/// <summary>
/// Matrix vector multiplication
/// </summary>
/// <returns></returns>
public static Vec4d operator *(Matrix4d matrix, Vec4d vector)
{
return new Vec4d(
Vec4d.Dot(vector, matrix.Row0),
Vec4d.Dot(vector, matrix.Row1),
Vec4d.Dot(vector, matrix.Row2),
Vec4d.Dot(vector, matrix.Row3)
);
}
/// <summary>
/// Matrix vector multiplication
/// </summary>
/// <returns></returns>
public static Vec4d Multiply(ref Matrix4d matrix, Vec4d vector)
{
return(new Vec4d(
Vec4d.Dot(vector, matrix.Row0),
Vec4d.Dot(vector, matrix.Row1),
Vec4d.Dot(vector, matrix.Row2),
Vec4d.Dot(vector, matrix.Row3)
));
}
/// <summary>
/// Applies this transformation to the given vector.
/// </summary>
/// <param name="vector"></param>
/// <returns></returns>
public Vec4d Apply(Vec4d vector)
{
return(new Vec4d(
Vec4d.Dot(Row0, vector),
Vec4d.Dot(Row1, vector),
Vec4d.Dot(Row2, vector),
Vec4d.Dot(Row3, vector)
));
}
/// <summary>
/// Linear interpolation between this quaternion and another.
/// </summary>
/// <param name="other"></param>
/// <param name="factor"></param>
/// <returns></returns>
public Quaterniond LerpTo(Quaterniond other, double factor)
{
var ca = Vec4d.Dot(this, other);
if (ca < 0.0)
{
return(new Quaterniond(
X + (-other.X - X) * factor,
Y + (-other.Y - Y) * factor,
Z + (-other.Z - Z) * factor,
W + (-other.W - W) * factor
));
}
else
{
return(new Quaterniond(
X + (other.X - X) * factor,
Y + (other.Y - Y) * factor,
Z + (other.Z - Z) * factor,
W + (other.W - W) * factor
));
}
}
