public Mat22 MulLocal(Mat22 R)
{
MulToOut(R, this);
return this;
}
/// <summary>
/// Add B to this matrix locally.
/// </summary>
/// <param name="b"></param>
/// <returns></returns>
public Mat22 AddLocal(Mat22 b)
{
// ex.addLocal(B.ex);
// col2.addLocal(B.ey);
Ex.X += b.Ex.X;
Ex.Y += b.Ex.Y;
Ey.X += b.Ey.X;
Ey.Y += b.Ey.Y;
return this;
}
public void InvertToOut(Mat22 result)
{
float a = Ex.X;
float b = Ey.X;
float c = Ex.Y;
float d = Ey.Y;
float det = a * d - b * c;
// b2Assert(det != 0.0f);
det = 1.0f / det;
result.Ex.X = det * d;
result.Ey.X = (-det) * b;
result.Ex.Y = (-det) * c;
result.Ey.Y = det * a;
}
public static void MulTransToOut(Mat22 a, Mat22 b, Mat22 result)
{
float x1 = a.Ex.X * b.Ex.X + a.Ex.Y * b.Ex.Y;
float y1 = a.Ey.X * b.Ex.X + a.Ey.Y * b.Ex.Y;
float x2 = a.Ex.X * b.Ey.X + a.Ex.Y * b.Ey.Y;
float y2 = a.Ey.X * b.Ey.X + a.Ey.Y * b.Ey.Y;
result.Ex.X = x1;
result.Ex.Y = y1;
result.Ey.X = x2;
result.Ey.Y = y2;
}
public static void MulTransToOutUnsafe(Mat22 a, Mat22 b, Mat22 result)
{
Debug.Assert(a != result);
Debug.Assert(b != result);
result.Ex.X = a.Ex.X * b.Ex.X + a.Ex.Y * b.Ex.Y;
result.Ex.Y = a.Ey.X * b.Ex.X + a.Ey.Y * b.Ex.Y;
result.Ey.X = a.Ex.X * b.Ey.X + a.Ex.Y * b.Ey.Y;
result.Ey.Y = a.Ey.X * b.Ey.X + a.Ey.Y * b.Ey.Y;
}
public void MulTransToOutUnsafe(Mat22 b, Mat22 result)
{
Debug.Assert(b != result);
Debug.Assert(this != result);
result.Ex.X = Ex.X * b.Ex.X + Ex.Y * b.Ex.Y;
result.Ey.X = Ex.X * b.Ey.X + Ex.Y * b.Ey.Y;
result.Ex.Y = Ey.X * b.Ex.X + Ey.Y * b.Ex.Y;
result.Ey.Y = Ey.X * b.Ey.X + Ey.Y * b.Ey.Y;
}
public static Mat22 MulTrans(Mat22 a, Mat22 b)
{
Mat22 C = new Mat22();
C.Ex.X = a.Ex.X * b.Ex.X + a.Ex.Y * b.Ex.Y;
C.Ex.Y = a.Ey.X * b.Ex.X + a.Ey.Y * b.Ex.Y;
C.Ey.X = a.Ex.X * b.Ey.X + a.Ex.Y * b.Ey.Y;
C.Ey.Y = a.Ey.X * b.Ey.X + a.Ey.Y * b.Ey.Y;
return C;
}
public static void CreateScaleTransform(float scale, Mat22 result)
{
result.Ex.X = scale;
result.Ey.Y = scale;
}
/* djm created */
public static void AbsToOut(Mat22 r, Mat22 result)
{
result.Ex.X = MathUtils.Abs(r.Ex.X);
result.Ex.Y = MathUtils.Abs(r.Ex.Y);
result.Ey.X = MathUtils.Abs(r.Ey.X);
result.Ey.Y = MathUtils.Abs(r.Ey.Y);
}
public static Vec2 MulTrans(Mat22 r, Vec2 v)
{
return(new Vec2((v.X * r.Ex.X + v.Y * r.Ex.Y), (v.X * r.Ey.X + v.Y * r.Ey.Y)));
}
public static void MulTransToOutUnsafe(Mat22 r, Vec2 v, Vec2 result)
{
Debug.Assert(result != v);
result.Y = v.X * r.Ey.X + v.Y * r.Ey.Y;
result.X = v.X * r.Ex.X + v.Y * r.Ex.Y;
}
public static void MulToOutUnsafe(Mat22 r, Vec2 v, Vec2 result)
{
Debug.Assert(v != result);
result.X = r.Ex.X * v.X + r.Ey.X * v.Y;
result.Y = r.Ex.Y * v.X + r.Ey.Y * v.Y;
}
public static Vec2 Mul(Mat22 r, Vec2 v)
{
// return R.mul(v);
return(new Vec2(r.Ex.X * v.X + r.Ey.X * v.Y, r.Ex.Y * v.X + r.Ey.Y * v.Y));
}
public Mat22 MulTransLocal(Mat22 b)
{
MulTransToOut(b, this);
return(this);
}
public void MulToOutUnsafe(Mat22 r, Mat22 result)
{
Debug.Assert(result != r);
Debug.Assert(result != this);
result.Ex.X = Ex.X * r.Ex.X + Ey.X * r.Ex.Y;
result.Ex.Y = Ex.Y * r.Ex.X + Ey.Y * r.Ex.Y;
result.Ey.X = Ex.X * r.Ey.X + Ey.X * r.Ey.Y;
result.Ey.Y = Ex.Y * r.Ey.X + Ey.Y * r.Ey.Y;
}
public static Mat22 CreateRotationalTransform(float angle)
{
Mat22 mat = new Mat22();
float c = MathUtils.Cos(angle);
float s = MathUtils.Sin(angle);
mat.Ex.X = c;
mat.Ey.X = -s;
mat.Ex.Y = s;
mat.Ey.Y = c;
return mat;
}
public Mat22 MulTransLocal(Mat22 b)
{
MulTransToOut(b, this);
return this;
}
public static void CreateRotationalTransform(float angle, Mat22 result)
{
float c = MathUtils.Cos(angle);
float s = MathUtils.Sin(angle);
result.Ex.X = c;
result.Ey.X = -s;
result.Ex.Y = s;
result.Ey.Y = c;
}
public Mat22 MulLocal(Mat22 R)
{
MulToOut(R, this);
return(this);
}
public static Mat22 CreateScaleTransform(float scale)
{
Mat22 mat = new Mat22();
mat.Ex.X = scale;
mat.Ey.Y = scale;
return mat;
}
public static void MulTransToOut(Mat22 r, Vec2 v, Vec2 result)
{
float outx = v.X * r.Ex.X + v.Y * r.Ex.Y;
result.Y = v.X * r.Ey.X + v.Y * r.Ey.Y;
result.X = outx;
}
public static void CreateScaleTransform(float scale, Mat22 result)
{
result.Ex.X = scale;
result.Ey.Y = scale;
}
public static void MulTransToOutUnsafe(Mat22 r, Vec2 v, Vec2 result)
{
Debug.Assert(result != v);
result.Y = v.X * r.Ey.X + v.Y * r.Ey.Y;
result.X = v.X * r.Ex.X + v.Y * r.Ex.Y;
}
public static Vec2 Mul(Mat22 r, Vec2 v)
{
// return R.mul(v);
return new Vec2(r.Ex.X * v.X + r.Ey.X * v.Y, r.Ex.Y * v.X + r.Ey.Y * v.Y);
}
/// <summary>
/// Add this matrix to B, return the result.
/// </summary>
/// <param name="b"></param>
/// <returns></returns>
public Mat22 Add(Mat22 b)
{
// return new Mat22(ex.add(B.ex), col2.add(B.ey));
Mat22 m = new Mat22();
m.Ex.X = Ex.X + b.Ex.X;
m.Ex.Y = Ex.Y + b.Ex.Y;
m.Ey.X = Ey.X + b.Ey.X;
m.Ey.Y = Ey.Y + b.Ey.Y;
return m;
}
public static Mat22 Mul(Mat22 a, Mat22 b)
{
// return A.mul(B);
Mat22 C = new Mat22();
C.Ex.X = a.Ex.X * b.Ex.X + a.Ey.X * b.Ex.Y;
C.Ex.Y = a.Ex.Y * b.Ex.X + a.Ey.Y * b.Ex.Y;
C.Ey.X = a.Ex.X * b.Ey.X + a.Ey.X * b.Ey.Y;
C.Ey.Y = a.Ex.Y * b.Ey.X + a.Ey.Y * b.Ey.Y;
return C;
}
/// <summary>
/// Returns the inverted Mat22 - does NOT invert the matrix locally!
/// </summary>
public Mat22 Invert()
{
float a = Ex.X;
float b = Ey.X;
float c = Ex.Y;
float d = Ey.Y;
Mat22 B = new Mat22();
float det = a * d - b * c;
if (det != 0)
{
det = 1.0f / det;
}
B.Ex.X = det * d;
B.Ey.X = (-det) * b;
B.Ex.Y = (-det) * c;
B.Ey.Y = det * a;
return B;
}
public static void MulToOut(Mat22 r, Vec2 v, Vec2 result)
{
float tempy = r.Ex.Y * v.X + r.Ey.Y * v.Y;
result.X = r.Ex.X * v.X + r.Ey.X * v.Y;
result.Y = tempy;
}
/// <summary>
/// Multiply another matrix by this one (this one on left). djm optimized
/// </summary>
/// <param name="r"></param>
/// <returns></returns>
public Mat22 Mul(Mat22 r)
{
/*
* Mat22 C = new Mat22();C.set(this.mul(R.ex), this.mul(R.ey));return C;
*/
Mat22 C = new Mat22();
C.Ex.X = Ex.X * r.Ex.X + Ey.X * r.Ex.Y;
C.Ex.Y = Ex.Y * r.Ex.X + Ey.Y * r.Ex.Y;
C.Ey.X = Ex.X * r.Ey.X + Ey.X * r.Ey.Y;
C.Ey.Y = Ex.Y * r.Ey.X + Ey.Y * r.Ey.Y;
// C.set(ex,col2);
return C;
}
public static void MulToOut(Mat22 a, Mat22 b, Mat22 result)
{
float tempy1 = a.Ex.Y * b.Ex.X + a.Ey.Y * b.Ex.Y;
float tempx1 = a.Ex.X * b.Ex.X + a.Ey.X * b.Ex.Y;
float tempy2 = a.Ex.Y * b.Ey.X + a.Ey.Y * b.Ey.Y;
float tempx2 = a.Ex.X * b.Ey.X + a.Ey.X * b.Ey.Y;
result.Ex.X = tempx1;
result.Ex.Y = tempy1;
result.Ey.X = tempx2;
result.Ey.Y = tempy2;
}
public void MulToOut(Mat22 r, Mat22 result)
{
float tempy1 = Ex.Y * r.Ex.X + Ey.Y * r.Ex.Y;
float tempx1 = Ex.X * r.Ex.X + Ey.X * r.Ex.Y;
result.Ex.X = tempx1;
result.Ex.Y = tempy1;
float tempy2 = Ex.Y * r.Ey.X + Ey.Y * r.Ey.Y;
float tempx2 = Ex.X * r.Ey.X + Ey.X * r.Ey.Y;
result.Ey.X = tempx2;
result.Ey.Y = tempy2;
}
public static void MulToOutUnsafe(Mat22 r, Vec2 v, Vec2 result)
{
Debug.Assert(v != result);
result.X = r.Ex.X * v.X + r.Ey.X * v.Y;
result.Y = r.Ex.Y * v.X + r.Ey.Y * v.Y;
}
/// <summary>
/// Multiply another matrix by the transpose of this one (transpose of this one on left). djm:
/// optimized
/// </summary>
/// <param name="b"></param>
/// <returns></returns>
public Mat22 MulTrans(Mat22 b)
{
/*
* Vec2 c1 = new Vec2(Vec2.dot(this.ex, B.ex), Vec2.dot(this.ey, B.ex)); Vec2 c2 = new
* Vec2(Vec2.dot(this.ex, B.ey), Vec2.dot(this.ey, B.ey)); Mat22 C = new Mat22(); C.set(c1, c2);
* return C;
*/
Mat22 C = new Mat22();
C.Ex.X = Vec2.Dot(this.Ex, b.Ex);
C.Ex.Y = Vec2.Dot(this.Ey, b.Ex);
C.Ey.X = Vec2.Dot(this.Ex, b.Ey);
C.Ey.Y = Vec2.Dot(this.Ey, b.Ey);
return C;
}
public static void MulToOutUnsafe(Mat22 a, Mat22 b, Mat22 result)
{
Debug.Assert(result != a);
Debug.Assert(result != b);
result.Ex.X = a.Ex.X * b.Ex.X + a.Ey.X * b.Ex.Y;
result.Ex.Y = a.Ex.Y * b.Ex.X + a.Ey.Y * b.Ex.Y;
result.Ey.X = a.Ex.X * b.Ey.X + a.Ey.X * b.Ey.Y;
result.Ey.Y = a.Ex.Y * b.Ey.X + a.Ey.Y * b.Ey.Y;
}
public void MulTransToOut(Mat22 b, Mat22 result)
{
/*
* out.ex.x = Vec2.dot(this.ex, B.ex); out.ex.y = Vec2.dot(this.ey, B.ex); out.ey.x =
* Vec2.dot(this.ex, B.ey); out.ey.y = Vec2.dot(this.ey, B.ey);
*/
float x1 = Ex.X * b.Ex.X + Ex.Y * b.Ex.Y;
float y1 = Ey.X * b.Ex.X + Ey.Y * b.Ex.Y;
float x2 = Ex.X * b.Ey.X + Ex.Y * b.Ey.Y;
float y2 = Ey.X * b.Ey.X + Ey.Y * b.Ey.Y;
result.Ex.X = x1;
result.Ey.X = x2;
result.Ex.Y = y1;
result.Ey.Y = y2;
}
public static Vec2 MulTrans(Mat22 r, Vec2 v)
{
return new Vec2((v.X * r.Ex.X + v.Y * r.Ex.Y), (v.X * r.Ey.X + v.Y * r.Ey.Y));
}
/// <summary>
/// Set as a copy of another matrix.
/// </summary>
/// <param name="m">Matrix to copy</param>
public Mat22 Set(Mat22 m)
{
Ex.X = m.Ex.X;
Ex.Y = m.Ex.Y;
Ey.X = m.Ey.X;
Ey.Y = m.Ey.Y;
return this;
}
/// <summary>
/// Return the matrix composed of the absolute values of all elements.
/// </summary>
/// <returns>Absolute value matrix</returns>
public static Mat22 Abs(Mat22 r)
{
return(r.Abs());
}