public static void Translation(Vector3 position, out Matrix4 result)
{
Translation(position.X, position.Y, position.Z, out result);
}
public static void Scaling(float scale, out Matrix4 result)
{
Scaling(scale, scale, scale, out result);
}
public static void Translation(float x, float y, float z, out Matrix4 result)
{
result = new Matrix4(new[]
{
1, 0, 0, x,
0, 1, 0, y,
0, 0, 1, z,
0, 0, 0, 1
});
}
public static void Scaling(float xScale, float yScale, float zScale, out Matrix4 result)
{
result = new Matrix4(new[]
{
xScale, 0, 0, 0,
0, yScale, 0, 0,
0, 0, zScale, 0,
0, 0, 0, 1
});
}
public static void RotationZ(float theta, out Matrix4 result)
{
var cos = (float)Math.Cos(theta);
var sin = (float)Math.Sin(theta);
result = new Matrix4(new[]
{
cos, -sin, 0, 0,
sin, cos, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
});
}
public static void Rotation(float thetaX, float thetaY, float thetaZ, out Matrix4 result)
{
Matrix4 xRotation;
Matrix4 yRotation;
Matrix4 zRotation;
RotationX(thetaX, out xRotation);
RotationY(thetaY, out yRotation);
RotationZ(thetaZ, out zRotation);
result = xRotation * yRotation * zRotation;
}
public static void Multiply(ref Matrix4 lhs, ref Vector3 rhs, out Vector3 result)
{
var x = lhs.M11 * rhs.X + lhs.M12 * rhs.Y + lhs.M13 * rhs.Z + lhs.M14;
var y = lhs.M21 * rhs.X + lhs.M22 * rhs.Y + lhs.M23 * rhs.Z + lhs.M24;
var z = lhs.M31 * rhs.X + lhs.M32 * rhs.Y + lhs.M33 * rhs.Z + lhs.M34;
result = new Vector3(x, y, z);
}
public static void Multiply(ref Matrix4 lhs, ref Matrix4 rhs, out Matrix4 result)
{
var items = new[]
{
lhs.M11 * rhs.M11 + lhs.M12 * rhs.M21 + lhs.M13 * rhs.M31 + lhs.M14 * rhs.M41,
lhs.M11 * rhs.M12 + lhs.M12 * rhs.M22 + lhs.M13 * rhs.M32 + lhs.M14 * rhs.M42,
lhs.M11 * rhs.M13 + lhs.M12 * rhs.M23 + lhs.M13 * rhs.M33 + lhs.M14 * rhs.M43,
lhs.M11 * rhs.M14 + lhs.M12 * rhs.M24 + lhs.M13 * rhs.M34 + lhs.M14 * rhs.M44,
lhs.M21 * rhs.M11 + lhs.M22 * rhs.M21 + lhs.M23 * rhs.M31 + lhs.M24 * rhs.M41,
lhs.M21 * rhs.M12 + lhs.M22 * rhs.M22 + lhs.M23 * rhs.M32 + lhs.M24 * rhs.M42,
lhs.M21 * rhs.M13 + lhs.M22 * rhs.M23 + lhs.M23 * rhs.M33 + lhs.M24 * rhs.M43,
lhs.M21 * rhs.M14 + lhs.M22 * rhs.M24 + lhs.M23 * rhs.M34 + lhs.M24 * rhs.M44,
lhs.M31 * rhs.M11 + lhs.M32 * rhs.M21 + lhs.M33 * rhs.M31 + lhs.M34 * rhs.M41,
lhs.M31 * rhs.M12 + lhs.M32 * rhs.M22 + lhs.M33 * rhs.M32 + lhs.M34 * rhs.M42,
lhs.M31 * rhs.M13 + lhs.M32 * rhs.M23 + lhs.M33 * rhs.M33 + lhs.M34 * rhs.M43,
lhs.M31 * rhs.M14 + lhs.M32 * rhs.M24 + lhs.M33 * rhs.M34 + lhs.M34 * rhs.M44,
lhs.M41 * rhs.M11 + lhs.M42 * rhs.M21 + lhs.M43 * rhs.M31 + lhs.M44 * rhs.M41,
lhs.M41 * rhs.M12 + lhs.M42 * rhs.M22 + lhs.M43 * rhs.M32 + lhs.M44 * rhs.M42,
lhs.M41 * rhs.M13 + lhs.M42 * rhs.M23 + lhs.M43 * rhs.M33 + lhs.M44 * rhs.M43,
lhs.M41 * rhs.M14 + lhs.M42 * rhs.M24 + lhs.M43 * rhs.M34 + lhs.M44 * rhs.M44,
};
result = new Matrix4(items);
}