//"Spin" = rotate around a relative center of motion :o)
//----------------------------------------------------------------
public void Spin(float radians, IVector3H1 axisUnitVector, IVector3H1 RelCenter)
{
Matrix3H4 Trans1 = new Matrix3H4();
Trans1.SetTranslate(-(Vector3H1)RelCenter); //translate relative center to oragine
Matrix3H4 RotateMat = new Matrix3H4();
RotateMat.RotateAnyAxis(radians, axisUnitVector); //Do 3D rotation
Matrix3H4 Trans2 = new Matrix3H4();
Trans2.SetTranslate(RelCenter); // put it back
IMatrix3H4 Answer = Trans2 * RotateMat * Trans1; //multiply out answer
this.Copy(Answer);
}
public object Clone()
{
Matrix3H4 MyClone = new Matrix3H4();
MyClone.Data[0, 0] = Data[0, 0]; // copy the elements
MyClone.Data[0, 1] = Data[0, 1];
MyClone.Data[0, 2] = Data[0, 2];
MyClone.Data[0, 3] = Data[0, 3];
MyClone.Data[1, 0] = Data[1, 0];
MyClone.Data[1, 1] = Data[1, 1];
MyClone.Data[1, 2] = Data[1, 2];
MyClone.Data[1, 3] = Data[1, 3];
MyClone.Data[2, 0] = Data[2, 0];
MyClone.Data[2, 1] = Data[2, 1];
MyClone.Data[2, 2] = Data[2, 2];
MyClone.Data[2, 3] = Data[2, 3];
return((object)MyClone);
}
public static Matrix3H4 operator -(Matrix3H4 B)
{
Matrix3H4 NewMat = new Matrix3H4();
NewMat.Data[0, 0] = -B.Data[0, 0];
NewMat.Data[0, 1] = -B.Data[0, 1];
NewMat.Data[0, 2] = -B.Data[0, 2];
NewMat.Data[0, 3] = -B.Data[0, 3];
NewMat.Data[1, 0] = -B.Data[1, 0];
NewMat.Data[1, 1] = -B.Data[1, 1];
NewMat.Data[1, 2] = -B.Data[1, 2];
NewMat.Data[1, 3] = -B.Data[1, 3];
NewMat.Data[2, 0] = -B.Data[2, 0];
NewMat.Data[2, 1] = -B.Data[2, 1];
NewMat.Data[2, 2] = -B.Data[2, 2];
NewMat.Data[2, 3] = -B.Data[2, 3];
return(NewMat);
}
public static Matrix3H4 operator *(Matrix3H4 A, float coeff) //allow reverse order
{
Matrix3H4 NewMat = new Matrix3H4();
NewMat.Data[0, 0] = coeff * A.Data[0, 0];
NewMat.Data[0, 1] = coeff * A.Data[0, 1];
NewMat.Data[0, 2] = coeff * A.Data[0, 2];
NewMat.Data[0, 3] = coeff * A.Data[0, 3];
NewMat.Data[1, 0] = coeff * A.Data[1, 0];
NewMat.Data[1, 1] = coeff * A.Data[1, 1];
NewMat.Data[1, 2] = coeff * A.Data[1, 2];
NewMat.Data[1, 3] = coeff * A.Data[1, 3];
NewMat.Data[2, 0] = coeff * A.Data[2, 0];
NewMat.Data[2, 1] = coeff * A.Data[2, 1];
NewMat.Data[2, 2] = coeff * A.Data[2, 2];
NewMat.Data[2, 3] = coeff * A.Data[2, 3];
return(NewMat);
}
public static Matrix3H4 operator *(float coeff, Matrix3H4 A)
{
Matrix3H4 NewMat = new Matrix3H4();
NewMat.Data[0, 0] = coeff * A.Data[0, 0];
NewMat.Data[0, 1] = coeff * A.Data[0, 1];
NewMat.Data[0, 2] = coeff * A.Data[0, 2];
NewMat.Data[0, 3] = coeff * A.Data[0, 3];
NewMat.Data[1, 0] = coeff * A.Data[1, 0];
NewMat.Data[1, 1] = coeff * A.Data[1, 1];
NewMat.Data[1, 2] = coeff * A.Data[1, 2];
NewMat.Data[1, 3] = coeff * A.Data[1, 3];
NewMat.Data[2, 0] = coeff * A.Data[2, 0];
NewMat.Data[2, 1] = coeff * A.Data[2, 1];
NewMat.Data[2, 2] = coeff * A.Data[2, 2];
NewMat.Data[2, 3] = coeff * A.Data[2, 3];
return(NewMat);
}
public static Matrix3H4 operator *(Matrix3H4 A, Matrix3H4 B)
{
Matrix3H4 C = new Matrix3H4(); //ACCELERATED W/ OUT LOOPS
C.Data[0, 0] = A.Data[0, 0] * B.Data[0, 0] + A.Data[0, 1] * B.Data[1, 0] + A.Data[0, 2] * B.Data[2, 0];
C.Data[0, 1] = A.Data[0, 0] * B.Data[0, 1] + A.Data[0, 1] * B.Data[1, 1] + A.Data[0, 2] * B.Data[2, 1];
C.Data[0, 2] = A.Data[0, 0] * B.Data[0, 2] + A.Data[0, 1] * B.Data[1, 2] + A.Data[0, 2] * B.Data[2, 2];
C.Data[0, 3] = A.Data[0, 0] * B.Data[0, 3] + A.Data[0, 1] * B.Data[1, 3] + A.Data[0, 2] * B.Data[2, 3] + A.Data[0, 3]; // *1; //implied
C.Data[1, 0] = A.Data[1, 0] * B.Data[0, 0] + A.Data[1, 1] * B.Data[1, 0] + A.Data[1, 2] * B.Data[2, 0];
C.Data[1, 1] = A.Data[1, 0] * B.Data[0, 1] + A.Data[1, 1] * B.Data[1, 1] + A.Data[1, 2] * B.Data[2, 1];
C.Data[1, 2] = A.Data[1, 0] * B.Data[0, 2] + A.Data[1, 1] * B.Data[1, 2] + A.Data[1, 2] * B.Data[2, 2];
C.Data[1, 3] = A.Data[1, 0] * B.Data[0, 3] + A.Data[1, 1] * B.Data[1, 3] + A.Data[1, 2] * B.Data[2, 3] + A.Data[1, 3]; // *1; //hommogenous
C.Data[2, 0] = A.Data[2, 0] * B.Data[0, 0] + A.Data[2, 1] * B.Data[1, 0] + A.Data[2, 2] * B.Data[2, 0];
C.Data[2, 1] = A.Data[2, 0] * B.Data[0, 1] + A.Data[2, 1] * B.Data[1, 1] + A.Data[2, 2] * B.Data[2, 1];
C.Data[2, 2] = A.Data[2, 0] * B.Data[0, 2] + A.Data[2, 1] * B.Data[1, 2] + A.Data[2, 2] * B.Data[2, 2];
C.Data[2, 3] = A.Data[2, 0] * B.Data[0, 3] + A.Data[2, 1] * B.Data[1, 3] + A.Data[2, 2] * B.Data[2, 3] + A.Data[2, 3]; // *1; //one
return(C);
}
//"stretch" = scale around a relative (quasi-center) point
//basically you move to the origin, do a normal scale, then move the object back
public void Stretch(float SX, float SY, float SZ, IVector3H1 RelCenter) //probably cannot be done in 3x3... 3H4???
{
//translate relative center to oragine
Matrix3H4 Trans1 = new Matrix3H4();
Trans1.SetTranslate(-RelCenter.X, -RelCenter.Y, -RelCenter.Z);
//do the scaling
Matrix3H4 ScaleMat = new Matrix3H4();
ScaleMat.SetScale(SX, SY, SZ);
// put it back
Matrix3H4 Trans2 = new Matrix3H4();
Trans2.SetTranslate(RelCenter);
IMatrix3H4 Answer = Trans2 * ScaleMat * Trans1;
this.Copy(Answer);
}
