public static Matrix33 CreateScale(Vector3 s)
{
var matrix = new Matrix33();
matrix.SetScale(s);
return(matrix);
}
public static Matrix33 CreateRotationAA(float c, float s, Vector3 axis)
{
var matrix = new Matrix33();
matrix.SetRotationAA(c, s, axis);
return(matrix);
}
public static Matrix33 CreateIdentity()
{
var matrix = new Matrix33();
matrix.SetIdentity();
return(matrix);
}
public static Matrix33 CreateFromVectors(Vector3 vx, Vector3 vy, Vector3 vz)
{
var matrix = new Matrix33();
matrix.SetFromVectors(vx, vy, vz);
return(matrix);
}
public static Matrix33 operator *(Matrix33 left, Matrix33 right)
{
var m = new Matrix33();
m.M00 = left.M00 * right.M00 + left.M01 * right.M10 + left.M02 * right.M20;
m.M01 = left.M00 * right.M01 + left.M01 * right.M11 + left.M02 * right.M21;
m.M02 = left.M00 * right.M02 + left.M01 * right.M12 + left.M02 * right.M22;
m.M10 = left.M10 * right.M00 + left.M11 * right.M10 + left.M12 * right.M20;
m.M11 = left.M10 * right.M01 + left.M11 * right.M11 + left.M12 * right.M21;
m.M12 = left.M10 * right.M02 + left.M11 * right.M12 + left.M12 * right.M22;
m.M20 = left.M20 * right.M00 + left.M21 * right.M10 + left.M22 * right.M20;
m.M21 = left.M20 * right.M01 + left.M21 * right.M11 + left.M22 * right.M21;
m.M22 = left.M20 * right.M02 + left.M21 * right.M12 + left.M22 * right.M22;
return(m);
}
public void SetScale(Vector3 s, Vector3 t = default(Vector3))
{
this = new Matrix34(Matrix33.CreateScale(s));
SetTranslation(t);
}
/*!
* Create a rotation matrix around an arbitrary axis (Eulers Theorem).
* The axis is specified as an normalized Vector3. The angle is assumed to be in radians.
* This function also assumes a translation-vector and stores it in the right column.
*
* Example:
* Matrix34 m34;
* Vector3 axis=GetNormalized( Vector3(-1.0f,-0.3f,0.0f) );
* m34.SetRotationAA( 3.14314f, axis, Vector3(5,5,5) );
*/
public void SetRotationAA(float c, float s, Vector3 axis, Vector3 t = default(Vector3))
{
this = new Matrix34(Matrix33.CreateRotationAA(c, s, axis));
M03 = t.X; M13 = t.Y; M23 = t.Z;
}
public void SetRotation33(Matrix33 m33)
{
M00 = m33.M00; M01 = m33.M01; M02 = m33.M02;
M10 = m33.M10; M11 = m33.M11; M12 = m33.M12;
M20 = m33.M20; M21 = m33.M21; M22 = m33.M22;
}
public Matrix34(Matrix33 m33)
: this()
{
}