public Bone(string name) { m_refPosition = new Vector2D(0.0, 0.0); m_mat = Matrix3D.Identity.Clone(); m_totalMat = Matrix3D.Identity.Clone(); m_name = name; }
/// <summary> /// Subtracts a matrix from a matrix. /// </summary> /// <param name="left">A <see cref="Matrix3D"/> instance to subtract from.</param> /// <param name="right">A <see cref="Matrix3D"/> instance to subtract.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the difference.</returns> /// <remarks>result[x][y] = left[x][y] - right[x][y]</remarks> public static Matrix3D Subtract(Matrix3D left, Matrix3D right) { return new Matrix3D( left.M11 - right.M11, left.M12 - right.M12, left.M13 - right.M13, left.M21 - right.M21, left.M22 - right.M22, left.M23 - right.M23, left.M31 - right.M31, left.M32 - right.M32, left.M33 - right.M33 ); }
/// <summary> /// Adds two matrices and put the result in a third matrix. /// </summary> /// <param name="left">A <see cref="Matrix3D"/> instance.</param> /// <param name="right">A <see cref="Matrix3D"/> instance.</param> /// <param name="result">A <see cref="Matrix3D"/> instance to hold the result.</param> public static void Add(Matrix3D left, Matrix3D right, ref Matrix3D result) { result.M11 = left.M11 + right.M11; result.M12 = left.M12 + right.M12; result.M13 = left.M13 + right.M13; result.M21 = left.M21 + right.M21; result.M22 = left.M22 + right.M22; result.M23 = left.M23 + right.M23; result.M31 = left.M31 + right.M31; result.M32 = left.M32 + right.M32; result.M33 = left.M33 + right.M33; }
/// <summary> /// Adds two matrices. /// </summary> /// <param name="left">A <see cref="Matrix3D"/> instance.</param> /// <param name="right">A <see cref="Matrix3D"/> instance.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the sum.</returns> public static Matrix3D Add(Matrix3D left, Matrix3D right) { return new Matrix3D( left.M11 + right.M11, left.M12 + right.M12, left.M13 + right.M13, left.M21 + right.M21, left.M22 + right.M22, left.M23 + right.M23, left.M31 + right.M31, left.M32 + right.M32, left.M33 + right.M33 ); }
/// <summary> /// Initializes a new instance of the <see cref="Matrix3D"/> class using a given matrix. /// </summary> public Matrix3D(Matrix3D m) { _m11 = m.M11; _m12 = m.M12; _m13 = m.M13; _m21 = m.M21; _m22 = m.M22; _m23 = m.M23; _m31 = m.M31; _m32 = m.M32; _m33 = m.M33; }
public void SetLocalMatrix(Matrix3D mat3D) { m_mat = mat3D.Clone(); }
/// <summary> /// Adds a matrix and a scalar. /// </summary> /// <param name="matrix">A <see cref="Matrix3D"/> instance.</param> /// <param name="scalar">A double-precision floating-point number.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the sum.</returns> public static Matrix3D operator +(double scalar, Matrix3D matrix) { return(Matrix3D.Add(matrix, scalar)); }
/// <summary> /// Transforms a given vector by a matrix. /// </summary> /// <param name="matrix">A <see cref="Matrix3D"/> instance.</param> /// <param name="vector">A <see cref="Vector3D"/> instance.</param> /// <returns>A new <see cref="Vector3D"/> instance containing the result.</returns> public static Vector3D Transform(Matrix3D matrix, Vector3D vector) { return new Vector3D( (matrix.M11 * vector.X) + (matrix.M12 * vector.Y) + (matrix.M13 * vector.Z), (matrix.M21 * vector.X) + (matrix.M22 * vector.Y) + (matrix.M23 * vector.Z), (matrix.M31 * vector.X) + (matrix.M32 * vector.Y) + (matrix.M33 * vector.Z)); }
public Transform2D(Matrix3D mat) { _mat = mat.Clone(); }
public Transform2D(Transform2D transf) { _mat = transf._mat.Clone(); }
public Transform2D(Matrix3D mat) { _mat = mat.Clone(); }
/// <summary> /// Multiplies two matrices. /// </summary> /// <param name="left">A <see cref="Matrix3D"/> instance.</param> /// <param name="right">A <see cref="Matrix3D"/> instance.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the result.</returns> public static Matrix3D operator *(Matrix3D left, Matrix3D right) { return(Matrix3D.Multiply(left, right)); }
/// <summary> /// Subtracts a scalar from a matrix. /// </summary> /// <param name="matrix">A <see cref="Matrix3D"/> instance.</param> /// <param name="scalar">A double-precision floating-point number.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the difference.</returns> public static Matrix3D operator -(Matrix3D matrix, double scalar) { return(Matrix3D.Subtract(matrix, scalar)); }
/// <summary> /// Subtracts a matrix from a matrix. /// </summary> /// <param name="left">A <see cref="Matrix3D"/> instance.</param> /// <param name="right">A <see cref="Matrix3D"/> instance.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the difference.</returns> public static Matrix3D operator -(Matrix3D left, Matrix3D right) { return(Matrix3D.Subtract(left, right));; }
/// <summary> /// Subtracts a matrix from a matrix and put the result in a third matrix. /// </summary> /// <param name="left">A <see cref="Matrix3D"/> instance to subtract from.</param> /// <param name="right">A <see cref="Matrix3D"/> instance to subtract.</param> /// <param name="result">A <see cref="Matrix3D"/> instance to hold the result.</param> /// <remarks>result[x][y] = left[x][y] - right[x][y]</remarks> public static void Subtract(Matrix3D left, Matrix3D right, ref Matrix3D result) { result.M11 = left.M11 - right.M11; result.M12 = left.M12 - right.M12; result.M13 = left.M13 - right.M13; result.M21 = left.M21 - right.M21; result.M22 = left.M22 - right.M22; result.M23 = left.M23 - right.M23; result.M31 = left.M31 - right.M31; result.M32 = left.M32 - right.M32; result.M33 = left.M33 - right.M33; }
/// <summary> /// Multiplies two matrices. /// </summary> /// <param name="left">A <see cref="Matrix3D"/> instance.</param> /// <param name="right">A <see cref="Matrix3D"/> instance.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the result.</returns> public static Matrix3D Multiply(Matrix3D left, Matrix3D right) { return new Matrix3D( left.M11 * right.M11 + left.M12 * right.M21 + left.M13 * right.M31, left.M11 * right.M12 + left.M12 * right.M22 + left.M13 * right.M32, left.M11 * right.M13 + left.M12 * right.M23 + left.M13 * right.M33, left.M21 * right.M11 + left.M22 * right.M21 + left.M23 * right.M31, left.M21 * right.M12 + left.M22 * right.M22 + left.M23 * right.M32, left.M21 * right.M13 + left.M22 * right.M23 + left.M23 * right.M33, left.M31 * right.M11 + left.M32 * right.M21 + left.M33 * right.M31, left.M31 * right.M12 + left.M32 * right.M22 + left.M33 * right.M32, left.M31 * right.M13 + left.M32 * right.M23 + left.M33 * right.M33 ); }
public Transform2D(Transform2D transf) { _mat = transf._mat.Clone(); }
/// <summary> /// Transposes a matrix. /// </summary> /// <param name="m">A <see cref="Matrix3D"/> instance.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the transposed matrix.</returns> public static Matrix3D Transpose(Matrix3D m) { Matrix3D t = new Matrix3D(m); t.Transpose(); return t; }
public Transform2D Inverse() { return(new Transform2D(Matrix3D.Inverse(_mat))); }
public void ContactLocalMatrixRight(Matrix3D mat3D) { m_mat = Matrix3D.Multiply(m_mat, mat3D); }
/// <summary> /// Initializes a new instance of the <see cref="Matrix3D"/> class using a given matrix. /// </summary> public Matrix3D(Matrix3D m) { _m11 = m.M11; _m12 = m.M12; _m13 = m.M13; _m21 = m.M21; _m22 = m.M22; _m23 = m.M23; _m31 = m.M31; _m32 = m.M32; _m33 = m.M33; }
//����������ȫ�ֱ任���ݵ��ӹ����ϡ� public void Update(Bone parent) { if(parent == null) { m_totalMat = m_mat; return; } Vector2D refPosDiff = m_refPosition - parent.m_refPosition; //transform and then rotate Matrix3D transMat = Matrix.Transform2D(refPosDiff.X, refPosDiff.Y); m_totalMat = Matrix3D.Multiply(parent.m_totalMat, transMat); //contact rotate matrix m_totalMat = Matrix3D.Multiply(m_totalMat, m_mat); }
/// <summary> /// Transforms a given vector by a matrix and put the result in a vector. /// </summary> /// <param name="matrix">A <see cref="Matrix3D"/> instance.</param> /// <param name="vector">A <see cref="Vector3D"/> instance.</param> /// <param name="result">A <see cref="Vector3D"/> instance to hold the result.</param> public static void Transform(Matrix3D matrix, Vector3D vector, ref Vector3D result) { result.X = (matrix.M11 * vector.X) + (matrix.M12 * vector.Y) + (matrix.M13 * vector.Z); result.Y = (matrix.M21 * vector.X) + (matrix.M22 * vector.Y) + (matrix.M23 * vector.Z); result.Z = (matrix.M31 * vector.X) + (matrix.M32 * vector.Y) + (matrix.M33 * vector.Z); }
/// <summary> /// Converts the specified string to its <see cref="Matrix3D"/> equivalent. /// A return value indicates whether the conversion succeeded or failed. /// </summary> /// <param name="value">A string representation of a <see cref="Matrix3D"/>.</param> /// <param name="result"> /// When this method returns, if the conversion succeeded, /// contains a <see cref="Matrix3D"/> representing the vector specified by <paramref name="value"/>. /// </param> /// <returns><see langword="true"/> if value was converted successfully; otherwise, <see langword="false"/>.</returns> /// <remarks> /// The string should be in the following form: "3x3..matrix elements..>".<br/> /// Exmaple : "3x3[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]" /// </remarks> public static bool TryParse(string value, out Matrix3D result) { Regex r = new Regex(regularExp, RegexOptions.Singleline); Match m = r.Match(value); if (m.Success) { result = new Matrix3D( double.Parse(m.Result("${m11}")), double.Parse(m.Result("${m12}")), double.Parse(m.Result("${m13}")), double.Parse(m.Result("${m21}")), double.Parse(m.Result("${m22}")), double.Parse(m.Result("${m23}")), double.Parse(m.Result("${m31}")), double.Parse(m.Result("${m32}")), double.Parse(m.Result("${m33}")) ); return true; } result = Matrix3D.Zero; return false; }
/// <summary> /// Adds two matrices. /// </summary> /// <param name="a">A <see cref="Matrix3D"/> instance.</param> /// <param name="b">A <see cref="Matrix3D"/> instance.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the sum.</returns> public static Matrix3D operator+(Matrix3D a, Matrix3D b) { return(Matrix3D.Add(a, b)); }
/// <summary> /// Adds a matrix and a scalar. /// </summary> /// <param name="matrix">A <see cref="Matrix3D"/> instance.</param> /// <param name="scalar">A double-precision floating-point number.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the sum.</returns> public static Matrix3D Add(Matrix3D matrix, double scalar) { return new Matrix3D( matrix.M11 + scalar, matrix.M12 + scalar, matrix.M13 + scalar, matrix.M21 + scalar, matrix.M22 + scalar, matrix.M23 + scalar, matrix.M31 + scalar, matrix.M32 + scalar, matrix.M33 + scalar ); }
/// <summary> /// Adds a matrix and a scalar. /// </summary> /// <param name="a">A <see cref="Matrix3D"/> instance.</param> /// <param name="s">A scalar.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the sum.</returns> public static Matrix3D operator+(double s, Matrix3D a) { return(Matrix3D.Add(a, s)); }
/// <summary> /// Adds a matrix and a scalar and put the result in a third matrix. /// </summary> /// <param name="matrix">A <see cref="Matrix3D"/> instance.</param> /// <param name="scalar">A double-precision floating-point number.</param> /// <param name="result">A <see cref="Matrix3D"/> instance to hold the result.</param> public static void Add(Matrix3D matrix, double scalar, ref Matrix3D result) { result.M11 = matrix.M11 + scalar; result.M12 = matrix.M12 + scalar; result.M13 = matrix.M13 + scalar; result.M21 = matrix.M21 + scalar; result.M22 = matrix.M22 + scalar; result.M23 = matrix.M23 + scalar; result.M31 = matrix.M31 + scalar; result.M32 = matrix.M32 + scalar; result.M33 = matrix.M33 + scalar; }
/// <summary> /// Subtracts a matrix from a matrix. /// </summary> /// <param name="a">A <see cref="Matrix3D"/> instance.</param> /// <param name="b">A <see cref="Matrix3D"/> instance.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the difference.</returns> public static Matrix3D operator-(Matrix3D a, Matrix3D b) { return(Matrix3D.Subtract(a, b)); }
/// <summary> /// Subtracts a scalar from a matrix. /// </summary> /// <param name="matrix">A <see cref="Matrix3D"/> instance.</param> /// <param name="scalar">A double-precision floating-point number.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the difference.</returns> public static Matrix3D Subtract(Matrix3D matrix, double scalar) { return new Matrix3D( matrix.M11 - scalar, matrix.M12 - scalar, matrix.M13 - scalar, matrix.M21 - scalar, matrix.M22 - scalar, matrix.M23 - scalar, matrix.M31 - scalar, matrix.M32 - scalar, matrix.M33 - scalar ); }
/// <summary> /// Subtracts a scalar from a matrix. /// </summary> /// <param name="a">A <see cref="Matrix3D"/> instance.</param> /// <param name="s">A scalar.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the difference.</returns> public static Matrix3D operator-(Matrix3D a, double s) { return(Matrix3D.Subtract(a, s)); }
/// <summary> /// Subtracts a scalar from a matrix and put the result in a third matrix. /// </summary> /// <param name="matrix">A <see cref="Matrix3D"/> instance.</param> /// <param name="scalar">A double-precision floating-point number.</param> /// <param name="result">A <see cref="Matrix3D"/> instance to hold the result.</param> public static void Subtract(Matrix3D matrix, double scalar, ref Matrix3D result) { result.M11 = matrix.M11 - scalar; result.M12 = matrix.M12 - scalar; result.M13 = matrix.M13 - scalar; result.M21 = matrix.M21 - scalar; result.M22 = matrix.M22 - scalar; result.M23 = matrix.M23 - scalar; result.M31 = matrix.M31 - scalar; result.M32 = matrix.M32 - scalar; result.M33 = matrix.M33 - scalar; }
/// <summary> /// Multiplies two matrices. /// </summary> /// <param name="a">A <see cref="Matrix3D"/> instance.</param> /// <param name="b">A <see cref="Matrix3D"/> instance.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the result.</returns> public static Matrix3D operator*(Matrix3D a, Matrix3D b) { return(Matrix3D.Multiply(a, b)); }
/// <summary> /// Multiplies two matrices and put the result in a third matrix. /// </summary> /// <param name="left">A <see cref="Matrix3D"/> instance.</param> /// <param name="right">A <see cref="Matrix3D"/> instance.</param> /// <param name="result">A <see cref="Matrix3D"/> instance to hold the result.</param> public static void Multiply(Matrix3D left, Matrix3D right, ref Matrix3D result) { result.M11 = left.M11 * right.M11 + left.M12 * right.M21 + left.M13 * right.M31; result.M12 = left.M11 * right.M12 + left.M12 * right.M22 + left.M13 * right.M32; result.M13 = left.M11 * right.M13 + left.M12 * right.M23 + left.M13 * right.M33; result.M21 = left.M21 * right.M11 + left.M22 * right.M21 + left.M23 * right.M31; result.M22 = left.M21 * right.M12 + left.M22 * right.M22 + left.M23 * right.M32; result.M23 = left.M21 * right.M13 + left.M22 * right.M23 + left.M23 * right.M33; result.M31 = left.M31 * right.M11 + left.M32 * right.M21 + left.M33 * right.M31; result.M32 = left.M31 * right.M12 + left.M32 * right.M22 + left.M33 * right.M32; result.M33 = left.M31 * right.M13 + left.M32 * right.M23 + left.M33 * right.M33; }
/// <summary> /// Transforms a given vector by a matrix. /// </summary> /// <param name="matrix">A <see cref="Matrix3D"/> instance.</param> /// <param name="vector">A <see cref="Vector3D"/> instance.</param> /// <returns>A new <see cref="Vector3D"/> instance containing the result.</returns> public static Vector3D operator*(Matrix3D matrix, Vector3D vector) { return(Matrix3D.Transform(matrix, vector)); }
/// <summary> /// Transforms a given vector by a matrix and put the result in a vector. /// </summary> /// <param name="matrix">A <see cref="Matrix3D"/> instance.</param> /// <param name="vector">A <see cref="Vector3D"/> instance.</param> /// <param name="result">A <see cref="Vector3D"/> instance to hold the result.</param> public static void Transform(Matrix3D matrix, Vector3D vector, ref Vector3D result) { result.X = (matrix.M11 * vector.X) + (matrix.M12 * vector.Y) + (matrix.M13 * vector.Z); result.Y = (matrix.M21 * vector.X) + (matrix.M22 * vector.Y) + (matrix.M23 * vector.Z); result.Z = (matrix.M31 * vector.X) + (matrix.M32 * vector.Y) + (matrix.M33 * vector.Z); }
public void ContactLocalMatrixLeft(Matrix3D mat3D) { m_mat = Matrix3D.Multiply(mat3D, m_mat); }
public static Matrix3D Inverse(Matrix3D m) { double d = 1.0/m.GetDeterminant(); return new Matrix3D( d * (m._m33 * m._m22 - m._m32 * m._m23) , -d * (m._m33 * m._m12 - m._m32 * m._m13) , d * (m._m23 * m._m12 - m._m22 * m._m13) , -d * (m._m33 * m._m21 - m._m31 * m._m23) , d * (m._m33 * m._m11 - m._m31 * m._m13) , -d * (m._m23 * m._m11 - m._m21 * m._m13) , d * (m._m32 * m._m21 - m._m31 * m._m22) , -d * (m._m32 * m._m11 - m._m31 * m._m12) , d * (m._m22 * m._m11 - m._m21 * m._m12)); }
/// <summary> /// Adds two matrices. /// </summary> /// <param name="left">A <see cref="Matrix3D"/> instance.</param> /// <param name="right">A <see cref="Matrix3D"/> instance.</param> /// <returns>A new <see cref="Matrix3D"/> instance containing the sum.</returns> public static Matrix3D operator +(Matrix3D left, Matrix3D right) { return(Matrix3D.Add(left, right));; }