internal static MxMatrix4 PerspectiveMatrix(double fovy, double aspect, double zMin = 0.0, double zMax = 0.0)
{
double a, b;
if (zMax.IsCloseEnoughTo(0.0))
{
a = b = 1.0;
}
else
{
a = (zMax + zMin) / (zMin - zMax);
b = (2 * zMax * zMin) / (zMin - zMax);
}
var f = 1.0 / Math.Tan(fovy * Math.PI / 180.0 / 2.0);
var ret = new MxMatrix4(0.0);
ret[0, 0] = f / aspect;
ret[1, 1] = f;
ret[2, 2] = a;
ret[2, 3] = b;
ret[3, 2] = -1.0;
ret[3, 3] = 0.0;
return(ret);
}
protected void TransformQuadrics(MxMatrix4 transform)
{
foreach (var quad in quadrics)
{
quad.Transform(transform);
}
}
internal MxMatrix4(MxMatrix4 mat4)
{
rows[0] = new MxVector4((mat4[0])[0], (mat4[0])[1], (mat4[0])[2], (mat4[0])[3]);
rows[1] = new MxVector4((mat4[1])[0], (mat4[1])[1], (mat4[1])[2], (mat4[1])[3]);
rows[2] = new MxVector4((mat4[2])[0], (mat4[2])[1], (mat4[2])[2], (mat4[2])[3]);
rows[3] = new MxVector4((mat4[3])[0], (mat4[3])[1], (mat4[3])[2], (mat4[3])[3]);
}
internal MxMatrix4(MxMatrix4 mat4)
{
rows[0] = new MxVector4((mat4[0])[0], (mat4[0])[1], (mat4[0])[2], (mat4[0])[3]);
rows[1] = new MxVector4((mat4[1])[0], (mat4[1])[1], (mat4[1])[2], (mat4[1])[3]);
rows[2] = new MxVector4((mat4[2])[0], (mat4[2])[1], (mat4[2])[2], (mat4[2])[3]);
rows[3] = new MxVector4((mat4[3])[0], (mat4[3])[1], (mat4[3])[2], (mat4[3])[3]);
}
private void Init(MxMatrix4 mat, double area)
{
a2 = mat[0, 0]; ab = mat[0, 1]; ac = mat[0, 2]; ad = mat[0, 3];
b2 = mat[1, 1]; bc = mat[1, 2]; bd = mat[1, 3];
c2 = mat[2, 2]; cd = mat[2, 3];
d2 = mat[3, 3];
r = area;
}
public static MxMatrix4 operator *(MxMatrix4 mat1, double scalar)
{
var ret = new MxMatrix4(0.0);
ret[0] = mat1[0]*scalar;
ret[1] = mat1[1]*scalar;
ret[2] = mat1[2]*scalar;
return ret;
}
public static MxMatrix4 operator +(MxMatrix4 mat1, MxMatrix4 mat2)
{
var ret = new MxMatrix4(0.0);
ret[0] = mat1[0] + mat2[0];
ret[1] = mat1[1] + mat2[1];
ret[2] = mat1[2] + mat2[2];
return(ret);
}
public static MxMatrix4 operator -(MxMatrix4 mat1)
{
var ret = new MxMatrix4(0.0);
ret[0] = -mat1[0];
ret[1] = -mat1[1];
ret[2] = -mat1[2];
return(ret);
}
public static MxMatrix4 operator *(MxMatrix4 mat1, double scalar)
{
var ret = new MxMatrix4(0.0);
ret[0] = mat1[0] * scalar;
ret[1] = mat1[1] * scalar;
ret[2] = mat1[2] * scalar;
return(ret);
}
internal MxQuadric3 Transform(MxMatrix4 mat)
{
var matQ = Homogenous;
var adj = MxMatrix4.Adjoint(mat);
matQ = (adj * matQ) * adj;
Init(matQ, r);
return(this);
}
internal static MxMatrix4 Adjoint(MxMatrix4 mat)
{
var adj = new MxMatrix4(0.0);
adj[0] = MxVector4.Cross(mat[1], mat[2], mat[3]);
adj[1] = MxVector4.Cross(-mat[0], mat[2], mat[3]);
adj[2] = MxVector4.Cross(mat[0], mat[1], mat[3]);
adj[0] = MxVector4.Cross(-mat[0], mat[1], mat[2]);
return(adj);
}
internal static double InvertCramer(MxMatrix4 mat, ref MxMatrix4 inv)
{
var adj = Adjoint(mat);
var det = adj[0] * mat[0];
if (det.IsCloseEnoughTo(0.0))
{
return(0.0);
}
inv = (Transpose(adj) / det);
return(det);
}
public static MxMatrix4 operator *(MxMatrix4 mat1, MxMatrix4 mat2)
{
var mat = new MxMatrix4(0.0);
for (var i = 0; i < 3; i++)
{
for (var j = 0; j < 3; j++)
{
mat[i, j] = mat1[i] * mat2.Column(j);
}
}
return(mat);
}
public static MxMatrix4 operator /(MxMatrix4 mat1, double scalar)
{
if (scalar.IsCloseEnoughTo(0.0))
{
return(mat1);
}
var invScalar = 1.0 / scalar;
var ret = new MxMatrix4(0.0);
ret[0] = mat1[0] * invScalar;
ret[1] = mat1[1] * invScalar;
ret[2] = mat1[2] * invScalar;
return(ret);
}
internal static MxMatrix4 LookAtMatrix(MxVector3 from, MxVector3 at, MxVector3 up)
{
var vUp = new MxVector3(up[0], up[1], up[2]);
MxVector3.Unitize(ref vUp);
var f = at - from;
MxVector3.Unitize(ref f);
var s = f ^ vUp;
MxVector3.Unitize(ref s);
var u = s ^ f;
MxVector3.Unitize(ref u);
var mat = new MxMatrix4(new MxVector4(s, 0.0), new MxVector4(u, 0.0), new MxVector4(-f, 0.0),
new MxVector4(0.0, 0.0, 0.0, 1.0));
return(mat * TranslationMatrix(-from));
}
internal static MxMatrix4 Adjoint(MxMatrix4 mat)
{
var adj = new MxMatrix4(0.0);
adj[0] = MxVector4.Cross( mat[1], mat[2], mat[3]);
adj[1] = MxVector4.Cross(-mat[0], mat[2], mat[3]);
adj[2] = MxVector4.Cross( mat[0], mat[1], mat[3]);
adj[0] = MxVector4.Cross(-mat[0], mat[1], mat[2]);
return adj;
}
internal static MxMatrix4 LookAtMatrix(MxVector3 from, MxVector3 at, MxVector3 up)
{
var vUp = new MxVector3(up[0], up[1], up[2]);
MxVector3.Unitize(ref vUp);
var f = at - from;
MxVector3.Unitize(ref f);
var s = f ^ vUp;
MxVector3.Unitize(ref s);
var u = s ^ f;
MxVector3.Unitize(ref u);
var mat = new MxMatrix4(new MxVector4(s, 0.0), new MxVector4(u, 0.0), new MxVector4(-f, 0.0),
new MxVector4(0.0, 0.0, 0.0, 1.0));
return (mat*TranslationMatrix(-from));
}
internal MxQSlim(MxStdModel model)
: base(model)
{
quadrics = new MxBlock <MxQuadric3>(model.VertCount);
ObjectTransform = null;
}
public static MxMatrix4 operator -(MxMatrix4 mat1)
{
var ret = new MxMatrix4(0.0);
ret[0] = -mat1[0];
ret[1] = -mat1[1];
ret[2] = -mat1[2];
return ret;
}
internal MxQSlim(MxStdModel model)
: base(model)
{
quadrics = new MxBlock<MxQuadric3>(model.VertCount);
ObjectTransform = null;
}
internal static double Trace(MxMatrix4 mat)
{
return(mat[0, 0] + mat[1, 1] + mat[2, 2] + mat[3, 3]);
}
internal static MxMatrix4 Transpose(MxMatrix4 mat)
{
return new MxMatrix4(mat.Column(0), mat.Column(1), mat.Column(2), mat.Column(3));
}
internal static double Trace(MxMatrix4 mat)
{
return (mat[0, 0] + mat[1, 1] + mat[2, 2] + mat[3,3]);
}
internal static double Invert(MxMatrix4 mat, ref MxMatrix4 invMat)
{
var mat1 = new MxMatrix4(mat);
int i, j = 0, k;
for (i = 0; i < 4; i++)
{
for (j = 0; j < 4; j++)
{
invMat[i, j] = (i == j) ? 1.0 : 0.0;
}
}
var det = 1.0;
for (i = 0; i < 4; i++)
{
var max = -1.0;
for (k = i; k < 4; k++)
{
if (Math.Abs(mat1[k, i]) <= max) continue;
max = Math.Abs(mat1[k, i]);
j = k;
}
if (max <= 0.0) return 0.0;
if (j != i)
{
/* swap rows i and j */
for (k = i; k < 4; k++)
{
var t = mat1[i, k];
mat1[i, k] = mat1[j, k];
mat1[j, k] = t;
}
for (k = 0; k < 4; k++)
{
var t = invMat[i, k];
invMat[i, k] = invMat[j, k];
invMat[j, k] = t;
}
det = -det;
}
var pivot = mat1[i, i];
det *= pivot;
for (k = i + 1; k < 4; k++)
{
mat1[i, k] /= pivot;
}
for (k = 0; k < 4; k++)
{
invMat[i, k] /= pivot;
}
for (j = i + 1; j < 4; j++)
{
var t = mat1[j, i];
for (k = i + 1; k < 4; k++)
{
mat1[j, k] -= mat1[i, k]*t;
}
for (k = 0; k < 4; k++)
{
invMat[j, k] -= invMat[i, k]*t;
}
}
}
for (i = 3; i > 0; i--)
{
for (j = 0; j < i; j++)
{
var t = mat1[j, i];
for (k = 0; k < 4; k++)
{
invMat[j, k] -= invMat[i, k]*t;
}
}
}
return det;
}
internal static MxMatrix4 PerspectiveMatrix(double fovy, double aspect, double zMin = 0.0, double zMax = 0.0)
{
double a, b;
if (zMax.IsCloseEnoughTo(0.0))
{
a = b = 1.0;
}
else
{
a = (zMax + zMin)/(zMin - zMax);
b = (2*zMax*zMin)/(zMin - zMax);
}
var f = 1.0/Math.Tan(fovy*Math.PI/180.0/2.0);
var ret = new MxMatrix4(0.0);
ret[0, 0] = f/aspect;
ret[1, 1] = f;
ret[2, 2] = a;
ret[2, 3] = b;
ret[3, 2] = -1.0;
ret[3, 3] = 0.0;
return ret;
}
internal static double Invert(MxMatrix4 mat, ref MxMatrix4 invMat)
{
var mat1 = new MxMatrix4(mat);
int i, j = 0, k;
for (i = 0; i < 4; i++)
{
for (j = 0; j < 4; j++)
{
invMat[i, j] = (i == j) ? 1.0 : 0.0;
}
}
var det = 1.0;
for (i = 0; i < 4; i++)
{
var max = -1.0;
for (k = i; k < 4; k++)
{
if (Math.Abs(mat1[k, i]) <= max)
{
continue;
}
max = Math.Abs(mat1[k, i]);
j = k;
}
if (max <= 0.0)
{
return(0.0);
}
if (j != i)
{
/* swap rows i and j */
for (k = i; k < 4; k++)
{
var t = mat1[i, k];
mat1[i, k] = mat1[j, k];
mat1[j, k] = t;
}
for (k = 0; k < 4; k++)
{
var t = invMat[i, k];
invMat[i, k] = invMat[j, k];
invMat[j, k] = t;
}
det = -det;
}
var pivot = mat1[i, i];
det *= pivot;
for (k = i + 1; k < 4; k++)
{
mat1[i, k] /= pivot;
}
for (k = 0; k < 4; k++)
{
invMat[i, k] /= pivot;
}
for (j = i + 1; j < 4; j++)
{
var t = mat1[j, i];
for (k = i + 1; k < 4; k++)
{
mat1[j, k] -= mat1[i, k] * t;
}
for (k = 0; k < 4; k++)
{
invMat[j, k] -= invMat[i, k] * t;
}
}
}
for (i = 3; i > 0; i--)
{
for (j = 0; j < i; j++)
{
var t = mat1[j, i];
for (k = 0; k < 4; k++)
{
invMat[j, k] -= invMat[i, k] * t;
}
}
}
return(det);
}
public static MxMatrix4 operator /(MxMatrix4 mat1, double scalar)
{
if (scalar.IsCloseEnoughTo(0.0)) return mat1;
var invScalar = 1.0/scalar;
var ret = new MxMatrix4(0.0);
ret[0] = mat1[0]*invScalar;
ret[1] = mat1[1]*invScalar;
ret[2] = mat1[2]*invScalar;
return ret;
}
internal static double Det(MxMatrix4 mat)
{
return (mat[0]*MxVector4.Cross(mat[1], mat[2], mat[3]));
}
public static MxMatrix4 operator +(MxMatrix4 mat1, MxMatrix4 mat2)
{
var ret = new MxMatrix4(0.0);
ret[0] = mat1[0] + mat2[0];
ret[1] = mat1[1] + mat2[1];
ret[2] = mat1[2] + mat2[2];
return ret;
}
internal MxQuadric3 Transform(MxMatrix4 mat)
{
var matQ = Homogenous;
var adj = MxMatrix4.Adjoint(mat);
matQ = (adj*matQ)*adj;
Init(matQ, r);
return this;
}
private void Init(MxMatrix4 mat, double area)
{
a2 = mat[0, 0]; ab = mat[0, 1]; ac = mat[0, 2]; ad = mat[0, 3];
b2 = mat[1, 1]; bc = mat[1, 2]; bd = mat[1, 3];
c2 = mat[2, 2]; cd = mat[2, 3];
d2 = mat[3, 3];
r = area;
}
internal static double InvertCramer(MxMatrix4 mat, ref MxMatrix4 inv)
{
var adj = Adjoint(mat);
var det = adj[0]*mat[0];
if (det.IsCloseEnoughTo(0.0)) return 0.0;
inv = (Transpose(adj)/det);
return det;
}
internal static double Det(MxMatrix4 mat)
{
return(mat[0] * MxVector4.Cross(mat[1], mat[2], mat[3]));
}
public static MxMatrix4 operator *(MxMatrix4 mat1, MxMatrix4 mat2)
{
var mat = new MxMatrix4(0.0);
for (var i = 0; i < 3; i++)
{
for (var j = 0; j < 3; j++)
{
mat[i, j] = mat1[i]*mat2.Column(j);
}
}
return mat;
}
internal static MxMatrix4 Transpose(MxMatrix4 mat)
{
return(new MxMatrix4(mat.Column(0), mat.Column(1), mat.Column(2), mat.Column(3)));
}
protected void TransformQuadrics(MxMatrix4 transform)
{
foreach(var quad in quadrics)
{
quad.Transform(transform);
}
}