public static double4x4 double4x4(float4x4 v)
{
return(new double4x4(v));
}
public static int4x4 int4x4(float4x4 v)
{
return(new int4x4(v));
}
public static float3 transform(float4x4 a, float3 b)
{
return((a.c0 * b.x + a.c1 * b.y + a.c2 * b.z + a.c3).xyz);
}
/// <summary>Returns the float4x4 full inverse of a float4x4 matrix.</summary>
public static float4x4 inverse(float4x4 m)
{
float4 c0 = m.c0;
float4 c1 = m.c1;
float4 c2 = m.c2;
float4 c3 = m.c3;
float4 r0y_r1y_r0x_r1x = movelh(c1, c0);
float4 r0z_r1z_r0w_r1w = movelh(c2, c3);
float4 r2y_r3y_r2x_r3x = movehl(c0, c1);
float4 r2z_r3z_r2w_r3w = movehl(c3, c2);
float4 r1y_r2y_r1x_r2x = shuffle(c1, c0, ShuffleComponent.LeftY, ShuffleComponent.LeftZ, ShuffleComponent.RightY, ShuffleComponent.RightZ);
float4 r1z_r2z_r1w_r2w = shuffle(c2, c3, ShuffleComponent.LeftY, ShuffleComponent.LeftZ, ShuffleComponent.RightY, ShuffleComponent.RightZ);
float4 r3y_r0y_r3x_r0x = shuffle(c1, c0, ShuffleComponent.LeftW, ShuffleComponent.LeftX, ShuffleComponent.RightW, ShuffleComponent.RightX);
float4 r3z_r0z_r3w_r0w = shuffle(c2, c3, ShuffleComponent.LeftW, ShuffleComponent.LeftX, ShuffleComponent.RightW, ShuffleComponent.RightX);
float4 r0_wzyx = shuffle(r0z_r1z_r0w_r1w, r0y_r1y_r0x_r1x, ShuffleComponent.LeftZ, ShuffleComponent.LeftX, ShuffleComponent.RightX, ShuffleComponent.RightZ);
float4 r1_wzyx = shuffle(r0z_r1z_r0w_r1w, r0y_r1y_r0x_r1x, ShuffleComponent.LeftW, ShuffleComponent.LeftY, ShuffleComponent.RightY, ShuffleComponent.RightW);
float4 r2_wzyx = shuffle(r2z_r3z_r2w_r3w, r2y_r3y_r2x_r3x, ShuffleComponent.LeftZ, ShuffleComponent.LeftX, ShuffleComponent.RightX, ShuffleComponent.RightZ);
float4 r3_wzyx = shuffle(r2z_r3z_r2w_r3w, r2y_r3y_r2x_r3x, ShuffleComponent.LeftW, ShuffleComponent.LeftY, ShuffleComponent.RightY, ShuffleComponent.RightW);
float4 r0_xyzw = shuffle(r0y_r1y_r0x_r1x, r0z_r1z_r0w_r1w, ShuffleComponent.LeftZ, ShuffleComponent.LeftX, ShuffleComponent.RightX, ShuffleComponent.RightZ);
// Calculate remaining inner term pairs. inner terms have zw=-xy, so we only have to calculate xy and can pack two pairs per vector.
float4 inner12_23 = r1y_r2y_r1x_r2x * r2z_r3z_r2w_r3w - r1z_r2z_r1w_r2w * r2y_r3y_r2x_r3x;
float4 inner02_13 = r0y_r1y_r0x_r1x * r2z_r3z_r2w_r3w - r0z_r1z_r0w_r1w * r2y_r3y_r2x_r3x;
float4 inner30_01 = r3z_r0z_r3w_r0w * r0y_r1y_r0x_r1x - r3y_r0y_r3x_r0x * r0z_r1z_r0w_r1w;
// Expand inner terms back to 4 components. zw signs still need to be flipped
float4 inner12 = shuffle(inner12_23, inner12_23, ShuffleComponent.LeftX, ShuffleComponent.LeftZ, ShuffleComponent.RightZ, ShuffleComponent.RightX);
float4 inner23 = shuffle(inner12_23, inner12_23, ShuffleComponent.LeftY, ShuffleComponent.LeftW, ShuffleComponent.RightW, ShuffleComponent.RightY);
float4 inner02 = shuffle(inner02_13, inner02_13, ShuffleComponent.LeftX, ShuffleComponent.LeftZ, ShuffleComponent.RightZ, ShuffleComponent.RightX);
float4 inner13 = shuffle(inner02_13, inner02_13, ShuffleComponent.LeftY, ShuffleComponent.LeftW, ShuffleComponent.RightW, ShuffleComponent.RightY);
// Calculate minors
float4 minors0 = r3_wzyx * inner12 - r2_wzyx * inner13 + r1_wzyx * inner23;
float4 denom = r0_xyzw * minors0;
// Horizontal sum of denominator. Free sign flip of z and w compensates for missing flip in inner terms.
denom = denom + shuffle(denom, denom, ShuffleComponent.LeftY, ShuffleComponent.LeftX, ShuffleComponent.RightW, ShuffleComponent.RightZ); // x+y x+y z+w z+w
denom = denom - shuffle(denom, denom, ShuffleComponent.LeftZ, ShuffleComponent.LeftZ, ShuffleComponent.RightX, ShuffleComponent.RightX); // x+y-z-w x+y-z-w z+w-x-y z+w-x-y
float4 rcp_denom_ppnn = float4(1.0f) / denom;
float4x4 res;
res.c0 = minors0 * rcp_denom_ppnn;
float4 inner30 = shuffle(inner30_01, inner30_01, ShuffleComponent.LeftX, ShuffleComponent.LeftZ, ShuffleComponent.RightZ, ShuffleComponent.RightX);
float4 inner01 = shuffle(inner30_01, inner30_01, ShuffleComponent.LeftY, ShuffleComponent.LeftW, ShuffleComponent.RightW, ShuffleComponent.RightY);
float4 minors1 = r2_wzyx * inner30 - r0_wzyx * inner23 - r3_wzyx * inner02;
res.c1 = minors1 * rcp_denom_ppnn;
float4 minors2 = r0_wzyx * inner13 - r1_wzyx * inner30 - r3_wzyx * inner01;
res.c2 = minors2 * rcp_denom_ppnn;
float4 minors3 = r1_wzyx * inner02 - r0_wzyx * inner12 + r2_wzyx * inner01;
res.c3 = minors3 * rcp_denom_ppnn;
return(res);
}
public static float3 rotate(float4x4 a, float3 b)
{
return((a.c0 * b.x + a.c1 * b.y + a.c2 * b.z).xyz);
}
public RigidTransform(float4x4 transform)
{
this.rot = new quaternion(transform);
this.pos = transform.c3.xyz;
}
public static RigidTransform RigidTransform(float4x4 transform)
{
return(new RigidTransform(transform));
}
public static quaternion quaternion(float4x4 m)
{
return(new quaternion(m));
}
public static uint4x4 uint4x4(float4x4 v)
{
return(new uint4x4(v));
}
