/// <summary>Constructs and initializes a Vector3f from the specified Vector3d.</summary>
/// <remarks>Constructs and initializes a Vector3f from the specified Vector3d.</remarks>
/// <param name="v1">the Vector3d containing the initialization x y z data</param>
public Vector3f(Vector3d v1)
: base(v1)
{
}
/// <summary>
/// Constructs and initializes an AxisAngle4d from the specified
/// axis and angle.
/// </summary>
/// <remarks>
/// Constructs and initializes an AxisAngle4d from the specified
/// axis and angle.
/// </remarks>
/// <param name="axis">the axis</param>
/// <param name="angle">the angle of rotation in radian</param>
/// <since>vecmath 1.2</since>
public AxisAngle4d(Vector3d axis, double angle)
{
this.x = axis.x;
this.y = axis.y;
this.z = axis.z;
this.angle = angle;
}
/// <summary>Returns the dot product of this vector and vector v1.</summary>
/// <remarks>Returns the dot product of this vector and vector v1.</remarks>
/// <param name="v1">the other vector</param>
/// <returns>the dot product of this and v1</returns>
public double Dot(Vector3d v1)
{
return (this.x * v1.x + this.y * v1.y + this.z * v1.z);
}
/// <summary>Sets the value of this vector to the normalization of vector v1.</summary>
/// <remarks>Sets the value of this vector to the normalization of vector v1.</remarks>
/// <param name="v1">the un-normalized vector</param>
public void Normalize(Vector3d v1)
{
double norm;
norm = 1.0 / Math.Sqrt(v1.x * v1.x + v1.y * v1.y + v1.z * v1.z);
this.x = v1.x * norm;
this.y = v1.y * norm;
this.z = v1.z * norm;
}
/// <summary>
/// Sets the value of this matrix from the rotation expressed
/// by the quaternion q1, the translation t1, and the scale s.
/// </summary>
/// <remarks>
/// Sets the value of this matrix from the rotation expressed
/// by the quaternion q1, the translation t1, and the scale s.
/// </remarks>
/// <param name="q1">the rotation expressed as a quaternion</param>
/// <param name="t1">the translation</param>
/// <param name="s">the scale value</param>
public void Set(Quat4d q1, Vector3d t1, double s)
{
this.m00 = (float)(s * (1.0 - 2.0 * q1.y * q1.y - 2.0 * q1.z * q1.z));
this.m10 = (float)(s * (2.0 * (q1.x * q1.y + q1.w * q1.z)));
this.m20 = (float)(s * (2.0 * (q1.x * q1.z - q1.w * q1.y)));
this.m01 = (float)(s * (2.0 * (q1.x * q1.y - q1.w * q1.z)));
this.m11 = (float)(s * (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.z * q1.z));
this.m21 = (float)(s * (2.0 * (q1.y * q1.z + q1.w * q1.x)));
this.m02 = (float)(s * (2.0 * (q1.x * q1.z + q1.w * q1.y)));
this.m12 = (float)(s * (2.0 * (q1.y * q1.z - q1.w * q1.x)));
this.m22 = (float)(s * (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.y * q1.y));
this.m03 = (float)t1.x;
this.m13 = (float)t1.y;
this.m23 = (float)t1.z;
this.m30 = (float)0.0;
this.m31 = (float)0.0;
this.m32 = (float)0.0;
this.m33 = (float)1.0;
}
/// <summary>
/// Sets the value of this matrix from the rotation expressed
/// by the quaternion q1, the translation t1, and the scale s.
/// </summary>
/// <remarks>
/// Sets the value of this matrix from the rotation expressed
/// by the quaternion q1, the translation t1, and the scale s.
/// </remarks>
/// <param name="q1">the rotation expressed as a quaternion</param>
/// <param name="t1">the translation</param>
/// <param name="s">the scale value</param>
public void Set(Quat4f q1, Vector3d t1, double s)
{
this.m00 = s * (1.0 - 2.0 * q1.y * q1.y - 2.0 * q1.z * q1.z);
this.m10 = s * (2.0 * (q1.x * q1.y + q1.w * q1.z));
this.m20 = s * (2.0 * (q1.x * q1.z - q1.w * q1.y));
this.m01 = s * (2.0 * (q1.x * q1.y - q1.w * q1.z));
this.m11 = s * (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.z * q1.z);
this.m21 = s * (2.0 * (q1.y * q1.z + q1.w * q1.x));
this.m02 = s * (2.0 * (q1.x * q1.z + q1.w * q1.y));
this.m12 = s * (2.0 * (q1.y * q1.z - q1.w * q1.x));
this.m22 = s * (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.y * q1.y);
this.m03 = t1.x;
this.m13 = t1.y;
this.m23 = t1.z;
this.m30 = 0.0;
this.m31 = 0.0;
this.m32 = 0.0;
this.m33 = 1.0;
}
/// <summary>
/// Performs an SVD normalization of this matrix to calculate
/// the rotation as a 3x3 matrix, the translation, and the scale.
/// </summary>
/// <remarks>
/// Performs an SVD normalization of this matrix to calculate
/// the rotation as a 3x3 matrix, the translation, and the scale.
/// None of the matrix values are modified.
/// </remarks>
/// <param name="m1">the normalized matrix representing the rotation</param>
/// <param name="t1">the translation component</param>
/// <returns>the scale component of this transform</returns>
public double Get(Matrix3f m1, Vector3d t1)
{
double[] tmp_rot = new double[9];
// scratch matrix
double[] tmp_scale = new double[3];
// scratch matrix
GetScaleRotate(tmp_scale, tmp_rot);
m1.m00 = (float)tmp_rot[0];
m1.m01 = (float)tmp_rot[1];
m1.m02 = (float)tmp_rot[2];
m1.m10 = (float)tmp_rot[3];
m1.m11 = (float)tmp_rot[4];
m1.m12 = (float)tmp_rot[5];
m1.m20 = (float)tmp_rot[6];
m1.m21 = (float)tmp_rot[7];
m1.m22 = (float)tmp_rot[8];
t1.x = m03;
t1.y = m13;
t1.z = m23;
return (Matrix3d.Max3(tmp_scale));
}
/// <summary>
/// Copies the matrix values in the specified column into the vector
/// parameter.
/// </summary>
/// <remarks>
/// Copies the matrix values in the specified column into the vector
/// parameter.
/// </remarks>
/// <param name="column">the matrix column</param>
/// <param name="v">the vector into which the matrix row values will be copied</param>
public void GetColumn(int column, Vector3d v)
{
if (column == 0)
{
v.x = m00;
v.y = m10;
v.z = m20;
}
else
{
if (column == 1)
{
v.x = m01;
v.y = m11;
v.z = m21;
}
else
{
if (column == 2)
{
v.x = m02;
v.y = m12;
v.z = m22;
}
else
{
throw new IndexOutOfRangeException("Matrix3d getColumn");
}
}
}
}
/// <summary>
/// Modifies the translational components of this matrix to the values
/// of the Vector3d argument; the other values of this matrix are not
/// modified.
/// </summary>
/// <remarks>
/// Modifies the translational components of this matrix to the values
/// of the Vector3d argument; the other values of this matrix are not
/// modified.
/// </remarks>
/// <param name="trans">the translational component</param>
public void SetTranslation(Vector3d trans)
{
m03 = trans.x;
m13 = trans.y;
m23 = trans.z;
}
/// <summary>
/// Transforms the normal parameter by this transform and places the value
/// back into normal.
/// </summary>
/// <remarks>
/// Transforms the normal parameter by this transform and places the value
/// back into normal. The fourth element of the normal is assumed to be zero.
/// </remarks>
/// <param name="normal">the input normal to be transformed.</param>
public void Transform(Vector3d normal)
{
double x;
double y;
x = m00 * normal.x + m01 * normal.y + m02 * normal.z;
y = m10 * normal.x + m11 * normal.y + m12 * normal.z;
normal.z = m20 * normal.x + m21 * normal.y + m22 * normal.z;
normal.x = x;
normal.y = y;
}
/// <summary>
/// Constructs and initializes a Matrix4f from the rotation matrix,
/// translation, and scale values; the scale is applied only to the
/// rotational components of the matrix (upper 3x3) and not to the
/// translational components of the matrix.
/// </summary>
/// <remarks>
/// Constructs and initializes a Matrix4f from the rotation matrix,
/// translation, and scale values; the scale is applied only to the
/// rotational components of the matrix (upper 3x3) and not to the
/// translational components of the matrix.
/// </remarks>
/// <param name="m1">the rotation matrix representing the rotational components</param>
/// <param name="t1">the translational components of the matrix</param>
/// <param name="s">the scale value applied to the rotational components</param>
public Matrix4d(Matrix3d m1, Vector3d t1, double s)
{
this.m00 = m1.m00 * s;
this.m01 = m1.m01 * s;
this.m02 = m1.m02 * s;
this.m03 = t1.x;
this.m10 = m1.m10 * s;
this.m11 = m1.m11 * s;
this.m12 = m1.m12 * s;
this.m13 = t1.y;
this.m20 = m1.m20 * s;
this.m21 = m1.m21 * s;
this.m22 = m1.m22 * s;
this.m23 = t1.z;
this.m30 = 0.0;
this.m31 = 0.0;
this.m32 = 0.0;
this.m33 = 1.0;
}
/// <summary>
/// Sets the value of this transform to a scale and translation matrix;
/// the translation is scaled by the scale factor and all of the matrix
/// values are modified.
/// </summary>
/// <remarks>
/// Sets the value of this transform to a scale and translation matrix;
/// the translation is scaled by the scale factor and all of the matrix
/// values are modified.
/// </remarks>
/// <param name="v1">the translation amount</param>
/// <param name="scale">the scale factor for the matrix</param>
public void Set(Vector3d v1, double scale)
{
this.m00 = scale;
this.m01 = 0.0;
this.m02 = 0.0;
this.m03 = scale * v1.x;
this.m10 = 0.0;
this.m11 = scale;
this.m12 = 0.0;
this.m13 = scale * v1.y;
this.m20 = 0.0;
this.m21 = 0.0;
this.m22 = scale;
this.m23 = scale * v1.z;
this.m30 = 0.0;
this.m31 = 0.0;
this.m32 = 0.0;
this.m33 = 1.0;
}
/// <summary>
/// Sets the value of this matrix to a translate matrix by the
/// passed translation value.
/// </summary>
/// <remarks>
/// Sets the value of this matrix to a translate matrix by the
/// passed translation value.
/// </remarks>
/// <param name="v1">the translation amount</param>
public void Set(Vector3d v1)
{
this.m00 = 1.0;
this.m01 = 0.0;
this.m02 = 0.0;
this.m03 = v1.x;
this.m10 = 0.0;
this.m11 = 1.0;
this.m12 = 0.0;
this.m13 = v1.y;
this.m20 = 0.0;
this.m21 = 0.0;
this.m22 = 1.0;
this.m23 = v1.z;
this.m30 = 0.0;
this.m31 = 0.0;
this.m32 = 0.0;
this.m33 = 1.0;
}
/// <summary>
/// Sets the value of this AxisAngle4d to the specified
/// axis and angle.
/// </summary>
/// <remarks>
/// Sets the value of this AxisAngle4d to the specified
/// axis and angle.
/// </remarks>
/// <param name="axis">the axis</param>
/// <param name="angle">the angle of rotation in radians</param>
/// <since>vecmath 1.2</since>
public void Set(Vector3d axis, double angle)
{
this.x = axis.x;
this.y = axis.y;
this.z = axis.z;
this.angle = angle;
}
/// <summary>Retrieves the translational components of this matrix.</summary>
/// <remarks>Retrieves the translational components of this matrix.</remarks>
/// <param name="trans">the vector that will receive the translational component</param>
public void Get(Vector3d trans)
{
trans.x = m03;
trans.y = m13;
trans.z = m23;
}
/// <summary>Sets the specified row of this matrix3d to the Vector provided.</summary>
/// <remarks>Sets the specified row of this matrix3d to the Vector provided.</remarks>
/// <param name="row">the row number to be modified (zero indexed)</param>
/// <param name="v">the replacement row</param>
public void SetRow(int row, Vector3d v)
{
switch (row)
{
case 0:
{
this.m00 = v.x;
this.m01 = v.y;
this.m02 = v.z;
break;
}
case 1:
{
this.m10 = v.x;
this.m11 = v.y;
this.m12 = v.z;
break;
}
case 2:
{
this.m20 = v.x;
this.m21 = v.y;
this.m22 = v.z;
break;
}
default:
{
throw new IndexOutOfRangeException("Matrix3d setRow");
}
}
}
/// <summary>
/// Returns the angle in radians between this vector and the vector
/// parameter; the return value is constrained to the range [0,PI].
/// </summary>
/// <remarks>
/// Returns the angle in radians between this vector and the vector
/// parameter; the return value is constrained to the range [0,PI].
/// </remarks>
/// <param name="v1">the other vector</param>
/// <returns>the angle in radians in the range [0,PI]</returns>
public double Angle(Vector3d v1)
{
double vDot = this.Dot(v1) / (this.Length() * v1.Length());
if (vDot < -1.0)
{
vDot = -1.0;
}
if (vDot > 1.0)
{
vDot = 1.0;
}
return ((double)(Math.Acos(vDot)));
}
/// <summary>Copies the matrix values in the specified row into the vector parameter.
/// </summary>
/// <remarks>Copies the matrix values in the specified row into the vector parameter.
/// </remarks>
/// <param name="row">the matrix row</param>
/// <param name="v">the vector into which the matrix row values will be copied</param>
public void GetRow(int row, Vector3d v)
{
if (row == 0)
{
v.x = m00;
v.y = m01;
v.z = m02;
}
else
{
if (row == 1)
{
v.x = m10;
v.y = m11;
v.z = m12;
}
else
{
if (row == 2)
{
v.x = m20;
v.y = m21;
v.z = m22;
}
else
{
throw new IndexOutOfRangeException("Matrix3d getRow");
}
}
}
}
// Combatible with 1.1
/// <summary>Sets this vector to the vector cross product of vectors v1 and v2.</summary>
/// <remarks>Sets this vector to the vector cross product of vectors v1 and v2.</remarks>
/// <param name="v1">the first vector</param>
/// <param name="v2">the second vector</param>
public void Cross(Vector3d v1, Vector3d v2)
{
double x;
double y;
x = v1.y * v2.z - v1.z * v2.y;
y = v2.x * v1.z - v2.z * v1.x;
this.z = v1.x * v2.y - v1.y * v2.x;
this.x = x;
this.y = y;
}
/// <summary>
/// Sets the value of this matrix from the rotation expressed by
/// the rotation matrix m1, the translation t1, and the scale factor.
/// </summary>
/// <remarks>
/// Sets the value of this matrix from the rotation expressed by
/// the rotation matrix m1, the translation t1, and the scale factor.
/// The translation is not modified by the scale.
/// </remarks>
/// <param name="m1">the rotation component</param>
/// <param name="t1">the translation component</param>
/// <param name="scale">the scale factor</param>
public void Set(Matrix3d m1, Vector3d t1, double scale)
{
this.m00 = (float)(m1.m00 * scale);
this.m01 = (float)(m1.m01 * scale);
this.m02 = (float)(m1.m02 * scale);
this.m03 = (float)t1.x;
this.m10 = (float)(m1.m10 * scale);
this.m11 = (float)(m1.m11 * scale);
this.m12 = (float)(m1.m12 * scale);
this.m13 = (float)t1.y;
this.m20 = (float)(m1.m20 * scale);
this.m21 = (float)(m1.m21 * scale);
this.m22 = (float)(m1.m22 * scale);
this.m23 = (float)t1.z;
this.m30 = 0.0f;
this.m31 = 0.0f;
this.m32 = 0.0f;
this.m33 = 1.0f;
}
/// <summary>
/// Constructs and initializes a Matrix4d from the quaternion,
/// translation, and scale values; the scale is applied only to the
/// rotational components of the matrix (upper 3x3) and not to the
/// translational components.
/// </summary>
/// <remarks>
/// Constructs and initializes a Matrix4d from the quaternion,
/// translation, and scale values; the scale is applied only to the
/// rotational components of the matrix (upper 3x3) and not to the
/// translational components.
/// </remarks>
/// <param name="q1">the quaternion value representing the rotational component</param>
/// <param name="t1">the translational component of the matrix</param>
/// <param name="s">the scale value applied to the rotational components</param>
public Matrix4d(Quat4f q1, Vector3d t1, double s)
{
m00 = s * (1.0 - 2.0 * q1.y * q1.y - 2.0 * q1.z * q1.z);
m10 = s * (2.0 * (q1.x * q1.y + q1.w * q1.z));
m20 = s * (2.0 * (q1.x * q1.z - q1.w * q1.y));
m01 = s * (2.0 * (q1.x * q1.y - q1.w * q1.z));
m11 = s * (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.z * q1.z);
m21 = s * (2.0 * (q1.y * q1.z + q1.w * q1.x));
m02 = s * (2.0 * (q1.x * q1.z + q1.w * q1.y));
m12 = s * (2.0 * (q1.y * q1.z - q1.w * q1.x));
m22 = s * (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.y * q1.y);
m03 = t1.x;
m13 = t1.y;
m23 = t1.z;
m30 = 0.0;
m31 = 0.0;
m32 = 0.0;
m33 = 1.0;
}
