public static Matrix34 CreateScale(Vector3 s, Vector3 t = default(Vector3))
{
var matrix = new Matrix34();
matrix.SetScale(s, t);
return(matrix);
}
public static Matrix34 CreateTranslationMat(Vector3 v)
{
var matrix = new Matrix34();
matrix.SetTranslationMat(v);
return(matrix);
}
public static Matrix34 CreateRotationAA(float c, float s, Vector3 axis, Vector3 t = default(Vector3))
{
var matrix = new Matrix34();
matrix.SetRotationAA(c, s, axis, t);
return(matrix);
}
public static Matrix34 CreateIdentity()
{
var matrix = new Matrix34();
matrix.SetIdentity();
return(matrix);
}
public static Matrix34 CreateFromVectors(Vector3 vx, Vector3 vy, Vector3 vz, Vector3 pos)
{
var matrix = new Matrix34();
matrix.SetFromVectors(vx, vy, vz, pos);
return(matrix);
}
public Matrix33(Matrix34 m)
{
M00 = m.M00;
M01 = m.M01;
M02 = m.M02;
M10 = m.M10;
M11 = m.M11;
M12 = m.M12;
M20 = m.M20;
M21 = m.M21;
M22 = m.M22;
}
public static Matrix34 operator *(Matrix34 l, Matrix34 r)
{
var m = new Matrix34();
m.M00 = l.M00 * r.M00 + l.M01 * r.M10 + l.M02 * r.M20;
m.M10 = l.M10 * r.M00 + l.M11 * r.M10 + l.M12 * r.M20;
m.M20 = l.M20 * r.M00 + l.M21 * r.M10 + l.M22 * r.M20;
m.M01 = l.M00 * r.M01 + l.M01 * r.M11 + l.M02 * r.M21;
m.M11 = l.M10 * r.M01 + l.M11 * r.M11 + l.M12 * r.M21;
m.M21 = l.M20 * r.M01 + l.M21 * r.M11 + l.M22 * r.M21;
m.M02 = l.M00 * r.M02 + l.M01 * r.M12 + l.M02 * r.M22;
m.M12 = l.M10 * r.M02 + l.M11 * r.M12 + l.M12 * r.M22;
m.M22 = l.M20 * r.M02 + l.M21 * r.M12 + l.M22 * r.M22;
m.M03 = l.M00 * r.M03 + l.M01 * r.M13 + l.M02 * r.M23 + l.M03;
m.M13 = l.M10 * r.M03 + l.M11 * r.M13 + l.M12 * r.M23 + l.M13;
m.M23 = l.M20 * r.M03 + l.M21 * r.M13 + l.M22 * r.M23 + l.M23;
return(m);
}
public void SetScale(Vector3 s, Vector3 t = default(Vector3))
{
this = new Matrix34(Matrix33.CreateScale(s));
SetTranslation(t);
}
/*!
* Create a rotation matrix around an arbitrary axis (Eulers Theorem).
* The axis is specified as an normalized Vector3. The angle is assumed to be in radians.
* This function also assumes a translation-vector and stores it in the right column.
*
* Example:
* Matrix34 m34;
* Vector3 axis=GetNormalized( Vector3(-1.0f,-0.3f,0.0f) );
* m34.SetRotationAA( 3.14314f, axis, Vector3(5,5,5) );
*/
public void SetRotationAA(float c, float s, Vector3 axis, Vector3 t = default(Vector3))
{
this = new Matrix34(Matrix33.CreateRotationAA(c, s, axis));
M03 = t.X; M13 = t.Y; M23 = t.Z;
}
public bool IsEquivalent(Matrix34 m, float e = 0.05f)
{
return((Math.Abs(M00 - m.M00) <= e) && (Math.Abs(M01 - m.M01) <= e) && (Math.Abs(M02 - m.M02) <= e) && (Math.Abs(M03 - m.M03) <= e) &&
(Math.Abs(M10 - m.M10) <= e) && (Math.Abs(M11 - m.M11) <= e) && (Math.Abs(M12 - m.M12) <= e) && (Math.Abs(M13 - m.M13) <= e) &&
(Math.Abs(M20 - m.M20) <= e) && (Math.Abs(M21 - m.M21) <= e) && (Math.Abs(M22 - m.M22) <= e) && (Math.Abs(M23 - m.M23) <= e));
}
