public Mat4f(Mat4f m)
{
for (int i = 0; i < Size; i++)
{
cols[i] = new Vec4f(m.cols[i]);
}
}
public void Set(Mat4f m)
{
for (int i = 0; i < Size; i++)
{
for (int j = 0; j < Size; j++)
{
this[i, j] = m[i, j];
}
}
}
public static Mat4f Identity()
{
Mat4f m = new Mat4f();
m[0, 0] = 1;
m[1, 1] = 1;
m[2, 2] = 1;
m[3, 3] = 1;
return(m);
}
public static Mat4f operator *(Mat4f l, Mat4f r)
{
Mat4f Result = new Mat4f();
for (int i = 0; i < Size; i++)
{
for (int j = 0; j < Size; j++)
{
for (int k = 0; k < Size; k++)
{
Result[i, j] += l[i, k] * r[k, j];
}
}
}
return(Result);
}
public void Rotate(float angle, Vec3f v)
{
var a = angle;
var c = (float)Math.Cos(a);
var s = (float)Math.Sin(a);
Vec3f axis = v.CreateNormalizedVector();
Vec3f temp = (1 - c) * axis;
Mat4f Rotate = new Mat4f();
Rotate[0][0] = c + temp[0] * axis[0];
Rotate[0][1] = temp[0] * axis[1] + s * axis[2];
Rotate[0][2] = temp[0] * axis[2] - s * axis[1];
Rotate[1][0] = temp[1] * axis[0] - s * axis[2];
Rotate[1][1] = c + temp[1] * axis[1];
Rotate[1][2] = temp[1] * axis[2] + s * axis[0];
Rotate[2][0] = temp[2] * axis[0] + s * axis[1];
Rotate[2][1] = temp[2] * axis[1] - s * axis[0];
Rotate[2][2] = c + temp[2] * axis[2];
Mat4f Result = new Mat4f();
Result[0] = this[0] * Rotate[0][0] + this[1] * Rotate[0][1] + this[2] * Rotate[0][2];
Result[1] = this[0] * Rotate[1][0] + this[1] * Rotate[1][1] + this[2] * Rotate[1][2];
Result[2] = this[0] * Rotate[2][0] + this[1] * Rotate[2][1] + this[2] * Rotate[2][2];
Result[3] = this[3];
for (int i = 0; i < Size; i++)
{
for (int j = 0; j < Size; j++)
{
Result[i, j] = (float)Result[i, j];
}
}
Set(Result);
}
public void Inverse()
{
//Generated with https://github.com/willnode/N-Matrix-Programmer
var A2323 = this[2, 2] * this[3, 3] - this[2, 3] * this[3, 2];
var A1323 = this[2, 1] * this[3, 3] - this[2, 3] * this[3, 1];
var A1223 = this[2, 1] * this[3, 2] - this[2, 2] * this[3, 1];
var A0323 = this[2, 0] * this[3, 3] - this[2, 3] * this[3, 0];
var A0223 = this[2, 0] * this[3, 2] - this[2, 2] * this[3, 0];
var A0123 = this[2, 0] * this[3, 1] - this[2, 1] * this[3, 0];
var A2313 = this[1, 2] * this[3, 3] - this[1, 3] * this[3, 2];
var A1313 = this[1, 1] * this[3, 3] - this[1, 3] * this[3, 1];
var A1213 = this[1, 1] * this[3, 2] - this[1, 2] * this[3, 1];
var A2312 = this[1, 2] * this[2, 3] - this[1, 3] * this[2, 2];
var A1312 = this[1, 1] * this[2, 3] - this[1, 3] * this[2, 1];
var A1212 = this[1, 1] * this[2, 2] - this[1, 2] * this[2, 1];
var A0313 = this[1, 0] * this[3, 3] - this[1, 3] * this[3, 0];
var A0213 = this[1, 0] * this[3, 2] - this[1, 2] * this[3, 0];
var A0312 = this[1, 0] * this[2, 3] - this[1, 3] * this[2, 0];
var A0212 = this[1, 0] * this[2, 2] - this[1, 2] * this[2, 0];
var A0113 = this[1, 0] * this[3, 1] - this[1, 1] * this[3, 0];
var A0112 = this[1, 0] * this[2, 1] - this[1, 1] * this[2, 0];
var det = this[0, 0] * (this[1, 1] * A2323 - this[1, 2] * A1323 + this[1, 3] * A1223)
- this[0, 1] * (this[1, 0] * A2323 - this[1, 2] * A0323 + this[1, 3] * A0223)
+ this[0, 2] * (this[1, 0] * A1323 - this[1, 1] * A0323 + this[1, 3] * A0123)
- this[0, 3] * (this[1, 0] * A1223 - this[1, 1] * A0223 + this[1, 2] * A0123);
if (det == 0)
{
throw new Exception("Error: determinant is zero can't calculate inverse");
}
det = 1 / det;
Mat4f r = new Mat4f();
r[0, 0] = det * (this[1, 1] * A2323 - this[1, 2] * A1323 + this[1, 3] * A1223);
r[0, 1] = det * -(this[0, 1] * A2323 - this[0, 2] * A1323 + this[0, 3] * A1223);
r[0, 2] = det * (this[0, 1] * A2313 - this[0, 2] * A1313 + this[0, 3] * A1213);
r[0, 3] = det * -(this[0, 1] * A2312 - this[0, 2] * A1312 + this[0, 3] * A1212);
r[1, 0] = det * -(this[1, 0] * A2323 - this[1, 2] * A0323 + this[1, 3] * A0223);
r[1, 1] = det * (this[0, 0] * A2323 - this[0, 2] * A0323 + this[0, 3] * A0223);
r[1, 2] = det * -(this[0, 0] * A2313 - this[0, 2] * A0313 + this[0, 3] * A0213);
r[1, 3] = det * (this[0, 0] * A2312 - this[0, 2] * A0312 + this[0, 3] * A0212);
r[2, 0] = det * (this[1, 0] * A1323 - this[1, 1] * A0323 + this[1, 3] * A0123);
r[2, 1] = det * -(this[0, 0] * A1323 - this[0, 1] * A0323 + this[0, 3] * A0123);
r[2, 2] = det * (this[0, 0] * A1313 - this[0, 1] * A0313 + this[0, 3] * A0113);
r[2, 3] = det * -(this[0, 0] * A1312 - this[0, 1] * A0312 + this[0, 3] * A0112);
r[3, 0] = det * -(this[1, 0] * A1223 - this[1, 1] * A0223 + this[1, 2] * A0123);
r[3, 1] = det * (this[0, 0] * A1223 - this[0, 1] * A0223 + this[0, 2] * A0123);
r[3, 2] = det * -(this[0, 0] * A1213 - this[0, 1] * A0213 + this[0, 2] * A0113);
r[3, 3] = det * (this[0, 0] * A1212 - this[0, 1] * A0212 + this[0, 2] * A0112);
for (int i = 0; i < Size; i++)
{
for (int j = 0; j < Size; j++)
{
this[i, j] = r[i, j];
}
}
}
