public static void Absolute(ref JMatrix matrix, out JMatrix result)
{
result.M11 = Math.Abs(matrix.M11);
result.M12 = Math.Abs(matrix.M12);
result.M21 = Math.Abs(matrix.M21);
result.M22 = Math.Abs(matrix.M22);
}
public static bool ClosestPoints(ISupportMappable support1, ISupportMappable support2, ref JMatrix orientation1,
ref JMatrix orientation2, ref JVector position1, ref JVector position2,
out JVector p1, out JVector p2, out JVector normal)
{
VoronoiSimplexSolver simplexSolver = simplexSolverPool.GetNew();
simplexSolver.Reset();
p1 = p2 = JVector.Zero;
JVector r = position1 - position2;
JVector w, v;
JVector supVertexA;
JVector rn, vn;
rn = JVector.Negate(r);
SupportMapTransformed(support1, ref orientation1, ref position1, ref rn, out supVertexA);
JVector supVertexB;
SupportMapTransformed(support2, ref orientation2, ref position2, ref r, out supVertexB);
v = supVertexA - supVertexB;
normal = JVector.Zero;
int iter = 0;
float distSq = v.LengthSquared();
float epsilon = 0.00001f;
while ((distSq > epsilon) && (iter++ < MaxIterations))
{
IterationsTaken = iter;
vn = JVector.Negate(v);
SupportMapTransformed(support1, ref orientation1, ref position1, ref vn, out supVertexA);
SupportMapTransformed(support2, ref orientation2, ref position2, ref v, out supVertexB);
w = supVertexA - supVertexB;
if (!simplexSolver.InSimplex(w)) simplexSolver.AddVertex(w, supVertexA, supVertexB);
if (simplexSolver.Closest(out v))
{
distSq = v.LengthSquared();
normal = v;
}
else distSq = 0.0f;
}
simplexSolver.ComputePoints(out p1, out p2);
if (normal.LengthSquared() > JMath.Epsilon * JMath.Epsilon)
normal.Normalize();
simplexSolverPool.GiveBack(simplexSolver);
return true;
}
static JMatrix()
{
Zero = new JMatrix();
Identity = new JMatrix();
Identity.M11 = 1.0f;
Identity.M22 = 1.0f;
InternalIdentity = Identity;
}
public static Matrix ToXNAMatrix(JMatrix matrix)
{
return new Matrix(matrix.M11,
matrix.M12,
matrix.M13,
0.0f,
matrix.M21,
matrix.M22,
matrix.M23,
0.0f,
matrix.M31,
matrix.M32,
matrix.M33,
0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
}
public static void SupportMapTransformed(ISupportMappable support,
ref JMatrix orientation, ref JVector position, ref JVector direction, out JVector result)
{
// THIS IS *THE* HIGH FREQUENCY CODE OF THE COLLLISION PART OF THE ENGINE
result.X = ((direction.X * orientation.M11) + (direction.Y * orientation.M12));
result.Y = ((direction.X * orientation.M21) + (direction.Y * orientation.M22));
support.SupportMapping(ref result, out result);
float x = ((result.X * orientation.M11) + (result.Y * orientation.M21));
float y = ((result.X * orientation.M12) + (result.Y * orientation.M22));
result.X = position.X + x;
result.Y = position.Y + y;
}
/// <summary>
/// Creates the transposed matrix.
/// </summary>
/// <param name="matrix">The matrix which should be transposed.</param>
/// <param name="result">The transposed JMatrix.</param>
public static void Transpose(ref JMatrix matrix, out JMatrix result)
{
result.M11 = matrix.M11;
result.M12 = matrix.M21;
result.M21 = matrix.M12;
result.M22 = matrix.M22;
}
/// <summary>
/// Adds two matrices.
/// </summary>
/// <param name="value1">The first matrix.</param>
/// <param name="value2">The second matrix.</param>
/// <returns>The sum of both values.</returns>
#region public static JMatrix operator +(JMatrix value1, JMatrix value2)
public static JMatrix operator +(JMatrix value1, JMatrix value2)
{
JMatrix result; JMatrix.Add(ref value1, ref value2, out result);
return(result);
}
/// <summary>
/// Transforms a vector by the transposed of the given Matrix.
/// </summary>
/// <param name="position">The vector to transform.</param>
/// <param name="matrix">The transform matrix.</param>
/// <param name="result">The transformed vector.</param>
public static void TransposedTransform(ref JVector position, ref JMatrix matrix, out JVector result)
{
float num0 = ((position.X * matrix.M11) + (position.Y * matrix.M12));
float num1 = ((position.X * matrix.M21) + (position.Y * matrix.M22));
result.X = num0;
result.Y = num1;
}
public static JVector Transform(JVector position, JMatrix matrix)
{
JVector result;
JVector.Transform(ref position, ref matrix, out result);
return result;
}
/// <summary>
/// Transforms the bounding box into the space given by orientation and position.
/// </summary>
/// <param name="position"></param>
/// <param name="orientation"></param>
/// <param name="result"></param>
internal void InverseTransform(ref JVector position, ref JMatrix orientation)
{
JVector.Subtract(ref Max, ref position, out Max);
JVector.Subtract(ref Min, ref position, out Min);
JVector center;
JVector.Add(ref Max, ref Min, out center);
center.X *= 0.5f; center.Y *= 0.5f;
JVector halfExtents;
JVector.Subtract(ref Max, ref Min, out halfExtents);
halfExtents.X *= 0.5f; halfExtents.Y *= 0.5f;
JVector.TransposedTransform(ref center, ref orientation, out center);
JMatrix abs; JMath.Absolute(ref orientation, out abs);
JVector.TransposedTransform(ref halfExtents, ref abs, out halfExtents);
JVector.Add(ref center, ref halfExtents, out Max);
JVector.Subtract(ref center, ref halfExtents, out Min);
}
/// <summary>
/// Gets up to two supports points if the given direction is within a tolerance of being parallel to the normal of the edge formed by the supports. Otherwise it just returns a single support.
/// </summary>
internal int FindSupportPoints(ref JVector direction, ref JVector PA, ref JMatrix OA, out JVector[] S)
{
// init S
S = new JVector[2];
// transform the normal into object space
JVector N = JVector.TransposedTransform(direction, OA);
// find dots
float a = this.GetCorner(0) * N;
float b = this.GetCorner(1) * N;
float c = this.GetCorner(2) * N;
float d = this.GetCorner(3) * N;
// find min
float min = JMath.Min(a, b);
min = JMath.Min(c, min);
min = JMath.Min(d, min);
// now min should be right
int Snum = 0;
const float threshold = 1.0E-3f;
if (a < min + threshold)
S[Snum++] = JVector.Transform(this.GetCorner(0), OA) + PA;
if (b < min + threshold)
S[Snum++] = JVector.Transform(this.GetCorner(1), OA) + PA;
if (c < min + threshold)
S[Snum++] = JVector.Transform(this.GetCorner(2), OA) + PA;
if (d < min + threshold)
S[Snum++] = JVector.Transform(this.GetCorner(3), OA) + PA;
return Snum;
}
/// <summary>
/// Calculates the inverse of a give matrix.
/// </summary>
/// <param name="matrix">The matrix to invert.</param>
/// <param name="result">The inverted JMatrix.</param>
public static void Inverse(ref JMatrix matrix, out JMatrix result)
{
float det = matrix.M11 * matrix.M22 - matrix.M12 * matrix.M21;
float determinantInverse = 1f / det;
result.M11 = matrix.M22 * determinantInverse;
result.M12 = -matrix.M12 * determinantInverse;
result.M21 = matrix.M11 * determinantInverse;
result.M22 = -matrix.M21 * determinantInverse;
}
public static JMatrix Inverse(JMatrix matrix)
{
JMatrix result;
JMatrix.Inverse(ref matrix, out result);
return result;
}
public static void CreateRotationZ(float radians, out JMatrix result)
{
float num2 = (float)Math.Cos((double)radians);
float num = (float)Math.Sin((double)radians);
result.M11 = num2;
result.M12 = num;
result.M21 = -num;
result.M22 = num2;
}
/// <summary>
/// Matrices are added.
/// </summary>
/// <param name="matrix1">The first matrix.</param>
/// <param name="matrix2">The second matrix.</param>
/// <param name="result">The sum of both matrices.</param>
public static void Add(ref JMatrix matrix1, ref JMatrix matrix2, out JMatrix result)
{
result.M11 = matrix1.M11 + matrix2.M11;
result.M12 = matrix1.M12 + matrix2.M12;
result.M21 = matrix1.M21 + matrix2.M21;
result.M22 = matrix1.M22 + matrix2.M22;
}
public static JMatrix Add(JMatrix matrix1, JMatrix matrix2)
{
JMatrix result;
JMatrix.Add(ref matrix1, ref matrix2, out result);
return result;
}
public static float CalculateMassInertia(Shape shape, out JVector centerOfMass,
out JMatrix inertia)
{
throw new NotImplementedException();
}
/// <summary> /// Should return true if the point is inside the shapes world space. /// </summary> /// <param name="point">The point.</param> /// <param name="position">World position of shape.</param> /// <param name="orientation">World orientation of shape.</param> /// <returns>True if the point is inside the shape.</returns> public abstract bool PointInsideWorld(JVector point, JVector position, JMatrix orientation);
/// <summary>
/// Should return true if the point is inside the box's world space.
/// </summary>
/// <param name="point">The point.</param>
/// <param name="position">World position of box.</param>
/// <param name="orientation">World orientation of box.</param>
/// <returns>True if the point is inside the shape.</returns>
public override bool PointInsideWorld(JVector point, JVector position, JMatrix orientation)
{
// move point into local space
throw new NotImplementedException();
}
internal static bool CircleBoxTest(ref CircleShape A, ref JVector PA, ref BoxShape B, ref JVector PB, ref JMatrix OB)
{
// find vertex closest to circles center
// move circle into boxes space
var pa = JVector.TransposedTransform(PA - PB, OB);
// find normal from box to circles center
var axis = pa;
JVector closestVertex;
// find closest vertex
B.SupportMapping(ref axis, out closestVertex);
// do a SAT test on that axis
// axis to test
JVector T = pa - closestVertex;
float TL = Math.Abs(T * axis);
float a = Math.Abs(pa * axis);
float b = Math.Abs(closestVertex * axis);
if (TL > (a + b + A.Radius))
return false;
return true;
}
public static void Invert(ref JMatrix matrix, out JMatrix result)
{
float determinantInverse = 1f / matrix.Determinant();
result.M11 = matrix.M22 * determinantInverse;
result.M12 = -matrix.M12 * determinantInverse;
result.M21 = matrix.M11 * determinantInverse;
result.M22 = -matrix.M21 * determinantInverse;
}
public void Transform(ref JMatrix orientation)
{
JVector halfExtents = 0.5f * (Max - Min);
JVector center = 0.5f * (Max + Min);
JVector.Transform(ref center, ref orientation, out center);
JMatrix abs; JMath.Absolute(ref orientation, out abs);
JVector.Transform(ref halfExtents, ref abs, out halfExtents);
Max = center + halfExtents;
Min = center - halfExtents;
}
/// <summary>
/// Checks two shapes for collisions.
/// </summary>
/// <param name="support1">The SupportMappable implementation of the first shape to test.</param>
/// <param name="support2">The SupportMappable implementation of the seconds shape to test.</param>
/// <param name="orientation1">The orientation of the first shape.</param>
/// <param name="orientation2">The orientation of the second shape.</param>
/// <param name="position1">The position of the first shape.</param>
/// <param name="position2">The position of the second shape</param>
/// <param name="point">The pointin world coordinates, where collision occur.</param>
/// <param name="normal">The normal pointing from body2 to body1.</param>
/// <param name="penetration">Estimated penetration depth of the collision.</param>
/// <returns>Returns true if there is a collision, false otherwise.</returns>
public static bool Detect(ISupportMappable support1, ISupportMappable support2, ref JMatrix orientation1,
ref JMatrix orientation2, ref JVector position1, ref JVector position2,
out JVector point, out JVector normal, out float penetration)
{
// Used variables
JVector v01, v02, v0;
JVector v11, v12, v1;
JVector v21, v22, v2;
JVector v31, v32, v3;
JVector mn;
// Initialization of the output
point = normal = JVector.Zero;
penetration = 0.0f;
// Get the center of shape1 in world coordinates -> v01
support1.SupportCenter(out v01);
JVector.Transform(ref v01, ref orientation1, out v01);
JVector.Add(ref position1, ref v01, out v01);
// Get the center of shape2 in world coordinates -> v02
support2.SupportCenter(out v02);
JVector.Transform(ref v02, ref orientation2, out v02);
JVector.Add(ref position2, ref v02, out v02);
// v0 is the center of the minkowski difference
JVector.Subtract(ref v02, ref v01, out v0);
// Avoid case where centers overlap -- any direction is fine in this case
if (v0.IsNearlyZero()) v0 = new JVector(0.00001f, 0);
// v1 = support in direction of origin
mn = v0;
JVector.Negate(ref v0, out normal);
SupportMapTransformed(support1, ref orientation1, ref position1, ref mn, out v11);
SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out v12);
JVector.Subtract(ref v12, ref v11, out v1);
if (JVector.Dot(ref v1, ref normal) <= 0.0f) return false;
// v2 = support perpendicular to v1,v0
normal = OutsidePortal(v1, v0);
JVector.Negate(ref normal, out mn);
SupportMapTransformed(support1, ref orientation1, ref position1, ref mn, out v21);
SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out v22);
JVector.Subtract(ref v22, ref v21, out v2);
//LD.Draw(Conversion.ToXNAVector2(v1), Conversion.ToXNAVector2(v0), Color.Blue);
//LD.Draw(Conversion.ToXNAVector2(v2), Conversion.ToXNAVector2(v0), Color.Blue);
if (JVector.Dot(ref v2, ref normal) <= 0.0f) return false;
// phase two: portal refinement
int maxIterations = 0;
while (true)
{
// find normal direction
if (!IntersectPortal(v0, v2, v1))
normal = InsidePortal(v2, v1);
else
// origin ray crosses the portal
normal = OutsidePortal(v2, v1);
// obtain the next support point
JVector.Negate(ref normal, out mn);
SupportMapTransformed(support1, ref orientation1, ref position1, ref mn, out v31);
SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out v32);
JVector.Subtract(ref v32, ref v31, out v3);
//LD.Draw(Conversion.ToXNAVector2(v3), Conversion.ToXNAVector2(v0), Color.Green);
if (JVector.Dot(v3, normal) <= 0)
{
JVector ab = v3 - v2;
float t = -(JVector.Dot(v2, ab)) / (JVector.Dot(ab, ab));
normal = (v2 + (t * ab));
return false;
}
// Portal lies on the outside edge of the Minkowski Hull.
// Return contact information
if (JVector.Dot((v3 - v2), normal) <= CollideEpsilon || ++maxIterations > MaximumIterations)
{
JVector ab = v2 - v1;
float t = JVector.Dot(JVector.Negate(v1), ab);
if (t <= 0.0f)
{
t = 0.0f;
normal = v1;
}
else
{
float denom = JVector.Dot(ab, ab);
if (t >= denom)
{
normal = v2;
t = 1.0f;
}
else
{
t /= denom;
normal = v1 + t * ab;
}
}
float s = 1 - t;
point = s * v11 + t * v21;
var point2 = s * v12 + t * v22;
// this causes a sq root = bad!
penetration = normal.Length();
normal.Normalize();
return true;
}
// if origin is inside (v1, v0, v3), refine portal
if (OriginInTriangle(v0, v1, v3))
{
v2 = v3;
v21 = v31;
v22 = v32;
continue;
}
// if origin is inside (v3, v0, v2), refine portal
else if (OriginInTriangle(v0, v2, v3))
{
v1 = v3;
v11 = v31;
v12 = v32;
continue;
}
return false;
}
}
public static JMatrix Multiply(JMatrix matrix1, JMatrix matrix2)
{
JMatrix result;
JMatrix.Multiply(ref matrix1, ref matrix2, out result);
return result;
}
/// <summary>
/// Discrete Box vs Box test. Very fast. Generates contact info. NOTE: ensure UpdateAxes is called for each BoxShape prior.
/// </summary>
/// <param name="A">BoxShape A.</param>
/// <param name="PA">BoxShape A's position.</param>
/// <param name="OA">BoxShape A's orientation.</param>
/// <param name="B">BoxShape B.</param>
/// <param name="PB">BoxShape B's position.</param>
/// <param name="OB">BoxShape B's orientation.</param>
/// <param name="normal">Normal of collision.</param>
/// <param name="t">Amount of penetration.</param>
/// <param name="CA">Contacts found on BoxShape A.</param>
/// <param name="CB">Contacts found on BoxShape B.</param>
/// <param name="NumContacts">Number of contacts found.</param>
/// <returns>True if collision exists.</returns>
public static bool BoxBoxTestContact(ref BoxShape A, ref JVector PA, ref JMatrix OA,
ref BoxShape B, ref JVector PB, ref JMatrix OB,
out JVector normal, out float t, out JVector[] CA, out JVector[] CB, out int NumContacts)
{
float overlap = 0;
normal = A.xAxis;
t = 0.0f;
// TODO in future to save a few bytes of garbage make these
// SA1, SA2 and SB1, SB2 (no arrays)
JVector[] SA = new JVector[2], SB = new JVector[2];
int NumSA = 0, NumSB = 0;
CA = new JVector[2]; CB = new JVector[2];
NumContacts = 0;
JVector T = PB - PA;
// cache scaled local axes
JVector Ax = A.halfSize.X * A.xAxis;
JVector Ay = A.halfSize.Y * A.yAxis;
JVector Bx = B.halfSize.X * B.xAxis;
JVector By = B.halfSize.Y * B.yAxis;
// axis to test
JVector L = A.xAxis;
float TL = Math.Abs(T * L);
float a = Math.Abs((Ax) * L) + Math.Abs((Ay) * L);
float b = Math.Abs((Bx) * L) + Math.Abs((By) * L);
if (TL > (a + b))
return false;
// cache overlap
// just set first overlap
overlap = TL - (b + a);
// axis to test
L = A.yAxis;
TL = Math.Abs(T * L);
a = Math.Abs((Ax) * L) + Math.Abs((Ay) * L);
b = Math.Abs((Bx) * L) + Math.Abs((By) * L);
if (TL > (a + b))
return false;
// cache overlap
var o = TL - (b + a);
if (o > overlap)
{
overlap = o;
normal = A.yAxis;
}
// axis to test
L = B.xAxis;
TL = Math.Abs(T * L);
a = Math.Abs((Ax) * L) + Math.Abs((Ay) * L);
b = Math.Abs((Bx) * L) + Math.Abs((By) * L);
if (TL > (a + b))
return false;
// cache overlap
o = TL - (b + a);
if (o > overlap)
{
overlap = o;
normal = B.xAxis;
}
// axis to test
L = B.yAxis;
TL = Math.Abs(T * L);
a = Math.Abs((Ax) * L) + Math.Abs((Ay) * L);
b = Math.Abs((Bx) * L) + Math.Abs((By) * L);
if (TL > (a + b))
return false;
// cache overlap
o = TL - (b + a);
if (o > overlap)
{
overlap = o;
normal = B.yAxis;
}
// make sure the polygons gets pushed away from each other.
if (normal * T < 0.0f)
normal = -normal;
t = overlap;
// now to find a contact point or edge!
var mn = -normal;
NumSA = A.FindSupportPoints(ref mn, ref PA, ref OA, out SA);
NumSB = B.FindSupportPoints(ref normal, ref PB, ref OB, out SB);
// now refine contact points from support points
// edge/vertex case
if (NumSA == 2 && NumSB == 1)
{
ProjectPointOnLine(ref SB[0], ref SA[0], ref SA[1], out CA[NumContacts]);
CB[NumContacts] = SB[0];
NumContacts++;
return true;
}
// vertex/edge case
if (NumSA == 1 && NumSB == 2)
{
ProjectPointOnLine(ref SA[0], ref SB[0], ref SB[1], out CB[NumContacts]);
CA[NumContacts] = SA[0];
NumContacts++;
return true;
}
// edge/edge case
if (NumSA == 2 && NumSB == 2)
{
// clip contacts
JVector perp = new JVector(-normal.Y, normal.X);
// project first 2 contacts to axis perpendicular to normal
float min0 = SA[0] * perp;
float max0 = min0;
float min1 = SB[0] * perp;
float max1 = min1;
// project next point from A
max0 = SA[1] * perp;
if (max0 < min0)
{
JMath.Swapf(ref min0, ref max0);
JVector.Swap(ref SA[0], ref SA[1]);
}
max1 = SB[1] * perp;
if (max1 < min1)
{
JMath.Swapf(ref min1, ref max1);
JVector.Swap(ref SB[0], ref SB[1]);
}
if (min0 > min1)
{
JVector Pseg;
ProjectPointOnLine(ref SA[0], ref SB[0], ref SB[1], out Pseg);
CA[NumContacts] = SA[0];
CB[NumContacts] = Pseg;
NumContacts++;
}
else
{
JVector Pseg;
ProjectPointOnLine(ref SB[0], ref SA[0], ref SA[1], out Pseg);
CA[NumContacts] = Pseg;
CB[NumContacts] = SB[0];
NumContacts++;
}
if (max0 < max1)
{
JVector Pseg;
ProjectPointOnLine(ref SA[1], ref SB[0], ref SB[1], out Pseg);
CA[NumContacts] = SA[1];
CB[NumContacts] = Pseg;
NumContacts++;
}
else
{
JVector Pseg;
ProjectPointOnLine(ref SB[1], ref SA[0], ref SA[1], out Pseg);
CA[NumContacts] = Pseg;
CB[NumContacts] = SB[1];
NumContacts++;
}
return true;
}
// if all axes overlap collision exists
return true;
}
/// <summary>
/// Multiply two matrices. Notice: matrix multiplication is not commutative.
/// </summary>
/// <param name="matrix1">The first matrix.</param>
/// <param name="matrix2">The second matrix.</param>
/// <param name="result">The product of both matrices.</param>
public static void Multiply(ref JMatrix matrix1, ref JMatrix matrix2, out JMatrix result)
{
float num0 = (matrix1.M11 * matrix2.M11) + (matrix1.M12 * matrix2.M21);
float num1 = (matrix1.M11 * matrix2.M12) + (matrix1.M12 * matrix2.M22);
float num3 = (matrix1.M21 * matrix2.M11) + (matrix1.M22 * matrix2.M21);
float num4 = (matrix1.M21 * matrix2.M12) + (matrix1.M22 * matrix2.M22);
result.M11 = num0;
result.M12 = num1;
result.M21 = num3;
result.M22 = num4;
}
/// <summary>
/// Transforms a vector by the transposed of the given Matrix.
/// </summary>
/// <param name="position">The vector to transform.</param>
/// <param name="matrix">The transform matrix.</param>
/// <param name="result">The transformed vector.</param>
public static JVector TransposedTransform(JVector position, JMatrix matrix)
{
JVector result;
float num0 = ((position.X * matrix.M11) + (position.Y * matrix.M12));
float num1 = ((position.X * matrix.M21) + (position.Y * matrix.M22));
result.X = num0;
result.Y = num1;
return result;
}
public static JMatrix Multiply(JMatrix matrix1, float scaleFactor)
{
JMatrix result;
JMatrix.Multiply(ref matrix1, scaleFactor, out result);
return result;
}
/// <summary>
/// Multiply a matrix by a scalefactor.
/// </summary>
/// <param name="matrix1">The matrix.</param>
/// <param name="scaleFactor">The scale factor.</param>
/// <param name="result">A JMatrix multiplied by the scale factor.</param>
public static void Multiply(ref JMatrix matrix1, float scaleFactor, out JMatrix result)
{
float num = scaleFactor;
result.M11 = matrix1.M11 * num;
result.M12 = matrix1.M12 * num;
result.M21 = matrix1.M21 * num;
result.M22 = matrix1.M22 * num;
}
public static JMatrix Transpose(JMatrix matrix)
{
JMatrix result;
JMatrix.Transpose(ref matrix, out result);
return result;
}
void DrawPoly(List<JVector> poly, JVector pos, JMatrix o, Color color)
{
for (int i = 0; i < poly.Count - 1; i++)
{
JVector a = JVector.Transform(poly[i], o * JMatrix.CreateTranslation(pos));
JVector b = JVector.Transform(poly[i + 1], o * JMatrix.CreateTranslation(pos));
DebugDrawer.DrawLine(a, b, color);
}
JVector c = JVector.Transform(poly[0], o * JMatrix.CreateTranslation(pos));
JVector d = JVector.Transform(poly[poly.Count - 1], o * JMatrix.CreateTranslation(pos));
DebugDrawer.DrawLine(c, d, color);
}
/// <summary>
/// Multiplies two matrices.
/// </summary>
/// <param name="value1">The first matrix.</param>
/// <param name="value2">The second matrix.</param>
/// <returns>The product of both values.</returns>
#region public static JMatrix operator *(JMatrix value1,JMatrix value2)
public static JMatrix operator *(JMatrix value1, JMatrix value2)
{
JMatrix result; JMatrix.Multiply(ref value1, ref value2, out result);
return(result);
}