Exemple #1
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        /// <summary>Transform a Normal by the (transpose of the) given Matrix</summary>
        /// <remarks>
        /// This version doesn't calculate the inverse matrix.
        /// Use this version if you already have the inverse of the desired transform to hand
        /// </remarks>
        /// <param name="norm">The normal to transform</param>
        /// <param name="invMat">The inverse of the desired transformation</param>
        /// <param name="result">The transformed normal</param>
        public static void TransformNormalInverse(ref Vector3d norm, ref Matrix4d invMat, out Vector3d result)
        {
            result.X = norm.X * invMat.Row0.X +
                       norm.Y * invMat.Row0.Y +
                       norm.Z * invMat.Row0.Z;

            result.Y = norm.X * invMat.Row1.X +
                       norm.Y * invMat.Row1.Y +
                       norm.Z * invMat.Row1.Z;

            result.Z = norm.X * invMat.Row2.X +
                       norm.Y * invMat.Row2.Y +
                       norm.Z * invMat.Row2.Z;
        }
Exemple #2
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        /// <summary>Transform a direction vector by the given Matrix
        /// Assumes the matrix has a bottom row of (0,0,0,1), that is the translation part is ignored.
        /// </summary>
        /// <param name="vec">The vector to transform</param>
        /// <param name="mat">The desired transformation</param>
        /// <param name="result">The transformed vector</param>
        public static void TransformVector(ref Vector3d vec, ref Matrix4d mat, out Vector3d result)
        {
            result.X = vec.X * mat.Row0.X +
                       vec.Y * mat.Row1.X +
                       vec.Z * mat.Row2.X;

            result.Y = vec.X * mat.Row0.Y +
                       vec.Y * mat.Row1.Y +
                       vec.Z * mat.Row2.Y;

            result.Z = vec.X * mat.Row0.Z +
                       vec.Y * mat.Row1.Z +
                       vec.Z * mat.Row2.Z;
        }
Exemple #3
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        /// <summary>Transform a Position by the given Matrix</summary>
        /// <param name="pos">The position to transform</param>
        /// <param name="mat">The desired transformation</param>
        /// <param name="result">The transformed position</param>
        public static void TransformPosition(ref Vector3d pos, ref Matrix4d mat, out Vector3d result)
        {
            result.X = pos.X * mat.Row0.X +
                       pos.Y * mat.Row1.X +
                       pos.Z * mat.Row2.X +
                       mat.Row3.X;

            result.Y = pos.X * mat.Row0.Y +
                       pos.Y * mat.Row1.Y +
                       pos.Z * mat.Row2.Y +
                       mat.Row3.Y;

            result.Z = pos.X * mat.Row0.Z +
                       pos.Y * mat.Row1.Z +
                       pos.Z * mat.Row2.Z +
                       mat.Row3.Z;
        }
Exemple #4
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        /// <summary>Constructs left Quaterniond from the given matrix.  Only contains rotation information.</summary>
        /// <param name="matrix">The matrix for the components of the Quaterniond.</param>
        public Quaterniond(ref Matrix4d matrix)
        {
            double scale = System.Math.Pow(matrix.Determinant, 1.0d / 3.0d);

            W = System.Math.Sqrt(System.Math.Max(0, scale + matrix[0, 0] + matrix[1, 1] + matrix[2, 2])) / 2;
            X = System.Math.Sqrt(System.Math.Max(0, scale + matrix[0, 0] - matrix[1, 1] - matrix[2, 2])) / 2;
            Y = System.Math.Sqrt(System.Math.Max(0, scale - matrix[0, 0] + matrix[1, 1] - matrix[2, 2])) / 2;
            Z = System.Math.Sqrt(System.Math.Max(0, scale - matrix[0, 0] - matrix[1, 1] + matrix[2, 2])) / 2;
            if (matrix[2, 1] - matrix[1, 2] < 0)
            {
                X = -X;
            }
            if (matrix[0, 2] - matrix[2, 0] < 0)
            {
                Y = -Y;
            }
            if (matrix[1, 0] - matrix[0, 1] < 0)
            {
                Z = -Z;
            }
        }
Exemple #5
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        /// <summary>Transform a Vector by the given Matrix</summary>
        /// <param name="vec">The vector to transform</param>
        /// <param name="mat">The desired transformation</param>
        /// <param name="result">The transformed vector</param>
        public static void Transform(ref Vector4d vec, ref Matrix4d mat, out Vector4d result)
        {
            result.X = vec.X * mat.Row0.X +
                       vec.Y * mat.Row1.X +
                       vec.Z * mat.Row2.X +
                       vec.W * mat.Row3.X;

            result.Y = vec.X * mat.Row0.Y +
                       vec.Y * mat.Row1.Y +
                       vec.Z * mat.Row2.Y +
                       vec.W * mat.Row3.Y;

            result.Z = vec.X * mat.Row0.Z +
                       vec.Y * mat.Row1.Z +
                       vec.Z * mat.Row2.Z +
                       vec.W * mat.Row3.Z;

            result.W = vec.X * mat.Row0.W +
                       vec.Y * mat.Row1.W +
                       vec.Z * mat.Row2.W +
                       vec.W * mat.Row3.W;
        }
Exemple #6
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 /// <summary>Returns left matrix for this Quaterniond.</summary>
 public void Matrix4d(out Matrix4d result)
 {
     // TODO Expand
     result = new Matrix4d(ref this);
 }
Exemple #7
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        /// <summary>
        /// Transform a Vector3d by the given Matrix, and project the resulting Vector4 back to a Vector3
        /// </summary>
        /// <param name="vec">The vector to transform</param>
        /// <param name="mat">The desired transformation</param>
        /// <returns>The transformed vector</returns>
        public static Vector3d TransformPerspective(Vector3d vec, Matrix4d mat)
        {
            Vector4d h = Transform(vec, mat);

            return(new Vector3d(h.X / h.W, h.Y / h.W, h.Z / h.W));
        }
Exemple #8
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        /// <summary>Transform a Vector by the given Matrix</summary>
        /// <param name="vec">The vector to transform</param>
        /// <param name="mat">The desired transformation</param>
        /// <param name="result">The transformed vector</param>
        public static void Transform(ref Vector3d vec, ref Matrix4d mat, out Vector4d result)
        {
            Vector4d v4 = new Vector4d(vec.X, vec.Y, vec.Z, 1.0f);

            Vector4d.Transform(ref v4, ref mat, out result);
        }
Exemple #9
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        /// <summary>Transform a Normal by the given Matrix</summary>
        /// <remarks>
        /// This calculates the inverse of the given matrix, use TransformNormalInverse if you
        /// already have the inverse to avoid this extra calculation
        /// </remarks>
        /// <param name="norm">The normal to transform</param>
        /// <param name="mat">The desired transformation</param>
        /// <param name="result">The transformed normal</param>
        public static void TransformNormal(ref Vector3d norm, ref Matrix4d mat, out Vector3d result)
        {
            Matrix4d Inverse = Matrix4d.Invert(mat);

            Vector3d.TransformNormalInverse(ref norm, ref Inverse, out result);
        }
Exemple #10
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 /// <summary>Transform a Normal by the given Matrix</summary>
 /// <remarks>
 /// This calculates the inverse of the given matrix, use TransformNormalInverse if you
 /// already have the inverse to avoid this extra calculation
 /// </remarks>
 /// <param name="norm">The normal to transform</param>
 /// <param name="mat">The desired transformation</param>
 /// <returns>The transformed normal</returns>
 public static Vector3d TransformNormal(Vector3d norm, Matrix4d mat)
 {
     mat.Invert();
     return(TransformNormalInverse(norm, mat));
 }