/// <summary>
/// Creates a translation matrix.
/// </summary>
/// <param name="x">X translation.</param>
/// <param name="y">Y translation.</param>
/// <param name="z">Z translation.</param>
/// <param name="result">The resulting Matrix4 instance.</param>
public static void CreateTranslation(float x, float y, float z, out Float4x4 result)
{
result = Identity;
result.Row3 = new Float4(x, y, z, 1);
}
/// <summary>
/// Creates a translation matrix.
/// </summary>
/// <param name="vector">The translation vector.</param>
/// <param name="result">The resulting Matrix4 instance.</param>
public static void CreateTranslation(ref Float3 vector, out Float4x4 result)
{
result = Identity;
result.Row3 = new Float4(vector.X, vector.Y, vector.Z, 1);
}
/// <summary>
/// Multiplies two instances.
/// </summary>
/// <param name="left">The left operand of the multiplication.</param>
/// <param name="right">The right operand of the multiplication.</param>
/// <returns>A new instance that is the result of the multiplication</returns>
public static Float4x4 Mult(Float4x4 left, Float4x4 right)
{
Float4x4 result;
Mult(ref left, ref right, out result);
return result;
}
/// <summary>
/// Multiplies two instances.
/// </summary>
/// <param name="left">The left operand of the multiplication.</param>
/// <param name="right">The right operand of the multiplication.</param>
/// <param name="result">A new instance that is the result of the multiplication</param>
public static void Mult(ref Float4x4 left, ref Float4x4 right, out Float4x4 result)
{
float lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W,
lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, lM24 = left.Row1.W,
lM31 = left.Row2.X, lM32 = left.Row2.Y, lM33 = left.Row2.Z, lM34 = left.Row2.W,
lM41 = left.Row3.X, lM42 = left.Row3.Y, lM43 = left.Row3.Z, lM44 = left.Row3.W,
rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W,
rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W,
rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z, rM34 = right.Row2.W,
rM41 = right.Row3.X, rM42 = right.Row3.Y, rM43 = right.Row3.Z, rM44 = right.Row3.W;
result = new Float4x4(
(((lM11 * rM11) + (lM12 * rM21)) + (lM13 * rM31)) + (lM14 * rM41),
(((lM11 * rM12) + (lM12 * rM22)) + (lM13 * rM32)) + (lM14 * rM42),
(((lM11 * rM13) + (lM12 * rM23)) + (lM13 * rM33)) + (lM14 * rM43),
(((lM11 * rM14) + (lM12 * rM24)) + (lM13 * rM34)) + (lM14 * rM44),
(((lM21 * rM11) + (lM22 * rM21)) + (lM23 * rM31)) + (lM24 * rM41),
(((lM21 * rM12) + (lM22 * rM22)) + (lM23 * rM32)) + (lM24 * rM42),
(((lM21 * rM13) + (lM22 * rM23)) + (lM23 * rM33)) + (lM24 * rM43),
(((lM21 * rM14) + (lM22 * rM24)) + (lM23 * rM34)) + (lM24 * rM44),
(((lM31 * rM11) + (lM32 * rM21)) + (lM33 * rM31)) + (lM34 * rM41),
(((lM31 * rM12) + (lM32 * rM22)) + (lM33 * rM32)) + (lM34 * rM42),
(((lM31 * rM13) + (lM32 * rM23)) + (lM33 * rM33)) + (lM34 * rM43),
(((lM31 * rM14) + (lM32 * rM24)) + (lM33 * rM34)) + (lM34 * rM44),
(((lM41 * rM11) + (lM42 * rM21)) + (lM43 * rM31)) + (lM44 * rM41),
(((lM41 * rM12) + (lM42 * rM22)) + (lM43 * rM32)) + (lM44 * rM42),
(((lM41 * rM13) + (lM42 * rM23)) + (lM43 * rM33)) + (lM44 * rM43),
(((lM41 * rM14) + (lM42 * rM24)) + (lM43 * rM34)) + (lM44 * rM44));
}
/// <summary>
/// Build a rotation matrix from the specified axis/angle rotation.
/// </summary>
/// <param name="axis">The axis to rotate about.</param>
/// <param name="angle">Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).</param>
/// <param name="result">A matrix instance.</param>
public static void CreateFromAxisAngle(Float3 axis, float angle, out Float4x4 result)
{
float cos = (float)System.Math.Cos(-angle);
float sin = (float)System.Math.Sin(-angle);
float t = 1.0f - cos;
axis.Normalize();
result = new Float4x4(t * axis.X * axis.X + cos, t * axis.X * axis.Y - sin * axis.Z, t * axis.X * axis.Z + sin * axis.Y, 0.0f,
t * axis.X * axis.Y + sin * axis.Z, t * axis.Y * axis.Y + cos, t * axis.Y * axis.Z - sin * axis.X, 0.0f,
t * axis.X * axis.Z - sin * axis.Y, t * axis.Y * axis.Z + sin * axis.X, t * axis.Z * axis.Z + cos, 0.0f,
0, 0, 0, 1);
}
