public MatrixF Translate(CoordinateF translation)
{
return(new MatrixF(Values[0], Values[1], Values[2], Values[3],
Values[4], Values[5], Values[6], Values[7],
Values[8], Values[9], Values[10], Values[11],
Values[12] + translation.X, Values[13] + translation.Y, Values[14] + translation.Z, Values[15]));
}
public bool EquivalentTo(CoordinateF test, float delta = 0.0001f)
{
var xd = Math.Abs(X - test.X);
var yd = Math.Abs(Y - test.Y);
var zd = Math.Abs(Z - test.Z);
return((xd < delta) && (yd < delta) && (zd < delta));
}
public CoordinateF Cross(CoordinateF that)
{
var xv = (Y * that.Z) - (Z * that.Y);
var yv = (Z * that.X) - (X * that.Z);
var zv = (X * that.Y) - (Y * that.X);
return(new CoordinateF(xv, yv, zv));
}
public CoordinateF Rotate(CoordinateF coord)
{
// http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation
var q = new QuaternionF(coord.Normalise(), 0);
var temp = q * Conjugate();
return((this * temp).Vector);
}
public static MatrixF Scale(CoordinateF scale)
{
var m = Identity;
m.Values[0] = scale.X;
m.Values[5] = scale.Y;
m.Values[10] = scale.Z;
return(m);
}
public static MatrixF Translation(CoordinateF translation)
{
var m = Identity;
m.Values[12] = translation.X;
m.Values[13] = translation.Y;
m.Values[14] = translation.Z;
return(m);
}
public bool Equals(CoordinateF other)
{
if (ReferenceEquals(null, other))
{
return(false);
}
if (ReferenceEquals(this, other))
{
return(true);
}
return(EquivalentTo(other));
}
public static MatrixF Rotation(CoordinateF axis, float angle)
{
var cos = (float)Math.Cos(-angle);
var sin = (float)Math.Sin(-angle);
var t = 1f - cos;
axis = axis.Normalise();
return(new MatrixF(t * axis.X * axis.X + cos, t * axis.X * axis.Y - sin * axis.Z, t * axis.X * axis.Z + sin * axis.Y, 0,
t * axis.X * axis.Y + sin * axis.Z, t * axis.Y * axis.Y + cos, t * axis.Y * axis.Z - sin * axis.X, 0,
t * axis.X * axis.Z - sin * axis.Y, t * axis.Y * axis.Z + sin * axis.X, t * axis.Z * axis.Z + cos, 0,
0, 0, 0, 1));
}
public CoordinateF ComponentDivide(CoordinateF c)
{
if (Math.Abs(c.X - 0) < 0.0001)
{
c.X = 1;
}
if (Math.Abs(c.Y - 0) < 0.0001)
{
c.Y = 1;
}
if (Math.Abs(c.Z - 0) < 0.0001)
{
c.Z = 1;
}
return(new CoordinateF(X / c.X, Y / c.Y, Z / c.Z));
}
public static QuaternionF EulerAngles(CoordinateF angles)
{
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/eulerToQuaternionF/index.htm
angles = angles / 2;
var sy = (float)Math.Sin(angles.Z);
var sp = (float)Math.Sin(angles.Y);
var sr = (float)Math.Sin(angles.X);
var cy = (float)Math.Cos(angles.Z);
var cp = (float)Math.Cos(angles.Y);
var cr = (float)Math.Cos(angles.X);
return(new QuaternionF(sr * cp * cy - cr * sp * sy,
cr * sp * cy + sr * cp * sy,
cr * cp * sy - sr * sp * cy,
cr * cp * cy + sr * sp * sy));
}
public float Dot(CoordinateF c)
{
return((X * c.X) + (Y * c.Y) + (Z * c.Z));
}
public CoordinateF ComponentMultiply(CoordinateF c)
{
return(new CoordinateF(X * c.X, Y * c.Y, Z * c.Z));
}
public QuaternionF(float x, float y, float z, float w)
{
Vector = new CoordinateF(x, y, z);
Scalar = w;
}
public QuaternionF(CoordinateF vector, float scalar)
{
Vector = vector;
Scalar = scalar;
}
public static QuaternionF AxisAngle(CoordinateF axis, float angle)
{
return(Math.Abs(axis.VectorMagnitude()) < 0.0001
? Identity
: new QuaternionF(axis.Normalise() * (float)Math.Sin(angle / 2), (float)Math.Cos(angle / 2)).Normalise());
}
