public static IndexedMatrix CreateScale(float x, float y, float z)
{
IndexedMatrix IndexedMatrix = IndexedMatrix.Identity;
IndexedMatrix._basis = IndexedBasisMatrix.CreateScale(new IndexedVector3(x, y, z));
return(IndexedMatrix);
}
public static IndexedMatrix CreateScale(IndexedVector3 scales)
{
IndexedMatrix result = IndexedMatrix.Identity;
result._basis = IndexedBasisMatrix.CreateScale(scales);
return(result);
}
public IndexedBasisMatrix TimesTranspose(IndexedBasisMatrix m)
{
return(new IndexedBasisMatrix(
_el0.Dot(m._el0), _el0.Dot(m._el1), _el0.Dot(m._el2),
_el1.Dot(m._el0), _el1.Dot(m._el1), _el1.Dot(m._el2),
_el2.Dot(m._el0), _el2.Dot(m._el1), _el2.Dot(m._el2)));
}
public static IndexedMatrix CreateScale(float scale)
{
IndexedMatrix result = IndexedMatrix.Identity;
result._basis = IndexedBasisMatrix.CreateScale(new IndexedVector3(scale));
return(result);
}
public static IndexedBasisMatrix CreateFromAxisAngle(IndexedVector3 axis, float angle)
{
float num1 = axis.X;
float num2 = axis.Y;
float num3 = axis.Z;
float num4 = (float)Math.Sin((double)angle);
float num5 = (float)Math.Cos((double)angle);
float num6 = num1 * num1;
float num7 = num2 * num2;
float num8 = num3 * num3;
float num9 = num1 * num2;
float num10 = num1 * num3;
float num11 = num2 * num3;
IndexedBasisMatrix ibm = new IndexedBasisMatrix(num6 + num5 * (1f - num6),
(float)((double)num9 - (double)num5 * (double)num9 + (double)num4 * (double)num3),
(float)((double)num10 - (double)num5 * (double)num10 - (double)num4 * (double)num2),
(float)((double)num9 - (double)num5 * (double)num9 - (double)num4 * (double)num3),
num7 + num5 * (1f - num7),
(float)((double)num11 - (double)num5 * (double)num11 + (double)num4 * (double)num1),
(float)((double)num10 - (double)num5 * (double)num10 + (double)num4 * (double)num2),
(float)((double)num11 - (double)num5 * (double)num11 - (double)num4 * (double)num1),
num8 + num5 * (1f - num8));
return(ibm);
}
public static IndexedBasisMatrix CreateRotationY(float radians)
{
float num1 = (float)Math.Cos((double)radians);
float num2 = (float)Math.Sin((double)radians);
IndexedBasisMatrix ibm = new IndexedBasisMatrix(num1, 0.0f, -num2, 0.0f, 1f, 0.0f, num2, 0.0f, num1);
return(ibm);
}
public static IndexedMatrix CreateRotationZ(float radians)
{
IndexedMatrix IndexedMatrix;
IndexedMatrix._basis = IndexedBasisMatrix.CreateRotationZ(radians);
IndexedMatrix._origin = new IndexedVector3(0, 0, 0);
return(IndexedMatrix);
}
public static void CreateRotationZ(float radians, out IndexedBasisMatrix _basis)
{
float num1 = (float)Math.Cos((double)radians);
float num2 = (float)Math.Sin((double)radians);
_basis._el0 = new IndexedVector3(num1, num2, 0);
_basis._el1 = new IndexedVector3(-num2, num1, 0);
_basis._el2 = new IndexedVector3(0, 0, 1);
}
public IndexedMatrix InverseTimes(ref IndexedMatrix t)
{
IndexedVector3 v = new IndexedVector3(t._origin.X - _origin.X, t._origin.Y - _origin.Y, t._origin.Z - _origin.Z);
IndexedVector3 v2 = new IndexedVector3();
IndexedBasisMatrix.Multiply(ref v2, ref _basis, ref v);
return(new IndexedMatrix(_basis.TransposeTimes(ref t._basis),
v * _basis));
}
public IndexedBasisMatrix TransposeTimes(ref IndexedBasisMatrix m)
{
return(new IndexedBasisMatrix(
_el0.X * m._el0.X + _el1.X * m._el1.X + _el2.X * m._el2.X,
_el0.X * m._el0.Y + _el1.X * m._el1.Y + _el2.X * m._el2.Y,
_el0.X * m._el0.Z + _el1.X * m._el1.Z + _el2.X * m._el2.Z,
_el0.Y * m._el0.X + _el1.Y * m._el1.X + _el2.Y * m._el2.X,
_el0.Y * m._el0.Y + _el1.Y * m._el1.Y + _el2.Y * m._el2.Y,
_el0.Y * m._el0.Z + _el1.Y * m._el1.Z + _el2.Y * m._el2.Z,
_el0.Z * m._el0.X + _el1.Z * m._el1.X + _el2.Z * m._el2.X,
_el0.Z * m._el0.Y + _el1.Z * m._el1.Y + _el2.Z * m._el2.Y,
_el0.Z * m._el0.Z + _el1.Z * m._el1.Z + _el2.Z * m._el2.Z));
}
public IndexedMatrix Inverse()
{
IndexedBasisMatrix inv = _basis.Transpose();
return(new IndexedMatrix(inv, inv * -_origin));
}
public static void CreateRotationZ(float radians, out IndexedMatrix result)
{
result._basis = IndexedBasisMatrix.CreateRotationZ(radians);
result._origin = new IndexedVector3(0, 0, 0);
}
public static void CreateScale(float scale, out IndexedMatrix result)
{
result = IndexedMatrix.Identity;
result._basis = IndexedBasisMatrix.CreateScale(new IndexedVector3(scale));
}
public static void CreateScale(ref IndexedVector3 scales, out IndexedMatrix result)
{
result = IndexedMatrix.Identity;
result._basis = IndexedBasisMatrix.CreateScale(scales);
}
public static void Multiply(ref IndexedVector3 vout, ref IndexedVector3 vin, ref IndexedBasisMatrix m)
{
vout = new IndexedVector3(m.TDotX(ref vin), m.TDotY(ref vin), m.TDotZ(ref vin));
}
public IndexedMatrix(Microsoft.Xna.Framework.Matrix m)
{
_origin = new IndexedVector3(m.Translation);
//_basis = new IndexedBasisMatrix(new IndexedVector3(m.Right), new IndexedVector3(m.Up), new IndexedVector3(m.Backward)).Transpose();
_basis = new IndexedBasisMatrix(new IndexedVector3(m.Right), new IndexedVector3(m.Up), new IndexedVector3(m.Backward));
}
public static void Transpose(ref IndexedBasisMatrix IndexedMatrix, out IndexedBasisMatrix result)
{
result = new IndexedBasisMatrix(IndexedMatrix._el0.X, IndexedMatrix._el1.X, IndexedMatrix._el2.X,
IndexedMatrix._el0.Y, IndexedMatrix._el1.Y, IndexedMatrix._el2.Y,
IndexedMatrix._el0.Z, IndexedMatrix._el1.Z, IndexedMatrix._el2.Z);
}
public IndexedMatrix(float m11, float m12, float m13, float m21, float m22, float m23, float m31, float m32, float m33, float m41, float m42, float m43)
{
_basis = new IndexedBasisMatrix(m11, m12, m13, m21, m22, m23, m31, m32, m33);
_origin = new IndexedVector3(m41, m42, m43);
}
public static void Multiply(ref IndexedVector3 vout, ref IndexedBasisMatrix m, ref IndexedVector3 v)
{
vout = new IndexedVector3(m._el0.X * v.X + m._el0.Y * v.Y + m._el0.Z * v.Z,
m._el1.X * v.X + m._el1.Y * v.Y + m._el1.Z * v.Z,
m._el2.X * v.X + m._el2.Y * v.Y + m._el2.Z * v.Z);
}
public IndexedMatrix(IndexedBasisMatrix basis, IndexedVector3 origin)
{
_basis = basis;
_origin = origin;
}
public static IndexedBasisMatrix Transpose(IndexedBasisMatrix IndexedMatrix)
{
return(new IndexedBasisMatrix(IndexedMatrix._el0.X, IndexedMatrix._el1.X, IndexedMatrix._el2.X,
IndexedMatrix._el0.Y, IndexedMatrix._el1.Y, IndexedMatrix._el2.Y,
IndexedMatrix._el0.Z, IndexedMatrix._el1.Z, IndexedMatrix._el2.Z));
}
