/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="s">
/// A <see cref="Single"/> holding the scaling factor on X, Y and Z axes.
/// </param>
public void Scale(float s)
{
ModelMatrix matrix = new ModelMatrix();
matrix.SetScale(s);
Set(this * matrix);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="s">
/// A <see cref="Vertex3f"/> holding the scaling factors on three dimensions.
/// </param>
public void Scale(Vertex3f s)
{
ModelMatrix matrix = new ModelMatrix();
matrix.SetScale(s);
Set(this * matrix);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="x">
/// A <see cref="Double"/> holding the scaling factor on X axis.
/// </param>
/// <param name="y">
/// A <see cref="Double"/> holding the scaling factor on Y axis.
/// </param>
/// <param name="z">
/// A <see cref="Double"/> holding the scaling factor on Z axis.
/// </param>
public void Scale(float x, float y, float z)
{
ModelMatrix matrix = new ModelMatrix();
matrix.SetScale(x, y, z);
Set(this * matrix);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="s">
/// A <see cref="Vertex3f"/> holding the scaling factors on three dimensions.
/// </param>
public void Scale(Vertex3f s)
{
ModelMatrix scaleModel = new ModelMatrix();
scaleModel.SetScale(s);
Set(this * scaleModel);
}
/// <summary>
/// Translate a ModelMatrix in two-dimensional space.
/// </summary>
/// <param name="m"></param>
/// <param name="v"></param>
/// <returns></returns>
public static ModelMatrix operator -(ModelMatrix m, Vertex2f v)
{
ModelMatrix res = new ModelMatrix(m);
res.Translate(-v);
return(res);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="x">
/// A <see cref="Double"/> holding the scaling factor on X axis.
/// </param>
/// <param name="y">
/// A <see cref="Double"/> holding the scaling factor on Y axis.
/// </param>
/// <param name="z">
/// A <see cref="Double"/> holding the scaling factor on Z axis.
/// </param>
public void Scale(float x, float y, float z)
{
ModelMatrix scaleModel = new ModelMatrix();
scaleModel.SetScale(x, y, z);
Set(this * scaleModel);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="s">
/// A <see cref="Single"/> holding the scaling factor on X, Y and Z axes.
/// </param>
public void Scale(float s)
{
ModelMatrix scaleModel = new ModelMatrix();
scaleModel.SetScale(s);
Set(this * scaleModel);
}
/// <summary>
/// Accumulate a translation on this ModelMatrix.
/// </summary>
/// <param name="x">
/// A <see cref="float"/> indicating the translation on X axis.
/// </param>
/// <param name="y">
/// A <see cref="float"/> indicating the translation on Y axis.
/// </param>
public void Translate(float x, float y)
{
ModelMatrix matrix = new ModelMatrix();
matrix[3, 0] = x;
matrix[3, 1] = y;
Set(this * matrix);
}
/// <summary>
/// Accumulate a translation on this ModelMatrix.
/// </summary>
/// <param name="p">
/// A <see cref="Vertex2f"/> that specify the translation.
/// </param>
public void Translate(Vertex2f p)
{
ModelMatrix matrix = new ModelMatrix();
matrix[3, 0] = p.x;
matrix[3, 1] = p.y;
Set(this * matrix);
}
/// <summary>
/// Accumulate a translation on this ModelMatrix.
/// </summary>
/// <param name="p">
/// A <see cref="Vertex2f"/> that specify the translation.
/// </param>
public void Translate(Vertex2f p)
{
ModelMatrix translationMatrix = new ModelMatrix();
translationMatrix[3, 0] = p.x;
translationMatrix[3, 1] = p.y;
Set(this * translationMatrix);
}
/// <summary>
/// Accumulate a translation on this ModelMatrix.
/// </summary>
/// <param name="x">
/// A <see cref="float"/> indicating the translation on X axis.
/// </param>
/// <param name="y">
/// A <see cref="float"/> indicating the translation on Y axis.
/// </param>
public void Translate(float x, float y)
{
ModelMatrix translationMatrix = new ModelMatrix();
translationMatrix[3, 0] = x;
translationMatrix[3, 1] = y;
Set(this * translationMatrix);
}
/// <summary>
/// Compute the product of two ModelMatrix.
/// </summary>
/// <param name="m1">
/// A <see cref="Matrix4x4"/> that specify the left multiplication operand.
/// </param>
/// <param name="m2">
/// A <see cref="Matrix4x4"/> that specify the right multiplication operand.
/// </param>
/// <returns>
/// A <see cref="Matrix4x4"/> resulting from the product of the matrix <paramref name="m1"/> and
/// the matrix <paramref name="m2"/>. This operator is used to concatenate successive transformations.
/// </returns>
public static ModelMatrix operator *(ModelMatrix m1, ModelMatrix m2)
{
// Allocate product matrix
ModelMatrix prod = new ModelMatrix();
// Compute product
ComputeMatrixProduct(prod, m1, m2);
return(prod);
}
/// <summary>
/// Setup this matrix to represent a rotation on the Z axis.
/// </summary>
/// <param name="angle">
/// The rotation angle, in degree.
/// </param>
public void RotateZ(float angle)
{
ModelMatrix matrix = new ModelMatrix();
float cosa = (float)Math.Cos(Angle.ToRadians(angle));
float sina = (float)Math.Sin(Angle.ToRadians(angle));
matrix[0, 0] = +cosa;
matrix[1, 0] = -sina;
matrix[0, 1] = +sina;
matrix[1, 1] = +cosa;
Set(this * matrix);
}
/// <summary>
/// Setup this matrix to represent a rotation on the Y axis.
/// </summary>
/// <param name="angle">
/// The rotation angle, in degree.
/// </param>
public void RotateY(float angle)
{
ModelMatrix rotationMatrix = new ModelMatrix();
float cosa = (float)Math.Cos(Angle.ToRadians(angle));
float sina = (float)Math.Sin(Angle.ToRadians(angle));
rotationMatrix[0, 0] = +cosa;
rotationMatrix[2, 0] = +sina;
rotationMatrix[0, 2] = -sina;
rotationMatrix[2, 2] = +cosa;
Set(this * rotationMatrix);
}
/// <summary>
/// Compute the transpose of this ModelMatrix.
/// </summary>
/// <returns>
/// A <see cref="ModelMatrix"/> which hold the transpose of this ModelMatrix.
/// </returns>
public new ModelMatrix Transpose()
{
ModelMatrix transpose = new ModelMatrix();
// Transpose matrix
for (uint c = 0; c < 4; c++)
{
for (uint r = 0; r < 4; r++)
{
transpose[r, c] = this[c, r];
}
}
return(transpose);
}
/// <summary>
/// Multiply this IModelMatrix with another IModelMatrix.
/// </summary>
/// <param name="a">
/// A <see cref="IModelMatrix"/> that specify the right multiplication operand.
/// </param>
/// <returns>
/// A <see cref="IModelMatrix"/> resulting from the product of this matrix and the matrix <paramref name="a"/>.
/// </returns>
IModelMatrix IModelMatrix.Multiply(IModelMatrix a)
{
ModelMatrixDouble rModelMatrix = new ModelMatrixDouble();
ModelMatrixDouble modelMatrixDouble = a as ModelMatrixDouble;
if (modelMatrixDouble != null)
{
ComputeMatrixProduct(rModelMatrix, this, modelMatrixDouble);
return(rModelMatrix);
}
ModelMatrix modelMatrix = a as ModelMatrix;
if (modelMatrix != null)
{
ComputeMatrixProduct(rModelMatrix, this, modelMatrix);
return(rModelMatrix);
}
throw new NotSupportedException(String.Format("multiplication of {0} by {1} is not supported", GetType(), a.GetType()));
}
/// <summary>
/// Setup this matrix to view the universe in a certain direction.
/// </summary>
/// <param name="eyePosition">
/// A <see cref="Vertex3f"/> that specify the eye position, in local coordinates.
/// </param>
/// <param name="forwardVector">
/// A <see cref="Vertex3f"/> that specify the direction of the view. It will be normalized.
/// </param>
/// <param name="upVector">
/// A <see cref="Vertex3f"/> that specify the up vector of the view camera abstraction. It will be normalized
/// </param>
/// <returns>
/// It returns a view transformation matrix used to transform the world coordinate, in order to view
/// the world from <paramref name="eyePosition"/>, looking at <paramref name="forwardVector"/> having
/// an up direction equal to <paramref name="upVector"/>.
/// </returns>
public void LookAtDirection(Vertex3f eyePosition, Vertex3f forwardVector, Vertex3f upVector)
{
Vertex3f rightVector;
// Normalize forward vector
forwardVector.Normalize();
// Normalize up vector
upVector.Normalize();
// Compute the right vector (cross-product between forward and up vectors; right is perperndicular to the plane)
rightVector = forwardVector ^ upVector;
rightVector.Normalize();
// Derive up vector
upVector = rightVector ^ forwardVector;
upVector.Normalize();
// Compute view matrix
ModelMatrix lookatMatrix = new ModelMatrix(), positionMatrix = new ModelMatrix();
// Row 0: right vector
lookatMatrix[0, 0] = rightVector.x;
lookatMatrix[1, 0] = rightVector.y;
lookatMatrix[2, 0] = rightVector.z;
// Row 1: up vector
lookatMatrix[0, 1] = upVector.x;
lookatMatrix[1, 1] = upVector.y;
lookatMatrix[2, 1] = upVector.z;
// Row 2: opposite of forward vector
lookatMatrix[0, 2] = forwardVector.x;
lookatMatrix[1, 2] = forwardVector.y;
lookatMatrix[2, 2] = forwardVector.z;
// Eye position
positionMatrix.Translate(-eyePosition);
// Complete look-at matrix
Set(lookatMatrix * positionMatrix);
Set(GetInverseMatrix());
}
/// <summary>
/// Setup this matrix to view the universe in a certain direction.
/// </summary>
/// <param name="eyePosition">
/// A <see cref="Vertex3f"/> that specify the eye position, in local coordinates.
/// </param>
/// <param name="forwardVector">
/// A <see cref="Vertex3f"/> that specify the direction of the view. It will be normalized.
/// </param>
/// <param name="upVector">
/// A <see cref="Vertex3f"/> that specify the up vector of the view camera abstraction. It will be normalized
/// </param>
/// <returns>
/// It returns a view transformation matrix used to transform the world coordinate, in order to view
/// the world from <paramref name="eyePosition"/>, looking at <paramref name="forwardVector"/> having
/// an up direction equal to <paramref name="upVector"/>.
/// </returns>
public void LookAtDirection(Vertex3f eyePosition, Vertex3f forwardVector, Vertex3f upVector)
{
Vertex3f rightVector;
forwardVector.Normalize();
upVector.Normalize();
rightVector = forwardVector ^ upVector;
if (rightVector.Module() <= 0.0f)
{
rightVector = Vertex3f.UnitX;
}
rightVector.Normalize();
upVector = rightVector ^ forwardVector;
upVector.Normalize();
// Compute view matrix
ModelMatrix lookatMatrix = new ModelMatrix();
// Row 0: right vector
lookatMatrix[0, 0] = rightVector.x;
lookatMatrix[1, 0] = rightVector.y;
lookatMatrix[2, 0] = rightVector.z;
// Row 1: up vector
lookatMatrix[0, 1] = upVector.x;
lookatMatrix[1, 1] = upVector.y;
lookatMatrix[2, 1] = upVector.z;
// Row 2: opposite of forward vector
lookatMatrix[0, 2] = -forwardVector.x;
lookatMatrix[1, 2] = -forwardVector.y;
lookatMatrix[2, 2] = -forwardVector.z;
// Eye position
lookatMatrix.Translate(-eyePosition);
// Complete look-at matrix
Set(lookatMatrix);
}
/// <summary>
/// Setup this matrix to represent a rotation on the Y axis.
/// </summary>
/// <param name="angle">
/// The rotation angle, in degree.
/// </param>
public void RotateY(float angle)
{
ModelMatrix rotationMatrix = new ModelMatrix();
float cosa = (float)Math.Cos(Angle.ToRadians(angle));
float sina = (float)Math.Sin(Angle.ToRadians(angle));
rotationMatrix[0, 0] = +cosa;
rotationMatrix[2, 0] = +sina;
rotationMatrix[0, 2] = -sina;
rotationMatrix[2, 2] = +cosa;
Set(this * rotationMatrix);
}
private void SampleGraphicsControl_Render(object sender, GraphicsControlEventArgs e)
{
GraphicsContext ctx = e.Context;
GraphicsSurface framebuffer = e.Framebuffer;
if (_AnimationBegin == DateTime.MinValue)
_AnimationBegin = DateTime.UtcNow;
PerspectiveProjectionMatrix matrixProjection = new PerspectiveProjectionMatrix();
Matrix4x4 matrixView;
// Set projection
matrixProjection.SetPerspective(60.0f, (float)ClientSize.Width / (float)ClientSize.Height, 1.0f, 1000.0f);
// Set view
ModelMatrix matrixViewModel = new ModelMatrix();
matrixViewModel.RotateX(_ViewElevation);
matrixViewModel.RotateY(_ViewAzimuth);
matrixViewModel.Translate(0.0f, 0.0f, _ViewDistance);
matrixView = matrixViewModel.GetInverseMatrix();
_NewtonProgram.Bind(ctx);
_NewtonProgram.SetUniform(ctx, "hal_ModelViewProjection", matrixProjection * matrixView);
_NewtonProgram.SetUniform(ctx, "hal_FrameTimeInterval", (float)(DateTime.UtcNow - _AnimationBegin).TotalSeconds);
_NewtonVertexArray.Draw(ctx, _NewtonProgram);
SwapNewtonVertexArrays();
// Issue another rendering
SampleGraphicsControl.Invalidate();
}
/// <summary>
/// Multiply this IModelMatrix with another IModelMatrix.
/// </summary>
/// <param name="a">
/// A <see cref="IModelMatrix"/> that specifies the right multiplication operand.
/// </param>
/// <returns>
/// A <see cref="IModelMatrix"/> resulting from the product of this matrix and the matrix <paramref name="a"/>.
/// </returns>
IModelMatrix IModelMatrix.Multiply(IModelMatrix a)
{
ModelMatrix rModelMatrix = new ModelMatrix();
ModelMatrix modelMatrix = a as ModelMatrix;
if (modelMatrix != null) {
ComputeMatrixProduct(rModelMatrix, this, modelMatrix);
return (rModelMatrix);
}
ModelMatrixDouble modelMatrixDouble = a as ModelMatrixDouble;
if (modelMatrixDouble != null) {
ComputeMatrixProduct(rModelMatrix, this, modelMatrixDouble);
return (rModelMatrix);
}
throw new NotSupportedException(String.Format("multiplication of {0} by {1} is not supported", GetType(), a.GetType()));
}
/// <summary>
/// Setup this matrix to view the universe in a certain direction.
/// </summary>
/// <param name="eyePosition">
/// A <see cref="Vertex3f"/> that specify the eye position, in local coordinates.
/// </param>
/// <param name="forwardVector">
/// A <see cref="Vertex3f"/> that specify the direction of the view. It will be normalized.
/// </param>
/// <param name="upVector">
/// A <see cref="Vertex3f"/> that specify the up vector of the view camera abstraction. It will be normalized
/// </param>
/// <returns>
/// It returns a view transformation matrix used to transform the world coordinate, in order to view
/// the world from <paramref name="eyePosition"/>, looking at <paramref name="forwardVector"/> having
/// an up direction equal to <paramref name="upVector"/>.
/// </returns>
public void LookAtDirection(Vertex3f eyePosition, Vertex3f forwardVector, Vertex3f upVector)
{
Vertex3f rightVector;
// Normalize forward vector
forwardVector.Normalize();
// Normalize up vector
upVector.Normalize();
// Compute the right vector (cross-product between forward and up vectors; right is perperndicular to the plane)
rightVector = forwardVector ^ upVector;
rightVector.Normalize();
// Derive up vector
upVector = rightVector ^ forwardVector;
upVector.Normalize();
// Compute view matrix
ModelMatrix lookatMatrix = new ModelMatrix(), positionMatrix = new ModelMatrix();
// Row 0: right vector
lookatMatrix[0, 0] = rightVector.x;
lookatMatrix[1, 0] = rightVector.y;
lookatMatrix[2, 0] = rightVector.z;
// Row 1: up vector
lookatMatrix[0, 1] = upVector.x;
lookatMatrix[1, 1] = upVector.y;
lookatMatrix[2, 1] = upVector.z;
// Row 2: opposite of forward vector
lookatMatrix[0, 2] = forwardVector.x;
lookatMatrix[1, 2] = forwardVector.y;
lookatMatrix[2, 2] = forwardVector.z;
// Eye position
positionMatrix.Translate(-eyePosition);
// Complete look-at matrix
Set(lookatMatrix * positionMatrix);
Set(GetInverseMatrix());
}
/// <summary>
/// Accumulate a translation on this ModelMatrix.
/// </summary>
/// <param name="x">
/// A <see cref="float"/> indicating the translation on X axis.
/// </param>
/// <param name="y">
/// A <see cref="float"/> indicating the translation on Y axis.
/// </param>
/// <param name="z">
/// A <see cref="float"/> indicating the translation on Z axis.
/// </param>
public void Translate(float x, float y, float z)
{
ModelMatrix translationMatrix = new ModelMatrix();
translationMatrix[3, 0] = x;
translationMatrix[3, 1] = y;
translationMatrix[3, 2] = z;
Set(this * translationMatrix);
}
/// <summary>
/// Translate a ModelMatrix in two-dimensional space.
/// </summary>
/// <param name="m"></param>
/// <param name="v"></param>
/// <returns></returns>
public static ModelMatrix operator -(ModelMatrix m, Vertex2f v)
{
ModelMatrix res = new ModelMatrix(m);
res.Translate(-v);
return (res);
}
/// <summary>
/// Setup this matrix to represent a rotation on the Z axis.
/// </summary>
/// <param name="angle">
/// The rotation angle, in degree.
/// </param>
public void RotateZ(float angle)
{
ModelMatrix rotationMatrix = new ModelMatrix();
float cosa = (float)Math.Cos(angle * Angle.DegreeToRadian);
float sina = (float)Math.Sin(angle * Angle.DegreeToRadian);
rotationMatrix[0, 0] = +cosa;
rotationMatrix[1, 0] = -sina;
rotationMatrix[0, 1] = +sina;
rotationMatrix[1, 1] = +cosa;
Set(this * rotationMatrix);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="s">
/// A <see cref="System.Single"/> holding the scaling factor on X, Y and Z axes.
/// </param>
public void Scale(float s)
{
ModelMatrix scaleModel = new ModelMatrix();
scaleModel.SetScale(s);
Set(this * scaleModel);
}
/// <summary>
/// ModelMatrix copy constructor.
/// </summary>
/// <param name="m">
/// A <see cref="ModelMatrix"/> to be copied.
/// </param>
public ModelMatrix(ModelMatrix m)
: base(m)
{
}
/// <summary>
/// Compute the transpose of this ModelMatrix.
/// </summary>
/// <returns>
/// A <see cref="ModelMatrix"/> which hold the transpose of this ModelMatrix.
/// </returns>
public new ModelMatrix Transpose()
{
ModelMatrix transpose = new ModelMatrix();
// Transpose matrix
for (uint c = 0; c < 4; c++)
for (uint r = 0; r < 4; r++)
transpose[r, c] = this[c, r];
return (transpose);
}
/// <summary>
/// Compute the product of two ModelMatrix.
/// </summary>
/// <param name="m1">
/// A <see cref="Matrix4x4"/> that specifies the left multiplication operand.
/// </param>
/// <param name="m2">
/// A <see cref="Matrix4x4"/> that specifies the right multiplication operand.
/// </param>
/// <returns>
/// A <see cref="Matrix4x4"/> resulting from the product of the matrix <paramref name="m1"/> and
/// the matrix <paramref name="m2"/>. This operator is used to concatenate successive transformations.
/// </returns>
public static ModelMatrix operator *(ModelMatrix m1, ModelMatrix m2)
{
// Allocate product matrix
ModelMatrix prod = new ModelMatrix();
// Compute product
ComputeMatrixProduct(prod, m1, m2);
return (prod);
}
/// <summary>
/// ModelMatrix copy constructor.
/// </summary>
/// <param name="m">
/// A <see cref="ModelMatrix"/> to be copied.
/// </param>
public ModelMatrix(ModelMatrix m)
: base(m)
{
}
/// <summary>
/// Accumulate a translation on this ModelMatrix.
/// </summary>
/// <param name="p">
/// A <see cref="Vertex3f"/> that specifies the translation.
/// </param>
public void Translate(Vertex3f p)
{
ModelMatrix translationMatrix = new ModelMatrix();
translationMatrix[3, 0] = p.x;
translationMatrix[3, 1] = p.y;
translationMatrix[3, 2] = p.z;
Set(this * translationMatrix);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="s">
/// A <see cref="Vertex3f"/> holding the scaling factors on three dimensions.
/// </param>
public void Scale(Vertex3f s)
{
ModelMatrix scaleModel = new ModelMatrix();
scaleModel.SetScale(s);
Set(this * scaleModel);
}
/// <summary>
/// Accumulate a scaling to this model matrix.
/// </summary>
/// <param name="x">
/// A <see cref="System.Double"/> holding the scaling factor on X axis.
/// </param>
/// <param name="y">
/// A <see cref="System.Double"/> holding the scaling factor on Y axis.
/// </param>
/// <param name="z">
/// A <see cref="System.Double"/> holding the scaling factor on Z axis.
/// </param>
public void Scale(float x, float y, float z)
{
ModelMatrix scaleModel = new ModelMatrix();
scaleModel.SetScale(x, y, z);
Set(this * scaleModel);
}