/// <summary>
/// Transforms a vector by the transposed of the given Matrix.
/// </summary>
/// <param name="position">The vector to transform.</param>
/// <param name="matrix">The transform matrix.</param>
/// <param name="result">The transformed vector.</param>
public static void TransposedTransform(ref Fixed64Vector3 position, ref Fixed64Matrix matrix, out Fixed64Vector3 result)
{
Fixed64 num0 = ((position.x * matrix.M11) + (position.y * matrix.M12)) + (position.z * matrix.M13);
Fixed64 num1 = ((position.x * matrix.M21) + (position.y * matrix.M22)) + (position.z * matrix.M23);
Fixed64 num2 = ((position.x * matrix.M31) + (position.y * matrix.M32)) + (position.z * matrix.M33);
result.x = num0;
result.y = num1;
result.z = num2;
}
/// <summary>
/// Creates a quaternion from a matrix.
/// </summary>
/// <param name="matrix">A matrix representing an orientation.</param>
/// <param name="result">JQuaternion representing an orientation.</param>
public static void CreateFromMatrix(ref Fixed64Matrix matrix, out Fixed64Quaternion result)
{
Fixed64 num8 = (matrix.M11 + matrix.M22) + matrix.M33;
if (num8 > Fixed64.Zero)
{
Fixed64 num = Fixed64.Sqrt((num8 + Fixed64.One));
result.w = num * Fixed64.Half;
num = Fixed64.Half / num;
result.x = (matrix.M23 - matrix.M32) * num;
result.y = (matrix.M31 - matrix.M13) * num;
result.z = (matrix.M12 - matrix.M21) * num;
}
else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
{
Fixed64 num7 = Fixed64.Sqrt((((Fixed64.One + matrix.M11) - matrix.M22) - matrix.M33));
Fixed64 num4 = Fixed64.Half / num7;
result.x = Fixed64.Half * num7;
result.y = (matrix.M12 + matrix.M21) * num4;
result.z = (matrix.M13 + matrix.M31) * num4;
result.w = (matrix.M23 - matrix.M32) * num4;
}
else if (matrix.M22 > matrix.M33)
{
Fixed64 num6 = Fixed64.Sqrt((((Fixed64.One + matrix.M22) - matrix.M11) - matrix.M33));
Fixed64 num3 = Fixed64.Half / num6;
result.x = (matrix.M21 + matrix.M12) * num3;
result.y = Fixed64.Half * num6;
result.z = (matrix.M32 + matrix.M23) * num3;
result.w = (matrix.M31 - matrix.M13) * num3;
}
else
{
Fixed64 num5 = Fixed64.Sqrt((((Fixed64.One + matrix.M33) - matrix.M11) - matrix.M22));
Fixed64 num2 = Fixed64.Half / num5;
result.x = (matrix.M31 + matrix.M13) * num2;
result.y = (matrix.M32 + matrix.M23) * num2;
result.z = Fixed64.Half * num5;
result.w = (matrix.M12 - matrix.M21) * num2;
}
}
/// <summary>
/// Transforms a vector by the given matrix.
/// </summary>
/// <param name="position">The vector to transform.</param>
/// <param name="matrix">The transform matrix.</param>
/// <returns>The transformed vector.</returns>
public static Fixed64Vector3 Transform(Fixed64Vector3 position, Fixed64Matrix matrix)
{
Transform(ref position, ref matrix, out Fixed64Vector3 result);
return(result);
}
/// <summary>
/// Creates a quaternion from a matrix.
/// </summary>
/// <param name="matrix">A matrix representing an orientation.</param>
/// <returns>JQuaternion representing an orientation.</returns>
#region public static JQuaternion CreateFromMatrix(JMatrix matrix)
public static Fixed64Quaternion CreateFromMatrix(Fixed64Matrix matrix)
{
CreateFromMatrix(ref matrix, out Fixed64Quaternion result);
return(result);
}
public static Fixed64Quaternion LookRotation(Fixed64Vector3 forward, Fixed64Vector3 upwards)
{
return(CreateFromMatrix(Fixed64Matrix.LookAt(forward, upwards)));
}