public void Matrix3()
{
FMat3 fm = FMat3.FromQuaternion(FQuat.Euler(( Fix64 )30, ( Fix64 )(-20), ( Fix64 )49.342f));
Mat3 m = Mat3.FromQuaternion(Quat.Euler(30, -20, 49.342f));
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(4, 6, 9);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(4, 6, 9);
fv = fm.TransformPoint(fv);
fv2 = fm.TransformVector(fv2);
v = m.TransformPoint(v);
v2 = m.TransformVector(v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(fv2.ToString());
this._output.WriteLine(v.ToString());
this._output.WriteLine(v2.ToString());
fm = FMat3.LookAt(fv, fv2);
m = Mat3.LookAt(v, v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fv = fm.Euler();
v = m.Euler();
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fm = FMat3.FromEuler(fv);
m = Mat3.FromEuler(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromScale(fv);
m = Mat3.FromScale(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromCross(fv);
m = Mat3.FromCross(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromOuterProduct(fv, fv2);
m = Mat3.FromOuterProduct(v, v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromRotationAxis(( Fix64 )35, fv);
m = Mat3.FromRotationAxis(35, v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.NonhomogeneousInverse(fm);
m = Mat3.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
}
public void Matrix4()
{
FMat4 fm = FMat4.FromQuaternion(FQuat.Euler(( Fix64 )30, ( Fix64 )(-20), ( Fix64 )49.342f));
Mat4 m = Mat4.FromQuaternion(Quat.Euler(30, -20, 49.342f));
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(4, 6, 9);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(4, 6, 9);
fv = fm.TransformPoint(fv);
fv2 = fm.TransformVector(fv2);
v = m.TransformPoint(v);
v2 = m.TransformVector(v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(fv2.ToString());
this._output.WriteLine(v.ToString());
this._output.WriteLine(v2.ToString());
fm = FMat4.FromEuler(fv);
m = Mat4.FromEuler(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.FromScale(fv);
m = Mat4.FromScale(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.FromRotationAxis(( Fix64 )35, fv);
m = Mat4.FromRotationAxis(35, v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.NonhomogeneousInverse(fm);
m = Mat4.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.FromTRS(new FVec3(4, 5, 6), FQuat.identity, FVec3.one);
m = Mat4.FromTRS(new Vec3(4, 5, 6), Quat.identity, Vec3.one);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.NonhomogeneousInverse(fm);
m = Mat4.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fv = fm.TransformPoint(fv);
v = m.TransformPoint(v);
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
}
public void Quat4()
{
FQuat fq = FQuat.Euler(( Fix64 )45, ( Fix64 )(-23), ( Fix64 )(-48.88));
FQuat fq2 = FQuat.Euler(( Fix64 )23, ( Fix64 )(-78), ( Fix64 )(-132.43f));
Quat q = Quat.Euler(45, -23, -48.88f);
Quat q2 = Quat.Euler(23, -78, -132.43f);
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(1, 0, 0);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(1, 0, 0);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
this._output.WriteLine(fq2.ToString());
this._output.WriteLine(q2.ToString());
Fix64 fa = FQuat.Angle(fq, fq2);
float a = Quat.Angle(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.AngleAxis(( Fix64 )(-123.324), fv);
q = Quat.AngleAxis(-123.324f, v);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fa = FQuat.Dot(fq, fq2);
a = Quat.Dot(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.FromToRotation(FVec3.Normalize(fv), fv2);
q = Quat.FromToRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Lerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Lerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Normalize(fq);
q.Normalize();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.Inverse();
q = Quat.Inverse(q);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fv = FQuat.Orthogonal(fv);
v = Quat.Orthogonal(v);
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = FQuat.Slerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Slerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.LookRotation(FVec3.Normalize(fv), fv2);
q = Quat.LookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.ToAngleAxis(out fa, out fv);
q.ToAngleAxis(out a, out v);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = fq.Conjugate();
q = q.Conjugate();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.SetLookRotation(FVec3.Normalize(fv), fv2);
q.SetLookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
}