/// <summary> /// Builds a rotation 4 * 4 matrix created from an axis vector and an angle. /// </summary> /// <param name="m">The m.</param> /// <param name="angle">The angle.</param> /// <param name="v">The v.</param> /// <returns></returns> public static Matrix4f rotate(Matrix4f m, float angle, Vector3f v) { float c = Trigonometric.Cos(angle); float s = Trigonometric.Sin(angle); Vector3f axis = Geometric.Normalize(v); Vector3f temp = (1.0f - c) * axis; Matrix4f rotate = Matrix4f.identity(); rotate[0, 0] = c + temp[0] * axis[0]; rotate[0, 1] = 0 + temp[0] * axis[1] + s * axis[2]; rotate[0, 2] = 0 + temp[0] * axis[2] - s * axis[1]; rotate[1, 0] = 0 + temp[1] * axis[0] - s * axis[2]; rotate[1, 1] = c + temp[1] * axis[1]; rotate[1, 2] = 0 + temp[1] * axis[2] + s * axis[0]; rotate[2, 0] = 0 + temp[2] * axis[0] + s * axis[1]; rotate[2, 1] = 0 + temp[2] * axis[1] - s * axis[0]; rotate[2, 2] = c + temp[2] * axis[2]; Matrix4f result = Matrix4f.identity(); result[0] = m[0] * rotate[0][0] + m[1] * rotate[0][1] + m[2] * rotate[0][2]; result[1] = m[0] * rotate[1][0] + m[1] * rotate[1][1] + m[2] * rotate[1][2]; result[2] = m[0] * rotate[2][0] + m[1] * rotate[2][1] + m[2] * rotate[2][2]; result[3] = m[3]; return(result); }
/// <summary> /// Builds a perspective projection matrix based on a field of view. /// </summary> /// <param name="fov">The fov (in radians).</param> /// <param name="width">The width.</param> /// <param name="height">The height.</param> /// <param name="zNear">The z near.</param> /// <param name="zFar">The z far.</param> /// <returns></returns> /// <exception cref="System.ArgumentOutOfRangeException"></exception> public static Matrix4f perspectiveFov(float fov, float width, float height, float zNear, float zFar) { if (width <= 0 || height <= 0 || fov <= 0) { throw new ArgumentOutOfRangeException(); } var rad = fov; var h = Trigonometric.Cos((0.5f) * rad) / Trigonometric.Sin((0.5f) * rad); var w = h * height / width; var result = new Matrix4f(0); result[0, 0] = w; result[1, 1] = h; result[2, 2] = -(zFar + zNear) / (zFar - zNear); result[2, 3] = -(1f); result[3, 2] = -((2f) * zFar * zNear) / (zFar - zNear); return(result); }