/// <summary> /// Transforms a vector by the transposed of the given Matrix. /// </summary> /// <param name="position">The vector to transform.</param> /// <param name="matrix">The transform matrix.</param> /// <param name="result">The transformed vector.</param> public static void TransposedTransform(ref Fixed64Vector3 position, ref Fixed64Matrix matrix, out Fixed64Vector3 result) { Fixed64 num0 = ((position.x * matrix.M11) + (position.y * matrix.M12)) + (position.z * matrix.M13); Fixed64 num1 = ((position.x * matrix.M21) + (position.y * matrix.M22)) + (position.z * matrix.M23); Fixed64 num2 = ((position.x * matrix.M31) + (position.y * matrix.M32)) + (position.z * matrix.M33); result.x = num0; result.y = num1; result.z = num2; }
/// <summary> /// Creates a quaternion from a matrix. /// </summary> /// <param name="matrix">A matrix representing an orientation.</param> /// <param name="result">JQuaternion representing an orientation.</param> public static void CreateFromMatrix(ref Fixed64Matrix matrix, out Fixed64Quaternion result) { Fixed64 num8 = (matrix.M11 + matrix.M22) + matrix.M33; if (num8 > Fixed64.Zero) { Fixed64 num = Fixed64.Sqrt((num8 + Fixed64.One)); result.w = num * Fixed64.Half; num = Fixed64.Half / num; result.x = (matrix.M23 - matrix.M32) * num; result.y = (matrix.M31 - matrix.M13) * num; result.z = (matrix.M12 - matrix.M21) * num; } else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33)) { Fixed64 num7 = Fixed64.Sqrt((((Fixed64.One + matrix.M11) - matrix.M22) - matrix.M33)); Fixed64 num4 = Fixed64.Half / num7; result.x = Fixed64.Half * num7; result.y = (matrix.M12 + matrix.M21) * num4; result.z = (matrix.M13 + matrix.M31) * num4; result.w = (matrix.M23 - matrix.M32) * num4; } else if (matrix.M22 > matrix.M33) { Fixed64 num6 = Fixed64.Sqrt((((Fixed64.One + matrix.M22) - matrix.M11) - matrix.M33)); Fixed64 num3 = Fixed64.Half / num6; result.x = (matrix.M21 + matrix.M12) * num3; result.y = Fixed64.Half * num6; result.z = (matrix.M32 + matrix.M23) * num3; result.w = (matrix.M31 - matrix.M13) * num3; } else { Fixed64 num5 = Fixed64.Sqrt((((Fixed64.One + matrix.M33) - matrix.M11) - matrix.M22)); Fixed64 num2 = Fixed64.Half / num5; result.x = (matrix.M31 + matrix.M13) * num2; result.y = (matrix.M32 + matrix.M23) * num2; result.z = Fixed64.Half * num5; result.w = (matrix.M12 - matrix.M21) * num2; } }
/// <summary> /// Transforms a vector by the given matrix. /// </summary> /// <param name="position">The vector to transform.</param> /// <param name="matrix">The transform matrix.</param> /// <returns>The transformed vector.</returns> public static Fixed64Vector3 Transform(Fixed64Vector3 position, Fixed64Matrix matrix) { Transform(ref position, ref matrix, out Fixed64Vector3 result); return(result); }
/// <summary> /// Creates a quaternion from a matrix. /// </summary> /// <param name="matrix">A matrix representing an orientation.</param> /// <returns>JQuaternion representing an orientation.</returns> #region public static JQuaternion CreateFromMatrix(JMatrix matrix) public static Fixed64Quaternion CreateFromMatrix(Fixed64Matrix matrix) { CreateFromMatrix(ref matrix, out Fixed64Quaternion result); return(result); }
public static Fixed64Quaternion LookRotation(Fixed64Vector3 forward, Fixed64Vector3 upwards) { return(CreateFromMatrix(Fixed64Matrix.LookAt(forward, upwards))); }