//void MatrixMultiply(Matrix mIn)
//{
// Matrix mat_temp = new Matrix();
// //first row
// mat_temp._11 = (m_Matrix._11 * mIn._11) + (m_Matrix._12 * mIn._21) + (m_Matrix._13 * mIn._31);
// mat_temp._12 = (m_Matrix._11 * mIn._12) + (m_Matrix._12 * mIn._22) + (m_Matrix._13 * mIn._32);
// mat_temp._13 = (m_Matrix._11 * mIn._13) + (m_Matrix._12 * mIn._23) + (m_Matrix._13 * mIn._33);
// //second
// mat_temp._21 = (m_Matrix._21 * mIn._11) + (m_Matrix._22 * mIn._21) + (m_Matrix._23 * mIn._31);
// mat_temp._22 = (m_Matrix._21 * mIn._12) + (m_Matrix._22 * mIn._22) + (m_Matrix._23 * mIn._32);
// mat_temp._23 = (m_Matrix._21 * mIn._13) + (m_Matrix._22 * mIn._23) + (m_Matrix._23 * mIn._33);
// //third
// mat_temp._31 = (m_Matrix._31 * mIn._11) + (m_Matrix._32 * mIn._21) + (m_Matrix._33 * mIn._31);
// mat_temp._32 = (m_Matrix._31 * mIn._12) + (m_Matrix._32 * mIn._22) + (m_Matrix._33 * mIn._32);
// mat_temp._33 = (m_Matrix._31 * mIn._13) + (m_Matrix._32 * mIn._23) + (m_Matrix._33 * mIn._33);
// m_Matrix = mat_temp;
//}
public F64Vec2 VectorToWorldSpace(F64Vec2 vec,
F64Vec2 AgentHeading,
F64Vec2 AgentSide)
{
//make a copy of the point
F64Vec2 TransVec = vec;
//F64Vec2 TransVec = new F64Vec2(vec.X, vec.Y);
//create a transformation matrix
F64Matrix3x3 matTransform = new F64Matrix3x3();
//rotate
matTransform.Rotate(AgentHeading, AgentSide);
//now transform the vertices
matTransform.TransformVector2Ds(ref TransVec);
return(TransVec);
}
//--------------------- PointToWorldSpace --------------------------------
//
// Transforms a point from the agent's local space into world space
//------------------------------------------------------------------------
public F64Vec2 PointToWorldSpace(F64Vec2 point,
F64Vec2 AgentHeading,
F64Vec2 AgentSide,
F64Vec2 AgentPosition)
{
//make a copy of the point
F64Vec2 TransPoint = point;
//create a transformation matrix
F64Matrix3x3 matTransform = new F64Matrix3x3();
//rotate
matTransform.Rotate(AgentHeading, AgentSide);
//and translate
matTransform.Translate(AgentPosition.X, AgentPosition.Y);
//now transform the vertices
matTransform.TransformVector2Ds(ref TransPoint);
return(TransPoint);
}
//--------------------- PointToLocalSpace --------------------------------
//
//------------------------------------------------------------------------
public F64Vec2 PointToLocalSpace(F64Vec2 point,
F64Vec2 AgentHeading,
F64Vec2 AgentSide,
F64Vec2 AgentPosition)
{
//make a copy of the point
F64Vec2 TransPoint = point;
//create a transformation matrix
F64Matrix3x3 matTransform = new F64Matrix3x3();
F64 Tx = F64Vec2.Dot(-AgentPosition, AgentHeading);
F64 Ty = F64Vec2.Dot(-AgentPosition, AgentSide);
//create the transformation matrix
matTransform._11(AgentHeading.X); matTransform._12(AgentSide.X);
matTransform._21(AgentHeading.Y); matTransform._22(AgentSide.Y);
matTransform._31(Tx); matTransform._32(Ty);
//now transform the vertices
matTransform.TransformVector2Ds(ref TransPoint);
return(TransPoint);
}