//!Get the matrix dot product, most commonly used form of matrix multiplication
public static GLMatrix4d operator*(GLMatrix4d one, GLMatrix4d two)
{
GLMatrix4d ret = new GLMatrix4d();
for (byte j = 0; j < 4; ++j)
{
ret.m[j] = one.m[j] * two.m[0]
+ one.m[j + 4] * two.m[1]
+ one.m[j + 8] * two.m[2]
+ one.m[j + 12] * two.m[3];
ret.m[j + 4] = one.m[j] * two.m[4]
+ one.m[j + 4] * two.m[5]
+ one.m[j + 8] * two.m[6]
+ one.m[j + 12] * two.m[7];
ret.m[j + 8] = one.m[j] * two.m[8]
+ one.m[j + 4] * two.m[9]
+ one.m[j + 8] * two.m[10]
+ one.m[j + 12] * two.m[11];
ret.m[j + 12] = one[j] * two.m[12]
+ one[j + 4] * two.m[13]
+ one[j + 8] * two.m[14]
+ one[j + 12] * two.m[15];
}
return(ret);
}
//!Apply an OpenGL rotation matrix to this
public GLMatrix4d applyRotateZ(double angle)
{
GLMatrix4d temp = new GLMatrix4d();
temp.loadRotateZ(angle);
return(mult3by3(temp));
}
//!Get the adjoint matrix
public GLMatrix4d adjoint()
{
GLMatrix4d ret = new GLMatrix4d();
ret.m[0] = cofactorm0();
ret.m[1] = -cofactorm4();
ret.m[2] = cofactorm8();
ret.m[3] = -cofactorm12();
ret.m[4] = -cofactorm1();
ret.m[5] = cofactorm5();
ret.m[6] = -cofactorm9();
ret.m[7] = cofactorm13();
ret.m[8] = cofactorm2();
ret.m[9] = -cofactorm6();
ret.m[10] = cofactorm10();
ret.m[11] = -cofactorm14();
ret.m[12] = -cofactorm3();
ret.m[13] = cofactorm7();
ret.m[14] = -cofactorm11();
ret.m[15] = cofactorm15();
return(ret);
}
//!Get the adjoint matrix
public GLMatrix4d adjoint()
{
GLMatrix4d ret = new GLMatrix4d();
ret.m[0] = cofactorm0();
ret.m[1] = -cofactorm4();
ret.m[2] = cofactorm8();
ret.m[3] = -cofactorm12();
ret.m[4] = -cofactorm1();
ret.m[5] = cofactorm5();
ret.m[6] = -cofactorm9();
ret.m[7] = cofactorm13();
ret.m[8] = cofactorm2();
ret.m[9] = -cofactorm6();
ret.m[10] = cofactorm10();
ret.m[11] = -cofactorm14();
ret.m[12] = -cofactorm3();
ret.m[13] = cofactorm7();
ret.m[14] = -cofactorm11();
ret.m[15] = cofactorm15();
return ret;
}
//!Apply an OpenGL rotation matrix to this
public GLMatrix4d applyRotate(double angle, double x, double y, double z)
{
GLMatrix4d temp = new GLMatrix4d();
temp.loadRotate(angle, x, y, z);
return(mult3by3(temp));
}
//!OpenGL orthogonal matrix
public static GLMatrix4d glOrtho(double left, double right,
double bottom, double top,
double zNear, double zFar)
{
GLMatrix4d ret = new GLMatrix4d();
ret.m[0] = 2 / (right - left);
ret.m[1] = 0;
ret.m[2] = 0;
ret.m[3] = 0;
ret.m[4] = 0;
ret.m[5] = 2 / (top - bottom);
ret.m[6] = 0;
ret.m[7] = 0;
ret.m[8] = 0;
ret.m[9] = 0;
ret.m[10] = -2 / (zFar - zNear);
ret.m[11] = 0;
ret.m[12] = -(right + left) / (right - left);
ret.m[13] = -(top + bottom) / (top - bottom);
ret.m[14] = -(zFar + zNear) / (zFar - zNear);
ret.m[15] = 1;
return(ret);
}
public static void ApplyRotToGLMatrix4d( ref GLMatrix4d matrix, Rot rot )
{
double fRotAngle = 0;
Vector3 vAxis = new Vector3();
mvMath.Rot2AxisAngle( ref vAxis, ref fRotAngle, rot );
matrix.applyRotate( (float)( fRotAngle / Math.PI * 180 ), (float)vAxis.x, (float)vAxis.y, (float)vAxis.z );
}
//!Subtract a matrix from this matrix
public static GLMatrix4d operator-(GLMatrix4d one, GLMatrix4d two)
{
GLMatrix4d result = new GLMatrix4d();
for (byte i = 0; i < 16; ++i)
{
result.m[i] = one.m[i] - two.m[i];
}
return(result);
}
//!Divide this matrix by a scalar
public static GLMatrix4d operator/(GLMatrix4d mat, double val)
{
GLMatrix4d result = new GLMatrix4d();
for (byte i = 0; i < 16; ++i)
{
result.m[i] = mat.m[i] / val;
}
return(result);
}
//!Apply an OpenGL rotation matrix to this
public GLMatrix4d applyRotateXYZ(double x, double y, double z)
{
GLMatrix4d temp = new GLMatrix4d();
temp.loadRotateX(x);
mult3by3(temp);
temp.loadRotateY(y);
mult3by3(temp);
temp.loadRotateZ(z);
return(mult3by3(temp));
}
//!Adjoint method inverse, constant time inversion implementation
public GLMatrix4d inverse()
{
GLMatrix4d ret = new GLMatrix4d(adjoint());
double determinant = m[0] * ret[0] + m[1] * ret[4] + m[2] * ret[8] + m[3] * ret[12];
//assert(determinant!=0 && "Singular matrix has no inverse");
ret /= determinant;
return(ret);
}
//!Special glMatricies
//!Identity matrix
public static GLMatrix4d identity()
{
GLMatrix4d ret = new GLMatrix4d();
ret.m[0] = 1; ret.m[4] = 0; ret.m[8] = 0; ret.m[12] = 0;
ret.m[1] = 0; ret.m[5] = 1; ret.m[9] = 0; ret.m[13] = 0;
ret.m[2] = 0; ret.m[6] = 0; ret.m[10] = 1; ret.m[14] = 0;
ret.m[3] = 0; ret.m[7] = 0; ret.m[11] = 0; ret.m[15] = 1;
return(ret);
}
public override bool Equals(object twoobject)
{
GLMatrix4d two = twoobject as GLMatrix4d;
for (int i = 0; i < 16; i++)
{
if (m[i] != two.m[i])
{
return(false);
}
}
return(true);
}
//!Return the transpose
public GLMatrix4d getTranspose()
{
GLMatrix4d temp = new GLMatrix4d();
for (int i = 0; i < 4; ++i)
{
for (int j = 0; j < 4; ++j)
{
temp.m[j + i * 4] = m[i + j * 4];
}
}
return(temp);
}
//!Apply the matrix dot product to this matrix
//!unrolling by sebastien bloc
public GLMatrix4d mult3by3(GLMatrix4d mat)
{
GLMatrix4d temp = new GLMatrix4d(this);
m[0] = temp.m[0] * mat.m[0] + temp.m[4] * mat.m[1] + temp.m[8] * mat.m[2];
m[4] = temp.m[0] * mat.m[4] + temp.m[4] * mat.m[5] + temp.m[8] * mat.m[6];
m[8] = temp.m[0] * mat.m[8] + temp.m[4] * mat.m[9] + temp.m[8] * mat.m[10];
m[1] = temp.m[1] * mat.m[0] + temp.m[5] * mat.m[1] + temp.m[9] * mat.m[2];
m[5] = temp.m[1] * mat.m[4] + temp.m[5] * mat.m[5] + temp.m[9] * mat.m[6];
m[9] = temp.m[1] * mat.m[8] + temp.m[5] * mat.m[9] + temp.m[9] * mat.m[10];
m[2] = temp.m[2] * mat.m[0] + temp.m[6] * mat.m[1] + temp.m[10] * mat.m[2];
m[6] = temp.m[2] * mat.m[4] + temp.m[6] * mat.m[5] + temp.m[10] * mat.m[6];
m[10] = temp.m[2] * mat.m[8] + temp.m[6] * mat.m[9] + temp.m[10] * mat.m[10];
m[3] = temp.m[3] * mat.m[0] + temp.m[7] * mat.m[1] + temp.m[11] * mat.m[2];
m[7] = temp.m[3] * mat.m[4] + temp.m[7] * mat.m[5] + temp.m[11] * mat.m[6];
m[11] = temp.m[3] * mat.m[8] + temp.m[7] * mat.m[9] + temp.m[11] * mat.m[10];
return(this);
}
//!Subtract a matrix from this matrix
public static GLMatrix4d operator-( GLMatrix4d one, GLMatrix4d two)
{
GLMatrix4d result = new GLMatrix4d();
for(byte i = 0; i < 16; ++i)
{
result.m[i] = one.m[i] - two.m[i];
}
return result;
}
//!Apply an OpenGL rotation matrix to this
public GLMatrix4d applyRotateXYZ(double x,double y,double z)
{
GLMatrix4d temp = new GLMatrix4d();
temp.loadRotateX(x);
mult3by3(temp);
temp.loadRotateY(y);
mult3by3(temp);
temp.loadRotateZ(z);
return mult3by3(temp);
}
//!Copy a matrix
public GLMatrix4d(GLMatrix4d mat)
{
Buffer.BlockCopy( mat.m, 0, m, 0, Buffer.ByteLength( mat.m ) );
}
//!Apply an OpenGL rotation matrix to this
public GLMatrix4d applyRotateZ(double angle)
{
GLMatrix4d temp = new GLMatrix4d();
temp.loadRotateZ(angle);
return mult3by3(temp);
}
//!Apply an OpenGL rotation matrix to this
public GLMatrix4d applyRotate(double angle, double x, double y, double z)
{
GLMatrix4d temp = new GLMatrix4d();
temp.loadRotate(angle,x,y,z);
return mult3by3(temp);
}
//!Special glMatricies
//!Identity matrix
public static GLMatrix4d identity()
{
GLMatrix4d ret = new GLMatrix4d();
ret.m[0] = 1; ret.m[4] = 0; ret.m[8] = 0; ret.m[12] = 0;
ret.m[1] = 0; ret.m[5] = 1; ret.m[9] = 0; ret.m[13] = 0;
ret.m[2] = 0; ret.m[6] = 0; ret.m[10] = 1; ret.m[14] = 0;
ret.m[3] = 0; ret.m[7] = 0; ret.m[11] = 0; ret.m[15] = 1;
return ret;
}
//!Return the transpose
public GLMatrix4d getTranspose()
{
GLMatrix4d temp = new GLMatrix4d();
for( int i = 0; i < 4; ++i)
for( int j = 0; j < 4; ++j)
temp.m[j+i*4] = m[i+j*4];
return temp;
}
//!Apply the matrix dot product to this matrix
//!unrolling by sebastien bloc
public GLMatrix4d mult3by3(GLMatrix4d mat)
{
GLMatrix4d temp = new GLMatrix4d(this);
m[0] = temp.m[0]*mat.m[0]+temp.m[4]*mat.m[1]+temp.m[8]*mat.m[2];
m[4] = temp.m[0]*mat.m[4]+temp.m[4]*mat.m[5]+temp.m[8]*mat.m[6];
m[8] = temp.m[0]*mat.m[8]+temp.m[4]*mat.m[9]+temp.m[8]*mat.m[10];
m[1] = temp.m[1]*mat.m[0]+temp.m[5]*mat.m[1]+temp.m[9]*mat.m[2];
m[5] = temp.m[1]*mat.m[4]+temp.m[5]*mat.m[5]+temp.m[9]*mat.m[6];
m[9] = temp.m[1]*mat.m[8]+temp.m[5]*mat.m[9]+temp.m[9]*mat.m[10];
m[2] = temp.m[2]*mat.m[0]+temp.m[6]*mat.m[1]+temp.m[10]*mat.m[2];
m[6] = temp.m[2]*mat.m[4]+temp.m[6]*mat.m[5]+temp.m[10]*mat.m[6];
m[10] = temp.m[2]*mat.m[8]+temp.m[6]*mat.m[9]+temp.m[10]*mat.m[10];
m[3] = temp.m[3]*mat.m[0]+temp.m[7]*mat.m[1]+temp.m[11]*mat.m[2];
m[7] = temp.m[3]*mat.m[4]+temp.m[7]*mat.m[5]+temp.m[11]*mat.m[6];
m[11] = temp.m[3]*mat.m[8]+temp.m[7]*mat.m[9]+temp.m[11]*mat.m[10];
return this;
}
//!OpenGL orthogonal matrix
public static GLMatrix4d glOrtho(double left, double right,
double bottom, double top,
double zNear, double zFar)
{
GLMatrix4d ret = new GLMatrix4d();
ret.m[0] = 2/(right-left);
ret.m[1] = 0;
ret.m[2] = 0;
ret.m[3] = 0;
ret.m[4] = 0;
ret.m[5] = 2/(top-bottom);
ret.m[6] = 0;
ret.m[7] = 0;
ret.m[8] = 0;
ret.m[9] = 0;
ret.m[10] = -2/(zFar-zNear);
ret.m[11] = 0;
ret.m[12] = -(right+left)/(right-left);
ret.m[13] = -(top+bottom)/(top-bottom);
ret.m[14] = -(zFar+zNear)/(zFar-zNear);
ret.m[15] = 1;
return ret;
}
//!Divide this matrix by a scalar
public static GLMatrix4d operator/( GLMatrix4d mat, double val)
{
GLMatrix4d result = new GLMatrix4d();
for(byte i = 0; i < 16; ++i)
{
result.m[i] = mat.m[i] / val;
}
return result;
}
//!Copy a matrix
public GLMatrix4d(GLMatrix4d mat)
{
Buffer.BlockCopy(mat.m, 0, m, 0, Buffer.ByteLength(mat.m));
}
//!Adjoint method inverse, constant time inversion implementation
public GLMatrix4d inverse()
{
GLMatrix4d ret = new GLMatrix4d(adjoint());
double determinant = m[0]*ret[0] + m[1]*ret[4] + m[2]*ret[8] + m[3]*ret[12];
//assert(determinant!=0 && "Singular matrix has no inverse");
ret /= determinant;
return ret;
}
//!Get the matrix dot product, most commonly used form of matrix multiplication
public static GLMatrix4d operator* ( GLMatrix4d one, GLMatrix4d two )
{
GLMatrix4d ret = new GLMatrix4d();
for(byte j = 0; j < 4; ++j)
{
ret.m[j] = one.m[j]*two.m[0]
+ one.m[j+4]*two.m[1]
+ one.m[j+8]*two.m[2]
+ one.m[j+12]*two.m[3];
ret.m[j+4] = one.m[j]*two.m[4]
+ one.m[j+4]*two.m[5]
+ one.m[j+8]*two.m[6]
+ one.m[j+12]*two.m[7];
ret.m[j+8] = one.m[j]*two.m[8]
+ one.m[j+4]*two.m[9]
+ one.m[j+8]*two.m[10]
+ one.m[j+12]*two.m[11];
ret.m[j+12] = one[j]*two.m[12]
+ one[j+4]*two.m[13]
+ one[j+8]*two.m[14]
+ one[j+12]*two.m[15];
}
return ret;
}