/// <summary>
/// Transforms the vector by the matrix.
/// </summary>
/// <param name="v">Vector2 to transform. Considered to be a column vector for purposes of multiplication.</param>
/// <param name="matrix">Matrix to use as the transformation.</param>
/// <param name="result">Column vector product of the transformation.</param>
public static void Transform(ref Vector3 v, ref Matrix2x3 matrix, out Vector2 result)
{
#if !WINDOWS
result = new Vector2();
#endif
result.X = matrix.M11 * v.X + matrix.M12 * v.Y + matrix.M13 * v.Z;
result.Y = matrix.M21 * v.X + matrix.M22 * v.Y + matrix.M23 * v.Z;
}
/// <summary>
/// Multiplies the two matrices.
/// </summary>
/// <param name="a">First matrix to multiply.</param>
/// <param name="b">Second matrix to multiply.</param>
/// <param name="result">Product of the multiplication.</param>
public static void Multiply(ref Matrix2x3 a, ref Matrix3x2 b, out Matrix2x2 result)
{
result.M11 = a.M11 * b.M11 + a.M12 * b.M21 + a.M13 * b.M31;
result.M12 = a.M11 * b.M12 + a.M12 * b.M22 + a.M13 * b.M32;
result.M21 = a.M21 * b.M11 + a.M22 * b.M21 + a.M23 * b.M31;
result.M22 = a.M21 * b.M12 + a.M22 * b.M22 + a.M23 * b.M32;
}
public static void Validate(this Matrix2x3 m)
{
if (IsInvalid(m.M11) || IsInvalid(m.M12) || IsInvalid(m.M13) ||
IsInvalid(m.M21) || IsInvalid(m.M22) || IsInvalid(m.M23))
{
throw new NotFiniteNumberException("Invalid value.");
}
}
/// <summary>
/// Transforms the vector by the matrix.
/// </summary>
/// <param name="v">Vector2 to transform. Considered to be a row vector for purposes of multiplication.</param>
/// <param name="matrix">Matrix to use as the transformation.</param>
/// <param name="result">Row vector product of the transformation.</param>
public static void Transform(ref Vector2 v, ref Matrix2x3 matrix, out Vector3 result)
{
#if !WINDOWS
result = new Vector3();
#endif
result.X = v.X * matrix.M11 + v.Y * matrix.M21;
result.Y = v.X * matrix.M12 + v.Y * matrix.M22;
result.Z = v.X * matrix.M13 + v.Y * matrix.M23;
}
/// <summary>
/// Computes the transposed matrix of a matrix.
/// </summary>
/// <param name="matrix">Matrix to transpose.</param>
/// <param name="result">Transposed matrix.</param>
public static void Transpose(ref Matrix3x2 matrix, out Matrix2x3 result)
{
result.M11 = matrix.M11;
result.M12 = matrix.M21;
result.M13 = matrix.M31;
result.M21 = matrix.M12;
result.M22 = matrix.M22;
result.M23 = matrix.M32;
}
/// <summary>
/// Adds the two matrices together on a per-element basis.
/// </summary>
/// <param name="a">First matrix to add.</param>
/// <param name="b">Second matrix to add.</param>
/// <param name="result">Sum of the two matrices.</param>
public static void Add(ref Matrix2x3 a, ref Matrix2x3 b, out Matrix2x3 result)
{
float m11 = a.M11 + b.M11;
float m12 = a.M12 + b.M12;
float m13 = a.M13 + b.M13;
float m21 = a.M21 + b.M21;
float m22 = a.M22 + b.M22;
float m23 = a.M23 + b.M23;
result.M11 = m11;
result.M12 = m12;
result.M13 = m13;
result.M21 = m21;
result.M22 = m22;
result.M23 = m23;
}
/// <summary>
/// Negates every element in the matrix.
/// </summary>
/// <param name="matrix">Matrix to negate.</param>
/// <param name="result">Negated matrix.</param>
public static void Negate(ref Matrix2x3 matrix, out Matrix2x3 result)
{
float m11 = -matrix.M11;
float m12 = -matrix.M12;
float m13 = -matrix.M13;
float m21 = -matrix.M21;
float m22 = -matrix.M22;
float m23 = -matrix.M23;
result.M11 = m11;
result.M12 = m12;
result.M13 = m13;
result.M21 = m21;
result.M22 = m22;
result.M23 = m23;
}
/// <summary>
/// Subtracts the two matrices from each other on a per-element basis.
/// </summary>
/// <param name="a">First matrix to subtract.</param>
/// <param name="b">Second matrix to subtract.</param>
/// <param name="result">Difference of the two matrices.</param>
public static void Subtract(ref Matrix2x3 a, ref Matrix2x3 b, out Matrix2x3 result)
{
float m11 = a.M11 - b.M11;
float m12 = a.M12 - b.M12;
float m13 = a.M13 - b.M13;
float m21 = a.M21 - b.M21;
float m22 = a.M22 - b.M22;
float m23 = a.M23 - b.M23;
result.M11 = m11;
result.M12 = m12;
result.M13 = m13;
result.M21 = m21;
result.M22 = m22;
result.M23 = m23;
}
/// <summary>
/// Negates every element in the matrix.
/// </summary>
/// <param name="matrix">Matrix to negate.</param>
/// <param name="result">Negated matrix.</param>
public static void Negate(ref Matrix2x3 matrix, out Matrix2x3 result)
{
Fix64 m11 = -matrix.M11;
Fix64 m12 = -matrix.M12;
Fix64 m13 = -matrix.M13;
Fix64 m21 = -matrix.M21;
Fix64 m22 = -matrix.M22;
Fix64 m23 = -matrix.M23;
result.M11 = m11;
result.M12 = m12;
result.M13 = m13;
result.M21 = m21;
result.M22 = m22;
result.M23 = m23;
}
/// <summary>
/// Multiplies the two matrices.
/// </summary>
/// <param name="a">First matrix to multiply.</param>
/// <param name="b">Second matrix to multiply.</param>
/// <param name="result">Product of the multiplication.</param>
public static void Multiply(ref Matrix2x3 a, ref Matrix3x3 b, out Matrix2x3 result)
{
float resultM11 = a.M11 * b.M11 + a.M12 * b.M21 + a.M13 * b.M31;
float resultM12 = a.M11 * b.M12 + a.M12 * b.M22 + a.M13 * b.M32;
float resultM13 = a.M11 * b.M13 + a.M12 * b.M23 + a.M13 * b.M33;
float resultM21 = a.M21 * b.M11 + a.M22 * b.M21 + a.M23 * b.M31;
float resultM22 = a.M21 * b.M12 + a.M22 * b.M22 + a.M23 * b.M32;
float resultM23 = a.M21 * b.M13 + a.M22 * b.M23 + a.M23 * b.M33;
result.M11 = resultM11;
result.M12 = resultM12;
result.M13 = resultM13;
result.M21 = resultM21;
result.M22 = resultM22;
result.M23 = resultM23;
}
/// <summary>
/// Adds the two matrices together on a per-element basis.
/// </summary>
/// <param name="a">First matrix to add.</param>
/// <param name="b">Second matrix to add.</param>
/// <param name="result">Sum of the two matrices.</param>
public static void Add(ref Matrix2x3 a, ref Matrix2x3 b, out Matrix2x3 result)
{
float m11 = a.M11 + b.M11;
float m12 = a.M12 + b.M12;
float m13 = a.M13 + b.M13;
float m21 = a.M21 + b.M21;
float m22 = a.M22 + b.M22;
float m23 = a.M23 + b.M23;
result.M11 = m11;
result.M12 = m12;
result.M13 = m13;
result.M21 = m21;
result.M22 = m22;
result.M23 = m23;
}
/// <summary>
/// Computes the transposed matrix of a matrix.
/// </summary>
/// <param name="matrix">Matrix to transpose.</param>
/// <param name="result">Transposed matrix.</param>
public static void Transpose(ref Matrix3x2 matrix, out Matrix2x3 result)
{
result.M11 = matrix.M11;
result.M12 = matrix.M21;
result.M13 = matrix.M31;
result.M21 = matrix.M12;
result.M22 = matrix.M22;
result.M23 = matrix.M32;
}
/// <summary>
/// Negates every element in the matrix.
/// </summary>
/// <param name="matrix">Matrix to negate.</param>
/// <param name="result">Negated matrix.</param>
public static void Negate(ref Matrix2x3 matrix, out Matrix2x3 result)
{
float m11 = -matrix.M11;
float m12 = -matrix.M12;
float m13 = -matrix.M13;
float m21 = -matrix.M21;
float m22 = -matrix.M22;
float m23 = -matrix.M23;
result.M11 = m11;
result.M12 = m12;
result.M13 = m13;
result.M21 = m21;
result.M22 = m22;
result.M23 = m23;
}
/// <summary>
/// Subtracts the two matrices from each other on a per-element basis.
/// </summary>
/// <param name="a">First matrix to subtract.</param>
/// <param name="b">Second matrix to subtract.</param>
/// <param name="result">Difference of the two matrices.</param>
public static void Subtract(ref Matrix2x3 a, ref Matrix2x3 b, out Matrix2x3 result)
{
float m11 = a.M11 - b.M11;
float m12 = a.M12 - b.M12;
float m13 = a.M13 - b.M13;
float m21 = a.M21 - b.M21;
float m22 = a.M22 - b.M22;
float m23 = a.M23 - b.M23;
result.M11 = m11;
result.M12 = m12;
result.M13 = m13;
result.M21 = m21;
result.M22 = m22;
result.M23 = m23;
}
/// <summary>
/// Transforms the vector by the matrix.
/// </summary>
/// <param name="v">Vector2 to transform. Considered to be a row vector for purposes of multiplication.</param>
/// <param name="matrix">Matrix to use as the transformation.</param>
/// <param name="result">Row vector product of the transformation.</param>
public static void Transform(ref Vector2 v, ref Matrix2x3 matrix, out Vector3 result)
{
#if !WINDOWS
result = new Vector3();
#endif
result.X = v.X * matrix.M11 + v.Y * matrix.M21;
result.Y = v.X * matrix.M12 + v.Y * matrix.M22;
result.Z = v.X * matrix.M13 + v.Y * matrix.M23;
}
internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
{
this.contactManifoldConstraint = contactManifoldConstraint;
isActive = true;
linearA = new Matrix2x3();
entityA = contactManifoldConstraint.EntityA;
entityB = contactManifoldConstraint.EntityB;
}
/// <summary>
/// Transforms the vector by the matrix.
/// </summary>
/// <param name="v">Vector2 to transform. Considered to be a column vector for purposes of multiplication.</param>
/// <param name="matrix">Matrix to use as the transformation.</param>
/// <param name="result">Column vector product of the transformation.</param>
public static void Transform(ref Vector3 v, ref Matrix2x3 matrix, out Vector2 result)
{
#if !WINDOWS
result = new Vector2();
#endif
result.X = matrix.M11 * v.X + matrix.M12 * v.Y + matrix.M13 * v.Z;
result.Y = matrix.M21 * v.X + matrix.M22 * v.Y + matrix.M23 * v.Z;
}
/// <summary>
/// Multiplies the two matrices.
/// </summary>
/// <param name="a">First matrix to multiply.</param>
/// <param name="b">Second matrix to multiply.</param>
/// <param name="result">Product of the multiplication.</param>
public static void Multiply(ref Matrix2x3 a, ref Matrix3x3 b, out Matrix2x3 result)
{
float resultM11 = a.M11 * b.M11 + a.M12 * b.M21 + a.M13 * b.M31;
float resultM12 = a.M11 * b.M12 + a.M12 * b.M22 + a.M13 * b.M32;
float resultM13 = a.M11 * b.M13 + a.M12 * b.M23 + a.M13 * b.M33;
float resultM21 = a.M21 * b.M11 + a.M22 * b.M21 + a.M23 * b.M31;
float resultM22 = a.M21 * b.M12 + a.M22 * b.M22 + a.M23 * b.M32;
float resultM23 = a.M21 * b.M13 + a.M22 * b.M23 + a.M23 * b.M33;
result.M11 = resultM11;
result.M12 = resultM12;
result.M13 = resultM13;
result.M21 = resultM21;
result.M22 = resultM22;
result.M23 = resultM23;
}
/// <summary>
/// Multiplies the two matrices.
/// </summary>
/// <param name="a">First matrix to multiply.</param>
/// <param name="b">Second matrix to multiply.</param>
/// <param name="result">Product of the multiplication.</param>
public static void Multiply(ref Matrix2x3 a, ref Matrix3x2 b, out Matrix2x2 result)
{
result.M11 = a.M11 * b.M11 + a.M12 * b.M21 + a.M13 * b.M31;
result.M12 = a.M11 * b.M12 + a.M12 * b.M22 + a.M13 * b.M32;
result.M21 = a.M21 * b.M11 + a.M22 * b.M21 + a.M23 * b.M31;
result.M22 = a.M21 * b.M12 + a.M22 * b.M22 + a.M23 * b.M32;
}