public void Transform(Matrix3 m)
{
var result = m.VectorMultiply(new double[4] {X, Y, Z, W});
X = result[0];
Y = result[1];
Z = result[2];
W = result[3];
}
public static Matrix3 AzimuthElevation(double elevation, double azimuth, double oneOverd)
{
var result = new Matrix3();
var rotate = new Matrix3();
if (elevation > 90)
{
elevation = 90;
}
else if (elevation < -90)
{
elevation = -90;
}
if (azimuth > 180)
{
azimuth = 180;
}
else if (azimuth < -180)
{
azimuth = -180;
}
elevation = elevation*Math.PI/180.0;
azimuth = azimuth*Math.PI/180.0;
var sne = Math.Sin(elevation);
var cne = Math.Cos(elevation);
var sna = Math.Sin(azimuth);
var cna = Math.Cos(azimuth);
rotate.M[0, 0] = cna;
rotate.M[0, 1] = sna;
rotate.M[0, 2] = 0;
rotate.M[1, 0] = -sne*sna;
rotate.M[1, 1] = sne*cna;
rotate.M[1, 2] = cne;
rotate.M[2, 0] = cne*sna;
rotate.M[2, 1] = -cne*cna;
rotate.M[2, 2] = sne;
if (oneOverd <= 0)
{
result = rotate;
}
else if (oneOverd > 0)
{
var perspective = Perspective(1/oneOverd);
result = perspective*rotate;
}
return result;
}
public static Matrix3 Euler(double alpha, double beta, double gamma)
{
var result = new Matrix3();
alpha = alpha*Math.PI/180.0f;
beta = beta*Math.PI/180.0f;
gamma = gamma*Math.PI/180.0f;
var sna = Math.Sin(alpha*Math.PI/180);
var cna = Math.Cos(alpha*Math.PI/180);
var snb = Math.Sin(beta*Math.PI/180);
var cnb = Math.Cos(beta*Math.PI/180);
var sng = Math.Sin(gamma*Math.PI/180);
var cng = Math.Cos(gamma*Math.PI/180);
result.M[0, 0] = cna*cng - sna*snb*sng;
result.M[0, 1] = -snb*sng;
result.M[0, 2] = sna*cng - cna*cnb*sng;
result.M[1, 0] = -sna*snb;
result.M[1, 1] = cnb;
result.M[1, 2] = cna*cnb;
result.M[2, 0] = -cna*sng - sna*cnb*cng;
result.M[2, 1] = -snb*cng;
result.M[2, 2] = cna*cnb*cng - sna*snb;
return result;
}
public static Matrix3 Perspective(double d)
{
var result = new Matrix3();
result.M[3, 2] = -1/d;
return result;
}
public static Matrix3 Axonometric(double alpha, double beta)
{
var result = new Matrix3();
var sna = Math.Sin(alpha*Math.PI/180);
var cna = Math.Cos(alpha*Math.PI/180);
var snb = Math.Sin(beta*Math.PI/180);
var cnb = Math.Sin(beta*Math.PI/180);
result.M[0, 0] = cnb;
result.M[0, 2] = snb;
result.M[1, 0] = sna*snb;
result.M[1, 1] = cna;
result.M[1, 2] = -sna*cnb;
result.M[2, 2] = 0;
return result;
}
public static Matrix3 Oblique(double alpha, double theta)
{
var result = new Matrix3();
var ta = Math.Tan(alpha*Math.PI/180);
var snt = Math.Sin(theta*Math.PI/180);
var cnt = Math.Cos(theta*Math.PI/180);
result.M[0, 2] = -cnt/ta;
result.M[1, 2] = -snt/ta;
result.M[2, 2] = 0;
return result;
}
public static Matrix3 SideView()
{
var result = new Matrix3();
result.M[0, 0] = 0;
result.M[2, 2] = 0;
result.M[0, 2] = -1;
return result;
}
public static Matrix3 TopView()
{
var result = new Matrix3();
result.M[1, 1] = 0;
result.M[2, 2] = 0;
result.M[1, 2] = -1;
return result;
}
public static Matrix3 FrontView()
{
var result = new Matrix3();
result.M[2, 2] = 0;
return result;
}
public static Matrix3 Rotate3Z(double theta)
{
theta = theta*Math.PI/180.0f;
var sn = Math.Sin(theta);
var cn = Math.Cos(theta);
var result = new Matrix3();
result.M[0, 0] = cn;
result.M[0, 1] = -sn;
result.M[1, 0] = sn;
result.M[1, 1] = cn;
return result;
}
public static Matrix3 Translate3(double dx, double dy, double dz)
{
var result = new Matrix3();
result.M[0, 3] = dx;
result.M[1, 3] = dy;
result.M[2, 3] = dz;
return result;
}
public static Matrix3 Scale3(double sx, double sy, double sz)
{
var result = new Matrix3();
result.M[0, 0] = sx;
result.M[1, 1] = sy;
result.M[2, 2] = sz;
return result;
}
public static Matrix3 operator *(Matrix3 m1, Matrix3 m2)
{
var result = new Matrix3();
for (var i = 0; i < 4; i++)
{
for (var j = 0; j < 4; j++)
{
double element = 0;
for (var k = 0; k < 4; k++)
{
element += m1.M[i, k]*m2.M[k, j];
}
result.M[i, j] = element;
}
}
return result;
}