//#endif
//#ifdef Matrix3x3ClassName
/// <summary>
/// Conversion of quaternion to matrix.
/// </summary>
/// <returns>Immutable converted matrix.</returns>
public Matrix3x3d ToMatrix()
{
Vector3d im_2 = Vector3d.ComponentMultiply(Im, Im);
return(new Matrix3x3d(
1.0 - 2 * (im_2.Y + im_2.Z), 2 * (Im.X * Im.Y - Im.Z * Re), 2 * (Im.X * Im.Z + Im.Y * Re),
2 * (Im.X * Im.Y + Im.Z * Re), 1.0 - 2 * (im_2.X + im_2.Z), 2 * (Im.Y * Im.Z - Im.X * Re),
2 * (Im.X * Im.Z - Im.Y * Re), 2 * (Im.Y * Im.Z + Im.Y * Re), 1.0 - 2 * (im_2.X + im_2.Y)));
}
/// <summary>
/// Multiplies two objects. Scalar scalar, scalar vector, scalar matrix, vector vector (component),
/// vector matrix, matrix vector matrix matrix multiplications are supported.
/// </summary>
/// <param name="obj1">The first object.</param>
/// <param name="obj2">The second object.</param>
/// <returns>Result cast into object.</returns>
public static object Mul(object obj1, object obj2)
{
if (obj1.GetType() != obj2.GetType())
{
throw new ArgumentException("Object are not of the same type.");
}
if (obj1 is BigNum)
{
return((BigNum)obj1 * (BigNum)obj2);
}
// Float version:
if (obj1 is float)
{
return((float)obj1 * (float)obj2);
}
if (obj1 is Vector2f)
{
return(Vector2f.ComponentMultiply((Vector2f)obj1, (Vector2f)obj2));
}
if (obj1 is Vector3f)
{
return(Vector3f.ComponentMultiply((Vector3f)obj1, (Vector3f)obj2));
}
if (obj1 is Vector4f)
{
return(Vector4f.ComponentMultiply((Vector4f)obj1, (Vector4f)obj2));
}
if (obj1 is Matrix.Matrix2x2f)
{
return((Matrix.Matrix2x2f)obj1 * (Matrix.Matrix2x2f)obj2);
}
if (obj1 is Matrix.Matrix3x3f)
{
return((Matrix.Matrix3x3f)obj1 * (Matrix.Matrix3x3f)obj2);
}
if (obj1 is Matrix.Matrix4x4f)
{
return((Matrix.Matrix4x4f)obj1 * (Matrix.Matrix4x4f)obj2);
}
if (obj1 is Complexf)
{
return((Complexf)obj1 * (Complexf)obj2);
}
if (obj1 is Quaternionf)
{
return((Quaternionf)obj1 * (Quaternionf)obj2);
}
// Double version:
if (obj1 is double)
{
return((double)obj1 * (double)obj2);
}
if (obj1 is Vector2d)
{
return(Vector2d.ComponentMultiply((Vector2d)obj1, (Vector2d)obj2));
}
if (obj1 is Vector3d)
{
return(Vector3d.ComponentMultiply((Vector3d)obj1, (Vector3d)obj2));
}
if (obj1 is Vector4d)
{
return(Vector4d.ComponentMultiply((Vector4d)obj1, (Vector4d)obj2));
}
if (obj1 is Matrix.Matrix2x2d)
{
return((Matrix.Matrix2x2d)obj1 * (Matrix.Matrix2x2d)obj2);
}
if (obj1 is Matrix.Matrix3x3d)
{
return((Matrix.Matrix3x3d)obj1 * (Matrix.Matrix3x3d)obj2);
}
if (obj1 is Matrix.Matrix4x4d)
{
return((Matrix.Matrix4x4d)obj1 * (Matrix.Matrix4x4d)obj2);
}
if (obj1 is Complexd)
{
return((Complexd)obj1 * (Complexd)obj2);
}
if (obj1 is Quaterniond)
{
return((Quaterniond)obj1 * (Quaterniond)obj2);
}
// Integer version:
if (obj1 is int)
{
return((int)obj1 * (int)obj2);
}
if (obj1 is Vector2i)
{
return(Vector2i.ComponentMultiply((Vector2i)obj1, (Vector2i)obj2));
}
if (obj1 is Vector3i)
{
return(Vector3i.ComponentMultiply((Vector3i)obj1, (Vector3i)obj2));
}
if (obj1 is Vector4i)
{
return(Vector4i.ComponentMultiply((Vector4i)obj1, (Vector4i)obj2));
}
// Other types.
if (obj1 is uint)
{
return((uint)obj1 * (uint)obj2);
}
if (obj1 is short)
{
return((short)obj1 * (short)obj2);
}
if (obj1 is ushort)
{
return((ushort)obj1 * (ushort)obj2);
}
if (obj1 is byte)
{
return((byte)obj1 * (byte)obj2);
}
if (obj1 is ulong)
{
return((ulong)obj1 * (ulong)obj2);
}
if (obj1 is long)
{
return((long)obj1 * (long)obj2);
}
throw new NotSupportedException("Unsupported type " + obj1.GetType());
}