public static Matrix4x4d TranslateRotateScale(Vector3d t, Vector4d q, Vector3d e)
{
Matrix4x4d mt = Translate(t.X, t.Y, t.Z);
Matrix4x4d mr = RotateQuat(q);
Matrix4x4d me = Scale(e.X, e.Y, e.Z);
// mt * mr * me
Matrix4x4d m = mt;
m.Mul(mr);
m.Mul(me);
return(m);
}
/// <summary>
/// <see cref="http://adndevblog.typepad.com/autocad/2012/08/remove-scaling-from-transformation-matrix.html" />
/// </summary>
public static Matrix4x4d RemoveScaling(Matrix4x4d m, double scalingValue = 1)
{
Vector3d v0 = new Vector3d(m.M00, m.M01, m.M02).Unit.Mul(scalingValue);
Vector3d v1 = new Vector3d(m.M10, m.M11, m.M12).Unit.Mul(scalingValue);
Vector3d v2 = new Vector3d(m.M20, m.M21, m.M22).Unit.Mul(scalingValue);
return(new Matrix4x4d(
new[, ]
{
{ v0.X, v0.Y, v0.Z, m.M02 },
{ v1.X, v1.Y, v1.Z, m.M12 },
{ v2.X, v2.Y, v2.Z, m.M22 },
{ m.M30, m.M31, m.M32, m.M33 }
}));
}
/// <summary>
/// Crea una matriz con la traslacion, rotacion y escala.
/// </summary>
/// <param name="tx">Traslacion x.</param>
/// <param name="ty">Traslacion y.</param>
/// <param name="tz">Traslacion z.</param>
/// <param name="rx">Angulo en radianes x respecto al plano YZ.</param>
/// <param name="ry">Angulo en radianes y respecto al plano XZ.</param>
/// <param name="rz">Angulo en radianes z respecto al plano XY.</param>
/// <param name="ex">Escala x.</param>
/// <param name="ey">Escala y.</param>
/// <param name="ez">Escala z.</param>
/// <returns>Matriz de escala, rotacion y traslacion.</returns>
public static Matrix4x4d TranslateRotateScale(
double tx, double ty, double tz,
double rx, double ry, double rz,
double ex, double ey, double ez)
{
Matrix4x4d mt = Translate(tx, ty, tz);
Matrix4x4d mr = Rotate(rx, ry, rz);
Matrix4x4d me = Scale(ex, ey, ez);
// mt * mr * me
Matrix4x4d m = mt;
m.Mul(mr);
m.Mul(me);
return(m);
}
/// <summary>
/// Crea una matriz que coloca la camara en <c>posicion</c> mirando en direccion <c>dir</c>.
/// La direccion <c>up</c> marca la coordenada Y.
/// </summary>
/// <param name="eye">Posicion de la camara.</param>
/// <param name="dir">Direccion a la que mira la camara.</param>
/// <param name="up">Direccion Y de la camara.</param>
/// <returns></returns>
public static Matrix4x4d LookAt(Point3d eye, Vector3d dir, Vector3d up)
{
Vector3d fN = dir.Unit;
Vector3d upN = up.Unit;
Vector3d sN = fN.Cross(upN);
Vector3d uN = sN.Cross(fN);
Matrix4x4d m = new Matrix4x4d(
sN.X, sN.Y, sN.Z, 0,
uN.X, uN.Y, uN.Z, 0,
-fN.X, -fN.Y, -fN.Z, 0,
0, 0, 0, 1);
m.Mul(Translate(eye.X, eye.Y, eye.Z));
return(m);
}
public override ITransform3 Concat(ITransform3 transform)
{
if (transform is Transform3Identity)
{
return(transform);
}
Transform3Matrix tmatrix = transform as Transform3Matrix;
if (tmatrix == null)
{
throw new NotImplementedException();
}
Matrix4x4d result = this.Matrix.Clone();
result.Mul(tmatrix.Matrix);
return(new Transform3Matrix(result, true));
}
public Transform3Matrix(Matrix4x4d matrix, bool share = true)
{
this.Matrix = (share ? matrix : matrix.Clone());
}
public override void GetMatrix(Matrix4x4d matrix)
{
matrix.Set(this.Matrix);
}