/// <summary>
/// Requires Col(3)==UnitW
/// </summary>
public Matrix4f AppendTranslation(Vector3f v)
{
Matrix4f result = this;
result.row3 += new Vector4f(v, 0);
return(result);
}
public static Matrix4f CreatePerspective2(float fx, float fy, float near, float far)
{
Matrix4f result = Matrix4f.Zero;
result[0, 0] = fx;
result[1, 1] = fy;
result[2, 2] = (far + near) / (far - near);
result[2, 3] = 2 * far * near / (near - far);
result[3, 2] = -1;
return(result);
}
public static Matrix4f operator *(Matrix4f mL, Matrix4f mR)
{
Matrix4f result = Matrix4f.Zero;
for (int row = 0; row < 4; row++)
{
for (int col = 0; col < 4; col++)
{
result[row, col] = mL.Row(row) * mL.Col(col);
}
}
return(result);
}
public static Matrix4f CreateRotation(float angle, Vector3f axis)
{
Vector3f u = axis.Normalized;
float c = (float)Math.Cos(angle);
float s = (float)Math.Sin(angle);
Matrix4f result = Matrix4f.Identity;
result[0, 0] = u.X * u.X + (1 - u.X * u.X) * c;
result[0, 1] = u.X * u.Y * (1 - c) - u.Z * s;
result[0, 2] = u.X * u.Z * (1 - c) + u.Y * s;
result[1, 0] = u.X * u.Y * (1 - c) + u.Z * s;
result[1, 1] = u.Y * u.Y + (1 - u.Y * u.Y) * c;
result[1, 2] = u.Y * u.Z * (1 - c) - u.X * s;
result[2, 0] = u.X * u.Z * (1 - c) - u.Y * s;
result[2, 1] = u.Y * u.Z * (1 - c) + u.X * s;
result[2, 2] = u.Z * u.Z + (1 - u.Z * u.Z) * c;
return(result);
}