/// <summary>
/// Translate a ModelMatrix in two-dimensional space.
/// </summary>
/// <param name="m"></param>
/// <param name="v"></param>
/// <returns></returns>
public static ModelMatrixDouble operator -(ModelMatrixDouble m, Vertex2d v)
{
ModelMatrixDouble res = new ModelMatrixDouble(m);
res.Translate(-v);
return(res);
}
/// <summary>
/// Accumulate a translation on this ModelMatrixDouble.
/// </summary>
/// <param name="x">
/// A <see cref="Double"/> indicating the translation on X axis.
/// </param>
/// <param name="y">
/// A <see cref="Double"/> indicating the translation on Y axis.
/// </param>
public void Translate(double x, double y)
{
ModelMatrixDouble translationMatrix = new ModelMatrixDouble();
translationMatrix[3, 0] = x;
translationMatrix[3, 1] = y;
Set(this * translationMatrix);
}
/// <summary>
/// Accumulate a translation on this ModelMatrixDouble.
/// </summary>
/// <param name="p">
/// A <see cref="Vertex2d"/> that specify the translation.
/// </param>
public void Translate(Vertex2d p)
{
ModelMatrixDouble translationMatrix = new ModelMatrixDouble();
translationMatrix[3, 0] = p.x;
translationMatrix[3, 1] = p.y;
Set(this * translationMatrix);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="x">
/// A <see cref="Double"/> holding the scaling factor on X axis.
/// </param>
/// <param name="y">
/// A <see cref="Double"/> holding the scaling factor on Y axis.
/// </param>
public void Scale(double x, double y)
{
ModelMatrixDouble scaleModel = new ModelMatrixDouble();
scaleModel[0, 0] = x;
scaleModel[1, 1] = y;
Set(this * scaleModel);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="s">
/// A <see cref="Vertex2d"/> holding the scaling factors on three dimensions.
/// </param>
public void Scale(Vertex2d s)
{
ModelMatrixDouble scaleModel = new ModelMatrixDouble();
scaleModel[0, 0] = s.x;
scaleModel[1, 1] = s.y;
Set(this * scaleModel);
}
/// <summary>
/// Compute the product of two ModelMatrix.
/// </summary>
/// <param name="m1">
/// A <see cref="Matrix4x4"/> that specify the left multiplication operand.
/// </param>
/// <param name="m2">
/// A <see cref="Matrix4x4"/> that specify the right multiplication operand.
/// </param>
/// <returns>
/// A <see cref="Matrix4x4"/> resulting from the product of the matrix <paramref name="m1"/> and
/// the matrix <paramref name="m2"/>. This operator is used to concatenate successive transformations.
/// </returns>
public static ModelMatrixDouble operator *(ModelMatrixDouble m1, ModelMatrixDouble m2)
{
// Allocate product matrix
ModelMatrixDouble prod = new ModelMatrixDouble();
// Compute product
ComputeMatrixProduct(prod, m1, m2);
return(prod);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="s">
/// A <see cref="Double"/> holding the scaling factor on X, Y and Z axes.
/// </param>
public void Scale(double s)
{
ModelMatrixDouble scaleModel = new ModelMatrixDouble();
scaleModel[0, 0] = s;
scaleModel[1, 1] = s;
scaleModel[2, 2] = s;
Set(this * scaleModel);
}
/// <summary>
/// Accumulate a rotation on Z axis to this ModelMatrixDouble.
/// </summary>
/// <param name="angle">
/// A <see cref="Double"/> representing the rotation angle, in degrees.
/// </param>
public void RotateZ(double angle)
{
ModelMatrixDouble rotationMatrix = new ModelMatrixDouble();
double cosa = Math.Cos(Angle.ToRadians(angle));
double sina = Math.Sin(Angle.ToRadians(angle));
rotationMatrix[0, 0] = +cosa;
rotationMatrix[1, 0] = -sina;
rotationMatrix[0, 1] = +sina;
rotationMatrix[1, 1] = +cosa;
Set((MatrixDouble4x4)this * (MatrixDouble4x4)rotationMatrix);
}
/// <summary>
/// Compute the transpose of this ModelMatrix.
/// </summary>
/// <returns>
/// A <see cref="ModelMatrix"/> which hold the transpose of this ModelMatrix.
/// </returns>
public new ModelMatrixDouble Transpose()
{
ModelMatrixDouble transpose = new ModelMatrixDouble();
// Transpose matrix
for (uint c = 0; c < 4; c++)
{
for (uint r = 0; r < 4; r++)
{
transpose[r, c] = this[c, r];
}
}
return(transpose);
}
/// <summary>
/// Multiply this IModelMatrix with another IModelMatrix.
/// </summary>
/// <param name="a">
/// A <see cref="IModelMatrix"/> that specify the right multiplication operand.
/// </param>
/// <returns>
/// A <see cref="IModelMatrix"/> resulting from the product of this matrix and the matrix <paramref name="a"/>.
/// </returns>
IModelMatrix IModelMatrix.Multiply(IModelMatrix a)
{
ModelMatrixDouble rModelMatrix = new ModelMatrixDouble();
ModelMatrixDouble modelMatrixDouble = a as ModelMatrixDouble;
if (modelMatrixDouble != null)
{
ComputeMatrixProduct(rModelMatrix, this, modelMatrixDouble);
return(rModelMatrix);
}
ModelMatrix modelMatrix = a as ModelMatrix;
if (modelMatrix != null)
{
ComputeMatrixProduct(rModelMatrix, this, modelMatrix);
return(rModelMatrix);
}
throw new NotSupportedException(String.Format("multiplication of {0} by {1} is not supported", GetType(), a.GetType()));
}
/// <summary>
/// Setup this matrix to view the universe in a certain direction.
/// </summary>
/// <param name="eyePosition">
/// A <see cref="Vertex3f"/> that specify the eye position, in local coordinates.
/// </param>
/// <param name="forwardVector">
/// A <see cref="Vertex3f"/> that specify the direction of the view. It will be normalized.
/// </param>
/// <param name="upVector">
/// A <see cref="Vertex3f"/> that specify the up vector of the view camera abstraction. It will be normalized
/// </param>
/// <returns>
/// It returns a view transformation matrix used to transform the world coordinate, in order to view
/// the world from <paramref name="eyePosition"/>, looking at <paramref name="forwardVector"/> having
/// an up direction equal to <paramref name="upVector"/>.
/// </returns>
public void LookAtDirection(Vertex3d eyePosition, Vertex3d forwardVector, Vertex3d upVector)
{
Vertex3d rightVector;
// Normalize forward vector
forwardVector.Normalize();
// Normalize up vector (it should already be normalized)
upVector.Normalize();
// Compute the right vector (cross-product between forward and up vectors; right is perperndicular to the plane)
rightVector = forwardVector ^ upVector;
rightVector.Normalize();
// Derive up vector
upVector = rightVector ^ forwardVector;
// Compute view matrix
ModelMatrixDouble lookatMatrix = new ModelMatrixDouble(), positionMatrix = new ModelMatrixDouble();
// Row 0: right vector
lookatMatrix[0, 0] = rightVector.x;
lookatMatrix[0, 1] = rightVector.y;
lookatMatrix[0, 2] = rightVector.z;
// Row 1: up vector
lookatMatrix[1, 0] = upVector.x;
lookatMatrix[1, 1] = upVector.y;
lookatMatrix[1, 2] = upVector.z;
// Row 2: opposite of forward vector
lookatMatrix[2, 0] = -forwardVector.x;
lookatMatrix[2, 1] = -forwardVector.y;
lookatMatrix[2, 2] = -forwardVector.z;
// Eye position
positionMatrix.Translate(eyePosition);
// Complete look-at matrix
Set(positionMatrix * lookatMatrix);
}
/// <summary>
/// Setup this matrix to view the universe in a certain direction.
/// </summary>
/// <param name="eyePosition">
/// A <see cref="Vertex3f"/> that specify the eye position, in local coordinates.
/// </param>
/// <param name="forwardVector">
/// A <see cref="Vertex3f"/> that specify the direction of the view. It will be normalized.
/// </param>
/// <param name="upVector">
/// A <see cref="Vertex3f"/> that specify the up vector of the view camera abstraction. It will be normalized
/// </param>
/// <returns>
/// It returns a view transformation matrix used to transform the world coordinate, in order to view
/// the world from <paramref name="eyePosition"/>, looking at <paramref name="forwardVector"/> having
/// an up direction equal to <paramref name="upVector"/>.
/// </returns>
public void LookAtDirection(Vertex3d eyePosition, Vertex3d forwardVector, Vertex3d upVector)
{
Vertex3d rightVector;
forwardVector.Normalize();
upVector.Normalize();
rightVector = forwardVector ^ upVector;
rightVector.Normalize();
if (rightVector.Module() <= 0.0f)
{
rightVector = Vertex3f.UnitX;
}
upVector = rightVector ^ forwardVector;
// Compute view matrix
ModelMatrixDouble lookatMatrix = new ModelMatrixDouble();
// Row 0: right vector
lookatMatrix[0, 0] = rightVector.x;
lookatMatrix[0, 1] = rightVector.y;
lookatMatrix[0, 2] = rightVector.z;
// Row 1: up vector
lookatMatrix[1, 0] = upVector.x;
lookatMatrix[1, 1] = upVector.y;
lookatMatrix[1, 2] = upVector.z;
// Row 2: opposite of forward vector
lookatMatrix[2, 0] = -forwardVector.x;
lookatMatrix[2, 1] = -forwardVector.y;
lookatMatrix[2, 2] = -forwardVector.z;
// Eye position
lookatMatrix.Translate(eyePosition);
// Complete look-at matrix
Set(lookatMatrix);
}
/// <summary>
/// Accumulate a rotation on Y axis to this ModelMatrixDouble.
/// </summary>
/// <param name="angle">
/// A <see cref="Double"/> representing the rotation angle, in degrees.
/// </param>
public void RotateY(double angle)
{
ModelMatrixDouble rotationMatrix = new ModelMatrixDouble();
double cosa = Math.Cos(Angle.ToRadians(angle));
double sina = Math.Sin(Angle.ToRadians(angle));
rotationMatrix[0, 0] = +cosa;
rotationMatrix[2, 0] = +sina;
rotationMatrix[0, 2] = -sina;
rotationMatrix[2, 2] = +cosa;
Set((MatrixDouble4x4)this * (MatrixDouble4x4)rotationMatrix);
}
/// <summary>
/// ModelMatrixDouble copy constructor.
/// </summary>
/// <param name="m">
/// A <see cref="ModelMatrix"/> to be copied.
/// </param>
public ModelMatrixDouble(ModelMatrixDouble m)
: base(m)
{
}
/// <summary>
/// Compute the product of two ModelMatrix.
/// </summary>
/// <param name="m1">
/// A <see cref="Matrix4x4"/> that specifies the left multiplication operand.
/// </param>
/// <param name="m2">
/// A <see cref="Matrix4x4"/> that specifies the right multiplication operand.
/// </param>
/// <returns>
/// A <see cref="Matrix4x4"/> resulting from the product of the matrix <paramref name="m1"/> and
/// the matrix <paramref name="m2"/>. This operator is used to concatenate successive transformations.
/// </returns>
public static ModelMatrixDouble operator *(ModelMatrixDouble m1, ModelMatrixDouble m2)
{
// Allocate product matrix
ModelMatrixDouble prod = new ModelMatrixDouble();
// Compute product
ComputeMatrixProduct(prod, m1, m2);
return (prod);
}
/// <summary>
/// Accumulate a translation on this ModelMatrixDouble.
/// </summary>
/// <param name="x">
/// A <see cref="System.Double"/> indicating the translation on X axis.
/// </param>
/// <param name="y">
/// A <see cref="System.Double"/> indicating the translation on Y axis.
/// </param>
/// <param name="z">
/// A <see cref="System.Double"/> indicating the translation on Z axis.
/// </param>
public void Translate(double x, double y, double z)
{
ModelMatrixDouble translationMatrix = new ModelMatrixDouble();
translationMatrix[3, 0] = x;
translationMatrix[3, 1] = y;
translationMatrix[3, 2] = z;
Set(this * translationMatrix);
}
/// <summary>
/// Compute the transpose of this ModelMatrix.
/// </summary>
/// <returns>
/// A <see cref="ModelMatrix"/> which hold the transpose of this ModelMatrix.
/// </returns>
public new ModelMatrixDouble Transpose()
{
ModelMatrixDouble transpose = new ModelMatrixDouble();
// Transpose matrix
for (uint c = 0; c < 4; c++)
for (uint r = 0; r < 4; r++)
transpose[r, c] = this[c, r];
return (transpose);
}
/// <summary>
/// Accumulate a rotation on Z axis to this ModelMatrixDouble.
/// </summary>
/// <param name="angle">
/// A <see cref="System.Double"/> representing the rotation angle, in degrees.
/// </param>
public void RotateZ(double angle)
{
ModelMatrixDouble rotationMatrix = new ModelMatrixDouble();
double cosa = Math.Cos(angle * Angle.DegreeToRadian);
double sina = Math.Sin(angle * Angle.DegreeToRadian);
rotationMatrix[0, 0] = +cosa;
rotationMatrix[1, 0] = -sina;
rotationMatrix[0, 1] = +sina;
rotationMatrix[1, 1] = +cosa;
Set((MatrixDouble4x4)this * (MatrixDouble4x4)rotationMatrix);
}
/// <summary>
/// Accumulate a translation on this ModelMatrixDouble.
/// </summary>
/// <param name="p">
/// A <see cref="Vertex3d"/> that specifies the translation.
/// </param>
public void Translate(Vertex3d p)
{
ModelMatrixDouble translationMatrix = new ModelMatrixDouble();
translationMatrix[3, 0] = p.x;
translationMatrix[3, 1] = p.y;
translationMatrix[3, 2] = p.z;
Set(this * translationMatrix);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="x">
/// A <see cref="System.Double"/> holding the scaling factor on X axis.
/// </param>
/// <param name="y">
/// A <see cref="System.Double"/> holding the scaling factor on Y axis.
/// </param>
/// <param name="z">
/// A <see cref="System.Double"/> holding the scaling factor on Z axis.
/// </param>
public void Scale(double x, double y, double z)
{
ModelMatrixDouble scaleModel = new ModelMatrixDouble();
scaleModel[0, 0] = x;
scaleModel[1, 1] = y;
scaleModel[2, 2] = z;
Set(this * scaleModel);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="s">
/// A <see cref="System.Double"/> holding the scaling factor on X, Y and Z axes.
/// </param>
public void Scale(double s)
{
ModelMatrixDouble scaleModel = new ModelMatrixDouble();
scaleModel[0, 0] = s;
scaleModel[1, 1] = s;
scaleModel[2, 2] = s;
Set(this * scaleModel);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="s">
/// A <see cref="Vertex3d"/> holding the scaling factors on three dimensions.
/// </param>
public void Scale(Vertex3d s)
{
ModelMatrixDouble scaleModel = new ModelMatrixDouble();
scaleModel[0, 0] = s.x;
scaleModel[1, 1] = s.y;
scaleModel[2, 2] = s.z;
Set(this * scaleModel);
}
/// <summary>
/// Setup this matrix to view the universe in a certain direction.
/// </summary>
/// <param name="eyePosition">
/// A <see cref="Vertex3f"/> that specify the eye position, in local coordinates.
/// </param>
/// <param name="forwardVector">
/// A <see cref="Vertex3f"/> that specify the direction of the view. It will be normalized.
/// </param>
/// <param name="upVector">
/// A <see cref="Vertex3f"/> that specify the up vector of the view camera abstraction. It will be normalized
/// </param>
/// <returns>
/// It returns a view transformation matrix used to transform the world coordinate, in order to view
/// the world from <paramref name="eyePosition"/>, looking at <paramref name="forwardVector"/> having
/// an up direction equal to <paramref name="upVector"/>.
/// </returns>
public void LookAtDirection(Vertex3d eyePosition, Vertex3d forwardVector, Vertex3d upVector)
{
Vertex3d rightVector;
// Normalize forward vector
forwardVector.Normalize();
// Normalize up vector (it should already be normalized)
upVector.Normalize();
// Compute the right vector (cross-product between forward and up vectors; right is perperndicular to the plane)
rightVector = forwardVector ^ upVector;
rightVector.Normalize();
// Derive up vector
upVector = rightVector ^ forwardVector;
// Compute view matrix
ModelMatrixDouble lookatMatrix = new ModelMatrixDouble(), positionMatrix = new ModelMatrixDouble();
// Row 0: right vector
lookatMatrix[0, 0] = rightVector.x;
lookatMatrix[0, 1] = rightVector.y;
lookatMatrix[0, 2] = rightVector.z;
// Row 1: up vector
lookatMatrix[1, 0] = upVector.x;
lookatMatrix[1, 1] = upVector.y;
lookatMatrix[1, 2] = upVector.z;
// Row 2: opposite of forward vector
lookatMatrix[2, 0] = -forwardVector.x;
lookatMatrix[2, 1] = -forwardVector.y;
lookatMatrix[2, 2] = -forwardVector.z;
// Eye position
positionMatrix.Translate(eyePosition);
// Complete look-at matrix
Set(positionMatrix * lookatMatrix);
}
/// <summary>
/// Translate a ModelMatrix in two-dimensional space.
/// </summary>
/// <param name="m"></param>
/// <param name="v"></param>
/// <returns></returns>
public static ModelMatrixDouble operator -(ModelMatrixDouble m, Vertex2d v)
{
ModelMatrixDouble res = new ModelMatrixDouble(m);
res.Translate(-v);
return (res);
}
/// <summary>
/// Multiply this IModelMatrix with another IModelMatrix.
/// </summary>
/// <param name="a">
/// A <see cref="IModelMatrix"/> that specifies the right multiplication operand.
/// </param>
/// <returns>
/// A <see cref="IModelMatrix"/> resulting from the product of this matrix and the matrix <paramref name="a"/>.
/// </returns>
IModelMatrix IModelMatrix.Multiply(IModelMatrix a)
{
ModelMatrixDouble rModelMatrix = new ModelMatrixDouble();
ModelMatrixDouble modelMatrixDouble = a as ModelMatrixDouble;
if (modelMatrixDouble != null) {
ComputeMatrixProduct(rModelMatrix, this, modelMatrixDouble);
return (rModelMatrix);
}
ModelMatrix modelMatrix = a as ModelMatrix;
if (modelMatrix != null) {
ComputeMatrixProduct(rModelMatrix, this, modelMatrix);
return (rModelMatrix);
}
throw new NotSupportedException(String.Format("multiplication of {0} by {1} is not supported", GetType(), a.GetType()));
}
/// <summary>
/// ModelMatrixDouble copy constructor.
/// </summary>
/// <param name="m">
/// A <see cref="ModelMatrix"/> to be copied.
/// </param>
public ModelMatrixDouble(ModelMatrixDouble m)
: base(m)
{
}
