internal static mat4 set(mat4 mat, mat4 dest)
{
dest[0] = mat[0];
dest[1] = mat[1];
dest[2] = mat[2];
dest[3] = mat[3];
dest[4] = mat[4];
dest[5] = mat[5];
dest[6] = mat[6];
dest[7] = mat[7];
dest[8] = mat[8];
dest[9] = mat[9];
dest[10] = mat[10];
dest[11] = mat[11];
dest[12] = mat[12];
dest[13] = mat[13];
dest[14] = mat[14];
dest[15] = mat[15];
return(dest);
}
/**
* Calculates the inverse of the upper 3x3 elements of a mat4 and copies the result into a mat3
* The resulting matrix is useful for calculating transformed normals
*
* Params:
* @param {mat4} mat mat4 containing values to invert and copy
* @param {mat3} [dest] mat3 receiving values
*
* @returns {mat3} dest is specified, a new mat3 otherwise, null if the matrix cannot be inverted
*/
public static mat3 toInverseMat3(mat4 mat, mat3 dest = null)
{
// Cache the matrix values (makes for huge speed increases!)
var a00 = mat[0]; var a01 = mat[1]; var a02 = mat[2];
var a10 = mat[4]; var a11 = mat[5]; var a12 = mat[6];
var a20 = mat[8]; var a21 = mat[9]; var a22 = mat[10];
var b01 = a22 * a11 - a12 * a21;
var b11 = -a22 * a10 + a12 * a20;
var b21 = a21 * a10 - a11 * a20;
var d = a00 * b01 + a01 * b11 + a02 * b21;
GLfloat id;
if (d == 0)
{
return(null);
}
id = 1 / d;
if (dest == null)
{
dest = mat3.create();
}
dest[0] = b01 * id;
dest[1] = (-a22 * a01 + a02 * a21) * id;
dest[2] = (a12 * a01 - a02 * a11) * id;
dest[3] = b11 * id;
dest[4] = (a22 * a00 - a02 * a20) * id;
dest[5] = (-a12 * a00 + a02 * a10) * id;
dest[6] = b21 * id;
dest[7] = (-a21 * a00 + a01 * a20) * id;
dest[8] = (a11 * a00 - a01 * a10) * id;
return(dest);
}
public static mat4 identity(mat4 dest = null)
{
if (dest == null)
{
dest = mat4.create();
}
dest[0] = 1;
dest[1] = 0;
dest[2] = 0;
dest[3] = 0;
dest[4] = 0;
dest[5] = 1;
dest[6] = 0;
dest[7] = 0;
dest[8] = 0;
dest[9] = 0;
dest[10] = 1;
dest[11] = 0;
dest[12] = 0;
dest[13] = 0;
dest[14] = 0;
dest[15] = 1;
return(dest);
}
internal static mat4 set(mat4 mat, mat4 dest)
{
dest[0] = mat[0];
dest[1] = mat[1];
dest[2] = mat[2];
dest[3] = mat[3];
dest[4] = mat[4];
dest[5] = mat[5];
dest[6] = mat[6];
dest[7] = mat[7];
dest[8] = mat[8];
dest[9] = mat[9];
dest[10] = mat[10];
dest[11] = mat[11];
dest[12] = mat[12];
dest[13] = mat[13];
dest[14] = mat[14];
dest[15] = mat[15];
return dest;
}
internal static mat4 rotate(mat4 mat, double angle, GLfloat[] axis, mat4 dest=null)
{
GLfloat x = axis[0]; GLfloat y = axis[1]; GLfloat z = axis[2];
GLfloat len = (GLfloat)Math.Sqrt(x * x + y * y + z * z);
GLfloat s; GLfloat c; GLfloat t;
GLfloat a00; GLfloat a01; GLfloat a02; GLfloat a03;
GLfloat a10; GLfloat a11; GLfloat a12; GLfloat a13;
GLfloat a20; GLfloat a21; GLfloat a22; GLfloat a23;
GLfloat b00; GLfloat b01; GLfloat b02;
GLfloat b10; GLfloat b11; GLfloat b12;
GLfloat b20; GLfloat b21; GLfloat b22;
if (len == 0) { return null; }
if (len != 1) {
len = 1 / len;
x *= len;
y *= len;
z *= len;
}
s = (GLfloat)Math.Sin(angle);
c = (GLfloat)Math.Cos(angle);
t = 1 - c;
a00 = mat[0]; a01 = mat[1]; a02 = mat[2]; a03 = mat[3];
a10 = mat[4]; a11 = mat[5]; a12 = mat[6]; a13 = mat[7];
a20 = mat[8]; a21 = mat[9]; a22 = mat[10]; a23 = mat[11];
// Construct the elements of the rotation matrix
b00 = x * x * t + c; b01 = y * x * t + z * s; b02 = z * x * t - y * s;
b10 = x * y * t - z * s; b11 = y * y * t + c; b12 = z * y * t + x * s;
b20 = x * z * t + y * s; b21 = y * z * t - x * s; b22 = z * z * t + c;
if (dest == null) {
dest = mat;
} else if (!ReferenceEquals(mat, dest)) { // If the source and destination differ, copy the unchanged last row
dest[12] = mat[12];
dest[13] = mat[13];
dest[14] = mat[14];
dest[15] = mat[15];
}
// Perform rotation-specific matrix multiplication
dest[0] = a00 * b00 + a10 * b01 + a20 * b02;
dest[1] = a01 * b00 + a11 * b01 + a21 * b02;
dest[2] = a02 * b00 + a12 * b01 + a22 * b02;
dest[3] = a03 * b00 + a13 * b01 + a23 * b02;
dest[4] = a00 * b10 + a10 * b11 + a20 * b12;
dest[5] = a01 * b10 + a11 * b11 + a21 * b12;
dest[6] = a02 * b10 + a12 * b11 + a22 * b12;
dest[7] = a03 * b10 + a13 * b11 + a23 * b12;
dest[8] = a00 * b20 + a10 * b21 + a20 * b22;
dest[9] = a01 * b20 + a11 * b21 + a21 * b22;
dest[10] = a02 * b20 + a12 * b21 + a22 * b22;
dest[11] = a03 * b20 + a13 * b21 + a23 * b22;
return dest;
}
public static mat4 translate(mat4 mat, GLfloat[] vec, mat4 dest=null)
{
var x = vec[0]; var y = vec[1]; var z = vec[2];
GLfloat a00; GLfloat a01; GLfloat a02; GLfloat a03;
GLfloat a10; GLfloat a11; GLfloat a12; GLfloat a13;
GLfloat a20; GLfloat a21; GLfloat a22; GLfloat a23;
if (dest == null || ReferenceEquals(mat, dest)) {
mat[12] = mat[0] * x + mat[4] * y + mat[8] * z + mat[12];
mat[13] = mat[1] * x + mat[5] * y + mat[9] * z + mat[13];
mat[14] = mat[2] * x + mat[6] * y + mat[10] * z + mat[14];
mat[15] = mat[3] * x + mat[7] * y + mat[11] * z + mat[15];
return mat;
}
a00 = mat[0]; a01 = mat[1]; a02 = mat[2]; a03 = mat[3];
a10 = mat[4]; a11 = mat[5]; a12 = mat[6]; a13 = mat[7];
a20 = mat[8]; a21 = mat[9]; a22 = mat[10]; a23 = mat[11];
dest[0] = a00; dest[1] = a01; dest[2] = a02; dest[3] = a03;
dest[4] = a10; dest[5] = a11; dest[6] = a12; dest[7] = a13;
dest[8] = a20; dest[9] = a21; dest[10] = a22; dest[11] = a23;
dest[12] = a00 * x + a10 * y + a20 * z + mat[12];
dest[13] = a01 * x + a11 * y + a21 * z + mat[13];
dest[14] = a02 * x + a12 * y + a22 * z + mat[14];
dest[15] = a03 * x + a13 * y + a23 * z + mat[15];
return dest;
}
/**
* Calculates the inverse of the upper 3x3 elements of a mat4 and copies the result into a mat3
* The resulting matrix is useful for calculating transformed normals
*
* Params:
* @param {mat4} mat mat4 containing values to invert and copy
* @param {mat3} [dest] mat3 receiving values
*
* @returns {mat3} dest is specified, a new mat3 otherwise, null if the matrix cannot be inverted
*/
public static mat3 toInverseMat3(mat4 mat, mat3 dest=null)
{
// Cache the matrix values (makes for huge speed increases!)
var a00 = mat[0]; var a01 = mat[1]; var a02 = mat[2];
var a10 = mat[4]; var a11 = mat[5]; var a12 = mat[6];
var a20 = mat[8]; var a21 = mat[9]; var a22 = mat[10];
var b01 = a22 * a11 - a12 * a21;
var b11 = -a22 * a10 + a12 * a20;
var b21 = a21 * a10 - a11 * a20;
var d = a00 * b01 + a01 * b11 + a02 * b21;
GLfloat id;
if (d == 0) { return null; }
id = 1 / d;
if (dest == null) { dest = mat3.create(); }
dest[0] = b01 * id;
dest[1] = (-a22 * a01 + a02 * a21) * id;
dest[2] = (a12 * a01 - a02 * a11) * id;
dest[3] = b11 * id;
dest[4] = (a22 * a00 - a02 * a20) * id;
dest[5] = (-a12 * a00 + a02 * a10) * id;
dest[6] = b21 * id;
dest[7] = (-a21 * a00 + a01 * a20) * id;
dest[8] = (a11 * a00 - a01 * a10) * id;
return dest;
}
public static mat4 perspective(GLfloat fovy, GLfloat aspect, GLfloat near, GLfloat far, mat4 dest=null)
{
var top = near * (GLfloat)Math.Tan(fovy * Math.PI / 360.0);
var right = top * aspect;
return mat4.frustum(-right, right, -top, top, near, far, dest);
}
public static mat4 identity(mat4 dest=null)
{
if (dest == null) { dest = mat4.create(); }
dest[0] = 1;
dest[1] = 0;
dest[2] = 0;
dest[3] = 0;
dest[4] = 0;
dest[5] = 1;
dest[6] = 0;
dest[7] = 0;
dest[8] = 0;
dest[9] = 0;
dest[10] = 1;
dest[11] = 0;
dest[12] = 0;
dest[13] = 0;
dest[14] = 0;
dest[15] = 1;
return dest;
}
public static mat4 frustum(GLfloat left, GLfloat right, GLfloat bottom, GLfloat top, GLfloat near, GLfloat far, mat4 dest=null)
{
if (dest == null) { dest = mat4.create(); }
var rl = (right - left);
var tb = (top - bottom);
var fn = (far - near);
dest[0] = (near * 2) / rl;
dest[1] = 0;
dest[2] = 0;
dest[3] = 0;
dest[4] = 0;
dest[5] = (near * 2) / tb;
dest[6] = 0;
dest[7] = 0;
dest[8] = (right + left) / rl;
dest[9] = (top + bottom) / tb;
dest[10] = -(far + near) / fn;
dest[11] = -1;
dest[12] = 0;
dest[13] = 0;
dest[14] = -(far * near * 2) / fn;
dest[15] = 0;
return dest;
}
/**
* Copies the elements of a mat3 into the upper 3x3 elements of a mat4
*
* @param {mat3} mat mat3 containing values to copy
* @param {mat4} [dest] mat4 receiving copied values
*
* @returns {mat4} dest if specified, a new mat4 otherwise
*/
mat4 toMat4(mat3 mat, mat4 dest)
{
if (dest == null) { dest = mat4.create(); }
dest[15] = 1;
dest[14] = 0;
dest[13] = 0;
dest[12] = 0;
dest[11] = 0;
dest[10] = mat[8];
dest[9] = mat[7];
dest[8] = mat[6];
dest[7] = 0;
dest[6] = mat[5];
dest[5] = mat[4];
dest[4] = mat[3];
dest[3] = 0;
dest[2] = mat[2];
dest[1] = mat[1];
dest[0] = mat[0];
return dest;
}
void mvPopMatrix()
{
if (mvMatrixStack.Count == 0) {
throw new Exception("Invalid popMatrix!");
}
mvMatrix = mvMatrixStack.Pop();
}
public static mat4 frustum(GLfloat left, GLfloat right, GLfloat bottom, GLfloat top, GLfloat near, GLfloat far, mat4 dest = null)
{
if (dest == null)
{
dest = mat4.create();
}
var rl = (right - left);
var tb = (top - bottom);
var fn = (far - near);
dest[0] = (near * 2) / rl;
dest[1] = 0;
dest[2] = 0;
dest[3] = 0;
dest[4] = 0;
dest[5] = (near * 2) / tb;
dest[6] = 0;
dest[7] = 0;
dest[8] = (right + left) / rl;
dest[9] = (top + bottom) / tb;
dest[10] = -(far + near) / fn;
dest[11] = -1;
dest[12] = 0;
dest[13] = 0;
dest[14] = -(far * near * 2) / fn;
dest[15] = 0;
return(dest);
}
internal static mat4 rotate(mat4 mat, double angle, GLfloat[] axis, mat4 dest = null)
{
GLfloat x = axis[0]; GLfloat y = axis[1]; GLfloat z = axis[2];
GLfloat len = (GLfloat)Math.Sqrt(x * x + y * y + z * z);
GLfloat s; GLfloat c; GLfloat t;
GLfloat a00; GLfloat a01; GLfloat a02; GLfloat a03;
GLfloat a10; GLfloat a11; GLfloat a12; GLfloat a13;
GLfloat a20; GLfloat a21; GLfloat a22; GLfloat a23;
GLfloat b00; GLfloat b01; GLfloat b02;
GLfloat b10; GLfloat b11; GLfloat b12;
GLfloat b20; GLfloat b21; GLfloat b22;
if (len == 0)
{
return(null);
}
if (len != 1)
{
len = 1 / len;
x *= len;
y *= len;
z *= len;
}
s = (GLfloat)Math.Sin(angle);
c = (GLfloat)Math.Cos(angle);
t = 1 - c;
a00 = mat[0]; a01 = mat[1]; a02 = mat[2]; a03 = mat[3];
a10 = mat[4]; a11 = mat[5]; a12 = mat[6]; a13 = mat[7];
a20 = mat[8]; a21 = mat[9]; a22 = mat[10]; a23 = mat[11];
// Construct the elements of the rotation matrix
b00 = x * x * t + c; b01 = y * x * t + z * s; b02 = z * x * t - y * s;
b10 = x * y * t - z * s; b11 = y * y * t + c; b12 = z * y * t + x * s;
b20 = x * z * t + y * s; b21 = y * z * t - x * s; b22 = z * z * t + c;
if (dest == null)
{
dest = mat;
}
else if (!ReferenceEquals(mat, dest)) // If the source and destination differ, copy the unchanged last row
{
dest[12] = mat[12];
dest[13] = mat[13];
dest[14] = mat[14];
dest[15] = mat[15];
}
// Perform rotation-specific matrix multiplication
dest[0] = a00 * b00 + a10 * b01 + a20 * b02;
dest[1] = a01 * b00 + a11 * b01 + a21 * b02;
dest[2] = a02 * b00 + a12 * b01 + a22 * b02;
dest[3] = a03 * b00 + a13 * b01 + a23 * b02;
dest[4] = a00 * b10 + a10 * b11 + a20 * b12;
dest[5] = a01 * b10 + a11 * b11 + a21 * b12;
dest[6] = a02 * b10 + a12 * b11 + a22 * b12;
dest[7] = a03 * b10 + a13 * b11 + a23 * b12;
dest[8] = a00 * b20 + a10 * b21 + a20 * b22;
dest[9] = a01 * b20 + a11 * b21 + a21 * b22;
dest[10] = a02 * b20 + a12 * b21 + a22 * b22;
dest[11] = a03 * b20 + a13 * b21 + a23 * b22;
return(dest);
}
public static mat4 perspective(GLfloat fovy, GLfloat aspect, GLfloat near, GLfloat far, mat4 dest = null)
{
var top = near * (GLfloat)Math.Tan(fovy * Math.PI / 360.0);
var right = top * aspect;
return(mat4.frustum(-right, right, -top, top, near, far, dest));
}
