public void SetRotationQuaternion()
{
var qat = new Quaternion(0.7071067811865476f, 0f, 0f, 0.7071067811865476f);
var mat = new Matrix4X4();
mat.SetRotation(qat);
var expectedValue = new[, ] {
{ 1f, 0f, 0f, 0f },
{ 0f, 0f, -1f, 0f },
{ 0f, 1f, 0f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedValue);
mat = new Matrix4X4();
mat.SetRotation(0f, 0f, 90f);
var expectedResultRotationOnlyMatrix = new[, ] {
{ 0f, -1f, 0f, 0f },
{ 1f, 0f, 0f, 0f },
{ 0f, 0f, 1f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedResultRotationOnlyMatrix);
}
public void SetRotationEuler()
{
var mat = new Matrix4X4();
mat.SetRotation(90f, 0f, 0f);
var expectedValue = new[, ] {
{ 1f, 0f, 0f, 0f },
{ 0f, 0f, -1f, 0f },
{ 0f, 1f, 0f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedValue);
mat = new Matrix4X4();
mat.SetRotation(0f, 90f, 0f);
expectedValue = new[, ] {
{ 0f, 0f, 1f, 0f },
{ 0f, 1f, 0f, 0f },
{ -1f, 0f, 0f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedValue);
mat = new Matrix4X4();
mat.SetRotation(0f, 0f, 90f);
expectedValue = new[, ] {
{ 0f, -1f, 0f, 0f },
{ 1f, 0f, 0f, 0f },
{ 0f, 0f, 1f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedValue);
mat = new Matrix4X4();
mat.SetRotation(0f, 90f, 90f);
expectedValue = new[, ] {
{ 0f, 0f, 1f, 0f },
{ 1f, 0f, 0f, 0f },
{ 0f, 1f, 0f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedValue);
mat = new Matrix4X4();
mat.SetRotation(0f, 90f, -90f);
expectedValue = new[, ] {
{ 0f, 0f, 1f, 0f },
{ -1f, 0f, 0f, 0f },
{ 0f, -1f, 0f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedValue);
}
public void SetRotationAngleAxis()
{
var mat = new Matrix4X4();
mat.SetRotation(90f, new Vector3(1, 0, 0));
var expectedValue = new[, ] {
{ 1f, 0f, 0f, 0f },
{ 0f, 0f, -1f, 0f },
{ 0f, 1f, 0f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedValue);
}
public void CompositingMatrix()
{
var mat = new Matrix4X4();
mat.SetRotation(0f, 0f, 90f);
mat.SetScale(new Vector3(3f, 3f, 3f));
mat.SetTranslation(new Vector3(20f, 0f, 0f));
var expectedResultMatrix = new[, ] {
{ 0f, -3f, 0f, 20f },
{ 3f, 0f, 0f, 0f },
{ 0f, 0f, 3f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedResultMatrix);
}
public void SetScale()
{
var mat = new Matrix4X4();
var vertex = new Vector3(10, 10, 10);
var scale = new Vector3(3, 4, 5);
mat.SetScale(scale);
var result = mat.Transform(vertex);
result.AssertValues(30, 40, 50);
mat = new Matrix4X4();
mat.SetScale(new Vector3(3f, 3f, 3f));
var expectedResultScaleOnlyMatrix = new[, ] {
{ 3f, 0f, 0f, 0f },
{ 0f, 3f, 0f, 0f },
{ 0f, 0f, 3f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedResultScaleOnlyMatrix);
}
public void SetTranslation()
{
var mat = new Matrix4X4();
var vertex = new Vector3(10, 10, 10);
var translationOffset = new Vector3(3, 4, 5);
mat.SetTranslation(translationOffset);
var result = mat.Transform(vertex);
result.AssertValues(13, 14, 15);
mat = new Matrix4X4();
mat.SetTranslation(new Vector3(20f, 0f, 0f));
var expectedResultTranslationOnlyMatrix = new[, ] {
{ 1f, 0f, 0f, 20f },
{ 0f, 1f, 0f, 0f },
{ 0f, 0f, 1f, 0f },
{ 0f, 0f, 0f, 1f },
};
mat.AssertValues(expectedResultTranslationOnlyMatrix);
}
public static void AssertValues(this Matrix4X4 mat, float[,] val)
{
mat.AssertValues(val[0, 0], val[0, 1], val[0, 2], val[0, 3], val[1, 0], val[1, 1], val[1, 2], val[1, 3], val[2, 0], val[2, 1], val[2, 2], val[2, 3], val[3, 0], val[3, 1], val[3, 2], val[3, 3]);
}
