public static Vector3 Prod(CS_Matrix a, Vector3 b)
{
Matrix mt = a._matrix; mt.Transpose();
Vector4 v4 = Vector3.Transform(b, mt);
return(new Vector3(v4.X, v4.Y, v4.Z));
}
public static CS_Matrix RotX(float radAngle)
{
CS_Matrix rmm = new CS_Matrix();
rmm._matrix = Matrix.RotationX(-radAngle);
return rmm;
}
public static CS_Matrix RotAxis(float radAngle, Vector3 axis)
{
CS_Matrix rmm = new CS_Matrix();
rmm._matrix = Matrix.RotationAxis(axis, -radAngle);
return rmm;
}
public static CS_Matrix Prod(CS_Matrix a, CS_Matrix b)
{
CS_Matrix r = new CS_Matrix();
r._matrix = a._matrix * b._matrix;
return(r);
}
public static CS_Matrix RotAxis(float radAngle, Vector3 axis)
{
CS_Matrix rmm = new CS_Matrix();
rmm._matrix = Matrix.RotationAxis(axis, -radAngle);
return(rmm);
}
public static CS_Matrix RotX(float radAngle)
{
CS_Matrix rmm = new CS_Matrix();
rmm._matrix = Matrix.RotationX(-radAngle);
return(rmm);
}
public static CS_Matrix RotXZ(float radDelta, float radRho)
{
Matrix rotZ = Matrix.RotationZ(-radRho);
Matrix rotX = Matrix.RotationX(-radDelta);
CS_Matrix rmm = new CS_Matrix();
rmm._matrix = rotZ * rotX;
return rmm;
}
public static CS_Matrix RotAxisZ(float radDelta, float radRho)
{
float a = (float)Math.Cos(radRho);
float b = (float)Math.Sin(radRho);
CS_Matrix rmm = new CS_Matrix();
rmm._matrix = Matrix.RotationAxis(new Vector3(a,b,0),-radDelta);
return rmm;
}
public static CS_Matrix RotAxisZ(float radDelta, float radRho)
{
float a = (float)Math.Cos(radRho);
float b = (float)Math.Sin(radRho);
CS_Matrix rmm = new CS_Matrix();
rmm._matrix = Matrix.RotationAxis(new Vector3(a, b, 0), -radDelta);
return(rmm);
}
public static CS_Matrix RotXZ(float radDelta, float radRho)
{
Matrix rotZ = Matrix.RotationZ(-radRho);
Matrix rotX = Matrix.RotationX(-radDelta);
CS_Matrix rmm = new CS_Matrix();
rmm._matrix = rotZ * rotX;
return(rmm);
}
public static Vector3 Prod(CS_Matrix a, Vector3 b)
{
Matrix mt = a._matrix; mt.Transpose();
Vector4 v4 = Vector3.Transform(b, mt);
return new Vector3(v4.X, v4.Y, v4.Z);
}
public static CS_Matrix Prod(CS_Matrix a, CS_Matrix b)
{
CS_Matrix r = new CS_Matrix();
r._matrix = a._matrix * b._matrix;
return r;
}