/**
* Returns a new indentity Matrix.
*/
public static BabylonMatrix Identity()
{
var matrix = new BabylonMatrix();
BabylonMatrix.FromValuesToRef(
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f, matrix);
return(matrix);
}
/**
* Update a Matrix with values composed by the passed scale (vector3), rotation (quaternion) and translation (vector3).
*/
public static void ComposeToRef(BabylonVector3 scale, BabylonQuaternion rotation, BabylonVector3 translation, BabylonMatrix result)
{
var matrix1 = new BabylonMatrix();
BabylonMatrix.FromValuesToRef(scale.X, 0, 0, 0,
0, scale.Y, 0, 0,
0, 0, scale.Z, 0,
0, 0, 0, 1, matrix1);
var matrix0 = new BabylonMatrix();
rotation.toRotationMatrix(matrix0);
matrix1.multiplyToRef(matrix0, result);
result.setTranslation(translation);
}
/**
* Decomposes the current Matrix into :
* - a scale vector3 passed as a reference to update,
* - a rotation quaternion passed as a reference to update,
* - a translation vector3 passed as a reference to update.
* Returns the boolean `true`.
*/
public bool decompose(BabylonVector3 scale, BabylonQuaternion rotation, BabylonVector3 translation)
{
translation.X = this.m[12];
translation.Y = this.m[13];
translation.Z = this.m[14];
scale.X = (float)Math.Sqrt(this.m[0] * this.m[0] + this.m[1] * this.m[1] + this.m[2] * this.m[2]);
scale.Y = (float)Math.Sqrt(this.m[4] * this.m[4] + this.m[5] * this.m[5] + this.m[6] * this.m[6]);
scale.Z = (float)Math.Sqrt(this.m[8] * this.m[8] + this.m[9] * this.m[9] + this.m[10] * this.m[10]);
if (this.determinant() <= 0)
{
scale.Y *= -1;
}
if (scale.X == 0 || scale.Y == 0 || scale.Z == 0)
{
rotation.X = 0;
rotation.Y = 0;
rotation.Z = 0;
rotation.W = 1;
return(false);
}
var matrix = new BabylonMatrix();
BabylonMatrix.FromValuesToRef(
this.m[0] / scale.X, this.m[1] / scale.X, this.m[2] / scale.X, 0,
this.m[4] / scale.Y, this.m[5] / scale.Y, this.m[6] / scale.Y, 0,
this.m[8] / scale.Z, this.m[9] / scale.Z, this.m[10] / scale.Z, 0,
0, 0, 0, 1, matrix);
BabylonQuaternion.FromRotationMatrixToRef(matrix, rotation);
return(true);
}
