private static Matrix <float> ComputeViewMatrix(Vector <float> eye, Vector <float> target, Vector <float> up)
{
Code.AssertArgNonNull(eye, "eye");
Code.AssertArgNonNull(target, "target");
Code.AssertArgNonNull(up, "up");
Code.Assert <ArgumentException>(eye.Dimensions == 3, "The eye vector must be 3 dimensional.");
Code.Assert <ArgumentException>(target.Dimensions == 3, "The target vector must be 3 dimensional.");
Code.Assert <ArgumentException>(up.Dimensions == 3, "The up vector must be 3 dimensional.");
Vector <float> z = Vector <float> .Normalize(eye - target);
Vector <float> x = Vector <float> .Normalize(Vector <float> .CrossProduct(up, z));
Vector <float> y = Vector <float> .Normalize(Vector <float> .CrossProduct(z, x));
Matrix <float> result = new Matrix <float>(new float[, ]
{
{ x.X, y.X, z.X, 0 },
{ x.Y, y.Y, z.Y, 0 },
{ x.Z, y.Z, z.Z, 0 },
{ -((x.X * eye.X) + (x.Y * eye.Y) + (x.Z * eye.Z)), -((y.X * eye.X) + (y.Y * eye.Y) + (y.Z * eye.Z)), -((z.X * eye.X) + (z.Y * eye.Y) + (z.Z * eye.Z)), 1 },
});
return(result);
}
public void AddBody(RigidPhysicsObject <T> rigidPhysicsObject)
{
Code.AssertArgNonNull(rigidPhysicsObject, "rigidPhysicsObject");
this._rigidPhysicsObjects.Add(rigidPhysicsObject);
}