternion(ref quaternion, out matrix);
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return matrix;
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}
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public static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out Matrix result)
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{
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Quaternion quaternion;
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Quaternion.CreateFromYawPitchRoll(yaw, pitch, roll, out quaternion);
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CreateFromQuaternion(ref quaternion, out result);
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}
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public static void Transform(ref Matrix value, ref Quaternion rotation, out Matrix result)
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|||
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{
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|||
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Matrix matrix = CreateFromQuaternion(rotation);
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Matrix.Multiply(ref value, ref matrix, out result);
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}
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public static Matrix Transform(Matrix value, Quaternion rotation)
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|||
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{
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|||
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Matrix ret;
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|||
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Transform(ref value, ref rotation, out ret);
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|||
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return ret;
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|||
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}
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public bool Decompose(out Vector3 scale, out Quaternion rotation, out Vector3 translation)
|
|||
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{
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|||
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translation.X = this.M41;
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|||
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translation.Y = this.M42;
|
|||
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translation.Z = this.M43;
|
|||
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float xs, ys, zs;
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|||
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|||
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if (Math.Sign(M11 * M12 * M13 * M14) < 0)
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|||
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xs = -1f;
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|||
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else
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|||
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xs = 1f;
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|||
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|||
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if (Math.Sign(M21 * M22 * M23 * M24) < 0)
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|||
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ys = -1f;
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|||
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else
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|||
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ys = 1f;
|
|||
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|
|||
|
|
if (Math.Sign(M31 * M32 * M33 * M34) < 0)
|
|||
|
|
zs = -1f;
|
|||
|
|
else
|
|||
|
|
zs = 1f;
|
|||
|
|
|
|||
|
|
scale.X = xs * (float)Math.Sqrt(this.M11 * this.M11 + this.M12 * this.M12 + this.M13 * this.M13);
|
|||
|
|
scale.Y = ys * (float)Math.Sqrt(this.M21 * this.M21 + this.M22 * this.M22 + this.M23 * this.M23);
|
|||
|
|
scale.Z = zs * (float)Math.Sqrt(this.M31 * this.M31 + this.M32 * this.M32 + this.M33 * this.M33);
|
|||
|
|
|
|||
|
|
if (scale.X == 0.0 || scale.Y == 0.0 || scale.Z == 0.0)
|
|||
|
|
{
|
|||
|
|
rotation = Quaternion.Identity;
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
Matrix m1 = new Matrix(this.M11 / scale.X, M12 / scale.X, M13 / scale.X, 0,
|
|||
|
|
this.M21 / scale.Y, M22 / scale.Y, M23 / scale.Y, 0,
|
|||
|
|
this.M31 / scale.Z, M32 / scale.Z, M33 / scale.Z, 0,
|
|||
|
|
0, 0, 0, 1);
|
|||
|
|
|
|||
|
|
rotation = Quaternion.CreateFromRotationMatrix(m1);
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// Adds second matrix to the first.
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="matrix1">
|
|||
|
|
/// A <see cref="Matrix"/>
|
|||
|
|
/// </param>
|
|||
|
|
/// <param name="matrix2">
|
|||
|
|
/// A <see cref="Matrix"/>
|
|||
|
|
/// </param>
|
|||
|
|
/// <returns>
|
|||
|
|
/// A <see cref="Matrix"/>
|
|||
|
|
/// </returns>
|
|||
|
|
public static Matrix Add(Matrix matrix1, Matrix matrix2)
|
|||
|
|
{
|
|||
|
|
matrix1.M11 += matrix2.M11;
|
|||
|
|
matrix1.M12 += matrix2.M12;
|
|||
|
|
matrix1.M13 += matrix2.M13;
|
|||
|
|
matrix1.M14 += matrix2.M14;
|
|||
|
|
matrix1.M21 += matrix2.M21;
|
|||
|
|
matrix1.M22 += matrix2.M22;
|
|||
|
|
matrix1.M23 += matrix2.M23;
|
|||
|
|
matrix1.M24 += matrix2.M24;
|
|||
|
|
matrix1.M31 += matrix2.M31;
|
|||
|
|
matrix1.M32 += matrix2.M32;
|
|||
|
|
matrix1.M33 += matrix2.M33;
|
|||
|
|
matrix1.M34 += matrix2.M34;
|
|||
|
|
matrix1.M41 += matrix2.M41;
|
|||
|
|
matrix1.M42 += matrix2.M42;
|
|||
|
|
matrix1.M43 += matrix2.M43;
|
|||
|
|
matrix1.M44 += matrix2.M44;
|
|||
|
|
return matrix1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// Adds two Matrix and save to the result Matrix
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="matrix1">
|
|||
|
|
/// A <see cref="Matrix"/>
|
|||
|
|
/// </param>
|
|||
|
|
/// <param name="matrix2">
|
|||
|
|
/// A <see cref="Matrix"/>
|
|||
|
|
/// </param>
|
|||
|
|
/// <param name="result">
|
|||
|
|
/// A <see cref="Matrix"/>
|
|||
|
|
/// </param>
|
|||
|
|
public static void Add(ref Matrix matrix1, ref Matrix matrix2, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result.M11 = matrix1.M11 + matrix2.M11;
|
|||
|
|
result.M12 = matrix1.M12 + matrix2.M12;
|
|||
|
|
result.M13 = matrix1.M13 + matrix2.M13;
|
|||
|
|
result.M14 = matrix1.M14 + matrix2.M14;
|
|||
|
|
result.M21 = matrix1.M21 + matrix2.M21;
|
|||
|
|
result.M22 = matrix1.M22 + matrix2.M22;
|
|||
|
|
result.M23 = matrix1.M23 + matrix2.M23;
|
|||
|
|
result.M24 = matrix1.M24 + matrix2.M24;
|
|||
|
|
result.M31 = matrix1.M31 + matrix2.M31;
|
|||
|
|
result.M32 = matrix1.M32 + matrix2.M32;
|
|||
|
|
result.M33 = matrix1.M33 + matrix2.M33;
|
|||
|
|
result.M34 = matrix1.M34 + matrix2.M34;
|
|||
|
|
result.M41 = matrix1.M41 + matrix2.M41;
|
|||
|
|
result.M42 = matrix1.M42 + matrix2.M42;
|
|||
|
|
result.M43 = matrix1.M43 + matrix2.M43;
|
|||
|
|
result.M44 = matrix1.M44 + matrix2.M44;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateBillboard(Vector3 objectPosition, Vector3 cameraPosition,
|
|||
|
|
Vector3 cameraUpVector, Nullable<Vector3> cameraForwardVector)
|
|||
|
|
{
|
|||
|
|
Matrix ret;
|
|||
|
|
CreateBillboard(ref objectPosition, ref cameraPosition, ref cameraUpVector, cameraForwardVector, out ret);
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static void CreateBillboard(ref Vector3 objectPosition, ref Vector3 cameraPosition,
|
|||
|
|
ref Vector3 cameraUpVector, Vector3? cameraForwardVector, out Matrix result)
|
|||
|
|
{
|
|||
|
|
Vector3 translation = objectPosition - cameraPosition;
|
|||
|
|
Vector3 backwards, right, up;
|
|||
|
|
Vector3.Normalize(ref translation, out backwards);
|
|||
|
|
Vector3.Normalize(ref cameraUpVector, out up);
|
|||
|
|
Vector3.Cross(ref backwards, ref up, out right);
|
|||
|
|
Vector3.Cross(ref backwards, ref right, out up);
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
result.Backward = backwards;
|
|||
|
|
result.Right = right;
|
|||
|
|
result.Up = up;
|
|||
|
|
result.Translation = translation;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix CreateConstrainedBillboard(Vector3 objectPosition, Vector3 cameraPosition,
|
|||
|
|
Vector3 rotateAxis, Nullable<Vector3> cameraForwardVector, Nullable<Vector3> objectForwardVector)
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateConstrainedBillboard(ref Vector3 objectPosition, ref Vector3 cameraPosition,
|
|||
|
|
ref Vector3 rotateAxis, Vector3? cameraForwardVector, Vector3? objectForwardVector, out Matrix result)
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateFromAxisAngle(Vector3 axis, float angle)
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Matrix result)
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateFromQuaternion(Quaternion quaternion)
|
|||
|
|
{
|
|||
|
|
Matrix ret;
|
|||
|
|
CreateFromQuaternion(ref quaternion, out ret);
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateFromQuaternion(ref Quaternion quaternion, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
|
|||
|
|
result.M11 = 1 - 2 * (quaternion.Y * quaternion.Y + quaternion.Z * quaternion.Z);
|
|||
|
|
result.M12 = 2 * (quaternion.X * quaternion.Y + quaternion.W * quaternion.Z);
|
|||
|
|
result.M13 = 2 * (quaternion.X * quaternion.Z - quaternion.W * quaternion.Y);
|
|||
|
|
result.M21 = 2 * (quaternion.X * quaternion.Y - quaternion.W * quaternion.Z);
|
|||
|
|
result.M22 = 1 - 2 * (quaternion.X * quaternion.X + quaternion.Z * quaternion.Z);
|
|||
|
|
result.M23 = 2 * (quaternion.Y * quaternion.Z + quaternion.W * quaternion.X);
|
|||
|
|
result.M31 = 2 * (quaternion.X * quaternion.Z + quaternion.W * quaternion.Y);
|
|||
|
|
result.M32 = 2 * (quaternion.Y * quaternion.Z - quaternion.W * quaternion.X);
|
|||
|
|
result.M33 = 1 - 2 * (quaternion.X * quaternion.X + quaternion.Y * quaternion.Y);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateLookAt(Vector3 cameraPosition, Vector3 cameraTarget, Vector3 cameraUpVector)
|
|||
|
|
{
|
|||
|
|
Matrix ret;
|
|||
|
|
CreateLookAt(ref cameraPosition, ref cameraTarget, ref cameraUpVector, out ret);
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateLookAt(ref Vector3 cameraPosition, ref Vector3 cameraTarget, ref Vector3 cameraUpVector, out Matrix result)
|
|||
|
|
{
|
|||
|
|
// http://msdn.microsoft.com/en-us/library/bb205343(v=VS.85).aspx
|
|||
|
|
|
|||
|
|
Vector3 vz = Vector3.Normalize(cameraPosition - cameraTarget);
|
|||
|
|
Vector3 vx = Vector3.Normalize(Vector3.Cross(cameraUpVector, vz));
|
|||
|
|
Vector3 vy = Vector3.Cross(vz, vx);
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
result.M11 = vx.X;
|
|||
|
|
result.M12 = vy.X;
|
|||
|
|
result.M13 = vz.X;
|
|||
|
|
result.M21 = vx.Y;
|
|||
|
|
result.M22 = vy.Y;
|
|||
|
|
result.M23 = vz.Y;
|
|||
|
|
result.M31 = vx.Z;
|
|||
|
|
result.M32 = vy.Z;
|
|||
|
|
result.M33 = vz.Z;
|
|||
|
|
result.M41 = -Vector3.Dot(vx, cameraPosition);
|
|||
|
|
result.M42 = -Vector3.Dot(vy, cameraPosition);
|
|||
|
|
result.M43 = -Vector3.Dot(vz, cameraPosition);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix CreateOrthographic(float width, float height, float zNearPlane, float zFarPlane)
|
|||
|
|
{
|
|||
|
|
Matrix ret;
|
|||
|
|
CreateOrthographic(width, height, zNearPlane, zFarPlane, out ret);
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateOrthographic(float width, float height, float zNearPlane, float zFarPlane, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result.M11 = 2 / width;
|
|||
|
|
result.M12 = 0;
|
|||
|
|
result.M13 = 0;
|
|||
|
|
result.M14 = 0;
|
|||
|
|
result.M21 = 0;
|
|||
|
|
result.M22 = 2 / height;
|
|||
|
|
result.M23 = 0;
|
|||
|
|
result.M24 = 0;
|
|||
|
|
result.M31 = 0;
|
|||
|
|
result.M32 = 0;
|
|||
|
|
result.M33 = 1 / (zNearPlane - zFarPlane);
|
|||
|
|
result.M34 = 0;
|
|||
|
|
result.M41 = 0;
|
|||
|
|
result.M42 = 0;
|
|||
|
|
result.M43 = zNearPlane / (zNearPlane - zFarPlane);
|
|||
|
|
result.M44 = 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateOrthographicOffCenter(float left, float right, float bottom, float top, float zNearPlane, float zFarPlane)
|
|||
|
|
{
|
|||
|
|
Matrix ret;
|
|||
|
|
CreateOrthographicOffCenter(left, right, bottom, top, zNearPlane, zFarPlane, out ret);
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateOrthographicOffCenter(float left, float right, float bottom, float top,
|
|||
|
|
float zNearPlane, float zFarPlane, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result.M11 = 2 / (right - left);
|
|||
|
|
result.M12 = 0;
|
|||
|
|
result.M13 = 0;
|
|||
|
|
result.M14 = 0;
|
|||
|
|
result.M21 = 0;
|
|||
|
|
result.M22 = 2 / (top - bottom);
|
|||
|
|
result.M23 = 0;
|
|||
|
|
result.M24 = 0;
|
|||
|
|
result.M31 = 0;
|
|||
|
|
result.M32 = 0;
|
|||
|
|
result.M33 = 1 / (zNearPlane - zFarPlane);
|
|||
|
|
result.M34 = 0;
|
|||
|
|
result.M41 = (left + right) / (left - right);
|
|||
|
|
result.M42 = (bottom + top) / (bottom - top);
|
|||
|
|
result.M43 = zNearPlane / (zNearPlane - zFarPlane);
|
|||
|
|
result.M44 = 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreatePerspective(float width, float height, float zNearPlane, float zFarPlane)
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreatePerspective(float width, float height, float zNearPlane, float zFarPlane, out Matrix result)
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreatePerspectiveFieldOfView(float fieldOfView, float aspectRatio, float nearPlaneDistance, float farPlaneDistance)
|
|||
|
|
{
|
|||
|
|
Matrix ret;
|
|||
|
|
CreatePerspectiveFieldOfView(fieldOfView, aspectRatio, nearPlaneDistance, farPlaneDistance, out ret);
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreatePerspectiveFieldOfView(float fieldOfView, float aspectRatio, float nearPlaneDistance, float farPlaneDistance, out Matrix result)
|
|||
|
|
{
|
|||
|
|
// http://msdn.microsoft.com/en-us/library/bb205351(v=VS.85).aspx
|
|||
|
|
// http://msdn.microsoft.com/en-us/library/bb195665.aspx
|
|||
|
|
|
|||
|
|
result = new Matrix(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
|
|||
|
|
|
|||
|
|
if (fieldOfView < 0 || fieldOfView > 3.14159262f)
|
|||
|
|
throw new ArgumentOutOfRangeException("fieldOfView", "fieldOfView takes a value between 0 and Pi (180 degrees) in radians.");
|
|||
|
|
|
|||
|
|
if (nearPlaneDistance <= 0.0f)
|
|||
|
|
throw new ArgumentOutOfRangeException("nearPlaneDistance", "You should specify positive value for nearPlaneDistance.");
|
|||
|
|
|
|||
|
|
if (farPlaneDistance <= 0.0f)
|
|||
|
|
throw new ArgumentOutOfRangeException("farPlaneDistance", "You should specify positive value for farPlaneDistance.");
|
|||
|
|
|
|||
|
|
if (farPlaneDistance <= nearPlaneDistance)
|
|||
|
|
throw new ArgumentOutOfRangeException("nearPlaneDistance", "Near plane distance is larger than Far plane distance. Near plane distance must be smaller than Far plane distance.");
|
|||
|
|
|
|||
|
|
float yscale = (float)1 / (float)Math.Tan(fieldOfView / 2);
|
|||
|
|
float xscale = yscale / aspectRatio;
|
|||
|
|
|
|||
|
|
result.M11 = xscale;
|
|||
|
|
result.M22 = yscale;
|
|||
|
|
result.M33 = farPlaneDistance / (nearPlaneDistance - farPlaneDistance);
|
|||
|
|
result.M34 = -1;
|
|||
|
|
result.M43 = nearPlaneDistance * farPlaneDistance / (nearPlaneDistance - farPlaneDistance);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreatePerspectiveOffCenter(float left, float right, float bottom, float top, float zNearPlane, float zFarPlane)
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreatePerspectiveOffCenter(float left, float right, float bottom, float top, float nearPlaneDistance, float farPlaneDistance, out Matrix result)
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateRotationX(float radians)
|
|||
|
|
{
|
|||
|
|
Matrix returnMatrix = Matrix.Identity;
|
|||
|
|
|
|||
|
|
returnMatrix.M22 = (float)Math.Cos(radians);
|
|||
|
|
returnMatrix.M23 = (float)Math.Sin(radians);
|
|||
|
|
returnMatrix.M32 = -returnMatrix.M23;
|
|||
|
|
returnMatrix.M33 = returnMatrix.M22;
|
|||
|
|
|
|||
|
|
return returnMatrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateRotationX(float radians, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
|
|||
|
|
result.M22 = (float)Math.Cos(radians);
|
|||
|
|
result.M23 = (float)Math.Sin(radians);
|
|||
|
|
result.M32 = -result.M23;
|
|||
|
|
result.M33 = result.M22;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateRotationY(float radians)
|
|||
|
|
{
|
|||
|
|
Matrix returnMatrix = Matrix.Identity;
|
|||
|
|
|
|||
|
|
returnMatrix.M11 = (float)Math.Cos(radians);
|
|||
|
|
returnMatrix.M13 = (float)Math.Sin(radians);
|
|||
|
|
returnMatrix.M31 = -returnMatrix.M13;
|
|||
|
|
returnMatrix.M33 = returnMatrix.M11;
|
|||
|
|
|
|||
|
|
return returnMatrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateRotationY(float radians, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
|
|||
|
|
result.M11 = (float)Math.Cos(radians);
|
|||
|
|
result.M13 = (float)Math.Sin(radians);
|
|||
|
|
result.M31 = -result.M13;
|
|||
|
|
result.M33 = result.M11;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateRotationZ(float radians)
|
|||
|
|
{
|
|||
|
|
Matrix returnMatrix = Matrix.Identity;
|
|||
|
|
|
|||
|
|
returnMatrix.M11 = (float)Math.Cos(radians);
|
|||
|
|
returnMatrix.M12 = (float)Math.Sin(radians);
|
|||
|
|
returnMatrix.M21 = -returnMatrix.M12;
|
|||
|
|
returnMatrix.M22 = returnMatrix.M11;
|
|||
|
|
|
|||
|
|
return returnMatrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateRotationZ(float radians, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
|
|||
|
|
result.M11 = (float)Math.Cos(radians);
|
|||
|
|
result.M12 = (float)Math.Sin(radians);
|
|||
|
|
result.M21 = -result.M12;
|
|||
|
|
result.M22 = result.M11;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateScale(float scale)
|
|||
|
|
{
|
|||
|
|
Matrix returnMatrix = Matrix.Identity;
|
|||
|
|
|
|||
|
|
returnMatrix.M11 = scale;
|
|||
|
|
returnMatrix.M22 = scale;
|
|||
|
|
returnMatrix.M33 = scale;
|
|||
|
|
|
|||
|
|
return returnMatrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateScale(float scale, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
|
|||
|
|
result.M11 = scale;
|
|||
|
|
result.M22 = scale;
|
|||
|
|
result.M33 = scale;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateScale(float xScale, float yScale, float zScale)
|
|||
|
|
{
|
|||
|
|
Matrix returnMatrix = Matrix.Identity;
|
|||
|
|
|
|||
|
|
returnMatrix.M11 = xScale;
|
|||
|
|
returnMatrix.M22 = yScale;
|
|||
|
|
returnMatrix.M33 = zScale;
|
|||
|
|
|
|||
|
|
return returnMatrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateScale(float xScale, float yScale, float zScale, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
|
|||
|
|
result.M11 = xScale;
|
|||
|
|
result.M22 = yScale;
|
|||
|
|
result.M33 = zScale;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateScale(Vector3 scales)
|
|||
|
|
{
|
|||
|
|
Matrix returnMatrix = Matrix.Identity;
|
|||
|
|
|
|||
|
|
returnMatrix.M11 = scales.X;
|
|||
|
|
returnMatrix.M22 = scales.Y;
|
|||
|
|
returnMatrix.M33 = scales.Z;
|
|||
|
|
|
|||
|
|
return returnMatrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateScale(ref Vector3 scales, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
|
|||
|
|
result.M11 = scales.X;
|
|||
|
|
result.M22 = scales.Y;
|
|||
|
|
result.M33 = scales.Z;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateTranslation(float xPosition, float yPosition, float zPosition)
|
|||
|
|
{
|
|||
|
|
Matrix returnMatrix = Matrix.Identity;
|
|||
|
|
|
|||
|
|
returnMatrix.M41 = xPosition;
|
|||
|
|
returnMatrix.M42 = yPosition;
|
|||
|
|
returnMatrix.M43 = zPosition;
|
|||
|
|
|
|||
|
|
return returnMatrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateTranslation(float xPosition, float yPosition, float zPosition, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
|
|||
|
|
result.M41 = xPosition;
|
|||
|
|
result.M42 = yPosition;
|
|||
|
|
result.M43 = zPosition;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix CreateTranslation(Vector3 position)
|
|||
|
|
{
|
|||
|
|
Matrix returnMatrix = Matrix.Identity;
|
|||
|
|
|
|||
|
|
returnMatrix.M41 = position.X;
|
|||
|
|
returnMatrix.M42 = position.Y;
|
|||
|
|
returnMatrix.M43 = position.Z;
|
|||
|
|
|
|||
|
|
return returnMatrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void CreateTranslation(ref Vector3 position, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result = Matrix.Identity;
|
|||
|
|
|
|||
|
|
result.M41 = position.X;
|
|||
|
|
result.M42 = position.Y;
|
|||
|
|
result.M43 = position.Z;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix Divide(Matrix matrix1, Matrix matrix2)
|
|||
|
|
{
|
|||
|
|
Matrix inverse = Matrix.Invert(matrix2), result;
|
|||
|
|
|
|||
|
|
result.M11 = matrix1.M11 * inverse.M11 + matrix1.M12 * inverse.M21 + matrix1.M13 * inverse.M31 + matrix1.M14 * inverse.M41;
|
|||
|
|
result.M12 = matrix1.M11 * inverse.M12 + matrix1.M12 * inverse.M22 + matrix1.M13 * inverse.M32 + matrix1.M14 * inverse.M42;
|
|||
|
|
result.M13 = matrix1.M11 * inverse.M13 + matrix1.M12 * inverse.M23 + matrix1.M13 * inverse.M33 + matrix1.M14 * inverse.M43;
|
|||
|
|
result.M14 = matrix1.M11 * inverse.M14 + matrix1.M12 * inverse.M24 + matrix1.M13 * inverse.M34 + matrix1.M14 * inverse.M44;
|
|||
|
|
|
|||
|
|
result.M21 = matrix1.M21 * inverse.M11 + matrix1.M22 * inverse.M21 + matrix1.M23 * inverse.M31 + matrix1.M24 * inverse.M41;
|
|||
|
|
result.M22 = matrix1.M21 * inverse.M12 + matrix1.M22 * inverse.M22 + matrix1.M23 * inverse.M32 + matrix1.M24 * inverse.M42;
|
|||
|
|
result.M23 = matrix1.M21 * inverse.M13 + matrix1.M22 * inverse.M23 + matrix1.M23 * inverse.M33 + matrix1.M24 * inverse.M43;
|
|||
|
|
result.M24 = matrix1.M21 * inverse.M14 + matrix1.M22 * inverse.M24 + matrix1.M23 * inverse.M34 + matrix1.M24 * inverse.M44;
|
|||
|
|
|
|||
|
|
result.M31 = matrix1.M31 * inverse.M11 + matrix1.M32 * inverse.M21 + matrix1.M33 * inverse.M31 + matrix1.M34 * inverse.M41;
|
|||
|
|
result.M32 = matrix1.M31 * inverse.M12 + matrix1.M32 * inverse.M22 + matrix1.M33 * inverse.M32 + matrix1.M34 * inverse.M42;
|
|||
|
|
result.M33 = matrix1.M31 * inverse.M13 + matrix1.M32 * inverse.M23 + matrix1.M33 * inverse.M33 + matrix1.M34 * inverse.M43;
|
|||
|
|
result.M34 = matrix1.M31 * inverse.M14 + matrix1.M32 * inverse.M24 + matrix1.M33 * inverse.M34 + matrix1.M34 * inverse.M44;
|
|||
|
|
|
|||
|
|
result.M41 = matrix1.M41 * inverse.M11 + matrix1.M42 * inverse.M21 + matrix1.M43 * inverse.M31 + matrix1.M44 * inverse.M41;
|
|||
|
|
result.M42 = matrix1.M41 * inverse.M12 + matrix1.M42 * inverse.M22 + matrix1.M43 * inverse.M32 + matrix1.M44 * inverse.M42;
|
|||
|
|
result.M43 = matrix1.M41 * inverse.M13 + matrix1.M42 * inverse.M23 + matrix1.M43 * inverse.M33 + matrix1.M44 * inverse.M43;
|
|||
|
|
result.M44 = matrix1.M41 * inverse.M14 + matrix1.M42 * inverse.M24 + matrix1.M43 * inverse.M34 + matrix1.M44 * inverse.M44;
|
|||
|
|
|
|||
|
|
return result;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void Divide(ref Matrix matrix1, ref Matrix matrix2, out Matrix result)
|
|||
|
|
{
|
|||
|
|
Matrix inverse = Matrix.Invert(matrix2);
|
|||
|
|
result.M11 = matrix1.M11 * inverse.M11 + matrix1.M12 * inverse.M21 + matrix1.M13 * inverse.M31 + matrix1.M14 * inverse.M41;
|
|||
|
|
result.M12 = matrix1.M11 * inverse.M12 + matrix1.M12 * inverse.M22 + matrix1.M13 * inverse.M32 + matrix1.M14 * inverse.M42;
|
|||
|
|
result.M13 = matrix1.M11 * inverse.M13 + matrix1.M12 * inverse.M23 + matrix1.M13 * inverse.M33 + matrix1.M14 * inverse.M43;
|
|||
|
|
result.M14 = matrix1.M11 * inverse.M14 + matrix1.M12 * inverse.M24 + matrix1.M13 * inverse.M34 + matrix1.M14 * inverse.M44;
|
|||
|
|
|
|||
|
|
result.M21 = matrix1.M21 * inverse.M11 + matrix1.M22 * inverse.M21 + matrix1.M23 * inverse.M31 + matrix1.M24 * inverse.M41;
|
|||
|
|
result.M22 = matrix1.M21 * inverse.M12 + matrix1.M22 * inverse.M22 + matrix1.M23 * inverse.M32 + matrix1.M24 * inverse.M42;
|
|||
|
|
result.M23 = matrix1.M21 * inverse.M13 + matrix1.M22 * inverse.M23 + matrix1.M23 * inverse.M33 + matrix1.M24 * inverse.M43;
|
|||
|
|
result.M24 = matrix1.M21 * inverse.M14 + matrix1.M22 * inverse.M24 + matrix1.M23 * inverse.M34 + matrix1.M24 * inverse.M44;
|
|||
|
|
|
|||
|
|
result.M31 = matrix1.M31 * inverse.M11 + matrix1.M32 * inverse.M21 + matrix1.M33 * inverse.M31 + matrix1.M34 * inverse.M41;
|
|||
|
|
result.M32 = matrix1.M31 * inverse.M12 + matrix1.M32 * inverse.M22 + matrix1.M33 * inverse.M32 + matrix1.M34 * inverse.M42;
|
|||
|
|
result.M33 = matrix1.M31 * inverse.M13 + matrix1.M32 * inverse.M23 + matrix1.M33 * inverse.M33 + matrix1.M34 * inverse.M43;
|
|||
|
|
result.M34 = matrix1.M31 * inverse.M14 + matrix1.M32 * inverse.M24 + matrix1.M33 * inverse.M34 + matrix1.M34 * inverse.M44;
|
|||
|
|
|
|||
|
|
result.M41 = matrix1.M41 * inverse.M11 + matrix1.M42 * inverse.M21 + matrix1.M43 * inverse.M31 + matrix1.M44 * inverse.M41;
|
|||
|
|
result.M42 = matrix1.M41 * inverse.M12 + matrix1.M42 * inverse.M22 + matrix1.M43 * inverse.M32 + matrix1.M44 * inverse.M42;
|
|||
|
|
result.M43 = matrix1.M41 * inverse.M13 + matrix1.M42 * inverse.M23 + matrix1.M43 * inverse.M33 + matrix1.M44 * inverse.M43;
|
|||
|
|
result.M44 = matrix1.M41 * inverse.M14 + matrix1.M42 * inverse.M24 + matrix1.M43 * inverse.M34 + matrix1.M44 * inverse.M44;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix Divide(Matrix matrix1, float divider)
|
|||
|
|
{
|
|||
|
|
float inverseDivider = 1.0f / divider;
|
|||
|
|
|
|||
|
|
matrix1.M11 = matrix1.M11 * inverseDivider;
|
|||
|
|
matrix1.M12 = matrix1.M12 * inverseDivider;
|
|||
|
|
matrix1.M13 = matrix1.M13 * inverseDivider;
|
|||
|
|
matrix1.M14 = matrix1.M14 * inverseDivider;
|
|||
|
|
matrix1.M21 = matrix1.M21 * inverseDivider;
|
|||
|
|
matrix1.M22 = matrix1.M22 * inverseDivider;
|
|||
|
|
matrix1.M23 = matrix1.M23 * inverseDivider;
|
|||
|
|
matrix1.M24 = matrix1.M24 * inverseDivider;
|
|||
|
|
matrix1.M31 = matrix1.M31 * inverseDivider;
|
|||
|
|
matrix1.M32 = matrix1.M32 * inverseDivider;
|
|||
|
|
matrix1.M33 = matrix1.M33 * inverseDivider;
|
|||
|
|
matrix1.M34 = matrix1.M34 * inverseDivider;
|
|||
|
|
matrix1.M41 = matrix1.M41 * inverseDivider;
|
|||
|
|
matrix1.M42 = matrix1.M42 * inverseDivider;
|
|||
|
|
matrix1.M43 = matrix1.M43 * inverseDivider;
|
|||
|
|
matrix1.M44 = matrix1.M44 * inverseDivider;
|
|||
|
|
|
|||
|
|
return matrix1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void Divide(ref Matrix matrix1, float divider, out Matrix result)
|
|||
|
|
{
|
|||
|
|
float inverseDivider = 1.0f / divider;
|
|||
|
|
result.M11 = matrix1.M11 * inverseDivider;
|
|||
|
|
result.M12 = matrix1.M12 * inverseDivider;
|
|||
|
|
result.M13 = matrix1.M13 * inverseDivider;
|
|||
|
|
result.M14 = matrix1.M14 * inverseDivider;
|
|||
|
|
result.M21 = matrix1.M21 * inverseDivider;
|
|||
|
|
result.M22 = matrix1.M22 * inverseDivider;
|
|||
|
|
result.M23 = matrix1.M23 * inverseDivider;
|
|||
|
|
result.M24 = matrix1.M24 * inverseDivider;
|
|||
|
|
result.M31 = matrix1.M31 * inverseDivider;
|
|||
|
|
result.M32 = matrix1.M32 * inverseDivider;
|
|||
|
|
result.M33 = matrix1.M33 * inverseDivider;
|
|||
|
|
result.M34 = matrix1.M34 * inverseDivider;
|
|||
|
|
result.M41 = matrix1.M41 * inverseDivider;
|
|||
|
|
result.M42 = matrix1.M42 * inverseDivider;
|
|||
|
|
result.M43 = matrix1.M43 * inverseDivider;
|
|||
|
|
result.M44 = matrix1.M44 * inverseDivider;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix Invert(Matrix matrix)
|
|||
|
|
{
|
|||
|
|
Invert(ref matrix, out matrix);
|
|||
|
|
return matrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void Invert(ref Matrix matrix, out Matrix result)
|
|||
|
|
{
|
|||
|
|
//
|
|||
|
|
// Use Laplace expansion theorem to calculate the inverse of a 4x4 matrix
|
|||
|
|
//
|
|||
|
|
// 1. Calculate the 2x2 determinants needed and the 4x4 determinant based on the 2x2 determinants
|
|||
|
|
// 2. Create the adjugate matrix, which satisfies: A * adj(A) = det(A) * I
|
|||
|
|
// 3. Divide adjugate matrix with the determinant to find the inverse
|
|||
|
|
|
|||
|
|
float det1 = matrix.M11 * matrix.M22 - matrix.M12 * matrix.M21;
|
|||
|
|
float det2 = matrix.M11 * matrix.M23 - matrix.M13 * matrix.M21;
|
|||
|
|
float det3 = matrix.M11 * matrix.M24 - matrix.M14 * matrix.M21;
|
|||
|
|
float det4 = matrix.M12 * matrix.M23 - matrix.M13 * matrix.M22;
|
|||
|
|
float det5 = matrix.M12 * matrix.M24 - matrix.M14 * matrix.M22;
|
|||
|
|
float det6 = matrix.M13 * matrix.M24 - matrix.M14 * matrix.M23;
|
|||
|
|
float det7 = matrix.M31 * matrix.M42 - matrix.M32 * matrix.M41;
|
|||
|
|
float det8 = matrix.M31 * matrix.M43 - matrix.M33 * matrix.M41;
|
|||
|
|
float det9 = matrix.M31 * matrix.M44 - matrix.M34 * matrix.M41;
|
|||
|
|
float det10 = matrix.M32 * matrix.M43 - matrix.M33 * matrix.M42;
|
|||
|
|
float det11 = matrix.M32 * matrix.M44 - matrix.M34 * matrix.M42;
|
|||
|
|
float det12 = matrix.M33 * matrix.M44 - matrix.M34 * matrix.M43;
|
|||
|
|
|
|||
|
|
float detMatrix = (float)(det1 * det12 - det2 * det11 + det3 * det10 + det4 * det9 - det5 * det8 + det6 * det7);
|
|||
|
|
|
|||
|
|
float invDetMatrix = 1f / detMatrix;
|
|||
|
|
|
|||
|
|
Matrix ret; // Allow for matrix and result to point to the same structure
|
|||
|
|
|
|||
|
|
ret.M11 = (matrix.M22 * det12 - matrix.M23 * det11 + matrix.M24 * det10) * invDetMatrix;
|
|||
|
|
ret.M12 = (-matrix.M12 * det12 + matrix.M13 * det11 - matrix.M14 * det10) * invDetMatrix;
|
|||
|
|
ret.M13 = (matrix.M42 * det6 - matrix.M43 * det5 + matrix.M44 * det4) * invDetMatrix;
|
|||
|
|
ret.M14 = (-matrix.M32 * det6 + matrix.M33 * det5 - matrix.M34 * det4) * invDetMatrix;
|
|||
|
|
ret.M21 = (-matrix.M21 * det12 + matrix.M23 * det9 - matrix.M24 * det8) * invDetMatrix;
|
|||
|
|
ret.M22 = (matrix.M11 * det12 - matrix.M13 * det9 + matrix.M14 * det8) * invDetMatrix;
|
|||
|
|
ret.M23 = (-matrix.M41 * det6 + matrix.M43 * det3 - matrix.M44 * det2) * invDetMatrix;
|
|||
|
|
ret.M24 = (matrix.M31 * det6 - matrix.M33 * det3 + matrix.M34 * det2) * invDetMatrix;
|
|||
|
|
ret.M31 = (matrix.M21 * det11 - matrix.M22 * det9 + matrix.M24 * det7) * invDetMatrix;
|
|||
|
|
ret.M32 = (-matrix.M11 * det11 + matrix.M12 * det9 - matrix.M14 * det7) * invDetMatrix;
|
|||
|
|
ret.M33 = (matrix.M41 * det5 - matrix.M42 * det3 + matrix.M44 * det1) * invDetMatrix;
|
|||
|
|
ret.M34 = (-matrix.M31 * det5 + matrix.M32 * det3 - matrix.M34 * det1) * invDetMatrix;
|
|||
|
|
ret.M41 = (-matrix.M21 * det10 + matrix.M22 * det8 - matrix.M23 * det7) * invDetMatrix;
|
|||
|
|
ret.M42 = (matrix.M11 * det10 - matrix.M12 * det8 + matrix.M13 * det7) * invDetMatrix;
|
|||
|
|
ret.M43 = (-matrix.M41 * det4 + matrix.M42 * det2 - matrix.M43 * det1) * invDetMatrix;
|
|||
|
|
ret.M44 = (matrix.M31 * det4 - matrix.M32 * det2 + matrix.M33 * det1) * invDetMatrix;
|
|||
|
|
|
|||
|
|
result = ret;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix Lerp(Matrix matrix1, Matrix matrix2, float amount)
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void Lerp(ref Matrix matrix1, ref Matrix matrix2, float amount, out Matrix result)
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix Multiply(Matrix matrix1, Matrix matrix2)
|
|||
|
|
{
|
|||
|
|
Matrix result;
|
|||
|
|
|
|||
|
|
result.M11 = matrix1.M11 * matrix2.M11 + matrix1.M12 * matrix2.M21 + matrix1.M13 * matrix2.M31 + matrix1.M14 * matrix2.M41;
|
|||
|
|
result.M12 = matrix1.M11 * matrix2.M12 + matrix1.M12 * matrix2.M22 + matrix1.M13 * matrix2.M32 + matrix1.M14 * matrix2.M42;
|
|||
|
|
result.M13 = matrix1.M11 * matrix2.M13 + matrix1.M12 * matrix2.M23 + matrix1.M13 * matrix2.M33 + matrix1.M14 * matrix2.M43;
|
|||
|
|
result.M14 = matrix1.M11 * matrix2.M14 + matrix1.M12 * matrix2.M24 + matrix1.M13 * matrix2.M34 + matrix1.M14 * matrix2.M44;
|
|||
|
|
|
|||
|
|
result.M21 = matrix1.M21 * matrix2.M11 + matrix1.M22 * matrix2.M21 + matrix1.M23 * matrix2.M31 + matrix1.M24 * matrix2.M41;
|
|||
|
|
result.M22 = matrix1.M21 * matrix2.M12 + matrix1.M22 * matrix2.M22 + matrix1.M23 * matrix2.M32 + matrix1.M24 * matrix2.M42;
|
|||
|
|
result.M23 = matrix1.M21 * matrix2.M13 + matrix1.M22 * matrix2.M23 + matrix1.M23 * matrix2.M33 + matrix1.M24 * matrix2.M43;
|
|||
|
|
result.M24 = matrix1.M21 * matrix2.M14 + matrix1.M22 * matrix2.M24 + matrix1.M23 * matrix2.M34 + matrix1.M24 * matrix2.M44;
|
|||
|
|
|
|||
|
|
result.M31 = matrix1.M31 * matrix2.M11 + matrix1.M32 * matrix2.M21 + matrix1.M33 * matrix2.M31 + matrix1.M34 * matrix2.M41;
|
|||
|
|
result.M32 = matrix1.M31 * matrix2.M12 + matrix1.M32 * matrix2.M22 + matrix1.M33 * matrix2.M32 + matrix1.M34 * matrix2.M42;
|
|||
|
|
result.M33 = matrix1.M31 * matrix2.M13 + matrix1.M32 * matrix2.M23 + matrix1.M33 * matrix2.M33 + matrix1.M34 * matrix2.M43;
|
|||
|
|
result.M34 = matrix1.M31 * matrix2.M14 + matrix1.M32 * matrix2.M24 + matrix1.M33 * matrix2.M34 + matrix1.M34 * matrix2.M44;
|
|||
|
|
|
|||
|
|
result.M41 = matrix1.M41 * matrix2.M11 + matrix1.M42 * matrix2.M21 + matrix1.M43 * matrix2.M31 + matrix1.M44 * matrix2.M41;
|
|||
|
|
result.M42 = matrix1.M41 * matrix2.M12 + matrix1.M42 * matrix2.M22 + matrix1.M43 * matrix2.M32 + matrix1.M44 * matrix2.M42;
|
|||
|
|
result.M43 = matrix1.M41 * matrix2.M13 + matrix1.M42 * matrix2.M23 + matrix1.M43 * matrix2.M33 + matrix1.M44 * matrix2.M43;
|
|||
|
|
result.M44 = matrix1.M41 * matrix2.M14 + matrix1.M42 * matrix2.M24 + matrix1.M43 * matrix2.M34 + matrix1.M44 * matrix2.M44;
|
|||
|
|
|
|||
|
|
return result;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void Multiply(ref Matrix matrix1, ref Matrix matrix2, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result.M11 = matrix1.M11 * matrix2.M11 + matrix1.M12 * matrix2.M21 + matrix1.M13 * matrix2.M31 + matrix1.M14 * matrix2.M41;
|
|||
|
|
result.M12 = matrix1.M11 * matrix2.M12 + matrix1.M12 * matrix2.M22 + matrix1.M13 * matrix2.M32 + matrix1.M14 * matrix2.M42;
|
|||
|
|
result.M13 = matrix1.M11 * matrix2.M13 + matrix1.M12 * matrix2.M23 + matrix1.M13 * matrix2.M33 + matrix1.M14 * matrix2.M43;
|
|||
|
|
result.M14 = matrix1.M11 * matrix2.M14 + matrix1.M12 * matrix2.M24 + matrix1.M13 * matrix2.M34 + matrix1.M14 * matrix2.M44;
|
|||
|
|
|
|||
|
|
result.M21 = matrix1.M21 * matrix2.M11 + matrix1.M22 * matrix2.M21 + matrix1.M23 * matrix2.M31 + matrix1.M24 * matrix2.M41;
|
|||
|
|
result.M22 = matrix1.M21 * matrix2.M12 + matrix1.M22 * matrix2.M22 + matrix1.M23 * matrix2.M32 + matrix1.M24 * matrix2.M42;
|
|||
|
|
result.M23 = matrix1.M21 * matrix2.M13 + matrix1.M22 * matrix2.M23 + matrix1.M23 * matrix2.M33 + matrix1.M24 * matrix2.M43;
|
|||
|
|
result.M24 = matrix1.M21 * matrix2.M14 + matrix1.M22 * matrix2.M24 + matrix1.M23 * matrix2.M34 + matrix1.M24 * matrix2.M44;
|
|||
|
|
|
|||
|
|
result.M31 = matrix1.M31 * matrix2.M11 + matrix1.M32 * matrix2.M21 + matrix1.M33 * matrix2.M31 + matrix1.M34 * matrix2.M41;
|
|||
|
|
result.M32 = matrix1.M31 * matrix2.M12 + matrix1.M32 * matrix2.M22 + matrix1.M33 * matrix2.M32 + matrix1.M34 * matrix2.M42;
|
|||
|
|
result.M33 = matrix1.M31 * matrix2.M13 + matrix1.M32 * matrix2.M23 + matrix1.M33 * matrix2.M33 + matrix1.M34 * matrix2.M43;
|
|||
|
|
result.M34 = matrix1.M31 * matrix2.M14 + matrix1.M32 * matrix2.M24 + matrix1.M33 * matrix2.M34 + matrix1.M34 * matrix2.M44;
|
|||
|
|
|
|||
|
|
result.M41 = matrix1.M41 * matrix2.M11 + matrix1.M42 * matrix2.M21 + matrix1.M43 * matrix2.M31 + matrix1.M44 * matrix2.M41;
|
|||
|
|
result.M42 = matrix1.M41 * matrix2.M12 + matrix1.M42 * matrix2.M22 + matrix1.M43 * matrix2.M32 + matrix1.M44 * matrix2.M42;
|
|||
|
|
result.M43 = matrix1.M41 * matrix2.M13 + matrix1.M42 * matrix2.M23 + matrix1.M43 * matrix2.M33 + matrix1.M44 * matrix2.M43;
|
|||
|
|
result.M44 = matrix1.M41 * matrix2.M14 + matrix1.M42 * matrix2.M24 + matrix1.M43 * matrix2.M34 + matrix1.M44 * matrix2.M44;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix Multiply(Matrix matrix1, float factor)
|
|||
|
|
{
|
|||
|
|
matrix1.M11 *= factor;
|
|||
|
|
matrix1.M12 *= factor;
|
|||
|
|
matrix1.M13 *= factor;
|
|||
|
|
matrix1.M14 *= factor;
|
|||
|
|
matrix1.M21 *= factor;
|
|||
|
|
matrix1.M22 *= factor;
|
|||
|
|
matrix1.M23 *= factor;
|
|||
|
|
matrix1.M24 *= factor;
|
|||
|
|
matrix1.M31 *= factor;
|
|||
|
|
matrix1.M32 *= factor;
|
|||
|
|
matrix1.M33 *= factor;
|
|||
|
|
matrix1.M34 *= factor;
|
|||
|
|
matrix1.M41 *= factor;
|
|||
|
|
matrix1.M42 *= factor;
|
|||
|
|
matrix1.M43 *= factor;
|
|||
|
|
matrix1.M44 *= factor;
|
|||
|
|
return matrix1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void Multiply(ref Matrix matrix1, float factor, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result.M11 = matrix1.M11 * factor;
|
|||
|
|
result.M12 = matrix1.M12 * factor;
|
|||
|
|
result.M13 = matrix1.M13 * factor;
|
|||
|
|
result.M14 = matrix1.M14 * factor;
|
|||
|
|
result.M21 = matrix1.M21 * factor;
|
|||
|
|
result.M22 = matrix1.M22 * factor;
|
|||
|
|
result.M23 = matrix1.M23 * factor;
|
|||
|
|
result.M24 = matrix1.M24 * factor;
|
|||
|
|
result.M31 = matrix1.M31 * factor;
|
|||
|
|
result.M32 = matrix1.M32 * factor;
|
|||
|
|
result.M33 = matrix1.M33 * factor;
|
|||
|
|
result.M34 = matrix1.M34 * factor;
|
|||
|
|
result.M41 = matrix1.M41 * factor;
|
|||
|
|
result.M42 = matrix1.M42 * factor;
|
|||
|
|
result.M43 = matrix1.M43 * factor;
|
|||
|
|
result.M44 = matrix1.M44 * factor;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix Negate(Matrix matrix)
|
|||
|
|
{
|
|||
|
|
matrix.M11 = -matrix.M11;
|
|||
|
|
matrix.M12 = -matrix.M12;
|
|||
|
|
matrix.M13 = -matrix.M13;
|
|||
|
|
matrix.M14 = -matrix.M14;
|
|||
|
|
matrix.M21 = -matrix.M21;
|
|||
|
|
matrix.M22 = -matrix.M22;
|
|||
|
|
matrix.M23 = -matrix.M23;
|
|||
|
|
matrix.M24 = -matrix.M24;
|
|||
|
|
matrix.M31 = -matrix.M31;
|
|||
|
|
matrix.M32 = -matrix.M32;
|
|||
|
|
matrix.M33 = -matrix.M33;
|
|||
|
|
matrix.M34 = -matrix.M34;
|
|||
|
|
matrix.M41 = -matrix.M41;
|
|||
|
|
matrix.M42 = -matrix.M42;
|
|||
|
|
matrix.M43 = -matrix.M43;
|
|||
|
|
matrix.M44 = -matrix.M44;
|
|||
|
|
return matrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void Negate(ref Matrix matrix, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result.M11 = matrix.M11;
|
|||
|
|
result.M12 = matrix.M12;
|
|||
|
|
result.M13 = matrix.M13;
|
|||
|
|
result.M14 = matrix.M14;
|
|||
|
|
result.M21 = matrix.M21;
|
|||
|
|
result.M22 = matrix.M22;
|
|||
|
|
result.M23 = matrix.M23;
|
|||
|
|
result.M24 = matrix.M24;
|
|||
|
|
result.M31 = matrix.M31;
|
|||
|
|
result.M32 = matrix.M32;
|
|||
|
|
result.M33 = matrix.M33;
|
|||
|
|
result.M34 = matrix.M34;
|
|||
|
|
result.M41 = matrix.M41;
|
|||
|
|
result.M42 = matrix.M42;
|
|||
|
|
result.M43 = matrix.M43;
|
|||
|
|
result.M44 = matrix.M44;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix Subtract(Matrix matrix1, Matrix matrix2)
|
|||
|
|
{
|
|||
|
|
matrix1.M11 -= matrix2.M11;
|
|||
|
|
matrix1.M12 -= matrix2.M12;
|
|||
|
|
matrix1.M13 -= matrix2.M13;
|
|||
|
|
matrix1.M14 -= matrix2.M14;
|
|||
|
|
matrix1.M21 -= matrix2.M21;
|
|||
|
|
matrix1.M22 -= matrix2.M22;
|
|||
|
|
matrix1.M23 -= matrix2.M23;
|
|||
|
|
matrix1.M24 -= matrix2.M24;
|
|||
|
|
matrix1.M31 -= matrix2.M31;
|
|||
|
|
matrix1.M32 -= matrix2.M32;
|
|||
|
|
matrix1.M33 -= matrix2.M33;
|
|||
|
|
matrix1.M34 -= matrix2.M34;
|
|||
|
|
matrix1.M41 -= matrix2.M41;
|
|||
|
|
matrix1.M42 -= matrix2.M42;
|
|||
|
|
matrix1.M43 -= matrix2.M43;
|
|||
|
|
matrix1.M44 -= matrix2.M44;
|
|||
|
|
return matrix1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static void Subtract(ref Matrix matrix1, ref Matrix matrix2, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result.M11 = matrix1.M11 - matrix2.M11;
|
|||
|
|
result.M12 = matrix1.M12 - matrix2.M12;
|
|||
|
|
result.M13 = matrix1.M13 - matrix2.M13;
|
|||
|
|
result.M14 = matrix1.M14 - matrix2.M14;
|
|||
|
|
result.M21 = matrix1.M21 - matrix2.M21;
|
|||
|
|
result.M22 = matrix1.M22 - matrix2.M22;
|
|||
|
|
result.M23 = matrix1.M23 - matrix2.M23;
|
|||
|
|
result.M24 = matrix1.M24 - matrix2.M24;
|
|||
|
|
result.M31 = matrix1.M31 - matrix2.M31;
|
|||
|
|
result.M32 = matrix1.M32 - matrix2.M32;
|
|||
|
|
result.M33 = matrix1.M33 - matrix2.M33;
|
|||
|
|
result.M34 = matrix1.M34 - matrix2.M34;
|
|||
|
|
result.M41 = matrix1.M41 - matrix2.M41;
|
|||
|
|
result.M42 = matrix1.M42 - matrix2.M42;
|
|||
|
|
result.M43 = matrix1.M43 - matrix2.M43;
|
|||
|
|
result.M44 = matrix1.M44 - matrix2.M44;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix Transpose(Matrix matrix)
|
|||
|
|
{
|
|||
|
|
Matrix result;
|
|||
|
|
|
|||
|
|
result.M11 = matrix.M11;
|
|||
|
|
result.M12 = matrix.M21;
|
|||
|
|
result.M13 = matrix.M31;
|
|||
|
|
result.M14 = matrix.M41;
|
|||
|
|
|
|||
|
|
result.M21 = matrix.M12;
|
|||
|
|
result.M22 = matrix.M22;
|
|||
|
|
result.M23 = matrix.M32;
|
|||
|
|
result.M24 = matrix.M42;
|
|||
|
|
|
|||
|
|
result.M31 = matrix.M13;
|
|||
|
|
result.M32 = matrix.M23;
|
|||
|
|
result.M33 = matrix.M33;
|
|||
|
|
result.M34 = matrix.M43;
|
|||
|
|
|
|||
|
|
result.M41 = matrix.M14;
|
|||
|
|
result.M42 = matrix.M24;
|
|||
|
|
result.M43 = matrix.M34;
|
|||
|
|
result.M44 = matrix.M44;
|
|||
|
|
|
|||
|
|
return result;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static void Transpose(ref Matrix matrix, out Matrix result)
|
|||
|
|
{
|
|||
|
|
result.M11 = matrix.M11;
|
|||
|
|
result.M12 = matrix.M21;
|
|||
|
|
result.M13 = matrix.M31;
|
|||
|
|
result.M14 = matrix.M41;
|
|||
|
|
|
|||
|
|
result.M21 = matrix.M12;
|
|||
|
|
result.M22 = matrix.M22;
|
|||
|
|
result.M23 = matrix.M32;
|
|||
|
|
result.M24 = matrix.M42;
|
|||
|
|
|
|||
|
|
result.M31 = matrix.M13;
|
|||
|
|
result.M32 = matrix.M23;
|
|||
|
|
result.M33 = matrix.M33;
|
|||
|
|
result.M34 = matrix.M43;
|
|||
|
|
|
|||
|
|
result.M41 = matrix.M14;
|
|||
|
|
result.M42 = matrix.M24;
|
|||
|
|
result.M43 = matrix.M34;
|
|||
|
|
result.M44 = matrix.M44;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endregion Public Static Methods
|
|||
|
|
|
|||
|
|
#region Public Methods
|
|||
|
|
|
|||
|
|
public float Determinant()
|
|||
|
|
{
|
|||
|
|
float minor1, minor2, minor3, minor4, minor5, minor6;
|
|||
|
|
|
|||
|
|
minor1 = M31 * M42 - M32 * M41;
|
|||
|
|
minor2 = M31 * M43 - M33 * M41;
|
|||
|
|
minor3 = M31 * M44 - M34 * M41;
|
|||
|
|
minor4 = M32 * M43 - M33 * M42;
|
|||
|
|
minor5 = M32 * M44 - M34 * M42;
|
|||
|
|
minor6 = M33 * M44 - M34 * M43;
|
|||
|
|
|
|||
|
|
return M11 * (M22 * minor6 - M23 * minor5 + M24 * minor4) -
|
|||
|
|
M12 * (M21 * minor6 - M23 * minor3 + M24 * minor2) +
|
|||
|
|
M13 * (M21 * minor5 - M22 * minor3 + M24 * minor1) -
|
|||
|
|
M14 * (M21 * minor4 - M22 * minor2 + M23 * minor1);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public bool Equals(Matrix other)
|
|||
|
|
{
|
|||
|
|
return (this.M11 == other.M11) && (this.M12 == other.M12) &&
|
|||
|
|
(this.M13 == other.M13) && (this.M14 == other.M14) &&
|
|||
|
|
(this.M21 == other.M21) && (this.M22 == other.M22) &&
|
|||
|
|
(this.M23 == other.M23) && (this.M24 == other.M24) &&
|
|||
|
|
(this.M31 == other.M31) && (this.M32 == other.M32) &&
|
|||
|
|
(this.M33 == other.M33) && (this.M34 == other.M34) &&
|
|||
|
|
(this.M41 == other.M41) && (this.M42 == other.M42) &&
|
|||
|
|
(this.M43 == other.M43) && (this.M44 == other.M44);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endregion Public Methods
|
|||
|
|
|
|||
|
|
#region Operators
|
|||
|
|
|
|||
|
|
public static Matrix operator +(Matrix matrix1, Matrix matrix2)
|
|||
|
|
{
|
|||
|
|
matrix1.M11 += matrix2.M11;
|
|||
|
|
matrix1.M12 += matrix2.M12;
|
|||
|
|
matrix1.M13 += matrix2.M13;
|
|||
|
|
matrix1.M14 += matrix2.M14;
|
|||
|
|
matrix1.M21 += matrix2.M21;
|
|||
|
|
matrix1.M22 += matrix2.M22;
|
|||
|
|
matrix1.M23 += matrix2.M23;
|
|||
|
|
matrix1.M24 += matrix2.M24;
|
|||
|
|
matrix1.M31 += matrix2.M31;
|
|||
|
|
matrix1.M32 += matrix2.M32;
|
|||
|
|
matrix1.M33 += matrix2.M33;
|
|||
|
|
matrix1.M34 += matrix2.M34;
|
|||
|
|
matrix1.M41 += matrix2.M41;
|
|||
|
|
matrix1.M42 += matrix2.M42;
|
|||
|
|
matrix1.M43 += matrix2.M43;
|
|||
|
|
matrix1.M44 += matrix2.M44;
|
|||
|
|
return matrix1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix operator /(Matrix matrix1, Matrix matrix2)
|
|||
|
|
{
|
|||
|
|
Matrix inverse = Matrix.Invert(matrix2), result;
|
|||
|
|
|
|||
|
|
result.M11 = matrix1.M11 * inverse.M11 + matrix1.M12 * inverse.M21 + matrix1.M13 * inverse.M31 + matrix1.M14 * inverse.M41;
|
|||
|
|
result.M12 = matrix1.M11 * inverse.M12 + matrix1.M12 * inverse.M22 + matrix1.M13 * inverse.M32 + matrix1.M14 * inverse.M42;
|
|||
|
|
result.M13 = matrix1.M11 * inverse.M13 + matrix1.M12 * inverse.M23 + matrix1.M13 * inverse.M33 + matrix1.M14 * inverse.M43;
|
|||
|
|
result.M14 = matrix1.M11 * inverse.M14 + matrix1.M12 * inverse.M24 + matrix1.M13 * inverse.M34 + matrix1.M14 * inverse.M44;
|
|||
|
|
|
|||
|
|
result.M21 = matrix1.M21 * inverse.M11 + matrix1.M22 * inverse.M21 + matrix1.M23 * inverse.M31 + matrix1.M24 * inverse.M41;
|
|||
|
|
result.M22 = matrix1.M21 * inverse.M12 + matrix1.M22 * inverse.M22 + matrix1.M23 * inverse.M32 + matrix1.M24 * inverse.M42;
|
|||
|
|
result.M23 = matrix1.M21 * inverse.M13 + matrix1.M22 * inverse.M23 + matrix1.M23 * inverse.M33 + matrix1.M24 * inverse.M43;
|
|||
|
|
result.M24 = matrix1.M21 * inverse.M14 + matrix1.M22 * inverse.M24 + matrix1.M23 * inverse.M34 + matrix1.M24 * inverse.M44;
|
|||
|
|
|
|||
|
|
result.M31 = matrix1.M31 * inverse.M11 + matrix1.M32 * inverse.M21 + matrix1.M33 * inverse.M31 + matrix1.M34 * inverse.M41;
|
|||
|
|
result.M32 = matrix1.M31 * inverse.M12 + matrix1.M32 * inverse.M22 + matrix1.M33 * inverse.M32 + matrix1.M34 * inverse.M42;
|
|||
|
|
result.M33 = matrix1.M31 * inverse.M13 + matrix1.M32 * inverse.M23 + matrix1.M33 * inverse.M33 + matrix1.M34 * inverse.M43;
|
|||
|
|
result.M34 = matrix1.M31 * inverse.M14 + matrix1.M32 * inverse.M24 + matrix1.M33 * inverse.M34 + matrix1.M34 * inverse.M44;
|
|||
|
|
|
|||
|
|
result.M41 = matrix1.M41 * inverse.M11 + matrix1.M42 * inverse.M21 + matrix1.M43 * inverse.M31 + matrix1.M44 * inverse.M41;
|
|||
|
|
result.M42 = matrix1.M41 * inverse.M12 + matrix1.M42 * inverse.M22 + matrix1.M43 * inverse.M32 + matrix1.M44 * inverse.M42;
|
|||
|
|
result.M43 = matrix1.M41 * inverse.M13 + matrix1.M42 * inverse.M23 + matrix1.M43 * inverse.M33 + matrix1.M44 * inverse.M43;
|
|||
|
|
result.M44 = matrix1.M41 * inverse.M14 + matrix1.M42 * inverse.M24 + matrix1.M43 * inverse.M34 + matrix1.M44 * inverse.M44;
|
|||
|
|
|
|||
|
|
return result;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix operator /(Matrix matrix1, float divider)
|
|||
|
|
{
|
|||
|
|
float inverseDivider = 1.0f / divider;
|
|||
|
|
|
|||
|
|
matrix1.M11 = matrix1.M11 * inverseDivider;
|
|||
|
|
matrix1.M12 = matrix1.M12 * inverseDivider;
|
|||
|
|
matrix1.M13 = matrix1.M13 * inverseDivider;
|
|||
|
|
matrix1.M14 = matrix1.M14 * inverseDivider;
|
|||
|
|
matrix1.M21 = matrix1.M21 * inverseDivider;
|
|||
|
|
matrix1.M22 = matrix1.M22 * inverseDivider;
|
|||
|
|
matrix1.M23 = matrix1.M23 * inverseDivider;
|
|||
|
|
matrix1.M24 = matrix1.M24 * inverseDivider;
|
|||
|
|
matrix1.M31 = matrix1.M31 * inverseDivider;
|
|||
|
|
matrix1.M32 = matrix1.M32 * inverseDivider;
|
|||
|
|
matrix1.M33 = matrix1.M33 * inverseDivider;
|
|||
|
|
matrix1.M34 = matrix1.M34 * inverseDivider;
|
|||
|
|
matrix1.M41 = matrix1.M41 * inverseDivider;
|
|||
|
|
matrix1.M42 = matrix1.M42 * inverseDivider;
|
|||
|
|
matrix1.M43 = matrix1.M43 * inverseDivider;
|
|||
|
|
matrix1.M44 = matrix1.M44 * inverseDivider;
|
|||
|
|
|
|||
|
|
return matrix1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static bool operator ==(Matrix matrix1, Matrix matrix2)
|
|||
|
|
{
|
|||
|
|
return (matrix1.M11 == matrix2.M11) && (matrix1.M12 == matrix2.M12) &&
|
|||
|
|
(matrix1.M13 == matrix2.M13) && (matrix1.M14 == matrix2.M14) &&
|
|||
|
|
(matrix1.M21 == matrix2.M21) && (matrix1.M22 == matrix2.M22) &&
|
|||
|
|
(matrix1.M23 == matrix2.M23) && (matrix1.M24 == matrix2.M24) &&
|
|||
|
|
(matrix1.M31 == matrix2.M31) && (matrix1.M32 == matrix2.M32) &&
|
|||
|
|
(matrix1.M33 == matrix2.M33) && (matrix1.M34 == matrix2.M34) &&
|
|||
|
|
(matrix1.M41 == matrix2.M41) && (matrix1.M42 == matrix2.M42) &&
|
|||
|
|
(matrix1.M43 == matrix2.M43) && (matrix1.M44 == matrix2.M44);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static bool operator !=(Matrix matrix1, Matrix matrix2)
|
|||
|
|
{
|
|||
|
|
return (matrix1.M11 != matrix2.M11) || (matrix1.M12 != matrix2.M12) ||
|
|||
|
|
(matrix1.M13 != matrix2.M13) || (matrix1.M14 != matrix2.M14) ||
|
|||
|
|
(matrix1.M21 != matrix2.M21) || (matrix1.M22 != matrix2.M22) ||
|
|||
|
|
(matrix1.M23 != matrix2.M23) || (matrix1.M24 != matrix2.M24) ||
|
|||
|
|
(matrix1.M31 != matrix2.M31) || (matrix1.M32 != matrix2.M32) ||
|
|||
|
|
(matrix1.M33 != matrix2.M33) || (matrix1.M34 != matrix2.M34) ||
|
|||
|
|
(matrix1.M41 != matrix2.M41) || (matrix1.M42 != matrix2.M42) ||
|
|||
|
|
(matrix1.M43 != matrix2.M43) || (matrix1.M44 != matrix2.M44);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix operator *(Matrix matrix1, Matrix matrix2)
|
|||
|
|
{
|
|||
|
|
Matrix result;
|
|||
|
|
|
|||
|
|
result.M11 = matrix1.M11 * matrix2.M11 + matrix1.M12 * matrix2.M21 + matrix1.M13 * matrix2.M31 + matrix1.M14 * matrix2.M41;
|
|||
|
|
result.M12 = matrix1.M11 * matrix2.M12 + matrix1.M12 * matrix2.M22 + matrix1.M13 * matrix2.M32 + matrix1.M14 * matrix2.M42;
|
|||
|
|
result.M13 = matrix1.M11 * matrix2.M13 + matrix1.M12 * matrix2.M23 + matrix1.M13 * matrix2.M33 + matrix1.M14 * matrix2.M43;
|
|||
|
|
result.M14 = matrix1.M11 * matrix2.M14 + matrix1.M12 * matrix2.M24 + matrix1.M13 * matrix2.M34 + matrix1.M14 * matrix2.M44;
|
|||
|
|
|
|||
|
|
result.M21 = matrix1.M21 * matrix2.M11 + matrix1.M22 * matrix2.M21 + matrix1.M23 * matrix2.M31 + matrix1.M24 * matrix2.M41;
|
|||
|
|
result.M22 = matrix1.M21 * matrix2.M12 + matrix1.M22 * matrix2.M22 + matrix1.M23 * matrix2.M32 + matrix1.M24 * matrix2.M42;
|
|||
|
|
result.M23 = matrix1.M21 * matrix2.M13 + matrix1.M22 * matrix2.M23 + matrix1.M23 * matrix2.M33 + matrix1.M24 * matrix2.M43;
|
|||
|
|
result.M24 = matrix1.M21 * matrix2.M14 + matrix1.M22 * matrix2.M24 + matrix1.M23 * matrix2.M34 + matrix1.M24 * matrix2.M44;
|
|||
|
|
|
|||
|
|
result.M31 = matrix1.M31 * matrix2.M11 + matrix1.M32 * matrix2.M21 + matrix1.M33 * matrix2.M31 + matrix1.M34 * matrix2.M41;
|
|||
|
|
result.M32 = matrix1.M31 * matrix2.M12 + matrix1.M32 * matrix2.M22 + matrix1.M33 * matrix2.M32 + matrix1.M34 * matrix2.M42;
|
|||
|
|
result.M33 = matrix1.M31 * matrix2.M13 + matrix1.M32 * matrix2.M23 + matrix1.M33 * matrix2.M33 + matrix1.M34 * matrix2.M43;
|
|||
|
|
result.M34 = matrix1.M31 * matrix2.M14 + matrix1.M32 * matrix2.M24 + matrix1.M33 * matrix2.M34 + matrix1.M34 * matrix2.M44;
|
|||
|
|
|
|||
|
|
result.M41 = matrix1.M41 * matrix2.M11 + matrix1.M42 * matrix2.M21 + matrix1.M43 * matrix2.M31 + matrix1.M44 * matrix2.M41;
|
|||
|
|
result.M42 = matrix1.M41 * matrix2.M12 + matrix1.M42 * matrix2.M22 + matrix1.M43 * matrix2.M32 + matrix1.M44 * matrix2.M42;
|
|||
|
|
result.M43 = matrix1.M41 * matrix2.M13 + matrix1.M42 * matrix2.M23 + matrix1.M43 * matrix2.M33 + matrix1.M44 * matrix2.M43;
|
|||
|
|
result.M44 = matrix1.M41 * matrix2.M14 + matrix1.M42 * matrix2.M24 + matrix1.M43 * matrix2.M34 + matrix1.M44 * matrix2.M44;
|
|||
|
|
|
|||
|
|
return result;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix operator *(Matrix matrix, float scaleFactor)
|
|||
|
|
{
|
|||
|
|
matrix.M11 = matrix.M11 * scaleFactor;
|
|||
|
|
matrix.M12 = matrix.M12 * scaleFactor;
|
|||
|
|
matrix.M13 = matrix.M13 * scaleFactor;
|
|||
|
|
matrix.M14 = matrix.M14 * scaleFactor;
|
|||
|
|
matrix.M21 = matrix.M21 * scaleFactor;
|
|||
|
|
matrix.M22 = matrix.M22 * scaleFactor;
|
|||
|
|
matrix.M23 = matrix.M23 * scaleFactor;
|
|||
|
|
matrix.M24 = matrix.M24 * scaleFactor;
|
|||
|
|
matrix.M31 = matrix.M31 * scaleFactor;
|
|||
|
|
matrix.M32 = matrix.M32 * scaleFactor;
|
|||
|
|
matrix.M33 = matrix.M33 * scaleFactor;
|
|||
|
|
matrix.M34 = matrix.M34 * scaleFactor;
|
|||
|
|
matrix.M41 = matrix.M41 * scaleFactor;
|
|||
|
|
matrix.M42 = matrix.M42 * scaleFactor;
|
|||
|
|
matrix.M43 = matrix.M43 * scaleFactor;
|
|||
|
|
matrix.M44 = matrix.M44 * scaleFactor;
|
|||
|
|
return matrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix operator *(float scaleFactor, Matrix matrix)
|
|||
|
|
{
|
|||
|
|
matrix.M11 = matrix.M11 * scaleFactor;
|
|||
|
|
matrix.M12 = matrix.M12 * scaleFactor;
|
|||
|
|
matrix.M13 = matrix.M13 * scaleFactor;
|
|||
|
|
matrix.M14 = matrix.M14 * scaleFactor;
|
|||
|
|
matrix.M21 = matrix.M21 * scaleFactor;
|
|||
|
|
matrix.M22 = matrix.M22 * scaleFactor;
|
|||
|
|
matrix.M23 = matrix.M23 * scaleFactor;
|
|||
|
|
matrix.M24 = matrix.M24 * scaleFactor;
|
|||
|
|
matrix.M31 = matrix.M31 * scaleFactor;
|
|||
|
|
matrix.M32 = matrix.M32 * scaleFactor;
|
|||
|
|
matrix.M33 = matrix.M33 * scaleFactor;
|
|||
|
|
matrix.M34 = matrix.M34 * scaleFactor;
|
|||
|
|
matrix.M41 = matrix.M41 * scaleFactor;
|
|||
|
|
matrix.M42 = matrix.M42 * scaleFactor;
|
|||
|
|
matrix.M43 = matrix.M43 * scaleFactor;
|
|||
|
|
matrix.M44 = matrix.M44 * scaleFactor;
|
|||
|
|
return matrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static Matrix operator -(Matrix matrix1, Matrix matrix2)
|
|||
|
|
{
|
|||
|
|
matrix1.M11 -= matrix2.M11;
|
|||
|
|
matrix1.M12 -= matrix2.M12;
|
|||
|
|
matrix1.M13 -= matrix2.M13;
|
|||
|
|
matrix1.M14 -= matrix2.M14;
|
|||
|
|
matrix1.M21 -= matrix2.M21;
|
|||
|
|
matrix1.M22 -= matrix2.M22;
|
|||
|
|
matrix1.M23 -= matrix2.M23;
|
|||
|
|
matrix1.M24 -= matrix2.M24;
|
|||
|
|
matrix1.M31 -= matrix2.M31;
|
|||
|
|
matrix1.M32 -= matrix2.M32;
|
|||
|
|
matrix1.M33 -= matrix2.M33;
|
|||
|
|
matrix1.M34 -= matrix2.M34;
|
|||
|
|
matrix1.M41 -= matrix2.M41;
|
|||
|
|
matrix1.M42 -= matrix2.M42;
|
|||
|
|
matrix1.M43 -= matrix2.M43;
|
|||
|
|
matrix1.M44 -= matrix2.M44;
|
|||
|
|
return matrix1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public static Matrix operator -(Matrix matrix)
|
|||
|
|
{
|
|||
|
|
matrix.M11 = -matrix.M11;
|
|||
|
|
matrix.M12 = -matrix.M12;
|
|||
|
|
matrix.M13 = -matrix.M13;
|
|||
|
|
matrix.M14 = -matrix.M14;
|
|||
|
|
matrix.M21 = -matrix.M21;
|
|||
|
|
matrix.M22 = -matrix.M22;
|
|||
|
|
matrix.M23 = -matrix.M23;
|
|||
|
|
matrix.M24 = -matrix.M24;
|
|||
|
|
matrix.M31 = -matrix.M31;
|
|||
|
|
matrix.M32 = -matrix.M32;
|
|||
|
|
matrix.M33 = -matrix.M33;
|
|||
|
|
matrix.M34 = -matrix.M34;
|
|||
|
|
matrix.M41 = -matrix.M41;
|
|||
|
|
matrix.M42 = -matrix.M42;
|
|||
|
|
matrix.M43 = -matrix.M43;
|
|||
|
|
matrix.M44 = -matrix.M44;
|
|||
|
|
return matrix;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endregion
|
|||
|
|
|
|||
|
|
#region Object Overrides
|
|||
|
|
|
|||
|
|
public override bool Equals(object obj)
|
|||
|
|
{
|
|||
|
|
if (obj is Matrix)
|
|||
|
|
return this == (Matrix)obj;
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override int GetHashCode()
|
|||
|
|
{
|
|||
|
|
throw new NotImplementedException();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override string ToString()
|
|||
|
|
{
|
|||
|
|
return "{ {M11:" + M11 + " M12:" + M12 + " M13:" + M13 + " M14:" + M14 + "}" +
|
|||
|
|
" {M21:" + M21 + " M22:" + M22 + " M23:" + M23 + " M24:" + M24 + "}" +
|
|||
|
|
" {M31:" + M31 + " M32:" + M32 + " M33:" + M33 + " M34:" + M34 + "}" +
|
|||
|
|
" {M41:" + M41 + " M42:" + M42 + " M43:" + M43 + " M44:" + M44 + "} }";
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endregion
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
}
|