static public Coords Shear(Coords position, float x, float y, float z)
{
float[] shearValues = { 1, x, z, 0,
x, 1, z, 0,
x, y, 1, 0,
0, 0, 0, 1 };
Matrix shearMatrix = new Matrix(4, 4, shearValues);
Matrix pos = new Matrix(4, 1, position.AsFloats());
Matrix shear = shearMatrix * pos;
return(shear.AsCoords());
}
static public Coords Reflect(Coords position)
{
float[] reflectValues = { -1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1 };
Matrix reflectMatrix = new Matrix(4, 4, reflectValues);
Matrix pos = new Matrix(4, 1, position.AsFloats());
Matrix result = reflectMatrix * pos;
return(result.AsCoords());
}
static public Coords Shear(Coords position, float shearX, float shearY, float shearZ)
{
float[] shearValues = { 1, shearY, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1 };
Matrix shearMatrix = new Matrix(4, 4, shearValues);
Matrix pos = new Matrix(4, 1, position.AsFloats());
Matrix result = shearMatrix * pos;
return(result.AsCoords());
}
static public Coords Scale(Coords position, float scaleX, float scaleY, float scaleZ)
{
float[] scaleValues = { scaleX, 0, 0, 0,
0, scaleY, 0, 0,
0, 0, scaleZ, 0,
0, 0, 0, 1 };
Matrix scaleMatrix = new Matrix(4, 4, scaleValues);
Matrix pos = new Matrix(4, 1, position.AsFloats());
Matrix result = scaleMatrix * pos;
return(result.AsCoords());
}
static public Coords Translate(Coords position, Coords vector)
{
float[] translateValues = { 1, 0, 0, vector.x,
0, 1, 0, vector.y,
0, 0, 1, vector.z,
0, 0, 0, 1 };
Matrix translateMatrix = new Matrix(4, 4, translateValues);
Matrix pos = new Matrix(4, 1, position.AsFloats());
Matrix result = translateMatrix * pos;
return(result.AsCoords());
}
static public Coords Rotate(Coords point, float anglex, bool clockwisex, float angley, bool clockwisey, float anglez, bool clockwisez) //in radians
{
if (clockwisex)
{
anglex = 2 * Mathf.PI - anglex;
}
if (clockwisey)
{
angley = 2 * Mathf.PI - angley;
}
if (clockwisez)
{
anglez = 2 * Mathf.PI - anglez;
}
float [] roationValesX =
{
1, 0, 0, 0,
0, Mathf.Cos(anglex), -Mathf.Sin(anglex), 0,
0, Mathf.Sin(anglex), Mathf.Cos(anglex), 0,
0, 0, 0, 1
};
Matrix XRoll = new Matrix(4, 4, roationValesX);
float [] roationValesY =
{
Mathf.Cos(angley), 0, Mathf.Sin(angley), 0,
0, 1, 0, 0,
-Mathf.Sin(angley), 0, Mathf.Cos(angley), 0,
0, 0, 0, 1
};
Matrix YRoll = new Matrix(4, 4, roationValesY);
float [] roationValesZ =
{
Mathf.Cos(anglez), -Mathf.Sin(anglez), 0, 0,
Mathf.Sin(anglez), Mathf.Cos(anglez), 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
};
Matrix ZRoll = new Matrix(4, 4, roationValesZ);
Matrix pos = new Matrix(4, 1, point.AsFloats());
Matrix result = ZRoll * YRoll * XRoll * pos;
return(result.AsCords());
}
static public Coords Rotate(Coords position, Rotation r)
{
r = CheckForClockwise(r);
float[] xRollValues = GetRollValues(r, "x");
float[] yRollValues = GetRollValues(r, "y");
float[] zRollValues = GetRollValues(r, "z");
Matrix xRoll = new Matrix(4, 4, xRollValues);
Matrix yRoll = new Matrix(4, 4, yRollValues);
Matrix zRoll = new Matrix(4, 4, zRollValues);
Matrix pos = new Matrix(4, 1, position.AsFloats());
Matrix rotation = zRoll * yRoll * xRoll * pos;
return(rotation.AsCoords());
}
static public Coords Rotate(Coords position, float angleX, bool clockwiseX,
float angleY, bool clockwiseY,
float angleZ, bool clockwiseZ)
{
if (clockwiseX)
{
angleX = 2 * Mathf.PI - angleX;
}
if (clockwiseY)
{
angleY = 2 * Mathf.PI - angleY;
}
if (clockwiseZ)
{
angleZ = 2 * Mathf.PI - angleZ;
}
float[] xrollValues = { 1, 0, 0, 0,
0, Mathf.Cos(angleX), -Mathf.Sin(angleX), 0,
0, Mathf.Sin(angleX), Mathf.Cos(angleX), 0,
0, 0, 0, 1 };
Matrix XRoll = new Matrix(4, 4, xrollValues);
float[] yrollValues = { Mathf.Cos(angleY), 0, Mathf.Sin(angleY), 0,
0, 1, 0, 0,
-Mathf.Sin(angleY), 0, Mathf.Cos(angleY), 0,
0, 0, 0, 1 };
Matrix YRoll = new Matrix(4, 4, yrollValues);
float[] zrollValues = { Mathf.Cos(angleZ), -Mathf.Sin(angleZ), 0, 0,
Mathf.Sin(angleZ), Mathf.Cos(angleZ), 0, 0,
0, 0, 1, 0,
0, 0, 0, 1 };
Matrix ZRoll = new Matrix(4, 4, zrollValues);
Matrix pos = new Matrix(4, 1, position.AsFloats());
Matrix result = ZRoll * YRoll * XRoll * pos;
return(result.AsCoords());
}
static public Coords QRotate(Coords position, Coords axis, float angle /*degree*/)
{
Coords aNormal = Coords.GetNormal(axis);
float w = Mathf.Cos(angle * Mathf.Deg2Rad / 2);
float s = Mathf.Sin(angle * Mathf.Deg2Rad / 2);
//quaternion equation.
Coords q = new Coords(aNormal.x * s, aNormal.y * s, aNormal.z * s, w);
float[] quaternionValues =
{
1 - 2 * q.y * q.y - 2 * q.z * q.z, 2 * q.x * q.y - 2 * q.w * q.z, 2 * q.x * q.z + 2 * q.w * q.y, 0,
2 * q.x * q.y + 2 * q.w * q.z, 1 - 2 * q.x * q.x - 2 * q.z * q.z, 2 * q.y * q.z - 2 * q.w * q.x, 0,
2 * q.x * q.z - 2 * q.w * q.y, 2 * q.y * q.z + 2 * q.w * q.x, 1 - 2 * q.x * q.x - 2 * q.y * q.y, 0,
0, 0, 0, 1
};
Matrix quaternionMatrix = new Matrix(4, 4, quaternionValues);
Matrix pos = new Matrix(4, 1, position.AsFloats());
Matrix result = quaternionMatrix * pos;
return(result.AsCords());
}
