public void TestMultiply()
{
var m1 = new m3x4(new v4(1, 2, 3, 4), new v4(1, 1, 1, 1), new v4(4, 3, 2, 1));
var m2 = new m3x4(new v4(1, 1, 1, 1), new v4(2, 2, 2, 2), new v4(-2, -2, -2, -2));
var m3 = new m3x4(new v4(6, 6, 6, 0), new v4(12, 12, 12, 0), new v4(-12, -12, -12, 0));
var r = m1 * m2;
Assert.True(Math_.FEql(r, m3));
}
public void TestInversion()
{
var rng = new Random();
{
var m = m3x4.Random(v4.Random3N(0, rng), -Math_.TauF, +Math_.TauF, rng);
var inv_m0 = Math_.InvertFast(m);
var inv_m1 = Math_.Invert(m);
Assert.True(Math_.FEqlRelative(inv_m0, inv_m1, 0.001f));
} {
for (; ;)
{
var m = m3x4.Random(-5.0f, +5.0f, 0, rng);
if (!Math_.IsInvertible(m))
{
continue;
}
var inv_m = Math_.Invert(m);
var I0 = inv_m * m;
var I1 = m * inv_m;
Assert.True(Math_.FEqlRelative(I0, m3x4.Identity, 0.001f));
Assert.True(Math_.FEqlRelative(I1, m3x4.Identity, 0.001f));
break;
}
} {
var m = new m3x4(
new v4(0.25f, 0.5f, 1.0f, 0.0f),
new v4(0.49f, 0.7f, 1.0f, 0.0f),
new v4(1.0f, 1.0f, 1.0f, 0.0f));
var INV_M = new m3x4(
new v4(10.0f, -16.666667f, 6.66667f, 0.0f),
new v4(-17.0f, 25.0f, -8.0f, 0.0f),
new v4(7.0f, -8.333333f, 2.333333f, 0.0f));
var inv_m = Math_.Invert(m);
Assert.True(Math_.FEqlRelative(inv_m, INV_M, 0.001f));
}
}
public LdrBuilder Axis(string name, Colour32 colour, m3x4 basis, float scale)
{
return(Axis(name, colour, new m4x4(basis, v4.Origin), scale));
}
public LdrBuilder Axis(m3x4 basis)
{
return(Axis(new m4x4(basis, v4.Origin)));
}
public void Axis(string name, Colour32 colour, m3x4 basis, float scale)
{
Axis(name, colour, new m4x4(basis, v4.Origin), scale);
}
public void Axis(string name, Colour32 colour, m3x4 basis)
{
Axis(name, colour, new m4x4(basis, v4.Origin));
}
public void Axis(m3x4 basis)
{
Axis(new m4x4(basis, v4.Origin));
}
