public Game()
{
graphics = new GraphicsDeviceManager(this);
graphics.PreferredBackBufferWidth = 1024;
graphics.PreferredBackBufferHeight = 768;
graphics.SynchronizeWithVerticalRetrace = false;
graphics.ApplyChanges();
IsFixedTimeStep = false;
Content.RootDirectory = "Content";
var trans = new Transform();
trans.MakeIdentity();
//trans.Translation.X += 10;
trans.Scale = Vec3.ScaleIdentity * 0.5f;
trans.Rotation = Quat.FromAxisAngle(1, 0, 0, (float)Math.PI);
trans.Rotation = Quat.FromEulerAngles(0, (float)Math.PI, 0);
var v1 = new Vec3(1, 0, 0);
var v2 = trans.ApplyForward(v1);
var m = new Mat4();
trans.ToMatrix(out m);
var v3 = m.Mul(v1);
Debug.WriteLine("v2: " + v2);
Debug.WriteLine("v3: " + v3);
Debug.WriteLine("sizeof(Transform): " + Marshal.SizeOf(typeof(Transform)));
Debug.WriteLine("sizeof(Mat4): " + Marshal.SizeOf(typeof(Mat4)));
trans.MakeIdentity();
trans.Translation = new Vec3(1, 1, 0);
trans.ToMatrix(out m);
Debug.WriteLine("Mat0: " + Matrix.CreateTranslation(1, 1, 0));
Debug.WriteLine("Mat1: " + m);
trans.MakeIdentity();
trans.Rotation = Quat.FromAxisAngle(new Vec3(1, 2, 3).Normalized, 1f);
Vec3 ax, ay, az;
trans.GetAxes(out ax, out ay, out az);
Debug.WriteLine("ax: " + ax);
Debug.WriteLine("ay: " + ay);
Debug.WriteLine("az: " + az);
Debug.WriteLine("ax x ay: " + ax.Cross(ay));
var bx = trans.Rotation * Vec3.UnitX;
var by = trans.Rotation * Vec3.UnitY;
var bz = trans.Rotation * Vec3.UnitZ;
Debug.WriteLine("bx: " + bx);
Debug.WriteLine("by: " + by);
Debug.WriteLine("bz: " + bz);
}
