public void ApplyOrthographicCentered()
{
ViewMatrix = Matrix4.View(Position, LookAtPosition, UpPosition-Position);
ProjectionMatrix = Matrix4.OrthographicCentered(ViewPort.Size.Width, ViewPort.Size.Height, Near, Far);
TransformMatrix = ViewMatrix.Multiply(ProjectionMatrix);
TransformInverseMatrix = TransformMatrix.Invert();
}
public void Apply()
{
ViewMatrix = Matrix4.View(Position, LookAtPosition, UpPosition-Position);
ProjectionMatrix = Matrix4.Perspective(Fov, float.IsNaN(Aspect) ? ViewPort.AspectRatio : Aspect, Near, Far);
TransformMatrix = ViewMatrix.Multiply(ProjectionMatrix);
TransformInverseMatrix = TransformMatrix.Invert();
}
public void Set(Matrix4[] values, int count)
{
valueArrayOffset = 0;
valueArrayCount = count;
valueArrayObject.Target = values;
Apply = setMatrix4Array;
}
public void Set(Matrix4 value)
{
valueObject.Matrix4 = value;
Apply = setMatrix4;
}
public Vector3 Transform(Matrix4 matrix)
{
return new Vector3
(
(X * matrix.X.X) + (Y * matrix.Y.X) + (Z * matrix.Z.X) + matrix.X.W,
(X * matrix.X.Y) + (Y * matrix.Y.Y) + (Z * matrix.Z.Y) + matrix.Y.W,
(X * matrix.X.Z) + (Y * matrix.Y.Z) + (Z * matrix.Z.Z) + matrix.Z.W
);
}
public static void FromMatrix4(ref Matrix4 matrix, out Quaternion result)
{
float w = (float)Math.Sqrt(1 + matrix.X.X + matrix.Y.Y + matrix.Z.Z) * .5f;
float delta = 1 / (w * 4);
result.X = (matrix.Z.Y - matrix.Y.Z) * delta;
result.Y = (matrix.X.Z - matrix.Z.X) * delta;
result.Z = (matrix.Y.X - matrix.X.Y) * delta;
result.W = w;
}
public Matrix4 Multiply(Matrix4 matrix)
{
return new Matrix4
(
new Vector4((matrix.X.X*X.X) + (matrix.X.Y*Y.X) + (matrix.X.Z*Z.X) + (matrix.X.W*W.X), (matrix.X.X*X.Y) + (matrix.X.Y*Y.Y) + (matrix.X.Z*Z.Y) + (matrix.X.W*W.Y), (matrix.X.X*X.Z) + (matrix.X.Y*Y.Z) + (matrix.X.Z*Z.Z) + (matrix.X.W*W.Z), (matrix.X.X*X.W) + (matrix.X.Y*Y.W) + (matrix.X.Z*Z.W) + (matrix.X.W*W.W)),
new Vector4((matrix.Y.X*X.X) + (matrix.Y.Y*Y.X) + (matrix.Y.Z*Z.X) + (matrix.Y.W*W.X), (matrix.Y.X*X.Y) + (matrix.Y.Y*Y.Y) + (matrix.Y.Z*Z.Y) + (matrix.Y.W*W.Y), (matrix.Y.X*X.Z) + (matrix.Y.Y*Y.Z) + (matrix.Y.Z*Z.Z) + (matrix.Y.W*W.Z), (matrix.Y.X*X.W) + (matrix.Y.Y*Y.W) + (matrix.Y.Z*Z.W) + (matrix.Y.W*W.W)),
new Vector4((matrix.Z.X*X.X) + (matrix.Z.Y*Y.X) + (matrix.Z.Z*Z.X) + (matrix.Z.W*W.X), (matrix.Z.X*X.Y) + (matrix.Z.Y*Y.Y) + (matrix.Z.Z*Z.Y) + (matrix.Z.W*W.Y), (matrix.Z.X*X.Z) + (matrix.Z.Y*Y.Z) + (matrix.Z.Z*Z.Z) + (matrix.Z.W*W.Z), (matrix.Z.X*X.W) + (matrix.Z.Y*Y.W) + (matrix.Z.Z*Z.W) + (matrix.Z.W*W.W)),
new Vector4((matrix.W.X*X.X) + (matrix.W.Y*Y.X) + (matrix.W.Z*Z.X) + (matrix.W.W*W.X), (matrix.W.X*X.Y) + (matrix.W.Y*Y.Y) + (matrix.W.Z*Z.Y) + (matrix.W.W*W.Y), (matrix.W.X*X.Z) + (matrix.W.Y*Y.Z) + (matrix.W.Z*Z.Z) + (matrix.W.W*W.Z), (matrix.W.X*X.W) + (matrix.W.Y*Y.W) + (matrix.W.Z*Z.W) + (matrix.W.W*W.W))
);
}
public static void View(ref Vector3 position, ref Vector3 lookAt, ref Vector3 upVector, out Matrix4 result)
{
var forward = (lookAt - position).Normalize();
var xVec = forward.Cross(upVector).Normalize();
upVector = xVec.Cross(forward);
result.X.X = xVec.X;
result.X.Y = xVec.Y;
result.X.Z = xVec.Z;
result.X.W = position.Dot(-xVec);
result.Y.X = upVector.X;
result.Y.Y = upVector.Y;
result.Y.Z = upVector.Z;
result.Y.W = position.Dot(-upVector);
result.Z.X = -forward.X;
result.Z.Y = -forward.Y;
result.Z.Z = -forward.Z;
result.Z.W = position.Dot(forward);
result.W.X = 0;
result.W.Y = 0;
result.W.Z = 0;
result.W.W = 1;
}
public static void Frustum(float left, float right, float bottom, float top, float near, float far, out Matrix4 result)
{
float width = right - left;
float height = top - bottom;
float depth = far - near;
float n = near * 2;
result.X.X = n/width;
result.X.Y = 0;
result.X.Z = (right+left)/width;
result.X.W = 0;
result.Y.X = 0;
result.Y.Y = n/height;
result.Y.Z = (top+bottom)/height;
result.Y.W = 0;
result.Z.X = 0;
result.Z.Y = 0;
result.Z.Z = -(far+near)/depth;
result.Z.W = -(n*far)/depth;
result.W.X = 0;
result.W.Y = 0;
result.W.Z = -1;
result.W.W = 0;
}
public static void FromRotationAxis(ref Vector3 axis, float angle, out Matrix4 result)
{
Core.Quaternion quaternion;
Core.Quaternion.FromRotationAxis(ref axis, angle, out quaternion);
Matrix4.FromQuaternion(ref quaternion, out result);
}
public static void FromRigidTransform(ref RigidTransform3 transform, out Matrix4 result)
{
var qMat = Matrix3.FromQuaternion(transform.Orientation);
Core.Matrix4.FromAffineTransform(ref qMat, ref transform.Position, out result);
}
public static void FromQuaternion(ref Quaternion quaternion, out Matrix4 result)
{
var squared = new Vector4(quaternion.X*quaternion.X, quaternion.Y*quaternion.Y, quaternion.Z*quaternion.Z, quaternion.W*quaternion.W);
float invSqLength = 1 / (squared.X + squared.Y + squared.Z + squared.W);
float temp1 = quaternion.X * quaternion.Y;
float temp2 = quaternion.Z * quaternion.W;
float temp3 = quaternion.X * quaternion.Z;
float temp4 = quaternion.Y * quaternion.W;
float temp5 = quaternion.Y * quaternion.Z;
float temp6 = quaternion.X * quaternion.W;
result.X.X = (squared.X-squared.Y-squared.Z+squared.W) * invSqLength;
result.X.Y = 2*(temp1-temp2) * invSqLength;
result.X.Z = 2*(temp3+temp4) * invSqLength;
result.X.W = 0;
result.Y.X = 2*(temp1+temp2) * invSqLength;
result.Y.Y = (-squared.X+squared.Y-squared.Z+squared.W) * invSqLength;
result.Y.Z = 2*(temp5-temp6) * invSqLength;
result.Y.W = 0;
result.Z.X = 2*(temp3-temp4) * invSqLength;
result.Z.Y = 2*(temp5+temp6) * invSqLength;
result.Z.Z = (-squared.X-squared.Y+squared.Z+squared.W) * invSqLength;
result.Z.W = 0;
result.W.X = 0;
result.W.Y = 0;
result.W.Z = 0;
result.W.W = 1;
}
public static void FromMatrix3(ref Matrix3 matrix, out Matrix4 result)
{
result.X.X = matrix.X.X;
result.X.Y = matrix.X.Y;
result.X.Z = matrix.X.Z;
result.X.W = 0;
result.Y.X = matrix.Y.X;
result.Y.Y = matrix.Y.Y;
result.Y.Z = matrix.Y.Z;
result.Y.W = 0;
result.Z.X = matrix.Z.X;
result.Z.Y = matrix.Z.Y;
result.Z.Z = matrix.Z.Z;
result.Z.W = 0;
result.W.X = 0;
result.W.Y = 0;
result.W.Z = 0;
result.W.W = 1;
}
public static void FromAffineTransform(ref Matrix3 transform, ref Vector3 scale, ref Vector3 position, out Matrix4 result)
{
result.X.X = transform.X.X * scale.X;
result.X.Y = transform.X.Y * scale.X;
result.X.Z = transform.X.Z * scale.X;
result.X.W = position.X;
result.Y.X = transform.Y.X * scale.Y;
result.Y.Y = transform.Y.Y * scale.Y;
result.Y.Z = transform.Y.Z * scale.Y;
result.Y.W = position.Y;
result.Z.X = transform.Z.X * scale.Z;
result.Z.Y = transform.Z.Y * scale.Z;
result.Z.Z = transform.Z.Z * scale.Z;
result.Z.W = position.Z;
result.W.X = 0;
result.W.Y = 0;
result.W.Z = 0;
result.W.W = 1;
}
public static void FromAffineTransform(ref AffineTransform3 transform, out Matrix4 result)
{
result.X.X = transform.Transform.X.X;
result.X.Y = transform.Transform.X.Y;
result.X.Z = transform.Transform.X.Z;
result.X.W = transform.Translation.X;
result.Y.X = transform.Transform.Y.X;
result.Y.Y = transform.Transform.Y.Y;
result.Y.Z = transform.Transform.Y.Z;
result.Y.W = transform.Translation.Y;
result.Z.X = transform.Transform.Z.X;
result.Z.Y = transform.Transform.Z.Y;
result.Z.Z = transform.Transform.Z.Z;
result.Z.W = transform.Translation.Z;
result.W.X = 0;
result.W.Y = 0;
result.W.Z = 0;
result.W.W = 1;
}
public static void Perspective(float fov, float aspect, float near, float far, out Matrix4 result)
{
float top = near * (float)Math.Tan(fov * .5f);
float bottom = -top;
float right = top * aspect;
float left = -right;
Frustum(left, right, bottom, top, near, far, out result);
}
public static void Transpose(Matrix4 matrix, out Matrix4 result)
{
result.X.X = matrix.X.X;
result.X.Y = matrix.Y.X;
result.X.Z = matrix.Z.X;
result.X.W = matrix.W.X;
result.Y.X = matrix.X.Y;
result.Y.Y = matrix.Y.Y;
result.Y.Z = matrix.Z.Y;
result.Y.W = matrix.W.Y;
result.Z.X = matrix.X.Z;
result.Z.Y = matrix.Y.Z;
result.Z.Z = matrix.Z.Z;
result.Z.W = matrix.W.Z;
result.W.X = matrix.X.W;
result.W.Y = matrix.Y.W;
result.W.Z = matrix.Z.W;
result.W.W = matrix.W.W;
}
public static void GetTranslation(ref Matrix4 matrix, out Vector3 result)
{
result.X = matrix.X.W;
result.Y = matrix.Y.W;
result.Z = matrix.Z.W;
}
public Matrix4 Invert()
{
float determinant = 1 / Determinant();
var mat = new Matrix4
(
new Vector4
(
((Y.Y * Z.Z * W.W) + (Y.Z * Z.W * W.Y) + (Y.W * Z.Y * W.Z) - (Y.Y * Z.W * W.Z) - (Y.Z * Z.Y * W.W) - (Y.W * Z.Z * W.Y)) * determinant,
((X.Y * Z.W * W.Z) + (X.Z * Z.Y * W.W) + (X.W * Z.Z * W.Y) - (X.Y * Z.Z * W.W) - (X.Z * Z.W * W.Y) - (X.W * Z.Y * W.Z)) * determinant,
((X.Y * Y.Z * W.W) + (X.Z * Y.W * W.Y) + (X.W * Y.Y * W.Z) - (X.Y * Y.W * W.Z) - (X.Z * Y.Y * W.W) - (X.W * Y.Z * W.Y)) * determinant,
((X.Y * Y.W * Z.Z) + (X.Z * Y.Y * Z.W) + (X.W * Y.Z * Z.Y) - (X.Y * Y.Z * Z.W) - (X.Z * Y.W * Z.Y) - (X.W * Y.Y * Z.Z)) * determinant
),
new Vector4
(
((Y.X * Z.W * W.Z) + (Y.Z * Z.X * W.W) + (Y.W * Z.Z * W.X) - (Y.X * Z.Z * W.W) - (Y.Z * Z.W * W.X) - (Y.W * Z.X * W.Z)) * determinant,
((X.X * Z.Z * W.W) + (X.Z * Z.W * W.X) + (X.W * Z.X * W.Z) - (X.X * Z.W * W.Z) - (X.Z * Z.X * W.W) - (X.W * Z.Z * W.X)) * determinant,
((X.X * Y.W * W.Z) + (X.Z * Y.X * W.W) + (X.W * Y.Z * W.X) - (X.X * Y.Z * W.W) - (X.Z * Y.W * W.X) - (X.W * Y.X * W.Z)) * determinant,
((X.X * Y.Z * Z.W) + (X.Z * Y.W * Z.X) + (X.W * Y.X * Z.Z) - (X.X * Y.W * Z.Z) - (X.Z * Y.X * Z.W) - (X.W * Y.Z * Z.X)) * determinant
),
new Vector4
(
((Y.X * Z.Y * W.W) + (Y.Y * Z.W * W.X) + (Y.W * Z.X * W.Y) - (Y.X * Z.W * W.Y) - (Y.Y * Z.X * W.W) - (Y.W * Z.Y * W.X)) * determinant,
((X.X * Z.W * W.Y) + (X.Y * Z.X * W.W) + (X.W * Z.Y * W.X) - (X.X * Z.Y * W.W) - (X.Y * Z.W * W.X) - (X.W * Z.X * W.Y)) * determinant,
((X.X * Y.Y * W.W) + (X.Y * Y.W * W.X) + (X.W * Y.X * W.Y) - (X.X * Y.W * W.Y) - (X.Y * Y.X * W.W) - (X.W * Y.Y * W.X)) * determinant,
((X.X * Y.W * Z.Y) + (X.Y * Y.X * Z.W) + (X.W * Y.Y * Z.X) - (X.X * Y.Y * Z.W) - (X.Y * Y.W * Z.X) - (X.W * Y.X * Z.Y)) * determinant
),
new Vector4
(
((Y.X * Z.Z * W.Y) + (Y.Y * Z.X * W.Z) + (Y.Z * Z.Y * W.X) - (Y.X * Z.Y * W.Z) - (Y.Y * Z.Z * W.X) - (Y.Z * Z.X * W.Y)) * determinant,
((X.X * Z.Y * W.Z) + (X.Y * Z.Z * W.X) + (X.Z * Z.X * W.Y) - (X.X * Z.Z * W.Y) - (X.Y * Z.X * W.Z) - (X.Z * Z.Y * W.X)) * determinant,
((X.X * Y.Z * W.Y) + (X.Y * Y.X * W.Z) + (X.Z * Y.Y * W.X) - (X.X * Y.Y * W.Z) - (X.Y * Y.Z * W.X) - (X.Z * Y.X * W.Y)) * determinant,
((X.X * Y.Y * Z.Z) + (X.Y * Y.Z * Z.X) + (X.Z * Y.X * Z.Y) - (X.X * Y.Z * Z.Y) - (X.Y * Y.X * Z.Z) - (X.Z * Y.Y * Z.X)) * determinant
)
);
Transpose(mat, out mat);
return mat;
}
public static void Invert(ref Matrix4 matrix, out Matrix4 result)
{
float determinant = 1 / matrix.Determinant();
result.X.X = ((matrix.Y.Y * matrix.Z.Z * matrix.W.W) + (matrix.Y.Z * matrix.Z.W * matrix.W.Y) + (matrix.Y.W * matrix.Z.Y * matrix.W.Z) - (matrix.Y.Y * matrix.Z.W * matrix.W.Z) - (matrix.Y.Z * matrix.Z.Y * matrix.W.W) - (matrix.Y.W * matrix.Z.Z * matrix.W.Y)) * determinant;
result.X.Y = ((matrix.X.Y * matrix.Z.W * matrix.W.Z) + (matrix.X.Z * matrix.Z.Y * matrix.W.W) + (matrix.X.W * matrix.Z.Z * matrix.W.Y) - (matrix.X.Y * matrix.Z.Z * matrix.W.W) - (matrix.X.Z * matrix.Z.W * matrix.W.Y) - (matrix.X.W * matrix.Z.Y * matrix.W.Z)) * determinant;
result.X.Z = ((matrix.X.Y * matrix.Y.Z * matrix.W.W) + (matrix.X.Z * matrix.Y.W * matrix.W.Y) + (matrix.X.W * matrix.Y.Y * matrix.W.Z) - (matrix.X.Y * matrix.Y.W * matrix.W.Z) - (matrix.X.Z * matrix.Y.Y * matrix.W.W) - (matrix.X.W * matrix.Y.Z * matrix.W.Y)) * determinant;
result.X.W = ((matrix.X.Y * matrix.Y.W * matrix.Z.Z) + (matrix.X.Z * matrix.Y.Y * matrix.Z.W) + (matrix.X.W * matrix.Y.Z * matrix.Z.Y) - (matrix.X.Y * matrix.Y.Z * matrix.Z.W) - (matrix.X.Z * matrix.Y.W * matrix.Z.Y) - (matrix.X.W * matrix.Y.Y * matrix.Z.Z)) * determinant;
result.Y.X = ((matrix.Y.X * matrix.Z.W * matrix.W.Z) + (matrix.Y.Z * matrix.Z.X * matrix.W.W) + (matrix.Y.W * matrix.Z.Z * matrix.W.X) - (matrix.Y.X * matrix.Z.Z * matrix.W.W) - (matrix.Y.Z * matrix.Z.W * matrix.W.X) - (matrix.Y.W * matrix.Z.X * matrix.W.Z)) * determinant;
result.Y.Y = ((matrix.X.X * matrix.Z.Z * matrix.W.W) + (matrix.X.Z * matrix.Z.W * matrix.W.X) + (matrix.X.W * matrix.Z.X * matrix.W.Z) - (matrix.X.X * matrix.Z.W * matrix.W.Z) - (matrix.X.Z * matrix.Z.X * matrix.W.W) - (matrix.X.W * matrix.Z.Z * matrix.W.X)) * determinant;
result.Y.Z = ((matrix.X.X * matrix.Y.W * matrix.W.Z) + (matrix.X.Z * matrix.Y.X * matrix.W.W) + (matrix.X.W * matrix.Y.Z * matrix.W.X) - (matrix.X.X * matrix.Y.Z * matrix.W.W) - (matrix.X.Z * matrix.Y.W * matrix.W.X) - (matrix.X.W * matrix.Y.X * matrix.W.Z)) * determinant;
result.Y.W = ((matrix.X.X * matrix.Y.Z * matrix.Z.W) + (matrix.X.Z * matrix.Y.W * matrix.Z.X) + (matrix.X.W * matrix.Y.X * matrix.Z.Z) - (matrix.X.X * matrix.Y.W * matrix.Z.Z) - (matrix.X.Z * matrix.Y.X * matrix.Z.W) - (matrix.X.W * matrix.Y.Z * matrix.Z.X)) * determinant;
result.Z.X = ((matrix.Y.X * matrix.Z.Y * matrix.W.W) + (matrix.Y.Y * matrix.Z.W * matrix.W.X) + (matrix.Y.W * matrix.Z.X * matrix.W.Y) - (matrix.Y.X * matrix.Z.W * matrix.W.Y) - (matrix.Y.Y * matrix.Z.X * matrix.W.W) - (matrix.Y.W * matrix.Z.Y * matrix.W.X)) * determinant;
result.Z.Y = ((matrix.X.X * matrix.Z.W * matrix.W.Y) + (matrix.X.Y * matrix.Z.X * matrix.W.W) + (matrix.X.W * matrix.Z.Y * matrix.W.X) - (matrix.X.X * matrix.Z.Y * matrix.W.W) - (matrix.X.Y * matrix.Z.W * matrix.W.X) - (matrix.X.W * matrix.Z.X * matrix.W.Y)) * determinant;
result.Z.Z = ((matrix.X.X * matrix.Y.Y * matrix.W.W) + (matrix.X.Y * matrix.Y.W * matrix.W.X) + (matrix.X.W * matrix.Y.X * matrix.W.Y) - (matrix.X.X * matrix.Y.W * matrix.W.Y) - (matrix.X.Y * matrix.Y.X * matrix.W.W) - (matrix.X.W * matrix.Y.Y * matrix.W.X)) * determinant;
result.Z.W = ((matrix.X.X * matrix.Y.W * matrix.Z.Y) + (matrix.X.Y * matrix.Y.X * matrix.Z.W) + (matrix.X.W * matrix.Y.Y * matrix.Z.X) - (matrix.X.X * matrix.Y.Y * matrix.Z.W) - (matrix.X.Y * matrix.Y.W * matrix.Z.X) - (matrix.X.W * matrix.Y.X * matrix.Z.Y)) * determinant;
result.W.X = ((matrix.Y.X * matrix.Z.Z * matrix.W.Y) + (matrix.Y.Y * matrix.Z.X * matrix.W.Z) + (matrix.Y.Z * matrix.Z.Y * matrix.W.X) - (matrix.Y.X * matrix.Z.Y * matrix.W.Z) - (matrix.Y.Y * matrix.Z.Z * matrix.W.X) - (matrix.Y.Z * matrix.Z.X * matrix.W.Y)) * determinant;
result.W.Y = ((matrix.X.X * matrix.Z.Y * matrix.W.Z) + (matrix.X.Y * matrix.Z.Z * matrix.W.X) + (matrix.X.Z * matrix.Z.X * matrix.W.Y) - (matrix.X.X * matrix.Z.Z * matrix.W.Y) - (matrix.X.Y * matrix.Z.X * matrix.W.Z) - (matrix.X.Z * matrix.Z.Y * matrix.W.X)) * determinant;
result.W.Z = ((matrix.X.X * matrix.Y.Z * matrix.W.Y) + (matrix.X.Y * matrix.Y.X * matrix.W.Z) + (matrix.X.Z * matrix.Y.Y * matrix.W.X) - (matrix.X.X * matrix.Y.Y * matrix.W.Z) - (matrix.X.Y * matrix.Y.Z * matrix.W.X) - (matrix.X.Z * matrix.Y.X * matrix.W.Y)) * determinant;
result.W.W = ((matrix.X.X * matrix.Y.Y * matrix.Z.Z) + (matrix.X.Y * matrix.Y.Z * matrix.Z.X) + (matrix.X.Z * matrix.Y.X * matrix.Z.Y) - (matrix.X.X * matrix.Y.Z * matrix.Z.Y) - (matrix.X.Y * matrix.Y.X * matrix.Z.Z) - (matrix.X.Z * matrix.Y.Y * matrix.Z.X)) * determinant;
Transpose(result, out result);
}
public static Quaternion FromMatrix4(Matrix4 matrix)
{
float w = (float)Math.Sqrt(1 + matrix.X.X + matrix.Y.Y + matrix.Z.Z) * .5f;
float delta = 1 / (w * 4);
return new Quaternion
(
(matrix.Z.Y - matrix.Y.Z) * delta,
(matrix.X.Z - matrix.Z.X) * delta,
(matrix.Y.X - matrix.X.Y) * delta,
w
);
}
public static void Multiply(ref Matrix4 matrix1, ref Matrix2 matrix2, out Matrix4 result)
{
result.X.X = (matrix1.X.X*matrix2.X.X) + (matrix1.X.Y*matrix2.Y.X);
result.X.Y = (matrix1.X.X*matrix2.X.Y) + (matrix1.X.Y*matrix2.Y.Y);
result.X.Z = matrix1.X.Z;
result.X.W = matrix1.X.W;
result.Y.X = (matrix1.Y.X*matrix2.X.X) + (matrix1.Y.Y*matrix2.Y.X);
result.Y.Y = (matrix1.Y.X*matrix2.X.Y) + (matrix1.Y.Y*matrix2.Y.Y);
result.Y.Z = matrix1.Y.Z;
result.Y.W = matrix1.Y.W;
result.Z = matrix1.Z;
result.W = matrix1.W;
}
public static void TransformNormal(ref Vector3 vector, ref Matrix4 matrix, out Vector3 result)
{
result.X = (vector.X * matrix.X.X) + (vector.Y * matrix.Y.X) + (vector.Z * matrix.Z.X);
result.Y = (vector.X * matrix.X.Y) + (vector.Y * matrix.Y.Y) + (vector.Z * matrix.Z.Y);
result.Z = (vector.X * matrix.X.Z) + (vector.Y * matrix.Y.Z) + (vector.Z * matrix.Z.Z);
}
public static void Multiply(ref Matrix4 matrix1, ref Matrix4 matrix2, out Matrix4 result)
{
result.X.X = (matrix1.X.X*matrix2.X.X) + (matrix1.X.Y*matrix2.Y.X) + (matrix1.X.Z*matrix2.Z.X) + (matrix1.X.W*matrix2.W.X);
result.X.Y = (matrix1.X.X*matrix2.X.Y) + (matrix1.X.Y*matrix2.Y.Y) + (matrix1.X.Z*matrix2.Z.Y) + (matrix1.X.W*matrix2.W.Y);
result.X.Z = (matrix1.X.X*matrix2.X.Z) + (matrix1.X.Y*matrix2.Y.Z) + (matrix1.X.Z*matrix2.Z.Z) + (matrix1.X.W*matrix2.W.Z);
result.X.W = (matrix1.X.X*matrix2.X.W) + (matrix1.X.Y*matrix2.Y.W) + (matrix1.X.Z*matrix2.Z.W) + (matrix1.X.W*matrix2.W.W);
result.Y.X = (matrix1.Y.X*matrix2.X.X) + (matrix1.Y.Y*matrix2.Y.X) + (matrix1.Y.Z*matrix2.Z.X) + (matrix1.Y.W*matrix2.W.X);
result.Y.Y = (matrix1.Y.X*matrix2.X.Y) + (matrix1.Y.Y*matrix2.Y.Y) + (matrix1.Y.Z*matrix2.Z.Y) + (matrix1.Y.W*matrix2.W.Y);
result.Y.Z = (matrix1.Y.X*matrix2.X.Z) + (matrix1.Y.Y*matrix2.Y.Z) + (matrix1.Y.Z*matrix2.Z.Z) + (matrix1.Y.W*matrix2.W.Z);
result.Y.W = (matrix1.Y.X*matrix2.X.W) + (matrix1.Y.Y*matrix2.Y.W) + (matrix1.Y.Z*matrix2.Z.W) + (matrix1.Y.W*matrix2.W.W);
result.Z.X = (matrix1.Z.X*matrix2.X.X) + (matrix1.Z.Y*matrix2.Y.X) + (matrix1.Z.Z*matrix2.Z.X) + (matrix1.Z.W*matrix2.W.X);
result.Z.Y = (matrix1.Z.X*matrix2.X.Y) + (matrix1.Z.Y*matrix2.Y.Y) + (matrix1.Z.Z*matrix2.Z.Y) + (matrix1.Z.W*matrix2.W.Y);
result.Z.Z = (matrix1.Z.X*matrix2.X.Z) + (matrix1.Z.Y*matrix2.Y.Z) + (matrix1.Z.Z*matrix2.Z.Z) + (matrix1.Z.W*matrix2.W.Z);
result.Z.W = (matrix1.Z.X*matrix2.X.W) + (matrix1.Z.Y*matrix2.Y.W) + (matrix1.Z.Z*matrix2.Z.W) + (matrix1.Z.W*matrix2.W.W);
result.W.X = (matrix1.W.X*matrix2.X.X) + (matrix1.W.Y*matrix2.Y.X) + (matrix1.W.Z*matrix2.Z.X) + (matrix1.W.W*matrix2.W.X);
result.W.Y = (matrix1.W.X*matrix2.X.Y) + (matrix1.W.Y*matrix2.Y.Y) + (matrix1.W.Z*matrix2.Z.Y) + (matrix1.W.W*matrix2.W.Y);
result.W.Z = (matrix1.W.X*matrix2.X.Z) + (matrix1.W.Y*matrix2.Y.Z) + (matrix1.W.Z*matrix2.Z.Z) + (matrix1.W.W*matrix2.W.Z);
result.W.W = (matrix1.W.X*matrix2.X.W) + (matrix1.W.Y*matrix2.Y.W) + (matrix1.W.Z*matrix2.Z.W) + (matrix1.W.W*matrix2.W.W);
}
public Vector3 TransformNormal(Matrix4 matrix)
{
return new Vector3
(
(X * matrix.X.X) + (Y * matrix.Y.X) + (Z * matrix.Z.X),
(X * matrix.X.Y) + (Y * matrix.Y.Y) + (Z * matrix.Z.Y),
(X * matrix.X.Z) + (Y * matrix.Y.Z) + (Z * matrix.Z.Z)
);
}
public static void Orthographic(float left, float right, float bottom, float top, float near, float far, out Matrix4 result)
{
float width = right - left;
float height = top - bottom;
float depth = far - near;
result.X.X = 2/width;
result.X.Y = 0;
result.X.Z = 0;
result.X.W = -(right+left)/width;
result.Y.X = 0;
result.Y.Y = 2/height;
result.Y.Z = 0;
result.Y.W = -(top+bottom)/height;
result.Z.X = 0;
result.Z.Y = 0;
result.Z.Z = -2/depth;
result.Z.W = -(far+near)/depth;
result.W.X = 0;
result.W.Y = 0;
result.W.Z = 0;
result.W.W = 1;
}
public void Set(Matrix4[] values)
{
throw new NotImplementedException();
}
public static void OrthographicCentered(float width, float height, float near, float far, out Matrix4 result)
{
OrthographicCentered(0, width, 0, height, near, far, out result);
}
public void Set(Matrix4[] values, int offset, int count)
{
throw new NotImplementedException();
}
public static void OrthographicCentered(float left, float right, float bottom, float top, float near, float far, out Matrix4 result)
{
float width = right - left;
float height = top - bottom;
float depth = far - near;
result.X.X = (2/width);
result.X.Y = 0;
result.X.Z = 0;
result.X.W = 0;
result.Y.X = 0;
result.Y.Y = (2/height);
result.Y.Z = 0;
result.Y.W = 0;
result.Z.X = 0;
result.Z.Y = 0;
result.Z.Z = (-2)/depth;
result.Z.W = -((far+near)/depth);
result.W.X = 0;
result.W.Y = 0;
result.W.Z = 0;
result.W.W = 1;
}