public void Matrix4()
{
FMat4 fm = FMat4.FromQuaternion(FQuat.Euler(( Fix64 )30, ( Fix64 )(-20), ( Fix64 )49.342f));
Mat4 m = Mat4.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 = FMat4.FromEuler(fv);
m = Mat4.FromEuler(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.FromScale(fv);
m = Mat4.FromScale(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.FromRotationAxis(( Fix64 )35, fv);
m = Mat4.FromRotationAxis(35, v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.NonhomogeneousInverse(fm);
m = Mat4.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.FromTRS(new FVec3(4, 5, 6), FQuat.identity, FVec3.one);
m = Mat4.FromTRS(new Vec3(4, 5, 6), Quat.identity, Vec3.one);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.NonhomogeneousInverse(fm);
m = Mat4.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fv = fm.TransformPoint(fv);
v = m.TransformPoint(v);
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
}
public void MTest()
{
var m = Mat4.FromTRS(new Vec3(1, -2, 3), Quat.Euler(new Vec3(90, 0, 0)), new Vec3(2, 3, 4));
this.Log(m.ToString());
m.Invert();
this.Log(m);
this.Log(m.TransformPoint(new Vec3(1, 0, -1)));
var m2 = Mat4.FromRotationAxis(-43, Vec3.Normalize(new Vec3(3, 2, 4)));
this.Log(m2);
var m3 = m2 * m;
this.Log(m3);
//var m4 = Mat3.FromOuterProduct( new Vec3( 1, -2, 3 ), new Vec3( 93, 44, 32 ) );
//var m5 = Mat3.FromCross( new Vec3( 2.5f, 3, 4 ) );
//var m6 = m4 * m5;
//m6 = m6.RotateAround( 33, new Vec3( 2, 3, 4 ) );
//this.Log( m6 );
}
