public static RotationMatrix Multiply(RotationMatrix left, RotationMatrix right)
{
RotationMatrix result = new RotationMatrix();
result.M00 = (left.M00 * right.M00) + (left.M01 * right.M10) + (left.M02 * right.M20);
result.M01 = (left.M00 * right.M01) + (left.M01 * right.M11) + (left.M02 * right.M21);
result.M02 = (left.M00 * right.M02) + (left.M01 * right.M12) + (left.M02 * right.M22);
result.M10 = (left.M10 * right.M00) + (left.M11 * right.M10) + (left.M12 * right.M20);
result.M11 = (left.M10 * right.M01) + (left.M11 * right.M11) + (left.M12 * right.M21);
result.M12 = (left.M10 * right.M02) + (left.M11 * right.M12) + (left.M12 * right.M22);
result.M20 = (left.M20 * right.M00) + (left.M21 * right.M10) + (left.M22 * right.M20);
result.M21 = (left.M20 * right.M01) + (left.M21 * right.M11) + (left.M22 * right.M21);
result.M22 = (left.M20 * right.M02) + (left.M21 * right.M12) + (left.M22 * right.M22);
return result;
// this code was before I remembered matrix multiplication is hard.
/*RotationMatrix m = new RotationMatrix();
m.M00 = m1.M00 * m2.M00;
m.M01 = m1.M01 * m2.M01;
m.M02 = m1.M02 * m2.M02;
m.M10 = m1.M10 * m2.M10;
m.M11 = m1.M11 * m2.M11;
m.M12 = m1.M12 * m2.M12;
m.M20 = m1.M20 * m2.M20;
m.M21 = m1.M21 * m2.M21;
m.M22 = m1.M22 * m2.M22;
return m;*/
}
public static RotationMatrix Multiply(RotationMatrix left, RotationMatrix right)
{
RotationMatrix result = new RotationMatrix();
result.M00 = (left.M00 * right.M00) + (left.M01 * right.M10) + (left.M02 * right.M20);
result.M01 = (left.M00 * right.M01) + (left.M01 * right.M11) + (left.M02 * right.M21);
result.M02 = (left.M00 * right.M02) + (left.M01 * right.M12) + (left.M02 * right.M22);
result.M10 = (left.M10 * right.M00) + (left.M11 * right.M10) + (left.M12 * right.M20);
result.M11 = (left.M10 * right.M01) + (left.M11 * right.M11) + (left.M12 * right.M21);
result.M12 = (left.M10 * right.M02) + (left.M11 * right.M12) + (left.M12 * right.M22);
result.M20 = (left.M20 * right.M00) + (left.M21 * right.M10) + (left.M22 * right.M20);
result.M21 = (left.M20 * right.M01) + (left.M21 * right.M11) + (left.M22 * right.M21);
result.M22 = (left.M20 * right.M02) + (left.M21 * right.M12) + (left.M22 * right.M22);
return(result);
// this code was before I remembered matrix multiplication is hard.
/*RotationMatrix m = new RotationMatrix();
* m.M00 = m1.M00 * m2.M00;
* m.M01 = m1.M01 * m2.M01;
* m.M02 = m1.M02 * m2.M02;
*
* m.M10 = m1.M10 * m2.M10;
* m.M11 = m1.M11 * m2.M11;
* m.M12 = m1.M12 * m2.M12;
*
* m.M20 = m1.M20 * m2.M20;
* m.M21 = m1.M21 * m2.M21;
* m.M22 = m1.M22 * m2.M22;
*
* return m;*/
}
public static RotationMatrix RotateX(float degrees)
{
float radians = (float)(degrees * (Math.PI / 180));
RotationMatrix matrix = new RotationMatrix();
matrix.M00 = 1;
matrix.M01 = 0;
matrix.M02 = 0;
matrix.M10 = 0;
matrix.M11 = (float)Math.Cos(radians);
matrix.M12 = -((float)Math.Sin(radians));
matrix.M20 = 0;
matrix.M21 = (float)Math.Sin(radians);
matrix.M22 = (float)Math.Cos(radians);
return(matrix);
}
public static RotationMatrix RotateZ(float degrees)
{
float radians = (float)(degrees * (Math.PI / 180));
RotationMatrix matrix = new RotationMatrix();
matrix.M00 = (float)Math.Cos(radians);
matrix.M01 = 0;
matrix.M02 = (float)Math.Sin(radians);
matrix.M10 = 0;
matrix.M11 = 1;
matrix.M12 = 0;
matrix.M20 = -((float)Math.Sin(radians));
matrix.M21 = 0;
matrix.M22 = (float)Math.Cos(radians);
return matrix;
}
public static RotationMatrix Rotate(float x, float y, float z)
{
return(RotationMatrix.RotateX(x) * RotationMatrix.RotateY(y) * RotationMatrix.RotateZ(z));
}
