public static Matrix4 CreateRotation(Vector3f axis, float angle,
Matrix4 dest)
{
if (dest == null)
{
dest = new Matrix4();
}
Matrix4 result = dest.Idt();
float c = MathUtils.Cos(angle);
float s = MathUtils.Sin(angle);
Vector3f nAxis = Vector3f.TMP().Set(axis).NormalizeSelf();
Vector3f tempV = Vector3f.TMP().Set(nAxis).ScaleSelf(1f - c);
result.Set(0, 0, c + tempV.x * nAxis.x)
.Set(0, 1, tempV.x * nAxis.y + s * nAxis.z)
.Set(0, 2, tempV.x * nAxis.z - s * nAxis.y);
result.Set(1, 0, tempV.y * nAxis.x - s * nAxis.z)
.Set(1, 1, c + tempV.y * nAxis.y)
.Set(1, 2, tempV.y * nAxis.z + s * nAxis.x);
result.Set(2, 0, tempV.z * nAxis.x + s * nAxis.y)
.Set(2, 1, tempV.z * nAxis.y - s * nAxis.x)
.Set(2, 2, c + tempV.z * nAxis.z);
return(result);
}
public static Matrix4 CreateRotation(Quaternion q, Matrix4 dest)
{
if (dest == null)
{
dest = new Matrix4();
}
q.NormalizeSelf();
Matrix4 result = dest.Idt();
float x2 = q.x * q.x;
float y2 = q.y * q.y;
float z2 = q.z * q.z;
float xy = q.x * q.y;
float xz = q.x * q.z;
float yz = q.y * q.z;
float wx = q.w * q.x;
float wy = q.w * q.y;
float wz = q.w * q.z;
result.Set(0, 0, 1.0f - 2.0f * (y2 + z2)).Set(0, 1, 2.0f * (xy + wz))
.Set(0, 2, 2.0f * (xz - wy));
result.Set(1, 0, 2.0f * (xy - wz)).Set(1, 1, 1.0f - 2.0f * (x2 + z2))
.Set(1, 2, 2.0f * (yz + wx));
result.Set(2, 0, 2.0f * (xz + wy)).Set(2, 1, 2.0f * (yz - wx))
.Set(2, 2, 1.0f - 2.0f * (x2 + y2));
return(result);
}
public static Matrix4 CreateLookAtMatrix(Vector3f eye, Vector3f center,
Vector3f up, Matrix4 dest)
{
if (dest == null)
{
dest = new Matrix4();
}
Matrix4 result = dest.Idt();
Vector3f f = Vector3f.TMP();
Vector3f s = Vector3f.TMP();
Vector3f u = Vector3f.TMP();
f.Set(center).SubtractSelf(eye).NormalizeSelf();
s.Set(f).CrossSelf(up).NormalizeSelf();
u.Set(s).CrossSelf(f);
result.Set(0, 0, s.x).Set(1, 0, s.y).Set(2, 0, s.z);
result.Set(0, 1, u.x).Set(1, 1, u.y).Set(2, 1, u.z);
result.Set(0, 2, -f.x).Set(1, 2, -f.y).Set(2, 2, -f.z);
result.Set(3, 0, -s.Dot(eye)).Set(3, 1, -u.Dot(eye))
.Set(3, 2, f.Dot(eye));
return(result);
}
public Matrix4 Mul(Affine2f aff)
{
Matrix4 m = new Matrix4();
m.Set(aff);
//support.Mul(val, m.val);
return(this);
}
public static Matrix4 CreateTranslation(Vector3f translation, Matrix4 dest)
{
if (dest == null)
{
dest = new Matrix4();
}
Matrix4 result = dest.Idt();
result.Set(3, 0, translation.GetX()).Set(3, 1, translation.GetY())
.Set(3, 2, translation.GetZ());
return(result);
}
public static Matrix4 CreateScaling(Vector3f scale, Matrix4 dest)
{
if (dest == null)
{
dest = new Matrix4();
}
Matrix4 result = dest.Idt();
result.Set(0, 0, scale.GetX()).Set(1, 1, scale.GetY())
.Set(2, 2, scale.GetZ());
return(result);
}
public static Matrix4 CreateOrtho2d(float left, float right, float bottom,
float top, float zNear, float zFar, Matrix4 dest)
{
if (dest == null)
{
dest = new Matrix4();
}
Matrix4 result = dest.Izero();
result.Set(0, 0, 2 / (right - left)).Set(1, 1, 2 / (top - bottom))
.Set(2, 2, -2 / (zFar - zNear))
.Set(3, 0, -(right + left) / (right - left))
.Set(3, 1, -(top + bottom) / (top - bottom))
.Set(3, 2, -(zFar + zNear) / (zFar - zNear)).Set(3, 3, 1);
return(result);
}
public static Matrix4 CreatePerspective(float fovy, float aspect,
float zNear, float zFar, Matrix4 dest)
{
if (dest == null)
{
dest = new Matrix4();
}
Matrix4 result = dest.Izero();
float tanHalfFovy = MathUtils.Tan(fovy / 2);
result.Set(0, 0, 1 / (aspect * tanHalfFovy)).Set(1, 1, 1 / tanHalfFovy)
.Set(2, 2, (zFar + zNear) / (zNear - zFar)).Set(2, 3, -1)
.Set(3, 2, (-2 * zFar * zNear) / (zFar - zNear));
return(result);
}
public static Matrix4 CreateFrustum(float left, float right, float bottom,
float top, float zNear, float zFar, Matrix4 dest)
{
if (dest == null)
{
dest = new Matrix4();
}
Matrix4 result = dest.Izero();
result.Set(0, 0, (2 * zNear) / (right - left))
.Set(1, 1, (2 * zNear) / (top - bottom))
.Set(2, 0, (right + left) / (right - left))
.Set(2, 1, (top + bottom) / (top - bottom))
.Set(2, 2, (zFar + zNear) / (zNear - zFar)).Set(2, 3, -1)
.Set(3, 2, (-2 * zFar * zNear) / (zFar - zNear));
return(result);
}