public Vec3 Dot(Mat3x3 mat)
{
float x = X * mat.XX + Y * mat.YX + Z * mat.ZX;
float y = X * mat.XY + Y * mat.YY + Z * mat.ZY;
float z = X * mat.XZ + Y * mat.YZ + Z * mat.ZZ;
return(new Vec3(x, y, z));
}
public void Rotate(Mat3x3 mat)
{
foreach (Facet facet in Facets)
{
facet.Vertex1 = facet.Vertex1.Dot(mat);
facet.Vertex2 = facet.Vertex2.Dot(mat);
facet.Vertex3 = facet.Vertex3.Dot(mat);
}
}
public void Rotate(float rotX, float rotY, float rotZ)
{
var rotMat = Mat3x3.RotationX(rotX).Dot(Mat3x3.RotationY(rotY)).Dot(Mat3x3.RotationZ(rotZ));
foreach (Facet facet in Facets)
{
facet.Vertex1 = facet.Vertex1.Dot(rotMat);
facet.Vertex2 = facet.Vertex2.Dot(rotMat);
facet.Vertex3 = facet.Vertex3.Dot(rotMat);
}
}
public static Mat3x3 RotationZ(float angle)
{
var result = new Mat3x3();
result.data[0, 0] = MathF.Cos(angle);
result.data[0, 1] = -MathF.Sin(angle);
result.data[1, 0] = MathF.Sin(angle);
result.data[1, 1] = MathF.Cos(angle);
result.data[2, 2] = 1;
return(result);
}
public Mat3x3 Dot(Mat3x3 other)
{
var result = new Mat3x3();
for (int y = 0; y < 3; y++)
{
for (int x = 0; x < 3; x++)
{
float sum = 0f;
for (int z = 0; z < 3; z++)
{
sum += data[y, z] * other.data[z, x];
}
result.data[y, x] = sum;
}
}
return(result);
}