Exemplo n.º 1
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 public float4x4(float4x4 m)
 {
     x = new float4(m.x);
     y = new float4(m.y);
     z = new float4(m.z);
     w = new float4(m.w);
 }
Exemplo n.º 2
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 public static float4x4 MatrixLookAt(float3 eye, float3 at, float3 up)
 {
     float4x4 m = new float4x4();
     m.w.w = 1.0f;
     m.w.setxyz(eye);
     m.z.setxyz(float3.normalize(eye - at));
     m.x.setxyz(float3.normalize(float3.cross(up, m.z.xyz())));
     m.y.setxyz(float3.cross(m.z.xyz(), m.x.xyz()));
     return MatrixRigidInverse(m);
 }
Exemplo n.º 3
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 public static float4x4 MatrixTranspose(float4x4 m)
 {
     return new float4x4(m.x.x, m.y.x, m.z.x, m.w.x, m.x.y, m.y.y, m.z.y, m.w.y, m.x.z, m.y.z, m.z.z, m.w.z, m.x.w, m.y.w, m.z.w, m.w.w);
 }
Exemplo n.º 4
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 public static float4x4 MatrixRigidInverse(float4x4 m)
 {
     float4x4 trans_inverse = MatrixTranslation(-m.w.xyz());
     float4x4 rot = new float4x4(m);
     rot.w = new float4(0f, 0f, 0f, 1f);
     return trans_inverse * MatrixTranspose(rot);
 }
Exemplo n.º 5
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        public static float4x4 Inverse(float4x4 m)
	    {
		    float4x4 d = new float4x4();
		    //float dst = d.x.x;
		    float[] tmp = new float[12]; // temp array for pairs
		    float[] src = new float[16]; // array of transpose source matrix
		    float det; // determinant
		    // transpose matrix
		    for (int i = 0; i < 4; i++)
		    {
			    src[i] = m[i].x;
			    src[i + 4] = m[i].y;
			    src[i + 8] = m[i].z;
			    src[i + 12] = m[i].w;
		    }
		    // calculate pairs for first 8 elements (cofactors)
		    tmp[0] = src[10] * src[15];
		    tmp[1] = src[11] * src[14];
		    tmp[2] = src[9] * src[15];
		    tmp[3] = src[11] * src[13];
		    tmp[4] = src[9] * src[14];
		    tmp[5] = src[10] * src[13];
		    tmp[6] = src[8] * src[15];
		    tmp[7] = src[11] * src[12];
		    tmp[8] = src[8] * src[14];
		    tmp[9] = src[10] * src[12];
		    tmp[10] = src[8] * src[13];
		    tmp[11] = src[9] * src[12];
		    // calculate first 8 elements (cofactors)
		    d.x.x = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7];
		    d.x.x -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7];
		    d.x.y = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7];
		    d.x.y -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7];
		    d.x.z = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7];
		    d.x.z -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7];
		    d.x.w = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6];
		    d.x.w -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6];
		    d.y.x = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3];
		    d.y.x -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3];
		    d.y.y = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3];
		    d.y.y -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3];
		    d.y.z = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3];
		    d.y.z -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3];
		    d.y.w = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2];
		    d.y.w -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2];
		    // calculate pairs for second 8 elements (cofactors)
		    tmp[0] = src[2]*src[7];
		    tmp[1] = src[3]*src[6];
		    tmp[2] = src[1]*src[7];
		    tmp[3] = src[3]*src[5];
		    tmp[4] = src[1]*src[6];
		    tmp[5] = src[2]*src[5];
		    tmp[6] = src[0]*src[7];
		    tmp[7] = src[3]*src[4];
		    tmp[8] = src[0]*src[6];
		    tmp[9] = src[2]*src[4];
		    tmp[10] = src[0]*src[5];
		    tmp[11] = src[1]*src[4];
		    // calculate second 8 elements (cofactors)
		    d.z.x = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15];
		    d.z.x -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15];
		    d.z.y = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15];
		    d.z.y -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15];
		    d.z.z = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15];
		    d.z.z -= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15];
		    d.z.w = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14];
		    d.z.w-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14];
		    d.w.x = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9];
		    d.w.x-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10];
		    d.w.y = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10];
		    d.w.y-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8];
		    d.w.z = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8];
		    d.w.z-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9];
		    d.w.w = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9];
		    d.w.w-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8];
		    // calculate determinant
            det = src[0] * d.x.x + src[1] * d.x.y + src[2] * d.x.z + src[3] * d.x.w;
		    // calculate matrix inverse
		    det = 1/det;
            for (int j = 0; j < 4; j++)
                d[j] *= det;
		    return d;
	    }
Exemplo n.º 6
0
 public static float4x4 MatrixTranspose(float4x4 m)
 {
     return(new float4x4(m.x.x, m.y.x, m.z.x, m.w.x, m.x.y, m.y.y, m.z.y, m.w.y, m.x.z, m.y.z, m.z.z, m.w.z, m.x.w, m.y.w, m.z.w, m.w.w));
 }
Exemplo n.º 7
0
        public static float4x4 Inverse(float4x4 m)
        {
            float4x4 d = new float4x4();

            //float dst = d.x.x;
            float[] tmp = new float[12]; // temp array for pairs
            float[] src = new float[16]; // array of transpose source matrix
            float   det;                 // determinant

            // transpose matrix
            for (int i = 0; i < 4; i++)
            {
                src[i]      = m[i].x;
                src[i + 4]  = m[i].y;
                src[i + 8]  = m[i].z;
                src[i + 12] = m[i].w;
            }
            // calculate pairs for first 8 elements (cofactors)
            tmp[0]  = src[10] * src[15];
            tmp[1]  = src[11] * src[14];
            tmp[2]  = src[9] * src[15];
            tmp[3]  = src[11] * src[13];
            tmp[4]  = src[9] * src[14];
            tmp[5]  = src[10] * src[13];
            tmp[6]  = src[8] * src[15];
            tmp[7]  = src[11] * src[12];
            tmp[8]  = src[8] * src[14];
            tmp[9]  = src[10] * src[12];
            tmp[10] = src[8] * src[13];
            tmp[11] = src[9] * src[12];
            // calculate first 8 elements (cofactors)
            d.x.x  = tmp[0] * src[5] + tmp[3] * src[6] + tmp[4] * src[7];
            d.x.x -= tmp[1] * src[5] + tmp[2] * src[6] + tmp[5] * src[7];
            d.x.y  = tmp[1] * src[4] + tmp[6] * src[6] + tmp[9] * src[7];
            d.x.y -= tmp[0] * src[4] + tmp[7] * src[6] + tmp[8] * src[7];
            d.x.z  = tmp[2] * src[4] + tmp[7] * src[5] + tmp[10] * src[7];
            d.x.z -= tmp[3] * src[4] + tmp[6] * src[5] + tmp[11] * src[7];
            d.x.w  = tmp[5] * src[4] + tmp[8] * src[5] + tmp[11] * src[6];
            d.x.w -= tmp[4] * src[4] + tmp[9] * src[5] + tmp[10] * src[6];
            d.y.x  = tmp[1] * src[1] + tmp[2] * src[2] + tmp[5] * src[3];
            d.y.x -= tmp[0] * src[1] + tmp[3] * src[2] + tmp[4] * src[3];
            d.y.y  = tmp[0] * src[0] + tmp[7] * src[2] + tmp[8] * src[3];
            d.y.y -= tmp[1] * src[0] + tmp[6] * src[2] + tmp[9] * src[3];
            d.y.z  = tmp[3] * src[0] + tmp[6] * src[1] + tmp[11] * src[3];
            d.y.z -= tmp[2] * src[0] + tmp[7] * src[1] + tmp[10] * src[3];
            d.y.w  = tmp[4] * src[0] + tmp[9] * src[1] + tmp[10] * src[2];
            d.y.w -= tmp[5] * src[0] + tmp[8] * src[1] + tmp[11] * src[2];
            // calculate pairs for second 8 elements (cofactors)
            tmp[0]  = src[2] * src[7];
            tmp[1]  = src[3] * src[6];
            tmp[2]  = src[1] * src[7];
            tmp[3]  = src[3] * src[5];
            tmp[4]  = src[1] * src[6];
            tmp[5]  = src[2] * src[5];
            tmp[6]  = src[0] * src[7];
            tmp[7]  = src[3] * src[4];
            tmp[8]  = src[0] * src[6];
            tmp[9]  = src[2] * src[4];
            tmp[10] = src[0] * src[5];
            tmp[11] = src[1] * src[4];
            // calculate second 8 elements (cofactors)
            d.z.x  = tmp[0] * src[13] + tmp[3] * src[14] + tmp[4] * src[15];
            d.z.x -= tmp[1] * src[13] + tmp[2] * src[14] + tmp[5] * src[15];
            d.z.y  = tmp[1] * src[12] + tmp[6] * src[14] + tmp[9] * src[15];
            d.z.y -= tmp[0] * src[12] + tmp[7] * src[14] + tmp[8] * src[15];
            d.z.z  = tmp[2] * src[12] + tmp[7] * src[13] + tmp[10] * src[15];
            d.z.z -= tmp[3] * src[12] + tmp[6] * src[13] + tmp[11] * src[15];
            d.z.w  = tmp[5] * src[12] + tmp[8] * src[13] + tmp[11] * src[14];
            d.z.w -= tmp[4] * src[12] + tmp[9] * src[13] + tmp[10] * src[14];
            d.w.x  = tmp[2] * src[10] + tmp[5] * src[11] + tmp[1] * src[9];
            d.w.x -= tmp[4] * src[11] + tmp[0] * src[9] + tmp[3] * src[10];
            d.w.y  = tmp[8] * src[11] + tmp[0] * src[8] + tmp[7] * src[10];
            d.w.y -= tmp[6] * src[10] + tmp[9] * src[11] + tmp[1] * src[8];
            d.w.z  = tmp[6] * src[9] + tmp[11] * src[11] + tmp[3] * src[8];
            d.w.z -= tmp[10] * src[11] + tmp[2] * src[8] + tmp[7] * src[9];
            d.w.w  = tmp[10] * src[10] + tmp[4] * src[8] + tmp[9] * src[9];
            d.w.w -= tmp[8] * src[9] + tmp[11] * src[10] + tmp[5] * src[8];
            // calculate determinant
            det = src[0] * d.x.x + src[1] * d.x.y + src[2] * d.x.z + src[3] * d.x.w;
            // calculate matrix inverse
            det = 1 / det;
            for (int j = 0; j < 4; j++)
            {
                d[j] *= det;
            }
            return(d);
        }