public void AddRotate(uint Axis, double Theta)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Rotate(Axis, Theta);
Multiply(Temp);
}
public void PrepareInvMatrix(double Tx, double Ty, double Tz,
double Rx, double Ry, double Rz,
double Sx, double Sy, double Sz)
{
Matrix4X4 M0 = new Matrix4X4();
Matrix4X4 M1 = new Matrix4X4();
Matrix4X4 M2 = new Matrix4X4();
Matrix4X4 M3 = new Matrix4X4();
Matrix4X4 M4 = new Matrix4X4();
Matrix4X4 M5 = new Matrix4X4();
Matrix4X4 M6 = new Matrix4X4();
Matrix4X4 M7 = new Matrix4X4();
M0.Scale(Sx, Sy, Sz);
M1.Rotate(0, Rx);
M2.Rotate(1, Ry);
M3.Rotate(2, Rz);
M4.Translate(Tx, Ty, Tz);
// 4 * 3 * 2 * 1 * 0
M5.Multiply(M4, M3);
M6.Multiply(M5, M2);
M7.Multiply(M6, M1);
Multiply(M7, M0);
}
public void PrepareMatrix(double Tx, double Ty, double Tz,
double Rx, double Ry, double Rz,
double Sx, double Sy, double Sz)
{
bool Initialized = false;
if (Sx != 1.0f || Sy != 1.0f || Sz != 1.0f)
{
if (Initialized)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Scale(Sx, Sy, Sz);
Multiply(Temp);
}
else
{
Scale(Sx, Sy, Sz);
Initialized = true;
}
}
if (Rx != .0f)
{
if (Initialized)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Rotate(0, Rx);
Multiply(Temp);
}
else
{
Rotate(0, Rx);
Initialized = true;
}
}
if (Ry != .0f)
{
if (Initialized)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Rotate(1, Ry);
Multiply(Temp);
}
else
{
Rotate(1, Ry);
Initialized = true;
}
}
if (Rz != .0f)
{
if (Initialized)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Rotate(2, Rz);
Multiply(Temp);
}
else
{
Rotate(2, Rz);
Initialized = true;
}
}
if (Tx != 0.0f || Ty != 0.0f || Tz != 0.0f)
{
if (Initialized)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Translate(Tx, Ty, Tz);
Multiply(Temp);
}
else
{
Translate(Tx, Ty, Tz);
Initialized = true;
}
if (!Initialized)
{
Identity();
}
}
}
public void PrepareInvMatrix(double Tx, double Ty, double Tz,
double Rx, double Ry, double Rz,
double Sx, double Sy, double Sz)
{
Matrix4X4 M0 = new Matrix4X4();
Matrix4X4 M1 = new Matrix4X4();
Matrix4X4 M2 = new Matrix4X4();
Matrix4X4 M3 = new Matrix4X4();
Matrix4X4 M4 = new Matrix4X4();
Matrix4X4 M5 = new Matrix4X4();
Matrix4X4 M6 = new Matrix4X4();
Matrix4X4 M7 = new Matrix4X4();
M0.Scale(Sx, Sy, Sz);
M1.Rotate(0, Rx);
M2.Rotate(1, Ry);
M3.Rotate(2, Rz);
M4.Translate(Tx, Ty, Tz);
// 4 * 3 * 2 * 1 * 0
M5.Multiply(M4, M3);
M6.Multiply(M5, M2);
M7.Multiply(M6, M1);
Multiply(M7, M0);
}
public void PrepareMatrix(double Tx, double Ty, double Tz,
double Rx, double Ry, double Rz,
double Sx, double Sy, double Sz)
{
bool Initialized = false;
if (Sx != 1.0f || Sy != 1.0f || Sz != 1.0f)
{
if (Initialized)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Scale(Sx, Sy, Sz);
Multiply(Temp);
}
else
{
Scale(Sx, Sy, Sz);
Initialized = true;
}
}
if (Rx != .0f)
{
if (Initialized)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Rotate(0, Rx);
Multiply(Temp);
}
else
{
Rotate(0, Rx);
Initialized = true;
}
}
if (Ry != .0f)
{
if (Initialized)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Rotate(1, Ry);
Multiply(Temp);
}
else
{
Rotate(1, Ry);
Initialized = true;
}
}
if (Rz != .0f)
{
if (Initialized)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Rotate(2, Rz);
Multiply(Temp);
}
else
{
Rotate(2, Rz);
Initialized = true;
}
}
if (Tx != 0.0f || Ty != 0.0f || Tz != 0.0f)
{
if (Initialized)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Translate(Tx, Ty, Tz);
Multiply(Temp);
}
else
{
Translate(Tx, Ty, Tz);
Initialized = true;
}
if (!Initialized)
{
Identity();
}
}
}
public void AddRotate(uint Axis, double Theta)
{
Matrix4X4 Temp = new Matrix4X4();
Temp.Rotate(Axis, Theta);
Multiply(Temp);
}