public static Matrix43 ScaleMatrix(float x, float y, float z)
{
Matrix43 m = new Matrix43();
float * p = (float *)&m;
p[0] = x;
p[5] = y;
p[10] = z;
return(m);
}
public static Matrix43 TranslationMatrix(float x, float y, float z)
{
Matrix43 m = new Matrix43();
float * p = (float *)&m;
p[3] = x;
p[7] = y;
p[11] = z;
p[0] = p[5] = p[10] = 1.0f;
return(m);
}
public Matrix43 GetTranslation()
{
Matrix43 m = Identity;
float * p = (float *)&m;
fixed(float *s = _data)
{
p[3] = s[3];
p[7] = s[7];
p[11] = s[11];
}
return(m);
}
public static Matrix43 RotationMatrix(float x, float y, float z)
{
float cosx = (float)Math.Cos(x / 180.0f * Math.PI);
float sinx = (float)Math.Sin(x / 180.0f * Math.PI);
float cosy = (float)Math.Cos(y / 180.0f * Math.PI);
float siny = (float)Math.Sin(y / 180.0f * Math.PI);
float cosz = (float)Math.Cos(z / 180.0f * Math.PI);
float sinz = (float)Math.Sin(z / 180.0f * Math.PI);
Matrix43 m = Identity;
float * p = (float *)&m;
p[5] = cosx;
p[6] = -sinx;
p[9] = sinx;
p[10] = cosx;
Matrix43 m2 = Identity;
float * p2 = (float *)&m2;
p2[0] = cosy;
p2[2] = siny;
p2[8] = -siny;
p2[10] = cosy;
Matrix43 m3 = Identity;
float * p3 = (float *)&m3;
p3[0] = cosz;
p3[1] = -sinz;
p3[4] = sinz;
p3[5] = cosz;
m.Multiply(&m2);
m.Multiply(&m3);
//p[0] = cosy * cosz;
//p[1] = cosy * sinz;
//p[2] = -siny;
//p[4] = (sinx * siny * cosz - cosx * sinz);
//p[5] = (sinx * siny * sinz + cosx * cosz);
//p[6] = sinx * cosy;
//p[8] = (cosx * siny * cosz + sinx * sinz);
//p[9] = (cosx * siny * sinz - sinx * cosz);
//p[10] = cosx * cosy;
return(m);
}
public static Matrix43 RotationMatrixRX(float x)
{
Matrix43 m = new Matrix43();
float * p = (float *)&m;
float cosx = (float)Math.Cos(x / 180.0f * Math.PI);
float sinx = (float)Math.Sin(x / 180.0f * Math.PI);
p[0] = 1.0f;
p[5] = cosx;
p[6] = sinx;
p[9] = -sinx;
p[10] = cosx;
return(m);
}
public static Matrix43 RotationMatrixRY(float y)
{
Matrix43 m = new Matrix43();
float * p = (float *)&m;
float cosy = (float)Math.Cos(y / 180.0f * Math.PI);
float siny = (float)Math.Sin(y / 180.0f * Math.PI);
p[5] = 1.0f;
p[0] = cosy;
p[2] = -siny;
p[8] = siny;
p[10] = cosy;
return(m);
}
internal void Scale(float x, float y, float z)
{
Matrix43 m = ScaleMatrix(x, y, z);
this.Multiply(&m);
}
internal void Rotate(float x, float y, float z)
{
Matrix43 m = RotationMatrix(x, y, z);
this.Multiply(&m);
}
public void Translate(float x, float y, float z)
{
Matrix43 m = TranslationMatrix(x, y, z);
Multiply(&m);
}
