internal DualMatrix4x3(DualVector3 xBasis, DualVector3 yBasis, DualVector3 zBasis, DualVector3 translation) : this()
{
this.translation = translation;
this.xBasis = xBasis;
this.yBasis = yBasis;
this.zBasis = zBasis;
}
internal DualMatrix4x3(DualVector3 translation, Quaternion rotation, DualVector3 scale) : this()
{
this.translation = translation;
xBasis = new DualVector3(rotation * (DualVector3.right * scale.x), Vector3.zero);
yBasis = new DualVector3(rotation * (DualVector3.up * scale.y), Vector3.zero);
zBasis = new DualVector3(rotation * (DualVector3.forward * scale.z), Vector3.zero);
}
public static DualNumber SqrMagnitude(this DualVector3 vector)
{
return(vector.x.Squared() + vector.y.Squared() + vector.z.Squared());
}
public static DualNumber Dot(this DualVector3 first, DualVector3 second)
{
return((first.x * second.x) + (first.y * second.y) + (first.z * second.z));
}
public static DualVector3 Cross(this DualVector3 first, DualVector3 second)
{
return(new DualVector3((first.y * second.z) - (first.z * second.y),
(first.z * second.x) - (first.x * second.z),
(first.x * second.y) - (first.y * second.x)));
}
/// <summary> Orthogonalizes the rotation; preserves forward then y </summary>
public static DualMatrix4x3 Orthogonalize(this DualMatrix4x3 matrix)
{
DualVector3 newXBasis = matrix.yBasis.Cross(matrix.zBasis);
return(new DualMatrix4x3(newXBasis, newXBasis.Cross(matrix.zBasis), matrix.zBasis, matrix.translation));
}
public static DualVector3 Normalize(this DualVector3 vector)
{
return(vector / vector.Magnitude());
}
public static DualNumber Magnitude(this DualVector3 vector)
{
return(Pow(SqrMagnitude(vector), 0.5f));
}