[MethodImpl(MethodImplOptions.AggressiveInlining)] // does not fully inline without
static V3d TransformM33dPrecomputed_Inline(M33d m, V3d v)
{
return(new V3d(
m.M00 * v.X + m.M01 * v.Y + m.M02 * v.Z,
m.M10 * v.X + m.M11 * v.Y + m.M12 * v.Z,
m.M20 * v.X + m.M21 * v.Y + m.M22 * v.Z
));
}
/// <summary>
/// Build a texture coordinate transformation from the given parameters as specified in TextureTransform
/// http://gun.teipir.gr/VRML-amgem/spec/part1/nodesRef.html#TextureTransform
/// </summary>
public static Trafo2d BuildVrmlTextureTrafo(V2d center, double rotation, V2d scale, V2d translation)
{
M33d C = M33d.Translation(center), Ci = M33d.Translation(-center);
M33d R = M33d.Rotation(rotation), Ri = M33d.Rotation(-rotation);
M33d S = M33d.Scale(scale), Si = M33d.Scale(1 / scale);
M33d T = M33d.Translation(translation), Ti = M33d.Translation(-translation);
return(new Trafo2d(
Ci * S * R * C * T,
Ti * Ci * Ri * Si * C));
}
private M33d Benchmark(Func <M44d, int, int, M33d> method)
{
M33d sum = M33d.Zero;
for (int i = 0; i < count; i++)
{
sum += method(A[i], rows[i], columns[i]);
}
return(sum);
}
public static void ConsistentWithMatrixScaleTest()
{
TrafoTesting.GenericTest(rnd =>
{
var scale = rnd.UniformV3d() * 10;
var m = M33d.Scale(scale);
var r = new Scale3d(scale);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var res = m.Transform(p);
var res2 = r.Transform(p);
TrafoTesting.AreEqual(res, res2);
});
}
public static M33d Version3(M44d m, int row, int column)
{
M33d rs = new M33d();
for (int k = 0; k < 9; k++)
{
var i = k / 3;
var j = k % 3;
var ii = (i < row) ? i : i + 1;
var jj = (j < column) ? j : j + 1;
rs[k] = m[ii * 4 + jj];
}
return(rs);
}
public static void NormalFrame()
{
TrafoTesting.GenericTest((rnd, i) =>
{
var n = rnd.UniformV3d().Normalized;
var basis = M33d.NormalFrame(n);
Assert.IsTrue(basis.C0.Length.ApproximateEquals(1, 1e-7));
Assert.IsTrue(basis.C1.Length.ApproximateEquals(1, 1e-7));
Assert.IsTrue(basis.C2.Length.ApproximateEquals(1, 1e-7));
Assert.IsTrue(basis.C0.AngleBetween(basis.C1).ApproximateEquals(Constant.PiHalf, 1e-7));
Assert.IsTrue(basis.C0.AngleBetween(basis.C2).ApproximateEquals(Constant.PiHalf, 1e-7));
Assert.IsTrue(basis.C1.AngleBetween(basis.C2).ApproximateEquals(Constant.PiHalf, 1e-7));
});
}
public static M33d Version2(M44d m, int row, int column)
{
M33d rs = new M33d();
var idx = 0;
for (int k = 0; k < 16; k++)
{
var i = k / 4;
var j = k % 4;
if (i != row && j != column)
{
rs[idx++] = m[k];
}
}
return(rs);
}
/// <summary>
/// Extracts texture transform from given node.
/// </summary>
public static Trafo2d ExtractVrmlTextureTrafo(this SymMapBase m)
{
if (m == null)
{
return(Trafo2d.Identity);
}
// get trafo parts
var c = (V2d)m.Get <V2f>(Vrml97Sym.center, V2f.Zero);
var r = (double)m.Get <float>(Vrml97Sym.rotation, 0.0f);
var s = (V2d)m.Get <V2f>(Vrml97Sym.scale, new V2f(1, 1));
var t = (V2d)m.Get <V2f>(Vrml97Sym.translation, V2f.Zero);
M33d C = M33d.Translation(c), Ci = M33d.Translation(-c);
M33d R = M33d.Rotation(r), Ri = M33d.Rotation(-r);
M33d S = M33d.Scale(s), Si = M33d.Scale(1 / s);
M33d T = M33d.Translation(t), Ti = M33d.Translation(-t);
return(new Trafo2d(
Ci * S * R * C * T,
Ti * Ci * Ri * Si * C));
}
public static M33d Version1(M44d m, int rowToDelete, int columnToDelete)
{
M33d result = new M33d();
int checked_row = 0;
for (int actual_row = 0; actual_row < 4; actual_row++)
{
int checked_column = 0;
if (actual_row != rowToDelete)
{
for (int actual_column = 0; actual_column < 4; actual_column++)
{
if (actual_column != columnToDelete)
{
result[checked_row, checked_column] = m[actual_row, actual_column];
checked_column++;
}
}
checked_row++;
}
}
return(result);
}
static V3d TransformM33dPrecomputed(M33d mat, V3d v)
{
return(mat.Transform(v));
}
public void Write(M33d x)
{
Write(x.M00); Write(x.M01); Write(x.M02);
Write(x.M10); Write(x.M11); Write(x.M12);
Write(x.M20); Write(x.M21); Write(x.M22);
}
public M34d(M33d r, V3d t)
{
M00 = r.M00; M01 = r.M01; M02 = r.M02; M03 = t.X;
M10 = r.M10; M11 = r.M11; M12 = r.M12; M13 = t.Y;
M20 = r.M20; M21 = r.M21; M22 = r.M22; M23 = t.Z;
}
