/// <summary>
/// Transforms a vector using a matrix.
/// </summary>
/// <param name="v">Vector to transform.</param>
/// <param name="matrix">Transform to apply to the vector.</param>
/// <returns>Transformed vector.</returns>
public static TSVector4 Transform4x4(TSVector v, TSMatrix4x4 matrix)
{
TSVector4 toReturn;
Transform(ref v, ref matrix, out toReturn);
return(toReturn);
}
/// <summary>
/// Transforms a vector using a matrix.
/// </summary>
/// <param name="v">Vector to transform.</param>
/// <param name="matrix">Transform to apply to the vector.</param>
/// <param name="result">Transformed vector.</param>
public static void Transform(ref TSVector v, ref TSMatrix4x4 matrix, out TSVector4 result)
{
result.x = v.x * matrix.M11 + v.y * matrix.M21 + v.z * matrix.M31 + matrix.M41;
result.y = v.x * matrix.M12 + v.y * matrix.M22 + v.z * matrix.M32 + matrix.M42;
result.z = v.x * matrix.M13 + v.y * matrix.M23 + v.z * matrix.M33 + matrix.M43;
result.w = v.x * matrix.M14 + v.y * matrix.M24 + v.z * matrix.M34 + matrix.M44;
}
/**
* @brief Transform a direction from world space to local space.
**/
public TSVector4 InverseTransformDirection(TSVector4 direction)
{
Debug.Assert(direction.w == FP.Zero);
TSMatrix4x4 matrix = TSMatrix4x4.Translate(position) * TSMatrix4x4.Rotate(rotation);
return(TSVector4.Transform(direction, TSMatrix4x4.Inverse(matrix)));
}
public static void Transform(ref TSVector4 vector, ref TSMatrix4x4 matrix, out TSVector4 result)
{
result.x = vector.x * matrix.M11 + vector.y * matrix.M12 + vector.z * matrix.M13 + vector.w * matrix.M14;
result.y = vector.x * matrix.M21 + vector.y * matrix.M22 + vector.z * matrix.M23 + vector.w * matrix.M24;
result.z = vector.x * matrix.M31 + vector.y * matrix.M32 + vector.z * matrix.M33 + vector.w * matrix.M34;
result.w = vector.x * matrix.M41 + vector.y * matrix.M42 + vector.z * matrix.M43 + vector.w * matrix.M44;
}
public static TSVector4 Transform(TSVector position, TSMatrix4x4 matrix)
{
TSVector4 result;
TSVector4.Transform(ref position, ref matrix, out result);
return(result);
}
/// <summary>
/// Transforms a vector using a matrix.
/// </summary>
/// <param name="v">Vector to transform.</param>
/// <param name="matrix">Transform to apply to the vector.</param>
/// <param name="result">Transformed vector.</param>
public static void Transform(ref TSVector v, ref TSMatrix4x4 matrix, out TSVector result)
{
FP vX = v.x;
FP vY = v.y;
FP vZ = v.z;
result.x = vX * matrix.M11 + vY * matrix.M21 + vZ * matrix.M31 + matrix.M41;
result.y = vX * matrix.M12 + vY * matrix.M22 + vZ * matrix.M32 + matrix.M42;
result.z = vX * matrix.M13 + vY * matrix.M23 + vZ * matrix.M33 + matrix.M43;
}
