public Matrix3(Matrix3 matrix)
{
m00_ = matrix.m00_;
m01_ = matrix.m01_;
m02_ = matrix.m02_;
m10_ = matrix.m10_;
m11_ = matrix.m11_;
m12_ = matrix.m12_;
m20_ = matrix.m20_;
m21_ = matrix.m21_;
m22_ = matrix.m22_;
}
/// Copy-construct from a 3x3 matrix and set the extra elements to identity.
public Matrix3x4(Matrix3 matrix)
{
m00_ = matrix.m00_;
m01_ = matrix.m01_;
m02_ = matrix.m02_;
m03_ = 0.0f;
m10_ = matrix.m10_;
m11_ = matrix.m11_;
m12_ = matrix.m12_;
m13_ = 0.0f;
m20_ = matrix.m20_;
m21_ = matrix.m21_;
m22_ = matrix.m22_;
m23_ = 0.0f;
}
public Matrix3 Set(Matrix3 rhs)
{
m00_ = rhs.m00_;
m01_ = rhs.m01_;
m02_ = rhs.m02_;
m10_ = rhs.m10_;
m11_ = rhs.m11_;
m12_ = rhs.m12_;
m20_ = rhs.m20_;
m21_ = rhs.m21_;
m22_ = rhs.m22_;
return this;
}
/// Test for equality with another matrix with epsilon.
public bool Equals(Matrix3 rhs)
{
return true;
}
/// Construct from a rotation matrix.
public Quaternion(Matrix3 matrix)
{
FromRotationMatrix(matrix);
}
/// Define from a rotation matrix.
public void FromRotationMatrix(Matrix3 matrix)
{
float t = matrix.m00_ + matrix.m11_ + matrix.m22_;
if (t > 0.0f)
{
float invS = 0.5f / (float)Math.Sqrt(1.0f + t);
x_ = (matrix.m21_ - matrix.m12_) * invS;
y_ = (matrix.m02_ - matrix.m20_) * invS;
z_ = (matrix.m10_ - matrix.m01_) * invS;
w_ = 0.25f / invS;
}
else
{
if (matrix.m00_ > matrix.m11_ && matrix.m00_ > matrix.m22_)
{
float invS = 0.5f / (float)Math.Sqrt(1.0f + matrix.m00_ - matrix.m11_ - matrix.m22_);
x_ = 0.25f / invS;
y_ = (matrix.m01_ + matrix.m10_) * invS;
z_ = (matrix.m20_ + matrix.m02_) * invS;
w_ = (matrix.m21_ - matrix.m12_) * invS;
}
else if (matrix.m11_ > matrix.m22_)
{
float invS = 0.5f / (float)Math.Sqrt(1.0f + matrix.m11_ - matrix.m00_ - matrix.m22_);
x_ = (matrix.m01_ + matrix.m10_) * invS;
y_ = 0.25f / invS;
z_ = (matrix.m12_ + matrix.m21_) * invS;
w_ = (matrix.m02_ - matrix.m20_) * invS;
}
else
{
float invS = 0.5f / (float)Math.Sqrt(1.0f + matrix.m22_ - matrix.m00_ - matrix.m11_);
x_ = (matrix.m02_ + matrix.m20_) * invS;
y_ = (matrix.m12_ + matrix.m21_) * invS;
z_ = 0.25f / invS;
w_ = (matrix.m10_ - matrix.m01_) * invS;
}
}
}
/// Define from orthonormal axes.
public void FromAxes(Vector3 xAxis, Vector3 yAxis, Vector3 zAxis)
{
Matrix3 matrix = new Matrix3(
xAxis.x, yAxis.x, zAxis.x,
xAxis.y, yAxis.y, zAxis.y,
xAxis.z, yAxis.z, zAxis.z
);
FromRotationMatrix(matrix);
}
/// Set rotation elements from a 3x3 matrix.
public void SetRotation(Matrix3 rotation)
{
m00_ = rotation.m00_;
m01_ = rotation.m01_;
m02_ = rotation.m02_;
m10_ = rotation.m10_;
m11_ = rotation.m11_;
m12_ = rotation.m12_;
m20_ = rotation.m20_;
m21_ = rotation.m21_;
m22_ = rotation.m22_;
}
/// Assign from a 3x3 matrix and set the extra elements to identity.
public Matrix3x4 Set(Matrix3 rhs)
{
m00_ = rhs.m00_;
m01_ = rhs.m01_;
m02_ = rhs.m02_;
m03_ = 0.0f;
m10_ = rhs.m10_;
m11_ = rhs.m11_;
m12_ = rhs.m12_;
m13_ = 0.0f;
m20_ = rhs.m20_;
m21_ = rhs.m21_;
m22_ = rhs.m22_;
m23_ = 0.0f;
return this;
}
/// Assign from a 3x3 matrix. Set the extra elements to identity.
public void Set(Matrix3 rhs)
{
m00_ = rhs.m00_;
m01_ = rhs.m01_;
m02_ = rhs.m02_;
m03_ = 0.0f;
m10_ = rhs.m10_;
m11_ = rhs.m11_;
m12_ = rhs.m12_;
m13_ = 0.0f;
m20_ = rhs.m20_;
m21_ = rhs.m21_;
m22_ = rhs.m22_;
m23_ = 0.0f;
m30_ = 0.0f;
m31_ = 0.0f;
m32_ = 0.0f;
m33_ = 1.0f;
}
/// Construct from a rotation matrix.
public Quaternion(Matrix3 matrix)
{
FromRotationMatrix(matrix);
}
