/// <summary> Sets only 3x3 upper elements of this matrix to that of m1.
/// The other elements are unchanged.
/// </summary>
private void setRotationScale(Matrix4f m1)
{
m00 = m1.m00; m01 = m1.m01; m02 = m1.m02;
m10 = m1.m10; m11 = m1.m11; m12 = m1.m12;
m20 = m1.m20; m21 = m1.m21; m22 = m1.m22;
}
/// <summary> Constructs a new matrix with the same values as the Matrix4f parameter.</summary>
/// <param name="m1">The source matrix.
/// </param>
public Matrix4f(Matrix4f m1)
{
set_Renamed(m1);
}
/// <summary> Sets the value of this matrix equal to the negation of of the Matrix4f
/// parameter.
/// </summary>
/// <param name="m1">The source matrix
/// </param>
public void negate(Matrix4f m1)
{
set_Renamed(m1);
negate();
}
/// <summary> Performs SVD on this matrix and gets scale and rotation.
/// Rotation is placed into rot.
/// </summary>
/// <param name="rot3">the rotation factor(Matrix3d).
/// </param>
/// <param name="rot4">the rotation factor(Matrix4f) only upper 3x3 elements are changed.
/// </param>
/// <returns> scale factor
/// </returns>
private float SVD(Matrix3f rot3, Matrix4f rot4)
{
// this is a simple svd.
// Not complete but fast and reasonable.
// See comment in Matrix3d.
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
float s = (float) System.Math.Sqrt((m00 * m00 + m10 * m10 + m20 * m20 + m01 * m01 + m11 * m11 + m21 * m21 + m02 * m02 + m12 * m12 + m22 * m22) / 3.0);
// zero-div may occur.
float t = (s == 0.0f?0.0f:1.0f / s);
if (rot3 != null)
{
this.getRotationScale(rot3);
rot3.mul(t);
}
if (rot4 != null)
{
if (rot4 != this)
rot4.setRotationScale(this); // private method
rot4.mulRotationScale(t); // private method
}
return s;
}
/// <summary> Sets the value of this matrix to the matrix difference of itself
/// and matrix m1 (this = this - m1).
/// </summary>
/// <param name="m1">the other matrix
/// </param>
public void sub(Matrix4f m1)
{
m00 -= m1.m00; m01 -= m1.m01; m02 -= m1.m02; m03 -= m1.m03;
m10 -= m1.m10; m11 -= m1.m11; m12 -= m1.m12; m13 -= m1.m13;
m20 -= m1.m20; m21 -= m1.m21; m22 -= m1.m22; m23 -= m1.m23;
m30 -= m1.m30; m31 -= m1.m31; m32 -= m1.m32; m33 -= m1.m33;
}
/// <summary> Sets the value of this quaternion to the rotational component of
/// the passed matrix.
/// </summary>
/// <param name="m1">the matrix4f
/// </param>
public void set_Renamed(Matrix4f m1)
{
double ww = 0.25 * (m1.m00 + m1.m11 + m1.m22 + m1.m33);
if (ww >= 0)
{
if (ww >= EPS2)
{
this.w = System.Math.Sqrt(ww);
ww = 0.25 / this.w;
this.x = ((m1.m21 - m1.m12) * ww);
this.y = ((m1.m02 - m1.m20) * ww);
this.z = ((m1.m10 - m1.m01) * ww);
return ;
}
}
else
{
this.w = 0;
this.x = 0;
this.y = 0;
this.z = 1;
return ;
}
this.w = 0;
ww = (- 0.5) * (m1.m11 + m1.m22);
if (ww >= 0)
{
if (ww >= EPS2)
{
this.x = System.Math.Sqrt(ww);
ww = 1.0 / (2.0 * this.x);
this.y = (m1.m10 * ww);
this.z = (m1.m20 * ww);
return ;
}
}
else
{
this.x = 0;
this.y = 0;
this.z = 1;
return ;
}
this.x = 0;
ww = 0.5 * (1.0 - m1.m22);
if (ww >= EPS2)
{
this.y = System.Math.Sqrt(ww);
this.z = (m1.m21) / (2.0 * this.y);
return ;
}
this.y = 0;
this.z = 1;
}
/// <summary> Multiplies the transpose of matrix m1 times the transpose of matrix m2,
/// and places the result into this.
/// </summary>
/// <param name="m1">The matrix on the left hand side of the multiplication
/// </param>
/// <param name="m2">The matrix on the right hand side of the multiplication
/// </param>
public void mulTransposeBoth(Matrix4f m1, Matrix4f m2)
{
mul(m2, m1);
transpose();
}
/// <summary> Sets the value of this matrix to sum of itself and matrix m1. </summary>
/// <param name="m1">the other matrix
/// </param>
public void add(Matrix4f m1)
{
m00 += m1.m00; m01 += m1.m01; m02 += m1.m02; m03 += m1.m03;
m10 += m1.m10; m11 += m1.m11; m12 += m1.m12; m13 += m1.m13;
m20 += m1.m20; m21 += m1.m21; m22 += m1.m22; m23 += m1.m23;
m30 += m1.m30; m31 += m1.m31; m32 += m1.m32; m33 += m1.m33;
}
/// <summary> Multiplies each element of matrix m1 by a scalar and places the result
/// into this. Matrix m1 is not modified.
/// </summary>
/// <param name="scalar">The scalar multiplier.
/// </param>
/// <param name="m1">The original matrix.
/// </param>
public void mul(float scalar, Matrix4f m1)
{
set_Renamed(m1);
mul(scalar);
}
/// <summary> Sets the value of this matrix to the result of multiplying itself
/// with matrix m1.
/// </summary>
/// <param name="m1">the other matrix
/// </param>
public void mul(Matrix4f m1)
{
mul(this, m1);
}
/// <summary> Sets the value of this matrix to the matrix inverse
/// of the passed matrix m1.
/// </summary>
/// <param name="m1">the matrix to be inverted
/// </param>
public void invert(Matrix4f m1)
{
set_Renamed(m1);
invert();
}
/// <summary> Sets the value of this matrix to a copy of the
/// passed matrix m1.
/// </summary>
/// <param name="m1">the matrix to be copied
/// </param>
public void set_Renamed(Matrix4f m1)
{
m00 = m1.m00; m01 = m1.m01; m02 = m1.m02; m03 = m1.m03;
m10 = m1.m10; m11 = m1.m11; m12 = m1.m12; m13 = m1.m13;
m20 = m1.m20; m21 = m1.m21; m22 = m1.m22; m23 = m1.m23;
m30 = m1.m30; m31 = m1.m31; m32 = m1.m32; m33 = m1.m33;
}
/// <summary> Sets the value of this matrix to the transpose of the argument matrix</summary>
/// <param name="m1">the matrix to be transposed
/// </param>
public void transpose(Matrix4f m1)
{
// alias-safe
set_Renamed(m1);
transpose();
}
/// <summary> Adds a scalar to each component of the matrix m1 and places
/// the result into this. Matrix m1 is not modified.
/// </summary>
/// <param name="scalar">The scalar adder.
/// </param>
/// <parm> m1 The original matrix values. </parm>
public void add(float scalar, Matrix4f m1)
{
set_Renamed(m1);
add(scalar);
}
/// <summary> Multiplies the transpose of matrix m1 times matrix m2, and places the
/// result into this.
/// </summary>
/// <param name="m1">The matrix on the left hand side of the multiplication
/// </param>
/// <param name="m2">The matrix on the right hand side of the multiplication
/// </param>
public void mulTransposeLeft(Matrix4f m1, Matrix4f m2)
{
// alias-safe way.
set_Renamed(m1.m00 * m2.m00 + m1.m10 * m2.m10 + m1.m20 * m2.m20 + m1.m30 * m2.m30, m1.m00 * m2.m01 + m1.m10 * m2.m11 + m1.m20 * m2.m21 + m1.m30 * m2.m31, m1.m00 * m2.m02 + m1.m10 * m2.m12 + m1.m20 * m2.m22 + m1.m30 * m2.m32, m1.m00 * m2.m03 + m1.m10 * m2.m13 + m1.m20 * m2.m23 + m1.m30 * m2.m33, m1.m01 * m2.m00 + m1.m11 * m2.m10 + m1.m21 * m2.m20 + m1.m31 * m2.m30, m1.m01 * m2.m01 + m1.m11 * m2.m11 + m1.m21 * m2.m21 + m1.m31 * m2.m31, m1.m01 * m2.m02 + m1.m11 * m2.m12 + m1.m21 * m2.m22 + m1.m31 * m2.m32, m1.m01 * m2.m03 + m1.m11 * m2.m13 + m1.m21 * m2.m23 + m1.m31 * m2.m33, m1.m02 * m2.m00 + m1.m12 * m2.m10 + m1.m22 * m2.m20 + m1.m32 * m2.m30, m1.m02 * m2.m01 + m1.m12 * m2.m11 + m1.m22 * m2.m21 + m1.m32 * m2.m31, m1.m02 * m2.m02 + m1.m12 * m2.m12 + m1.m22 * m2.m22 + m1.m32 * m2.m32, m1.m02 * m2.m03 + m1.m12 * m2.m13 + m1.m22 * m2.m23 + m1.m32 * m2.m33, m1.m03 * m2.m00 + m1.m13 * m2.m10 + m1.m23 * m2.m20 + m1.m33 * m2.m30, m1.m03 * m2.m01 + m1.m13 * m2.m11 + m1.m23 * m2.m21 + m1.m33 * m2.m31, m1.m03 * m2.m02 + m1.m13 * m2.m12 + m1.m23 * m2.m22 + m1.m33 * m2.m32, m1.m03 * m2.m03 + m1.m13 * m2.m13 + m1.m23 * m2.m23 + m1.m33 * m2.m33);
}
/// <summary> Sets the value of this matrix to the matrix sum of matrices m1 and m2. </summary>
/// <param name="m1">the first matrix
/// </param>
/// <param name="m2">the second matrix
/// </param>
public void add(Matrix4f m1, Matrix4f m2)
{
set_Renamed(m1);
add(m2);
}
/// <summary> Returns true if all of the data members of Matrix4f m1 are
/// equal to the corresponding data members in this Matrix4f.
/// </summary>
/// <param name="m1">The matrix with which the comparison is made.
/// </param>
/// <returns> true or false
/// </returns>
public bool equals(Matrix4f m1)
{
return m1 != null && m00 == m1.m00 && m01 == m1.m01 && m02 == m1.m02 && m03 == m1.m03 && m10 == m1.m10 && m11 == m1.m11 && m12 == m1.m12 && m13 == m1.m13 && m20 == m1.m20 && m21 == m1.m21 && m22 == m1.m22 && m23 == m1.m23 && m30 == m1.m30 && m31 == m1.m31 && m32 == m1.m32 && m33 == m1.m33;
}
/// <summary> Sets the value of this matrix to the matrix difference
/// of matrices m1 and m2.
/// </summary>
/// <param name="m1">the first matrix
/// </param>
/// <param name="m2">the second matrix
/// </param>
public void sub(Matrix4f m1, Matrix4f m2)
{
// note this is alias safe.
set_Renamed(m1.m00 - m2.m00, m1.m01 - m2.m01, m1.m02 - m2.m02, m1.m03 - m2.m03, m1.m10 - m2.m10, m1.m11 - m2.m11, m1.m12 - m2.m12, m1.m13 - m2.m13, m1.m20 - m2.m20, m1.m21 - m2.m21, m1.m22 - m2.m22, m1.m23 - m2.m23, m1.m30 - m2.m30, m1.m31 - m2.m31, m1.m32 - m2.m32, m1.m33 - m2.m33);
}
/// <summary> Returns true if the L-infinite distance between this matrix and matrix
/// m1 is less than or equal to the epsilon parameter, otherwise returns
/// false. The L-infinite distance is equal to MAX[i=0,1,2,3 ; j=0,1,2,3 ;
/// abs(this.m(i,j) - m1.m(i,j)]
/// </summary>
/// <param name="m1">The matrix to be compared to this matrix
/// </param>
/// <param name="epsilon">the threshold value
/// </param>
public virtual bool epsilonEquals(Matrix4f m1, float epsilon)
{
// why epsilon is float ??
return System.Math.Abs(m00 - m1.m00) <= epsilon && System.Math.Abs(m01 - m1.m01) <= epsilon && System.Math.Abs(m02 - m1.m02) <= epsilon && System.Math.Abs(m03 - m1.m03) <= epsilon && System.Math.Abs(m10 - m1.m10) <= epsilon && System.Math.Abs(m11 - m1.m11) <= epsilon && System.Math.Abs(m12 - m1.m12) <= epsilon && System.Math.Abs(m13 - m1.m13) <= epsilon && System.Math.Abs(m20 - m1.m20) <= epsilon && System.Math.Abs(m21 - m1.m21) <= epsilon && System.Math.Abs(m22 - m1.m22) <= epsilon && System.Math.Abs(m23 - m1.m23) <= epsilon && System.Math.Abs(m30 - m1.m30) <= epsilon && System.Math.Abs(m31 - m1.m31) <= epsilon && System.Math.Abs(m32 - m1.m32) <= epsilon && System.Math.Abs(m33 - m1.m33) <= epsilon;
}
/// <summary> Sets the value of this axis-angle to the rotational component of
/// the passed matrix.
/// If the specified matrix has no rotational component, the value
/// of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
/// </summary>
/// <param name="m1">the matrix4f
/// </param>
public void set_Renamed(Matrix4f m1)
{
Matrix3f m3f = new Matrix3f();
m1.get_Renamed(m3f);
x = m3f.m21 - m3f.m12;
y = m3f.m02 - m3f.m20;
z = m3f.m10 - m3f.m01;
double mag = x * x + y * y + z * z;
if (mag > EPS)
{
mag = System.Math.Sqrt(mag);
double sin = 0.5 * mag;
double cos = 0.5 * (m3f.m00 + m3f.m11 + m3f.m22 - 1.0);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
angle = (float) System.Math.Atan2(sin, cos);
double invMag = 1.0 / mag;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
x = (float) (x * invMag);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
y = (float) (y * invMag);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
z = (float) (z * invMag);
}
else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/// <summary> Sets the value of this quaternion to the rotational component of
/// the passed matrix.
/// </summary>
/// <param name="m1">the Matrix4f
/// </param>
public void set_Renamed(Matrix4f m1)
{
float ww = 0.25f * (m1.m00 + m1.m11 + m1.m22 + m1.m33);
if (ww >= 0)
{
if (ww >= EPS2)
{
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.w = (float) System.Math.Sqrt((double) ww);
ww = 0.25f / this.w;
this.x = (m1.m21 - m1.m12) * ww;
this.y = (m1.m02 - m1.m20) * ww;
this.z = (m1.m10 - m1.m01) * ww;
return ;
}
}
else
{
this.w = 0;
this.x = 0;
this.y = 0;
this.z = 1;
return ;
}
this.w = 0;
ww = (- 0.5f) * (m1.m11 + m1.m22);
if (ww >= 0)
{
if (ww >= EPS2)
{
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.x = (float) System.Math.Sqrt((double) ww);
ww = 1.0f / (2.0f * this.x);
this.y = m1.m10 * ww;
this.z = m1.m20 * ww;
return ;
}
}
else
{
this.x = 0;
this.y = 0;
this.z = 1;
return ;
}
this.x = 0;
ww = 0.5f * (1.0f - m1.m22);
if (ww >= EPS2)
{
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
this.y = (float) System.Math.Sqrt((double) ww);
this.z = m1.m21 / (2.0f * this.y);
return ;
}
this.y = 0;
this.z = 1;
}
