//
// Summary:
// Creates a translation, rotation and scaling matrix.
//
// Parameters:
// pos:
//
// q:
//
// s:
public static M4x4 TRS(Vector3 pos, QuaternionCustom q, Vector3 s)
{
M4x4 trs = M4x4.zero;
trs = M4x4.Translate(pos) * M4x4.Rotate(q) * M4x4.Scale(s);
return(trs);
}
public static M4x4 operator *(M4x4 lhs, M4x4 rhs)
{
M4x4 mat = new M4x4(Vector4.zero, Vector4.zero, Vector4.zero, Vector4.zero);
mat.m00 = (lhs.m00 * rhs.m00) + (lhs.m01 * rhs.m10) + (lhs.m02 * rhs.m20) + (lhs.m03 * rhs.m30);
mat.m01 = (lhs.m00 * rhs.m01) + (lhs.m01 * rhs.m11) + (lhs.m02 * rhs.m21) + (lhs.m03 * rhs.m31);
mat.m02 = (lhs.m00 * rhs.m02) + (lhs.m01 * rhs.m12) + (lhs.m02 * rhs.m22) + (lhs.m03 * rhs.m32);
mat.m03 = (lhs.m00 * rhs.m03) + (lhs.m01 * rhs.m13) + (lhs.m02 * rhs.m23) + (lhs.m03 * rhs.m33);
mat.m10 = (lhs.m10 * rhs.m00) + (lhs.m11 * rhs.m10) + (lhs.m12 * rhs.m20) + (lhs.m13 * rhs.m30);
mat.m11 = (lhs.m10 * rhs.m01) + (lhs.m11 * rhs.m11) + (lhs.m12 * rhs.m21) + (lhs.m13 * rhs.m31);
mat.m12 = (lhs.m10 * rhs.m02) + (lhs.m11 * rhs.m12) + (lhs.m12 * rhs.m22) + (lhs.m13 * rhs.m32);
mat.m13 = (lhs.m10 * rhs.m03) + (lhs.m11 * rhs.m13) + (lhs.m12 * rhs.m23) + (lhs.m13 * rhs.m33);
mat.m20 = (lhs.m20 * rhs.m00) + (lhs.m21 * rhs.m10) + (lhs.m22 * rhs.m20) + (lhs.m23 * rhs.m30);
mat.m21 = (lhs.m20 * rhs.m01) + (lhs.m21 * rhs.m11) + (lhs.m22 * rhs.m21) + (lhs.m23 * rhs.m31);
mat.m22 = (lhs.m20 * rhs.m02) + (lhs.m21 * rhs.m12) + (lhs.m22 * rhs.m22) + (lhs.m23 * rhs.m32);
mat.m23 = (lhs.m20 * rhs.m03) + (lhs.m21 * rhs.m13) + (lhs.m22 * rhs.m23) + (lhs.m23 * rhs.m33);
mat.m30 = (lhs.m30 * rhs.m00) + (lhs.m31 * rhs.m10) + (lhs.m32 * rhs.m20) + (lhs.m33 * rhs.m30);
mat.m31 = (lhs.m30 * rhs.m01) + (lhs.m31 * rhs.m11) + (lhs.m32 * rhs.m21) + (lhs.m33 * rhs.m31);
mat.m32 = (lhs.m30 * rhs.m02) + (lhs.m31 * rhs.m12) + (lhs.m32 * rhs.m22) + (lhs.m33 * rhs.m32);
mat.m33 = (lhs.m30 * rhs.m03) + (lhs.m31 * rhs.m13) + (lhs.m32 * rhs.m23) + (lhs.m33 * rhs.m33);
return(mat);
}
//
// Summary:
// Creates a scaling matrix.
//
// Parameters:
// vector:
public static M4x4 Scale(Vector3 vector)
{
M4x4 mat = M4x4.identity;
mat.m00 = vector.x;
mat.m11 = vector.y;
mat.m22 = vector.z;
mat.m33 = 1;
return(mat);
}
//
// Summary:
// Creates a translation matrix.
//
// Parameters:
// vector:
public static M4x4 Translate(Vector3 vector)
{
M4x4 mat = M4x4.identity;
mat.m03 = vector.x;
mat.m13 = vector.y;
mat.m23 = vector.z;
mat.m33 = 1;
return(mat);
}
//
// Summary:
// Creates a rotation matrix.
//
// Parameters:
// q:
public static M4x4 Rotate(QuaternionCustom q)
{
M4x4 mat = M4x4.identity;
mat.m02 = 2.0f * (q.x * q.z) + 2.0f * (q.y * q.w);
mat.m12 = 2.0f * (q.y * q.z) - 2.0f * (q.x * q.w);
mat.m22 = 1 - 2.0f * (q.x * q.x) - 2.0f * (q.y * q.y);
mat.m00 = 1 - 2.0f * (q.y * q.y) - 2.0f * (q.z * q.z);
mat.m10 = 2.0f * (q.x * q.y) + 2.0f * (q.z * q.w);
mat.m20 = 2.0f * (q.x * q.z) - 2.0f * (q.y * q.w);
mat.m01 = 2.0f * (q.x * q.y) - 2.0f * (q.z * q.w);
mat.m11 = 1 - 2.0f * (q.x * q.x) - 2.0f * (q.z * q.z);
mat.m21 = 2.0f * (q.y * q.z) + 2.0f * (q.x * q.w);
return(mat);
}