/// <summary>
/// Used to subtract two matrices.
/// </summary>
/// <param name="left"></param>
/// <param name="right"></param>
/// <returns></returns>
public static Matrix3D Subtract(Matrix3D left, Matrix3D right)
{
return left - right;
}
/// <summary>
/// Constructs this Matrix from 3 euler angles, in degrees.
/// </summary>
/// <param name="yaw"></param>
/// <param name="pitch"></param>
/// <param name="roll"></param>
public void FromEulerAnglesXYZ(float yaw, float pitch, float roll)
{
double cos = Math.Cos(yaw);
double sin = Math.Sin(yaw);
Matrix3D xMat = new Matrix3D(1, 0, 0, 0, (float) cos, (float) -sin, 0, (float) sin, (float) cos);
cos = Math.Cos(pitch);
sin = Math.Sin(pitch);
Matrix3D yMat = new Matrix3D((float) cos, 0, (float) sin, 0, 1, 0, (float) -sin, 0, (float) cos);
cos = Math.Cos(roll);
sin = Math.Sin(roll);
Matrix3D zMat = new Matrix3D((float) cos, (float) -sin, 0, (float) sin, (float) cos, 0, 0, 0, 1);
this = xMat * (yMat * zMat);
}
/// <summary>
/// Multiplies all the items in the Matrix3D by a scalar value.
/// </summary>
/// <param name="matrix"></param>
/// <param name="scalar"></param>
/// <returns></returns>
public static Matrix3D Multiply(float scalar, Matrix3D matrix)
{
return scalar * matrix;
}
/// <summary>
/// Negates all the items in the Matrix.
/// </summary>
/// <param name="matrix"></param>
/// <returns></returns>
public static Matrix3D Negate(Matrix3D matrix)
{
return -matrix;
}
public static Point3D Multiply(Matrix3D matrix, Point3D point)
{
return (matrix * point);
}
/// <summary>
/// Multiplies all the items in the Matrix3D by a scalar value.
/// </summary>
/// <param name="matrix"></param>
/// <param name="scalar"></param>
/// <returns></returns>
public static Matrix3D Multiply(Matrix3D matrix, float scalar)
{
return matrix * scalar;
}
public static Point3D Multiply(Point3D point, Matrix3D matrix)
{
return point * matrix;
}
/// <summary>
/// matrix * vector [3x3 * 3x1 = 3x1]
/// </summary>
/// <param name="vector"></param>
/// <param name="matrix"></param>
/// <returns></returns>
public static Vector3D Multiply(Matrix3D matrix, Vector3D vector)
{
return (matrix * vector);
}
/// <summary>
/// Multiply (concatenate) two Matrix3D instances together.
/// </summary>
/// <param name="left"></param>
/// <param name="right"></param>
/// <returns></returns>
public static Matrix3D Multiply(Matrix3D left, Matrix3D right)
{
return left * right;
}
/// <summary>
/// vector * matrix [1x3 * 3x3 = 1x3]
/// </summary>
/// <param name="vector"></param>
/// <param name="matrix"></param>
/// <returns></returns>
public static Vector3D Multiply(Vector3D vector, Matrix3D matrix)
{
return vector * matrix;
}
/// <summary>
/// Used to add two matrices together.
/// </summary>
/// <param name="left"></param>
/// <param name="right"></param>
/// <returns></returns>
public static Matrix3D Add(Matrix3D left, Matrix3D right)
{
return left + right;
}
/// <summary>
/// Negates all the items in the Matrix.
/// </summary>
/// <param name="matrix"></param>
/// <returns></returns>
public static Matrix3D operator -(Matrix3D matrix)
{
Matrix3D result = new Matrix3D();
result.M00 = -matrix.M00;
result.M01 = -matrix.M01;
result.M02 = -matrix.M02;
result.M10 = -matrix.M10;
result.M11 = -matrix.M11;
result.M12 = -matrix.M12;
result.M20 = -matrix.M20;
result.M21 = -matrix.M21;
result.M22 = -matrix.M22;
return result;
}
/// <summary>
/// Used to subtract two matrices.
/// </summary>
/// <param name="left"></param>
/// <param name="right"></param>
/// <returns></returns>
public static Matrix3D operator -(Matrix3D left, Matrix3D right)
{
Matrix3D result = new Matrix3D();
for (int row = 0; row < 3; row++) {
for (int col = 0; col < 3; col++) {
result[row, col] = left[row, col] - right[row, col];
}
}
return result;
}
/// <summary>
/// Multiplies all the items in the Matrix3D by a scalar value.
/// </summary>
/// <param name="matrix"></param>
/// <param name="scalar"></param>
/// <returns></returns>
public static Matrix3D operator *(float scalar, Matrix3D matrix)
{
Matrix3D result = new Matrix3D();
result.M00 = matrix.M00 * scalar;
result.M01 = matrix.M01 * scalar;
result.M02 = matrix.M02 * scalar;
result.M10 = matrix.M10 * scalar;
result.M11 = matrix.M11 * scalar;
result.M12 = matrix.M12 * scalar;
result.M20 = matrix.M20 * scalar;
result.M21 = matrix.M21 * scalar;
result.M22 = matrix.M22 * scalar;
return result;
}
/// <summary>
/// Multiply (concatenate) two Matrix3D instances together.
/// </summary>
/// <param name="left"></param>
/// <param name="right"></param>
/// <returns></returns>
public static Matrix3D operator *(Matrix3D left, Matrix3D right)
{
Matrix3D result = new Matrix3D();
result.M00 = left.M00 * right.M00 + left.M01 * right.M10 + left.M02 * right.M20;
result.M01 = left.M00 * right.M01 + left.M01 * right.M11 + left.M02 * right.M21;
result.M02 = left.M00 * right.M02 + left.M01 * right.M12 + left.M02 * right.M22;
result.M10 = left.M10 * right.M00 + left.M11 * right.M10 + left.M12 * right.M20;
result.M11 = left.M10 * right.M01 + left.M11 * right.M11 + left.M12 * right.M21;
result.M12 = left.M10 * right.M02 + left.M11 * right.M12 + left.M12 * right.M22;
result.M20 = left.M20 * right.M00 + left.M21 * right.M10 + left.M22 * right.M20;
result.M21 = left.M20 * right.M01 + left.M21 * right.M11 + left.M22 * right.M21;
result.M22 = left.M20 * right.M02 + left.M21 * right.M12 + left.M22 * right.M22;
return result;
}
