public void interpolateDirection(double slon, double slat, double elon, double elat, double t, ref double lon, ref double lat)
{
Vector3D s = new Vector3D((Math.Cos(slon) * Math.Cos(slat)), (Math.Sin(slon) * Math.Cos(slat)), Math.Sin(slat));
Vector3D e = new Vector3D((Math.Cos(elon) * Math.Cos(elat)), (Math.Sin(elon) * Math.Cos(elat)), Math.Sin(elat));
Vector3D v = Vector3D.Add(s * (1d - t), e * t);
v.Normalize();
lat = Math.Asin(v.Z);
lon = Math.Atan2(v.Y, v.X);
}
public static Vector3D fromLatLon(double lon, double lat)
{
Vector3D ret = new Vector3D();
var latRad = MathUtilD.DegreesToRadians(lat);
var lonRad = MathUtilD.DegreesToRadians(lon);
ret.X = 6359.99 * Math.Cos(latRad) * Math.Cos(lonRad);
ret.Y = 6359.99 * Math.Sin(latRad);
ret.Z = 6359.99 * Math.Cos(latRad) * Math.Sin(lonRad);
return ret;
}
public override void move(Vector3D oldP, Vector3D newP)
{
oldP.Normalize();
newP.Normalize();
double oldlat = Math.Asin(oldP.Y); // safe_asin(oldp.z);
double oldlon = Math.Atan2(oldP.Z, oldP.X); // atan2(oldp.y, oldp.x);
double lat = Math.Asin(newP.Y);
double lon = Math.Atan2(newP.Y, newP.X);
x0 -= lon - oldlon;
y0 -= lat - oldlat;
y0 = Math.Max(-Math.PI / 2.0, Math.Min(Math.PI / 2.0, y0));
}
public override void moveForward(double distance)
{
double co = Math.Cos(x0); // x0 = longitude
double so = Math.Sin(x0);
double ca = Math.Cos(y0); // y0 = latitude
double sa = Math.Sin(y0);
Vector3D po = new Vector3D(co * ca, so * ca, sa) * R;
Vector3D px = new Vector3D(-so, co, 0.0);
Vector3D py = new Vector3D(-co * sa, -so * sa, ca);
Vector3D pd = (po - px * Math.Sin(phi) * distance + py * Math.Cos(phi) * distance);
pd.Normalize();
x0 = Math.Atan2(pd.Z, pd.X);
y0 = Math.Asin(pd.Y);
}
public override double interpolate(double sx0, double sy0, double stheta, double sphi, double sd, double dx0, double dy0, double dtheta, double dphi, double dd, double t)
{
Vector3D s = new Vector3D(Math.Cos(sx0) * Math.Cos(sy0), Math.Sin(sx0) * Math.Cos(sy0), Math.Sin(sy0));
Vector3D e = new Vector3D(Math.Cos(dx0) * Math.Cos(dy0), Math.Sin(dx0) * Math.Cos(dy0), Math.Sin(dy0));
double dist = Math.Max(Math.Acos(Vector3D.Dot(s, e)) * R, 1e-3);
t = Math.Min(t + Math.Min(0.1, 5000.0 / dist), 1.0);
double T = 0.5 * Math.Atan(4.0 * (t - 0.5)) / Math.Atan(4.0 * 0.5) + 0.5;
interpolateDirection(sx0, sy0, dx0, dy0, T, ref x0, ref y0);
interpolateDirection(sphi, stheta, dphi, dtheta, T, ref phi, ref theta);
double W = 10.0;
d = sd * (1.0 - t) + dd * t + dist * (Math.Exp(-W * (t - 0.5) * (t - 0.5)) - Math.Exp(-W * 0.25));
return t;
}
/// <summary>
/// Creates a MatrixD that rotates around an arbitrary axis.
/// </summary>
/// <param name="axis">The axis around which to rotate. This parameter is assumed to be normalized.</param>
/// <param name="angle">Angle of rotation in radians. Angles are measured clockwise when looking along the rotation axis toward the origin.</param>
/// <returns>The created rotation MatrixD.</returns>
public static MatrixD RotationAxis(Vector3D axis, double angle)
{
MatrixD result;
RotationAxis(ref axis, angle, out result);
return result;
}
/// <summary>
/// Creates a MatrixD that rotates around an arbitrary axis.
/// </summary>
/// <param name="axis">The axis around which to rotate. This parameter is assumed to be normalized.</param>
/// <param name="angle">Angle of rotation in radians. Angles are measured clockwise when looking along the rotation axis toward the origin.</param>
/// <param name="result">When the method completes, contains the created rotation MatrixD.</param>
public static void RotationAxis(ref Vector3D axis, double angle, out MatrixD result)
{
double x = axis.X;
double y = axis.Y;
double z = axis.Z;
double cos = (double)System.Math.Cos(angle);
double sin = (double)System.Math.Sin(angle);
double xx = x * x;
double yy = y * y;
double zz = z * z;
double xy = x * y;
double xz = x * z;
double yz = y * z;
result = MatrixD.Identity;
result.M11 = xx + (cos * (1.0d - xx));
result.M12 = (xy - (cos * xy)) + (sin * z);
result.M13 = (xz - (cos * xz)) - (sin * y);
result.M21 = (xy - (cos * xy)) - (sin * z);
result.M22 = yy + (cos * (1.0d - yy));
result.M23 = (yz - (cos * yz)) + (sin * x);
result.M31 = (xz - (cos * xz)) + (sin * y);
result.M32 = (yz - (cos * yz)) - (sin * x);
result.M33 = zz + (cos * (1.0d - zz));
}
/// <summary>
/// Performs a coordinate transformation using the given <see cref="SharpDX.Matrix"/>.
/// </summary>
/// <param name="coordinate">The coordinate vector to transform.</param>
/// <param name="transform">The transformation <see cref="SharpDX.Matrix"/>.</param>
/// <param name="result">When the method completes, contains the transformed coordinates.</param>
/// <remarks>
/// A coordinate transform performs the transformation with the assumption that the w component
/// is one. The four dimensional vector obtained from the transformation operation has each
/// component in the vector divided by the w component. This forces the w component to be one and
/// therefore makes the vector homogeneous. The homogeneous vector is often preferred when working
/// with coordinates as the w component can safely be ignored.
/// </remarks>
public static void TransformCoordinate(ref Vector3D coordinate, ref MatrixD transform, out Vector3D result)
{
Vector4D vector = new Vector4D();
vector.X = (coordinate.X * transform.M11) + (coordinate.Y * transform.M21) + (coordinate.Z * transform.M31) + transform.M41;
vector.Y = (coordinate.X * transform.M12) + (coordinate.Y * transform.M22) + (coordinate.Z * transform.M32) + transform.M42;
vector.Z = (coordinate.X * transform.M13) + (coordinate.Y * transform.M23) + (coordinate.Z * transform.M33) + transform.M43;
vector.W = 1f / ((coordinate.X * transform.M14) + (coordinate.Y * transform.M24) + (coordinate.Z * transform.M34) + transform.M44);
result = new Vector3D(vector.X * vector.W, vector.Y * vector.W, vector.Z * vector.W);
}
/// <summary>
/// Creates a spherical billboard that rotates around a specified object position.
/// </summary>
/// <param name="objectPosition">The position of the object around which the billboard will rotate.</param>
/// <param name="cameraPosition">The position of the camera.</param>
/// <param name="cameraUpVector">The up vector of the camera.</param>
/// <param name="cameraForwardVector">The forward vector of the camera.</param>
/// <returns>The created billboard MatrixD.</returns>
public static MatrixD Billboard(Vector3D objectPosition, Vector3D cameraPosition, Vector3D cameraUpVector, Vector3D cameraForwardVector)
{
MatrixD result;
Billboard(ref objectPosition, ref cameraPosition, ref cameraUpVector, ref cameraForwardVector, out result);
return result;
}
/// <summary>
/// Performs a normal transformation using the given <see cref="SharpDX.Matrix"/>.
/// </summary>
/// <param name="normal">The normal vector to transform.</param>
/// <param name="transform">The transformation <see cref="SharpDX.Matrix"/>.</param>
/// <param name="result">When the method completes, contains the transformed normal.</param>
/// <remarks>
/// A normal transform performs the transformation with the assumption that the w component
/// is zero. This causes the fourth row and fourth column of the matrix to be unused. The
/// end result is a vector that is not translated, but all other transformation properties
/// apply. This is often preferred for normal vectors as normals purely represent direction
/// rather than location because normal vectors should not be translated.
/// </remarks>
public static void TransformNormal(ref Vector3D normal, ref MatrixD transform, out Vector3D result)
{
result = new Vector3D(
(normal.X * transform.M11) + (normal.Y * transform.M21) + (normal.Z * transform.M31),
(normal.X * transform.M12) + (normal.Y * transform.M22) + (normal.Z * transform.M32),
(normal.X * transform.M13) + (normal.Y * transform.M23) + (normal.Z * transform.M33));
}
/// <summary>
/// Creates a transformation MatrixD.
/// </summary>
/// <param name="scalingCenter">Center point of the scaling operation.</param>
/// <param name="scalingRotation">Scaling rotation amount.</param>
/// <param name="scaling">Scaling factor.</param>
/// <param name="rotationCenter">The center of the rotation.</param>
/// <param name="rotation">The rotation of the transformation.</param>
/// <param name="translation">The translation factor of the transformation.</param>
/// <returns>The created transformation MatrixD.</returns>
public static MatrixD Transformation(Vector3D scalingCenter, Quaternion scalingRotation, Vector3D scaling, Vector3D rotationCenter, Quaternion rotation, Vector3D translation)
{
MatrixD result;
Transformation(ref scalingCenter, ref scalingRotation, ref scaling, ref rotationCenter, ref rotation, ref translation, out result);
return result;
}
/// <summary>
/// Creates a skew/shear MatrixD by means of a translation vector, a rotation vector, and a rotation angle.
/// shearing is performed in the direction of translation vector, where translation vector and rotation vector define the shearing plane.
/// The effect is such that the skewed rotation vector has the specified angle with rotation itself.
/// </summary>
/// <param name="angle">The rotation angle.</param>
/// <param name="rotationVec">The rotation vector</param>
/// <param name="transVec">The translation vector</param>
/// <param name="MatrixD">Contains the created skew/shear MatrixD. </param>
public static void Skew(double angle, ref Vector3D rotationVec, ref Vector3D transVec, out MatrixD MatrixD)
{
//http://elckerlyc.ewi.utwente.nl/browser/Elckerlyc/Hmi/HmiMath/src/hmi/math/Mat3f.java
double MINIMAL_SKEW_ANGLE = 0.000001f;
Vector3D e0 = rotationVec;
Vector3D e1 = Vector3D.Normalize(transVec);
double rv1;
Vector3D.Dot(ref rotationVec, ref e1, out rv1);
e0 += rv1 * e1;
double rv0;
Vector3D.Dot(ref rotationVec, ref e0, out rv0);
double cosa = (double)System.Math.Cos(angle);
double sina = (double)System.Math.Sin(angle);
double rr0 = rv0 * cosa - rv1 * sina;
double rr1 = rv0 * sina + rv1 * cosa;
if (rr0 < MINIMAL_SKEW_ANGLE)
throw new ArgumentException("illegal skew angle");
double d = (rr1 / rr0) - (rv1 / rv0);
MatrixD = MatrixD.Identity;
MatrixD.M11 = d * e1[0] * e0[0] + 1.0f;
MatrixD.M12 = d * e1[0] * e0[1];
MatrixD.M13 = d * e1[0] * e0[2];
MatrixD.M21 = d * e1[1] * e0[0];
MatrixD.M22 = d * e1[1] * e0[1] + 1.0f;
MatrixD.M23 = d * e1[1] * e0[2];
MatrixD.M31 = d * e1[2] * e0[0];
MatrixD.M32 = d * e1[2] * e0[1];
MatrixD.M33 = d * e1[2] * e0[2] + 1.0f;
}
public override void turn(double angle)
{
double co = Math.Cos(x0); // x0 = longitude
double so = Math.Sin(x0);
double ca = Math.Cos(y0); // y0 = latitude
double sa = Math.Sin(y0);
double l = d * Math.Sin(theta);
Vector3D po = new Vector3D(co * ca, so * ca, sa) * R;
Vector3D px = new Vector3D(-so, co, 0.0);
Vector3D py = new Vector3D(-co * sa, -so * sa, ca);
Vector3D f = -px * Math.Sin(phi) + py * Math.Cos(phi);
Vector3D r = px * Math.Cos(phi) + py * Math.Sin(phi);
Vector3D pd = (po + f * (Math.Cos(angle) - 1.0) * l - r * Math.Sin(angle) * l);
pd.Normalize();
x0 = Math.Atan2(pd.Z, pd.X);
y0 = Math.Asin(pd.Y);
phi += angle;
}
public override void update()
{
double co = Math.Cos(x0); // x0 = longitude
double so = Math.Sin(x0);
double ca = Math.Cos(y0); // y0 = latitude
double sa = Math.Sin(y0);
Vector3D po = new Vector3D(co*ca, so*ca, sa) * (R + groundHeight);
Vector3D px = new Vector3D(-so, co, 0.0);
Vector3D py = new Vector3D(-co*sa, -so*sa, ca);
Vector3D pz = new Vector3D(co*ca, so*ca, sa);
double ct = Math.Cos(theta);
double st = Math.Sin(theta);
double cp = Math.Cos(phi);
double sp = Math.Sin(phi);
Vector3D cx = px * cp + py * sp;
Vector3D cy = -px * sp*ct + py * cp*ct + pz * st;
Vector3D cz = px * sp*st - py * cp*st + pz * ct;
position = po + cz * d * zoom;
if (position.Length() < R + 0.5 + groundHeight)
{
position.Normalize();
position *= R + 0.5 + groundHeight;
//position = position.normalize(R + 0.5 + groundHeight);
}
MatrixD view = new MatrixD(cx.X, cx.Y, cx.Z, 0.0,
cy.X, cy.Y, cy.Z, 0.0,
cz.X, cz.Y, cz.Z, 0.0,
0.0, 0.0, 0.0, 1.0);
view = view * MatrixD.Translation(-position);
node.Local = view;
}
/// <summary>
/// Performs a normal transformation on an array of vectors using the given <see cref="SharpDX.Matrix"/>.
/// </summary>
/// <param name="source">The array of normal vectors to transform.</param>
/// <param name="transform">The transformation <see cref="SharpDX.Matrix"/>.</param>
/// <param name="destination">The array for which the transformed vectors are stored.
/// This array may be the same array as <paramref name="source"/>.</param>
/// <exception cref="ArgumentNullException">Thrown when <paramref name="source"/> or <paramref name="destination"/> is <c>null</c>.</exception>
/// <exception cref="ArgumentOutOfRangeException">Thrown when <paramref name="destination"/> is shorter in length than <paramref name="source"/>.</exception>
/// <remarks>
/// A normal transform performs the transformation with the assumption that the w component
/// is zero. This causes the fourth row and fourth column of the matrix to be unused. The
/// end result is a vector that is not translated, but all other transformation properties
/// apply. This is often preferred for normal vectors as normals purely represent direction
/// rather than location because normal vectors should not be translated.
/// </remarks>
public static void TransformNormal(Vector3D[] source, ref MatrixD transform, Vector3D[] destination)
{
if (source == null)
throw new ArgumentNullException("source");
if (destination == null)
throw new ArgumentNullException("destination");
if (destination.Length < source.Length)
throw new ArgumentOutOfRangeException("destination", "The destination array must be of same length or larger length than the source array.");
for (int i = 0; i < source.Length; ++i)
{
TransformNormal(ref source[i], ref transform, out destination[i]);
}
}
/// <summary>
/// Performs a normal transformation using the given <see cref="SharpDX.Matrix"/>.
/// </summary>
/// <param name="normal">The normal vector to transform.</param>
/// <param name="transform">The transformation <see cref="SharpDX.Matrix"/>.</param>
/// <returns>The transformed normal.</returns>
/// <remarks>
/// A normal transform performs the transformation with the assumption that the w component
/// is zero. This causes the fourth row and fourth column of the matrix to be unused. The
/// end result is a vector that is not translated, but all other transformation properties
/// apply. This is often preferred for normal vectors as normals purely represent direction
/// rather than location because normal vectors should not be translated.
/// </remarks>
public static Vector3D TransformNormal(Vector3D normal, MatrixD transform)
{
Vector3D result;
TransformNormal(ref normal, ref transform, out result);
return result;
}
/// <summary>
/// Creates a MatrixD that scales along the x-axis, y-axis, and y-axis.
/// </summary>
/// <param name="scale">Scaling factor for all three axes.</param>
/// <param name="result">When the method completes, contains the created scaling MatrixD.</param>
public static void Scaling(ref Vector3D scale, out MatrixD result)
{
Scaling(scale.X, scale.Y, scale.Z, out result);
}
public virtual void update()
{
Vector3D po = new Vector3D(x0, y0, groundHeight);
Vector3D px = new Vector3D(1.0, 0.0, 0.0);
Vector3D py = new Vector3D(0.0, 1.0, 0.0);
Vector3D pz = new Vector3D(0.0, 0.0, 1.0);
double ct = Math.Cos(theta);
double st = Math.Sin(theta);
double cp = Math.Cos(phi);
double sp = Math.Sin(phi);
Vector3D cx = px * cp + py * sp;
Vector3D cy = -px * sp * ct + py * cp * ct + pz * st;
Vector3D cz = px * sp * st - py * cp * st + pz * ct;
position = po + cz * d * zoom;
if (position.Z < groundHeight + 1.0)
{
position.Z = groundHeight + 1.0;
}
MatrixD view = new MatrixD(cx.X, cx.Y, cx.Z, 0.0,
cy.X, cy.Y, cy.Z, 0.0,
cz.X, cz.Y, cz.Z, 0.0,
0.0, 0.0, 0.0, 1.0);
view = view * MatrixD.Translation(-position);
node.Local = view;
}
/// <summary>
/// Creates a MatrixD that scales along the x-axis, y-axis, and y-axis.
/// </summary>
/// <param name="scale">Scaling factor for all three axes.</param>
/// <returns>The created scaling MatrixD.</returns>
public static MatrixD Scaling(Vector3D scale)
{
MatrixD result;
Scaling(ref scale, out result);
return result;
}
/// <summary>
/// Creates a translation MatrixD using the specified offsets.
/// </summary>
/// <param name="value">The offset for all three coordinate planes.</param>
/// <returns>The created translation MatrixD.</returns>
public static MatrixD Translation(Vector3D value)
{
MatrixD result;
Translation(ref value, out result);
return result;
}
/// <summary>
/// Creates a transformation MatrixD.
/// </summary>
/// <param name="scalingCenter">Center point of the scaling operation.</param>
/// <param name="scalingRotation">Scaling rotation amount.</param>
/// <param name="scaling">Scaling factor.</param>
/// <param name="rotationCenter">The center of the rotation.</param>
/// <param name="rotation">The rotation of the transformation.</param>
/// <param name="translation">The translation factor of the transformation.</param>
/// <param name="result">When the method completes, contains the created transformation MatrixD.</param>
public static void Transformation(ref Vector3D scalingCenter, ref Quaternion scalingRotation, ref Vector3D scaling, ref Vector3D rotationCenter, ref Quaternion rotation, ref Vector3D translation, out MatrixD result)
{
MatrixD sr = RotationQuaternion(scalingRotation);
result = Translation(-scalingCenter) * Transpose(sr) * Scaling(scaling) * sr * Translation(scalingCenter) * Translation(-rotationCenter) *
RotationQuaternion(rotation) * Translation(rotationCenter) * Translation(translation);
}
/// <summary>
/// Creates a 3D affine transformation MatrixD.
/// </summary>
/// <param name="scaling">Scaling factor.</param>
/// <param name="rotationCenter">The center of the rotation.</param>
/// <param name="rotation">The rotation of the transformation.</param>
/// <param name="translation">The translation factor of the transformation.</param>
/// <returns>The created affine transformation MatrixD.</returns>
public static MatrixD AffineTransformation(double scaling, Vector3D rotationCenter, Quaternion rotation, Vector3D translation)
{
MatrixD result;
AffineTransformation(scaling, ref rotationCenter, ref rotation, ref translation, out result);
return result;
}
/// <summary>
/// Creates a translation MatrixD using the specified offsets.
/// </summary>
/// <param name="value">The offset for all three coordinate planes.</param>
/// <param name="result">When the method completes, contains the created translation MatrixD.</param>
public static void Translation(ref Vector3D value, out MatrixD result)
{
Translation(value.X, value.Y, value.Z, out result);
}
/// <summary>
/// Performs a coordinate transformation using the given <see cref="SharpDX.Matrix"/>.
/// </summary>
/// <param name="coordinate">The coordinate vector to transform.</param>
/// <param name="transform">The transformation <see cref="SharpDX.Matrix"/>.</param>
/// <returns>The transformed coordinates.</returns>
/// <remarks>
/// A coordinate transform performs the transformation with the assumption that the w component
/// is one. The four dimensional vector obtained from the transformation operation has each
/// component in the vector divided by the w component. This forces the w component to be one and
/// therefore makes the vector homogeneous. The homogeneous vector is often preferred when working
/// with coordinates as the w component can safely be ignored.
/// </remarks>
public static Vector3D TransformCoordinate(Vector3D coordinate, MatrixD transform)
{
Vector3D result;
TransformCoordinate(ref coordinate, ref transform, out result);
return result;
}
/// <summary>
/// Creates a 3D affine transformation MatrixD.
/// </summary>
/// <param name="scaling">Scaling factor.</param>
/// <param name="rotationCenter">The center of the rotation.</param>
/// <param name="rotation">The rotation of the transformation.</param>
/// <param name="translation">The translation factor of the transformation.</param>
/// <param name="result">When the method completes, contains the created affine transformation MatrixD.</param>
public static void AffineTransformation(double scaling, ref Vector3D rotationCenter, ref Quaternion rotation, ref Vector3D translation, out MatrixD result)
{
result = Scaling(scaling) * Translation(-rotationCenter) * RotationQuaternion(rotation) *
Translation(rotationCenter) * Translation(translation);
}
public virtual void move(Vector3D oldP, Vector3D newP)
{
x0 -= newP.X - oldP.X;
y0 -= newP.Y - oldP.Y;
}
/// <summary>
/// Creates a spherical billboard that rotates around a specified object position.
/// </summary>
/// <param name="objectPosition">The position of the object around which the billboard will rotate.</param>
/// <param name="cameraPosition">The position of the camera.</param>
/// <param name="cameraUpVector">The up vector of the camera.</param>
/// <param name="cameraForwardVector">The forward vector of the camera.</param>
/// <param name="result">When the method completes, contains the created billboard MatrixD.</param>
public static void Billboard(ref Vector3D objectPosition, ref Vector3D cameraPosition, ref Vector3D cameraUpVector, ref Vector3D cameraForwardVector, out MatrixD result)
{
Vector3D crossed;
Vector3D final;
Vector3D difference = objectPosition - cameraPosition;
double lengthSq = difference.LengthSquared();
if (MathUtilD.IsZero(lengthSq))
difference = -cameraForwardVector;
else
difference *= (double)(1.0 / System.Math.Sqrt(lengthSq));
Vector3D.Cross(ref cameraUpVector, ref difference, out crossed);
crossed.Normalize();
Vector3D.Cross(ref difference, ref crossed, out final);
result.M11 = crossed.X;
result.M12 = crossed.Y;
result.M13 = crossed.Z;
result.M14 = 0.0d;
result.M21 = final.X;
result.M22 = final.Y;
result.M23 = final.Z;
result.M24 = 0.0d;
result.M31 = difference.X;
result.M32 = difference.Y;
result.M33 = difference.Z;
result.M34 = 0.0d;
result.M41 = objectPosition.X;
result.M42 = objectPosition.Y;
result.M43 = objectPosition.Z;
result.M44 = 1.0d;
}
/// <summary>
/// Creates a right-handed, look-at MatrixD.
/// </summary>
/// <param name="eye">The position of the viewer's eye.</param>
/// <param name="target">The camera look-at target.</param>
/// <param name="up">The camera's up vector.</param>
/// <param name="result">When the method completes, contains the created look-at MatrixD.</param>
public static void LookAtRH(ref Vector3D eye, ref Vector3D target, ref Vector3D up, out MatrixD result)
{
Vector3D xaxis, yaxis, zaxis;
Vector3D.Subtract(ref eye, ref target, out zaxis); zaxis.Normalize();
Vector3D.Cross(ref up, ref zaxis, out xaxis); xaxis.Normalize();
Vector3D.Cross(ref zaxis, ref xaxis, out yaxis);
result = MatrixD.Identity;
result.M11 = xaxis.X; result.M21 = xaxis.Y; result.M31 = xaxis.Z;
result.M12 = yaxis.X; result.M22 = yaxis.Y; result.M32 = yaxis.Z;
result.M13 = zaxis.X; result.M23 = zaxis.Y; result.M33 = zaxis.Z;
Vector3D.Dot(ref xaxis, ref eye, out result.M41);
Vector3D.Dot(ref yaxis, ref eye, out result.M42);
Vector3D.Dot(ref zaxis, ref eye, out result.M43);
result.M41 = -result.M41;
result.M42 = -result.M42;
result.M43 = -result.M43;
}
/// <summary>
/// Creates a right-handed, look-at MatrixD.
/// </summary>
/// <param name="eye">The position of the viewer's eye.</param>
/// <param name="target">The camera look-at target.</param>
/// <param name="up">The camera's up vector.</param>
/// <returns>The created look-at MatrixD.</returns>
public static MatrixD LookAtRH(Vector3D eye, Vector3D target, Vector3D up)
{
MatrixD result;
LookAtRH(ref eye, ref target, ref up, out result);
return result;
}
public static Vector3D Transform3x3(Vector3D vector, MatrixD transform)
{
Vector3D result;
Transform3x3(ref vector, ref transform, out result);
return result;
}