public static MatrixRecargada operator *(MatrixRecargada lhs, MatrixRecargada rhs)
{
MatrixRecargada matXMat = zero;
matXMat.m00 = (lhs.m00 * rhs.m00) + (lhs.m01 * rhs.m10) + (lhs.m02 * rhs.m20) + (lhs.m03 * rhs.m30);
matXMat.m01 = (lhs.m00 * rhs.m01) + (lhs.m01 * rhs.m11) + (lhs.m02 * rhs.m21) + (lhs.m03 * rhs.m31);
matXMat.m02 = (lhs.m00 * rhs.m02) + (lhs.m01 * rhs.m12) + (lhs.m02 * rhs.m22) + (lhs.m03 * rhs.m32);
matXMat.m03 = (lhs.m00 * rhs.m03) + (lhs.m01 * rhs.m13) + (lhs.m02 * rhs.m23) + (lhs.m03 * rhs.m33);
matXMat.m10 = (lhs.m10 * rhs.m00) + (lhs.m11 * rhs.m10) + (lhs.m12 * rhs.m20) + (lhs.m13 * rhs.m30);
matXMat.m11 = (lhs.m10 * rhs.m01) + (lhs.m11 * rhs.m11) + (lhs.m12 * rhs.m21) + (lhs.m13 * rhs.m31);
matXMat.m12 = (lhs.m10 * rhs.m02) + (lhs.m11 * rhs.m12) + (lhs.m12 * rhs.m22) + (lhs.m13 * rhs.m32);
matXMat.m13 = (lhs.m10 * rhs.m03) + (lhs.m11 * rhs.m13) + (lhs.m12 * rhs.m23) + (lhs.m13 * rhs.m33);
matXMat.m20 = (lhs.m20 * rhs.m00) + (lhs.m21 * rhs.m10) + (lhs.m22 * rhs.m20) + (lhs.m23 * rhs.m30);
matXMat.m21 = (lhs.m20 * rhs.m01) + (lhs.m21 * rhs.m11) + (lhs.m22 * rhs.m21) + (lhs.m23 * rhs.m31);
matXMat.m22 = (lhs.m20 * rhs.m02) + (lhs.m21 * rhs.m12) + (lhs.m22 * rhs.m22) + (lhs.m23 * rhs.m32);
matXMat.m23 = (lhs.m20 * rhs.m03) + (lhs.m21 * rhs.m13) + (lhs.m22 * rhs.m23) + (lhs.m23 * rhs.m33);
matXMat.m30 = (lhs.m30 * rhs.m00) + (lhs.m31 * rhs.m10) + (lhs.m32 * rhs.m20) + (lhs.m33 * rhs.m30);
matXMat.m31 = (lhs.m30 * rhs.m01) + (lhs.m31 * rhs.m11) + (lhs.m32 * rhs.m21) + (lhs.m33 * rhs.m31);
matXMat.m32 = (lhs.m30 * rhs.m02) + (lhs.m31 * rhs.m12) + (lhs.m32 * rhs.m22) + (lhs.m33 * rhs.m32);
matXMat.m33 = (lhs.m30 * rhs.m03) + (lhs.m31 * rhs.m13) + (lhs.m32 * rhs.m23) + (lhs.m33 * rhs.m33);
return(matXMat);
}
public static MatrixRecargada TRS(Vec3 pos, Quarentenion q, Vec3 s)
{
MatrixRecargada matTrans = Translate(pos);
MatrixRecargada matRot = Rotate(q);
MatrixRecargada matScale = Scale(s);
MatrixRecargada trs = matTrans * matRot * matScale;
return(trs);
}
//
// Resumen:
// Creates a scaling matrix.
//
// Parámetros:
// vector:
public static MatrixRecargada Scale(Vec3 vector)
{
MatrixRecargada mScale = zero;
mScale.m00 = vector.x;
mScale.m11 = vector.y;
mScale.m22 = vector.z;
mScale.m33 = 1.0f;
return(mScale);
}
//
// Resumen:
// Creates a translation matrix.
//
// Parámetros:
// vector:
public static MatrixRecargada Translate(Vec3 vector)
{
MatrixRecargada mTrans = identity;
mTrans.m03 = vector.x;
mTrans.m13 = vector.y;
mTrans.m23 = vector.z;
mTrans.m33 = 1.0f;
return(mTrans);
}
public static MatrixRecargada Rotate(Quarentenion q)
{
MatrixRecargada mRot = identity;
mRot.m00 = 1 - 2.0f * (q.y * q.y) - 2.0f * (q.z * q.z);
mRot.m01 = 2.0f * (q.x * q.y) - 2.0f * (q.z * q.w);
mRot.m02 = 2.0f * (q.x * q.z) + 2.0f * (q.y * q.w);
mRot.m10 = 2.0f * (q.x * q.y) + 2.0f * (q.z * q.w);
mRot.m11 = 1 - 2.0f * (q.x * q.x) - 2.0f * (q.z * q.z);
mRot.m12 = 2.0f * (q.y * q.z) - 2.0f * (q.x * q.w);
mRot.m20 = 2.0f * (q.x * q.z) - 2.0f * (q.y * q.w);
mRot.m21 = 2.0f * (q.y * q.z) + 2.0f * (q.x * q.w);
mRot.m22 = 1 - 2.0f * (q.x * q.x) - 2.0f * (q.y * q.y);
return(mRot);
}