public static matrix4 operator *(matrix4 first, matrix4 other)
{
matrix4 mat = new matrix4(true);
mat.setByProduct(ref first, ref other);
return(mat);
}
void setByProduct(ref matrix4 other_a, ref matrix4 other_b)
{
float[] m1 = other_a.M;
float[] m2 = other_b.M;
float[] tmp = new float[16];
tmp[0] = m1[0] * m2[0] + m1[1] * m2[4] + m1[2] * m2[8] + m1[3] * m2[12];
tmp[1] = m1[0] * m2[1] + m1[1] * m2[5] + m1[2] * m2[9] + m1[3] * m2[13];
tmp[2] = m1[0] * m2[2] + m1[1] * m2[6] + m1[2] * m2[10] + m1[3] * m2[14];
tmp[3] = m1[0] * m2[3] + m1[1] * m2[7] + m1[2] * m2[11] + m1[3] * m2[15];
tmp[4] = m1[4] * m2[0] + m1[5] * m2[4] + m1[6] * m2[8] + m1[7] * m2[12];
tmp[5] = m1[4] * m2[1] + m1[5] * m2[5] + m1[6] * m2[9] + m1[7] * m2[13];
tmp[6] = m1[4] * m2[2] + m1[5] * m2[6] + m1[6] * m2[10] + m1[7] * m2[14];
tmp[7] = m1[4] * m2[3] + m1[5] * m2[7] + m1[6] * m2[11] + m1[7] * m2[15];
tmp[8] = m1[8] * m2[0] + m1[9] * m2[4] + m1[10] * m2[8] + m1[11] * m2[12];
tmp[9] = m1[8] * m2[1] + m1[9] * m2[5] + m1[10] * m2[9] + m1[11] * m2[13];
tmp[10] = m1[8] * m2[2] + m1[9] * m2[6] + m1[10] * m2[10] + m1[11] * m2[14];
tmp[11] = m1[8] * m2[3] + m1[9] * m2[7] + m1[10] * m2[11] + m1[11] * m2[15];
tmp[12] = m1[12] * m2[0] + m1[13] * m2[4] + m1[14] * m2[8] + m1[15] * m2[12];
tmp[13] = m1[12] * m2[1] + m1[13] * m2[5] + m1[14] * m2[9] + m1[15] * m2[13];
tmp[14] = m1[12] * m2[2] + m1[13] * m2[6] + m1[14] * m2[10] + m1[15] * m2[14];
tmp[15] = m1[12] * m2[3] + m1[13] * m2[7] + m1[14] * m2[11] + m1[15] * m2[15];
for (int i = 0; i < 16; ++i)
{
M[i] = tmp[i];
}
}
vector3df getRotationRadians()
{
matrix4 mat = this;
vector3df scale = getScale();
vector3df invScale = new vector3df(1.0f / scale.X, 1.0f / scale.Y, 1.0f / scale.Z);
float Y = -NewMath.FASin(mat[2] * invScale.X);
float C = NewMath.FCos(Y);
float rotx, roty, X, Z;
if (Math.Abs(C) > 0.0005f)
{
float invC = 1.0f / C;
rotx = mat[10] * invC * invScale.Z;
roty = mat[6] * invC * invScale.Y;
X = NewMath.FATan2(roty, rotx);
rotx = mat[0] * invC * invScale.X;
roty = mat[1] * invC * invScale.X;
Z = NewMath.FATan2(roty, rotx);
}
else
{
X = 0;
rotx = mat[5] * invScale.Y;
roty = -mat[4] * invScale.Y;
Z = NewMath.FATan2(roty, rotx);
}
// fix values that get below zero
// before it would set (!) values to 360
// that were above 360:
if (X < 0.0)
{
X += 2 * NewMath.PI;
}
if (Y < 0.0)
{
Y += 2 * NewMath.PI;
}
if (Z < 0.0)
{
Z += 2 * NewMath.PI;
}
return(new vector3df(X, Y, Z));
}
void setScale(vector3df scale)
{
if (isIdentity())
{
M[0] = scale.X;
M[5] = scale.Y;
M[10] = scale.Z;
}
matrix4 mat = new matrix4(true);
mat[0] = scale.X;
mat[5] = scale.Y;
mat[10] = scale.Z;
matrix4 self = this;
setByProduct(ref self, ref mat);
}
public void GetRelativeTransformation(out matrix4 mat)
{
SceneNode_getRelativeTransformation(pointer, out mat);
}
public void SetRelativeTransformation(ref matrix4 mat)
{
SceneNode_setRelativeTransformation(pointer, ref mat);
}
public static extern void SceneNode_getRelativeTransformation(
IntPtr node,
out matrix4 mat);
