Esempio n. 1
0
        public Matrix44 <T> SetAxisAngle(Vector3 <T> axis, T angle, T unit)
        {
            Vector3 <T> vunit = axis.Normalized(unit);

            Numeric <T> sine   = (GenericMath.Sin(angle, unit));
            Numeric <T> cosine = (GenericMath.Cos(angle, unit));

            Numeric <T> scalarUnit = unit;

            x[0][0] = (Numeric <T>)vunit[0] * vunit[0] * (scalarUnit - cosine) + cosine;
            x[0][1] = (Numeric <T>)vunit[0] * vunit[1] * (scalarUnit - cosine) + vunit[2] * sine;
            x[0][2] = (Numeric <T>)vunit[0] * vunit[2] * (scalarUnit - cosine) - vunit[1] * sine;
            x[0][3] = Numeric <T> .Zero();

            x[1][0] = (Numeric <T>)vunit[0] * vunit[1] * (scalarUnit - cosine) - vunit[2] * sine;
            x[1][1] = (Numeric <T>)vunit[1] * vunit[1] * (scalarUnit - cosine) + cosine;
            x[1][2] = (Numeric <T>)vunit[1] * vunit[2] * (scalarUnit - cosine) + vunit[0] * sine;
            x[1][3] = Numeric <T> .Zero();

            x[2][0] = (Numeric <T>)vunit[0] * vunit[2] * (scalarUnit - cosine) + vunit[1] * sine;
            x[2][1] = (Numeric <T>)vunit[1] * vunit[2] * (scalarUnit - cosine) - vunit[0] * sine;
            x[2][2] = (Numeric <T>)vunit[2] * vunit[2] * (scalarUnit - cosine) + cosine;
            x[2][3] = Numeric <T> .Zero();

            x[3][0] = Numeric <T> .Zero();

            x[3][1] = Numeric <T> .Zero();

            x[3][2] = Numeric <T> .Zero();

            x[3][3] = unit;

            return(this);
        }
Esempio n. 2
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        /// <summary>
        /// Set matrix to rotation by angle
        /// </summary>
        /// <param name="angle">angle of rotation in radians</param>
        /// <returns></returns>
        public Matrix44 <T> Rotate(Vector3 <T> angle, T unit)
        {
            Numeric <T> cosRZ, sinRZ, cosRY, sinRY, cosRX, sinRX;
            Numeric <T> m00, m01, m02;
            Numeric <T> m10, m11, m12;
            Numeric <T> m20, m21, m22;

            T rx = angle.X;
            T ry = angle.Y;
            T rz = angle.Z;

            cosRZ = (GenericMath.Cos(rz, unit));
            cosRY = (GenericMath.Cos(ry, unit));
            cosRX = (GenericMath.Cos(rx, unit));

            sinRZ = (GenericMath.Sin(rz, unit));
            sinRY = (GenericMath.Sin(ry, unit));
            sinRX = (GenericMath.Sin(rx, unit));

            m00 = cosRZ * cosRY;
            m01 = sinRZ * cosRY;
            m02 = -sinRY;
            m10 = -sinRZ * cosRX + cosRZ * sinRY * sinRX;
            m11 = cosRZ * cosRX + sinRZ * sinRY * sinRX;
            m12 = cosRY * sinRX;
            m20 = -sinRZ * -sinRX + cosRZ * sinRY * cosRX;
            m21 = cosRZ * -sinRX + sinRZ * sinRY * cosRX;
            m22 = cosRY * cosRX;

            Matrix44 <T> P = new Matrix44 <T>(this);

            x[0][0] = P[0][0] * m00 + P[1][0] * m01 + P[2][0] * m02;
            x[0][1] = P[0][1] * m00 + P[1][1] * m01 + P[2][1] * m02;
            x[0][2] = P[0][2] * m00 + P[1][2] * m01 + P[2][2] * m02;
            x[0][3] = P[0][3] * m00 + P[1][3] * m01 + P[2][3] * m02;

            x[1][0] = P[0][0] * m10 + P[1][0] * m11 + P[2][0] * m12;
            x[1][1] = P[0][1] * m10 + P[1][1] * m11 + P[2][1] * m12;
            x[1][2] = P[0][2] * m10 + P[1][2] * m11 + P[2][2] * m12;
            x[1][3] = P[0][3] * m10 + P[1][3] * m11 + P[2][3] * m12;

            x[2][0] = P[0][0] * m20 + P[1][0] * m21 + P[2][0] * m22;
            x[2][1] = P[0][1] * m20 + P[1][1] * m21 + P[2][1] * m22;
            x[2][2] = P[0][2] * m20 + P[1][2] * m21 + P[2][2] * m22;
            x[2][3] = P[0][3] * m20 + P[1][3] * m21 + P[2][3] * m22;

            return(this);
        }
Esempio n. 3
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        public Matrix44 <T> SetEulerAngles(Vector3 <T> r, T unit)
        {
            Numeric <T> cosRZ, sinRZ, cosRY, sinRY, cosRX, sinRX;

            T rx = r.X;
            T ry = r.Y;
            T rz = r.Z;

            cosRZ = (GenericMath.Cos(rz, unit));
            cosRY = (GenericMath.Cos(ry, unit));
            cosRX = (GenericMath.Cos(rx, unit));

            sinRZ = (GenericMath.Sin(rz, unit));
            sinRY = (GenericMath.Sin(ry, unit));
            sinRX = (GenericMath.Sin(rx, unit));

            x[0][0] = cosRZ * cosRY;
            x[0][1] = sinRZ * cosRY;
            x[0][2] = -sinRY;
            x[0][3] = Numeric <T> .Zero();

            x[1][0] = -sinRZ * cosRX + cosRZ * sinRY * sinRX;
            x[1][1] = cosRZ * cosRX + sinRZ * sinRY * sinRX;
            x[1][2] = cosRY * sinRX;
            x[1][3] = Numeric <T> .Zero();

            x[2][0] = sinRZ * sinRX + cosRZ * sinRY * cosRX;
            x[2][1] = -cosRZ * sinRX + sinRZ * sinRY * cosRX;
            x[2][2] = cosRY * cosRX;
            x[2][3] = Numeric <T> .Zero();

            x[3][0] = Numeric <T> .Zero();

            x[3][1] = Numeric <T> .Zero();

            x[3][2] = Numeric <T> .Zero();

            x[3][3] = unit;

            return(this);
        }
Esempio n. 4
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        /// <summary>
        /// Set matrix to rotation by angle
        /// </summary>
        /// <param name="angle">angle of rotation in radians</param>
        /// <returns></returns>
        public Matrix33 <T> SetRotation(T angle, T unit)
        {
            Numeric <T> cos_r, sin_r;

            cos_r = GenericMath.Cos(angle, unit);
            sin_r = GenericMath.Sin(angle, unit);

            x[0][0] = cos_r;
            x[0][1] = sin_r;
            x[0][2] = Numeric <T> .Zero();

            x[1][0] = -sin_r;
            x[1][1] = cos_r;
            x[1][2] = Numeric <T> .Zero();

            x[2][0] = Numeric <T> .Zero();

            x[2][1] = Numeric <T> .Zero();

            x[2][2] = unit;

            return(this);
        }