public Vector4f(Vector3f v, float w)
{
X = v.X;
Y = v.Y;
Z = v.Z;
W = w;
}
public static Vector3f Cross(Vector3f v1, Vector3f v2)
{
throw new NotImplementedException();
/*return new Vector3f(
v1.Y * v2.Z - v2.Y * v1.Z,
v1.Z * v2.X - v2.X * v1.Z,
v1.X * v2.Z - v2.Y * v1.X
);*/
}
public static Vector3f ComponentMultiply(Vector3f v1, Vector3f v2)
{
return new Vector3f(v1.X * v2.X, v1.Y * v2.Y, v1.Z * v2.Z);
}
public static Vector3f ComponentDivide(Vector3f v1, Vector3f v2)
{
return new Vector3f(v1.X / v2.X, v1.Y / v2.Y, v1.Z / v2.Z);
}
public Vector3f TransformRelative(Vector3f v)
{
return (this * new Vector4f(v, 0)).XYZ;
}
public static Quaternion CreateFromAxisAngle(Vector3f axis, float angle)
{
return CreateFromUnitAxisAngle(axis.Normalized, angle);
}
public static float Dot(Vector3f vL, Vector3f vR)
{
return Vector3f.Dot(vL, vR);
}
public static float Dot(Vector3f v1, Vector3f v2)
{
return v1.X * v2.X + v1.Y * v2.Y + v1.Z * v2.Z;
}
public static Matrix4f CreateRotation(float angle, Vector3f axis)
{
Vector3f u = axis.Normalized;
float c = (float)Math.Cos(angle);
float s = (float)Math.Sin(angle);
Matrix4f result = Matrix4f.Identity;
result[0, 0] = u.X * u.X + (1 - u.X * u.X) * c;
result[0, 1] = u.X * u.Y * (1 - c) - u.Z * s;
result[0, 2] = u.X * u.Z * (1 - c) + u.Y * s;
result[1, 0] = u.X * u.Y * (1 - c) + u.Z * s;
result[1, 1] = u.Y * u.Y + (1 - u.Y * u.Y) * c;
result[1, 2] = u.Y * u.Z * (1 - c) - u.X * s;
result[2, 0] = u.X * u.Z * (1 - c) - u.Y * s;
result[2, 1] = u.Y * u.Z * (1 - c) + u.X * s;
result[2, 2] = u.Z * u.Z + (1 - u.Z * u.Z) * c;
return result;
}
public Quaternion(float w)
{
this.w = w;
this.v = Vector3f.Zero;
}
public Quaternion(float w, float x, float y, float z)
{
this.w = w;
this.v = new Vector3f(x, y, z);
}
public Quaternion(float w, Vector3f v)
{
this.w = w;
this.v = v;
}
//Requires a normalized quaternion
public Vector3f RotateVector(Vector3f vec)
{
Debug.Assert(IsNormalized);
throw new NotImplementedException();
}
public static Quaternion CreateFromUnitAxisAngle(Vector3f axisUnitVector, float angle)
{
//Debug.Assert(axisUnitVector.IsUnit);
float angle2 = 0.5f * angle;
return new Quaternion((float)Math.Cos(angle2), axisUnitVector * (float)Math.Sin(angle2));
}
public static float Distance(Vector3f v1, Vector3f v2)
{
return (v1 - v2).Length;
}
public static float DistanceSquared(Vector3f v1, Vector3f v2)
{
return (v1 - v2).LengthSquared;
}
public static Matrix4f CreateTranslation(Vector3f v)
{
return new Matrix4f(Vector4f.UnitX, Vector4f.UnitY, Vector4f.UnitZ, new Vector4f(v, 0));
}
/*public float Dot(Vector4f vL, Vector4f vR)
{
return Vector4f.Dot(vL, vR);
}*/
public static Vector3f Cross(Vector3f vL, Vector3f vR)
{
return Vector3f.Cross(vL, vR);
}
/// <summary>
/// Requires Col(3)==UnitW
/// </summary>
public Matrix4f AppendTranslation(Vector3f v)
{
Matrix4f result = this;
result.row3 += new Vector4f(v, 0);
return result;
}
public RayF(Vector3f start, Vector3f direction)
: this()
{
Direction = direction.Normalized;
Start = start;
}
public Vector3f TransformAbsolute(Vector3f v)
{
return (this * new Vector4f(v, 1)).XYZ;
}
