public static FMat3 Invert(FMat3 m)
{
Fix64 determinant = Fix64.One / m.Determinant();
return(new FMat3
(
new FVec3
(
(m.y.y * m.z.z - m.y.z * m.z.y) * determinant,
(m.x.z * m.z.y - m.z.z * m.x.y) * determinant,
(m.x.y * m.y.z - m.y.y * m.x.z) * determinant
),
new FVec3
(
(m.y.z * m.z.x - m.y.x * m.z.z) * determinant,
(m.x.x * m.z.z - m.x.z * m.z.x) * determinant,
(m.x.z * m.y.x - m.x.x * m.y.z) * determinant
),
new FVec3
(
(m.y.x * m.z.y - m.y.y * m.z.x) * determinant,
(m.x.y * m.z.x - m.x.x * m.z.y) * determinant,
(m.x.x * m.y.y - m.x.y * m.y.x) * determinant
)
));
}
public static FMat3 Transpose(FMat3 m)
{
return(new FMat3
(
new FVec3(m.x.x, m.y.x, m.z.x),
new FVec3(m.x.y, m.y.y, m.z.y),
new FVec3(m.x.z, m.y.z, m.z.z)
));
}
public static FMat3 NonhomogeneousInverse(FMat3 m)
{
FMat2 m2 = m;
m2.Invert();
FMat3 o = m2;
FVec3 v = m2 * m.z;
o.z.x = -v.x;
o.z.y = -v.y;
return(o);
}
public void Matrix3()
{
FMat3 fm = FMat3.FromQuaternion(FQuat.Euler(( Fix64 )30, ( Fix64 )(-20), ( Fix64 )49.342f));
Mat3 m = Mat3.FromQuaternion(Quat.Euler(30, -20, 49.342f));
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(4, 6, 9);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(4, 6, 9);
fv = fm.TransformPoint(fv);
fv2 = fm.TransformVector(fv2);
v = m.TransformPoint(v);
v2 = m.TransformVector(v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(fv2.ToString());
this._output.WriteLine(v.ToString());
this._output.WriteLine(v2.ToString());
fm = FMat3.LookAt(fv, fv2);
m = Mat3.LookAt(v, v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fv = fm.Euler();
v = m.Euler();
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fm = FMat3.FromEuler(fv);
m = Mat3.FromEuler(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromScale(fv);
m = Mat3.FromScale(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromCross(fv);
m = Mat3.FromCross(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromOuterProduct(fv, fv2);
m = Mat3.FromOuterProduct(v, v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromRotationAxis(( Fix64 )35, fv);
m = Mat3.FromRotationAxis(35, v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.NonhomogeneousInverse(fm);
m = Mat3.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
}
public static FMat4 NonhomogeneousInverse(FMat4 m)
{
FMat3 m3 = m;
m3.Invert();
FMat4 o = m3;
FVec4 v = m3 * m.w;
o.w.x = -v.x;
o.w.y = -v.y;
o.w.z = -v.z;
return(o);
}
public FMat3 RotateAround(Fix64 angle, FVec3 axis)
{
// rotate into world space
FQuat quaternion = FQuat.AngleAxis(Fix64.Zero, axis).Conjugate();
FMat3 worldSpaceMatrix = FromQuaternion(quaternion) * this;
// rotate back to matrix space
quaternion = FQuat.AngleAxis(angle, axis);
FMat3 qMat = FromQuaternion(quaternion);
worldSpaceMatrix = qMat * worldSpaceMatrix;
return(worldSpaceMatrix);
}
public void NonhomogeneousInverse()
{
FMat3 m3 = this;
m3.Invert();
this.x = m3.x;
this.y = m3.y;
this.z = m3.z;
FVec4 v = m3 * this.w;
this.w.x = -v.x;
this.w.y = -v.y;
this.w.z = -v.z;
}
public FMat3 MultiplyTransposed(FMat3 matrix)
{
return(new FMat3
(
new FVec3
(
this.x.x * matrix.x.x + this.y.x * matrix.y.x + this.z.x * matrix.z.x,
this.x.x * matrix.x.y + this.y.x * matrix.y.y + this.z.x * matrix.z.y,
this.x.x * matrix.x.z + this.y.x * matrix.y.z + this.z.x * matrix.z.z
),
new FVec3
(
this.x.y * matrix.x.x + this.y.y * matrix.y.x + this.z.y * matrix.z.x,
this.x.y * matrix.x.y + this.y.y * matrix.y.y + this.z.y * matrix.z.y,
this.x.y * matrix.x.z + this.y.y * matrix.y.z + this.z.y * matrix.z.z
),
new FVec3
(
this.x.z * matrix.x.x + this.y.z * matrix.y.x + this.z.z * matrix.z.x,
this.x.z * matrix.x.y + this.y.z * matrix.y.y + this.z.z * matrix.z.y,
this.x.z * matrix.x.z + this.y.z * matrix.y.z + this.z.z * matrix.z.z
)
));
}
public FLine3 Transform(FMat3 matrix)
{
return(new FLine3(this.point1.Transform(matrix), this.point2.Transform(matrix)));
}
