public static unsafe bool Decompose(MatrixSingle matrix, out Vector128 <float> scale, out Vector128 <float> rotation, out Vector128 <float> translation)
{
// TODO use Unsafe.SkipInit<T>(out T)
scale = default;
translation = matrix._v3;
CanonicalBasis canonicalBasis;
Vector128 <float> **pCanonicalBasis = (Vector128 <float> **) & canonicalBasis;
var r0 = IdentityRow0;
var r1 = IdentityRow1;
var r2 = IdentityRow2;
canonicalBasis.E0 = &r0;
canonicalBasis.E1 = &r1;
canonicalBasis.E2 = &r2;
MatrixSingle tmp;
VectorBasis vectorBasis;
Vector128 <float> **pVectorBasis = (Vector128 <float> **) & vectorBasis;
vectorBasis.E0 = &tmp._v0;
vectorBasis.E1 = &tmp._v1;
vectorBasis.E2 = &tmp._v2;
tmp._v0 = matrix._v0;
tmp._v1 = matrix._v1;
tmp._v2 = matrix._v2;
tmp._v3 = IdentityRow3;
ref var pFloat0 = ref Unsafe.As <Vector128 <float>, float>(ref scale);
public static bool CompareEqual(MatrixSingle left, MatrixSingle right)
{
Vector128 <float> row0 = Vector.CompareEqual(left._v0, right._v0);
Vector128 <float> row1 = Vector.CompareEqual(left._v1, right._v1);
Vector128 <float> row2 = Vector.CompareEqual(left._v2, right._v2);
Vector128 <float> row3 = Vector.CompareEqual(left._v3, right._v3);
row0 = And(row0, row1);
row2 = And(row2, row3);
row0 = And(row0, row2);
return(row0.AllTrue());
}
public static Vector128 <float> Transform2D(Vector128 <float> position, MatrixSingle matrix)
{
var x = FillWithX(position);
var y = FillWithY(position);
x = Multiply(x, matrix._v0);
y = Multiply(y, matrix._v1);
x = Vector.Add(x, y);
x = Vector.Add(x, matrix._v3);
return(x);
}
public static bool IsIdentity(MatrixSingle matrix)
{
var row0 = Vector.Equality(matrix._v0, IdentityRow0);
var row1 = Vector.Equality(matrix._v1, IdentityRow1);
var row2 = Vector.Equality(matrix._v2, IdentityRow2);
var row3 = Vector.Equality(matrix._v3, IdentityRow3);
row0 = Vector.And(row0, row1);
row2 = Vector.And(row2, row3);
row0 = Vector.And(row0, row2);
return(Vector.ExtractMask(row0) == 0b_0000_1111);
}
public static Vector128 <float> Transform4D(Vector128 <float> position, MatrixSingle matrix)
{
var x = FillWithX(position);
var y = FillWithY(position);
var z = FillWithZ(position);
var w = FillWithW(position);
x = Multiply(x, matrix._v0);
y = Multiply(y, matrix._v1);
z = Multiply(z, matrix._v2);
w = Multiply(w, matrix._v3);
x = Vector.Add(x, y);
x = Vector.Add(x, z);
x = Vector.Add(x, w);
return(x);
}
public static MatrixSingle SetTranslation(MatrixSingle matrix, Vector128 <float> translation)
{
// (X, Y, Z, W) - we must keep W
Vector128 <float> old = matrix._v3;
// Make W of translation zero
Vector128 <float> newTranslation = And(translation, SingleConstants.MaskW);
// Mask out everything but W
old = And(old, SingleConstants.MaskXYZ);
// Or them together to get X Y Z from translation and W from old
newTranslation = Or(newTranslation, old);
matrix._v3 = newTranslation;
return(matrix);
}
public static bool IsIdentity(MatrixSingle matrix)
{
return(CompareEqual(matrix, Identity));
}
public static Vector128 <float> GetTranslation(MatrixSingle matrix)
{
Vector128 <float> vec = matrix._v3;
return(And(vec, SingleConstants.MaskW));
}
public static MatrixSingle SetTranslation(MatrixSingle matrix, in Vector4FParam1_3 translation)
