public static Matrix4f CreateScale(Vector3f scale)
{
Matrix4f m = Identity;
m.Row0.x = scale.x; m.Row1.y = scale.y; m.Row2.z = scale.z;
return(m);
}
public static Matrix4f CreateScale(float scale)
{
Matrix4f m = Identity;
m.Row0.x = scale; m.Row1.y = scale; m.Row2.z = scale;
return(m);
}
public Matrix4f ClearTranslation()
{
Matrix4f m = this;
m.Row3.x = 0f; m.Row3.y = 0f; m.Row3.z = 0f;
return(m);
}
public static Matrix4f CreateTranslation(Vector3f v)
{
Matrix4f m = Identity;
m.Row3.x = v.x; m.Row3.y = v.y; m.Row3.z = v.z;
return(m);
}
public Matrix4f Normalized()
{
Matrix4f m = this;
m.Normalize();
return(m);
}
public bool EpsilonEqual(Matrix4f mat, float epsilon)
{
return(Row0.EpsilonEqual(mat.Row0, epsilon) &&
Row1.EpsilonEqual(mat.Row1, epsilon) &&
Row2.EpsilonEqual(mat.Row2, epsilon) &&
Row3.EpsilonEqual(mat.Row3, epsilon));
}
public Matrix4f ClearScale()
{
Matrix4f m = this;
Vector3f Row0xyz = new Vector3f(Row0.x, Row0.y, Row0.z).Normalized;
Vector3f Row1xyz = new Vector3f(Row1.x, Row1.y, Row1.z).Normalized;
Vector3f Row2xyz = new Vector3f(Row2.x, Row2.y, Row2.z).Normalized;
m.Row0 = new Vector4f(Row0xyz.x, Row0xyz.y, Row0xyz.z, Row0.w);
m.Row1 = new Vector4f(Row1xyz.x, Row1xyz.y, Row1xyz.z, Row0.w);
m.Row2 = new Vector4f(Row2xyz.x, Row2xyz.y, Row2xyz.z, Row0.w);
return(m);
}
public Matrix4f ClearRotation()
{
Matrix4f m = this;
Vector3f row0xyz = new Vector3f(Row0.x, Row0.y, Row0.z);
Vector3f row1xyz = new Vector3f(Row1.x, Row1.y, Row1.z);
Vector3f row2xyz = new Vector3f(Row2.x, Row2.y, Row2.z);
m.Row0.x = row0xyz.Length;
m.Row1.y = row1xyz.Length;
m.Row2.z = row2xyz.Length;
return(m);
}
public static Matrix4f CreateRotationFromAxisAngle(Vector3f axis, float angle)
{
axis.Normalize();
float cos = (float)Math.Cos(-angle);
float sin = (float)Math.Sin(-angle);
float t = 1f - cos;
float txx = t * axis.x * axis.x; float txy = t * axis.x * axis.y; float txz = t * axis.x * axis.z;
float tyy = t * axis.y * axis.y; float tyz = t * axis.y * axis.z; float tzz = t * axis.z * axis.z;
float sinx = sin * axis.x; float siny = sin * axis.y; float sinz = sin * axis.z;
Matrix4f m = Identity;
m.Row0 = new Vector4f(txx + cos, txy - sinz, txz + siny, 0f);
m.Row1 = new Vector4f(txy + sinz, tyy + cos, tyz - sinx, 0f);
m.Row2 = new Vector4f(txy - siny, tyz + sinx, tzz + cos, 0f);
m.Row3 = new Vector4f(0f, 0f, 0f, 1f);
return(m);
}