public void SerializeOut_mat4x4(UnityEngine.Matrix4x4 v)
{
SerializeOut_vector4(v.GetRow(0));
SerializeOut_vector4(v.GetRow(1));
SerializeOut_vector4(v.GetRow(2));
SerializeOut_vector4(v.GetRow(3));
}
public static Matrix4x4 DrawRows( Matrix4x4 matrix )
{
matrix.SetRow( 0, EditorGUI.Vector4Field( GetRekt(), "", matrix.GetRow( 0 ) ) );
matrix.SetRow( 1, EditorGUI.Vector4Field( GetRekt(), "", matrix.GetRow( 1 ) ) );
matrix.SetRow( 2, EditorGUI.Vector4Field( GetRekt(), "", matrix.GetRow( 2 ) ) );
matrix.SetRow( 3, EditorGUI.Vector4Field( GetRekt(), "", matrix.GetRow( 3 ) ) );
return matrix;
}
static void Matrix4x4Field(string label, ref Matrix4x4 mat)
{
GUILayout.Label(label);
mat.SetRow(0, EditorGUILayout.Vector4Field("0", mat.GetRow(0)));
mat.SetRow(1, EditorGUILayout.Vector4Field("1", mat.GetRow(1)));
mat.SetRow(2, EditorGUILayout.Vector4Field("2", mat.GetRow(2)));
mat.SetRow(3, EditorGUILayout.Vector4Field("3", mat.GetRow(3)));
}
Vector4 Mul(Matrix4x4 matrix, Vector4 vec4)
{
var res = new Vector4();
res.x = Vector4.Dot(matrix.GetRow(0), vec4);
res.y = Vector4.Dot(matrix.GetRow(1), vec4);
res.z = Vector4.Dot(matrix.GetRow(2), vec4);
res.w = Vector4.Dot(matrix.GetRow(3), vec4);
return res;
}
Vector4 Mul4(Matrix4x4 m, Vector4 v)
{
var res = new Vector4();
res.x = Vector4.Dot(m.GetRow(0), v);
res.y = Vector4.Dot(m.GetRow(1), v);
res.z = Vector4.Dot(m.GetRow(2), v);
res.w = Vector4.Dot(m.GetRow(3), v);
return res;
}
private void ApplyTransformation(out UnityEngine.Matrix4x4 Transformation)
{
//Calculating Centroids from both coordinate system
Accord.Math.Vector3 centroidA = CalculateCentroid(UnitytoAccord(ReadFrameLowerLeft), UnitytoAccord(ReadFrameLowerRight), UnitytoAccord(ReadFrameUpperLeft), UnitytoAccord(ReadFrameUpperRight));
Accord.Math.Vector3 centroidB = CalculateCentroid(UnitytoAccord(FrameLowerLeft), UnitytoAccord(FrameLowerRight), UnitytoAccord(FrameUpperLeft), UnitytoAccord(FrameUpperRight));
Matrix3x3 H = CovarianceMatrixStep(UnitytoAccord(ReadFrameLowerLeft) - centroidA, UnitytoAccord(FrameLowerLeft) - centroidB)
+ CovarianceMatrixStep(UnitytoAccord(ReadFrameLowerRight) - centroidA, UnitytoAccord(FrameLowerRight) - centroidB)
+ CovarianceMatrixStep(UnitytoAccord(ReadFrameUpperLeft) - centroidA, UnitytoAccord(FrameUpperLeft) - centroidB)
+ CovarianceMatrixStep(UnitytoAccord(ReadFrameUpperRight) - centroidA, UnitytoAccord(FrameUpperRight) - centroidB);
Matrix3x3 U;
Accord.Math.Vector3 E;
Matrix3x3 V;
Matrix3x3 R;
H.SVD(out U, out E, out V);
R = V * U.Transpose();
Debug.Log("Row " + R.GetRow(0));
Debug.Log("Row " + R.GetRow(1));
Debug.Log("Row " + R.GetRow(2));
if (R.Determinant < 0)
{
V.V02 = (-V.V02);
V.V12 = (-V.V12);
V.V22 = (-V.V22);
R = V * U.Transpose();
Debug.LogWarning("Reflection case");
}
Accord.Math.Vector3 Translation;
Translation = (NegativeMatrix(R) * centroidA + centroidB);
Debug.Log("Translation is" + Translation);
Transformation = UnityEngine.Matrix4x4.identity;
Transformation = AccordToUnityMatrix(Transformation, R, Translation);
Debug.Log("Trans" + Transformation.GetRow(0));
Debug.Log("Trans" + Transformation.GetRow(1));
Debug.Log("Trans" + Transformation.GetRow(2));
Debug.Log("Trans" + Transformation.GetRow(3));
Transformation.SetTRS(AccordtoUnity(Translation), Quaternion.LookRotation(Transformation.GetColumn(1),
Transformation.GetColumn(2)), UnityEngine.Vector3.one);
}
static public int GetRow(IntPtr l)
{
try{
UnityEngine.Matrix4x4 self = (UnityEngine.Matrix4x4)checkSelf(l);
System.Int32 a1;
checkType(l, 2, out a1);
UnityEngine.Vector4 ret = self.GetRow(a1);
pushValue(l, ret);
return(1);
}
catch (Exception e) {
LuaDLL.luaL_error(l, e.ToString());
return(0);
}
}
static int GetRow(IntPtr L)
{
try
{
ToLua.CheckArgsCount(L, 2);
UnityEngine.Matrix4x4 obj = (UnityEngine.Matrix4x4)ToLua.CheckObject(L, 1, typeof(UnityEngine.Matrix4x4));
int arg0 = (int)LuaDLL.luaL_checknumber(L, 2);
UnityEngine.Vector4 o = obj.GetRow(arg0);
ToLua.Push(L, o);
ToLua.SetBack(L, 1, obj);
return(1);
}
catch (Exception e)
{
return(LuaDLL.toluaL_exception(L, e));
}
}
public static Matrix4x4 constructProjectionMatrix3x4(float[] projection, float width, float height, float near, float far)
{
float r = width;
float l = 0.0f;
float t = height;
float b = 0.0f;
Matrix4x4 m = new Matrix4x4();
m.m00 = projection[0];
m.m01 = projection[1];
m.m02 = projection[2];
m.m03 = projection[3];
m.m10 = projection[4];
m.m11 = projection[5];
m.m12 = projection[6];
m.m13 = projection[7];
m.m20 = projection[8];
m.m21 = projection[9];
m.m22 = projection[10];
m.m23 = projection[11];
Vector4 row2 = m.GetRow(2);
m.SetRow(3, row2);
float norm = Mathf.Sqrt(m.m20 * m.m20 + m.m21 * m.m21 + m.m22 * m.m22);
float add = far * near * norm;
row2 = row2 * (-far - near);
m.SetRow(2, row2);
m.m23 += add;
Matrix4x4 ortho = new Matrix4x4();
ortho.m00 = 2.0f / (r - l);
ortho.m01 = 0.0f;
ortho.m02 = 0.0f;
ortho.m03 = (r + l) / (l - r);
ortho.m10 = 0.0f;
ortho.m11 = 2.0f / (t - b);
ortho.m12 = 0.0f;
ortho.m13 = (t + b) / (b - t);
ortho.m20 = 0.0f;
ortho.m21 = 0.0f;
ortho.m22 = 2.0f / (near - far);
ortho.m23 = (far + near) / (near - far);
ortho.m30 = 0.0f;
ortho.m31 = 0.0f;
ortho.m32 = 0.0f;
ortho.m33 = 1.0f;
Matrix4x4 res = new Matrix4x4();
res = ortho * m;
return res;
}
//Convert Matrix4x4 to double16
public static double[] ConvertMatrix4x4ToDouble16(Matrix4x4 m)
{
double[] double16 = new double[16];
int factor = 0;
for (int i = 0; i < 4; i++)
{
double16[factor+i] = (double)m.GetRow(i).x;
double16[factor+i+1] = (double)m.GetRow(i).y;
double16[factor+i+2] = (double)m.GetRow(i).z;
double16[factor+i+3] = (double)m.GetRow(i).w;
factor += 3;
}
return double16;
}
float Determinant(Matrix4x4 m)
{
Vector3 r0 = m.GetRow(0);
Vector3 r1 = m.GetRow(1);
Vector3 r2 = m.GetRow(2);
return -(r0.z * r1.y * r2.x) + (r0.y * r1.z * r2.x) + (r0.z * r1.x * r2.y) - (r0.x * r1.z * r2.y) - (r0.y * r1.x * r2.z) + (r0.x * r1.y * r2.z);
}
static bool Matrix4x4_GetRow__Int32(JSVCall vc, int argc)
{
int len = argc;
if (len == 1)
{
System.Int32 arg0 = (System.Int32)JSApi.getInt32((int)JSApi.GetType.Arg);
UnityEngine.Matrix4x4 argThis = (UnityEngine.Matrix4x4)vc.csObj; JSMgr.datax.setObject((int)JSApi.SetType.Rval, argThis.GetRow(arg0));
JSMgr.changeJSObj(vc.jsObjID, argThis);
}
return(true);
}
Vector4 multiply(Matrix4x4 mat, Vector4 point)
{
// Multiplies a 4x4 matrix by a vector4
Vector4 returnVal = new Vector4();
Vector4 row0 = mat.GetRow(0); Vector4 row1 = mat.GetRow(1); Vector4 row2 = mat.GetRow(2); Vector4 row3 = mat.GetRow(3);
returnVal.x = row0.x*point.x + row0.y*point.y + row0.z*point.z + row0.w*point.w;
returnVal.y = row1.x*point.x + row1.y*point.y + row1.z*point.z + row1.w*point.w;
returnVal.z = row2.x*point.x + row2.y*point.y + row2.z*point.z + row2.w*point.w;
returnVal.w = row3.x*point.x + row3.y*point.y + row3.z*point.z + row3.w*point.w;
return returnVal;
}
/// <summary>
/// Calculates the max point of the frustum bound.
/// </summary>
private static Vector3 GetFrustumMax(Matrix4x4 frustumCorners)
{
Vector3 frustumMax = new Vector3(float.MinValue, float.MinValue, float.MinValue);
for (int i = 0; i < 4; ++i)
{
frustumMax = Vector3.Max(frustumMax, frustumCorners.GetRow(i));
}
return frustumMax;
}
// gets matrix values as csv line
public static string GetMatrixAsCsv(ref Matrix4x4 mat)
{
// create the output string
StringBuilder sbBuf = new StringBuilder();
const char delimiter = ',';
sbBuf.Append("km").Append(delimiter);
for(int i = 0; i < 4; i++)
{
Vector4 vRow = mat.GetRow(i);
sbBuf.AppendFormat("{0:F3}", vRow.x).Append(delimiter);
sbBuf.AppendFormat("{0:F3}", vRow.y).Append(delimiter);
sbBuf.AppendFormat("{0:F3}", vRow.z).Append(delimiter);
sbBuf.AppendFormat("{0:F3}", vRow.w).Append(delimiter);
}
// remove the last delimiter
if(sbBuf.Length > 0 && sbBuf[sbBuf.Length - 1] == delimiter)
{
sbBuf.Remove(sbBuf.Length - 1, 1);
}
return sbBuf.ToString();
}
