/// <summary>
/// Multiplies two matrices and put the result in a third matrix.
/// </summary>
/// <param name="a">A <see cref="Matrix4D"/> instance.</param>
/// <param name="b">A <see cref="Matrix4D"/> instance.</param>
/// <param name="result">A <see cref="Matrix4D"/> instance to hold the result.</param>
public static void Multiply(Matrix4D a, Matrix4D b, ref Matrix4D result)
{
result.M11 = a.M11 * b.M11 + a.M12 * b.M21 + a.M13 * b.M31 + a.M14 * b.M41;
result.M12 = a.M11 * b.M12 + a.M12 * b.M22 + a.M13 * b.M32 + a.M14 * b.M42;
result.M13 = a.M11 * b.M13 + a.M12 * b.M23 + a.M13 * b.M33 + a.M14 * b.M43;
result.M14 = a.M11 * b.M14 + a.M12 * b.M24 + a.M13 * b.M34 + a.M14 * b.M44;
result.M21 = a.M21 * b.M11 + a.M22 * b.M21 + a.M23 * b.M31 + a.M24 * b.M41;
result.M22 = a.M21 * b.M12 + a.M22 * b.M22 + a.M23 * b.M32 + a.M24 * b.M42;
result.M23 = a.M21 * b.M13 + a.M22 * b.M23 + a.M23 * b.M33 + a.M24 * b.M43;
result.M24 = a.M21 * b.M14 + a.M22 * b.M24 + a.M23 * b.M34 + a.M24 * b.M44;
result.M31 = a.M31 * b.M11 + a.M32 * b.M21 + a.M33 * b.M31 + a.M34 * b.M41;
result.M32 = a.M31 * b.M12 + a.M32 * b.M22 + a.M33 * b.M32 + a.M34 * b.M42;
result.M33 = a.M31 * b.M13 + a.M32 * b.M23 + a.M33 * b.M33 + a.M34 * b.M43;
result.M34 = a.M31 * b.M14 + a.M32 * b.M24 + a.M33 * b.M34 + a.M34 * b.M44;
result.M41 = a.M41 * b.M11 + a.M42 * b.M21 + a.M43 * b.M31 + a.M44 * b.M41;
result.M42 = a.M41 * b.M12 + a.M42 * b.M22 + a.M43 * b.M32 + a.M44 * b.M42;
result.M43 = a.M41 * b.M13 + a.M42 * b.M23 + a.M43 * b.M33 + a.M44 * b.M43;
result.M44 = a.M41 * b.M14 + a.M42 * b.M24 + a.M43 * b.M34 + a.M44 * b.M44;
}
/// <summary>
/// Subtracts a scalar from a matrix and put the result in a third matrix.
/// </summary>
/// <param name="a">A <see cref="Matrix4D"/> instance.</param>
/// <param name="s">A scalar.</param>
/// <param name="result">A <see cref="Matrix4D"/> instance to hold the result.</param>
public static void Subtract(Matrix4D a, double s, ref Matrix4D result)
{
result.M11 = a.M11 - s;
result.M12 = a.M12 - s;
result.M13 = a.M13 - s;
result.M14 = a.M14 - s;
result.M21 = a.M21 - s;
result.M22 = a.M22 - s;
result.M23 = a.M23 - s;
result.M24 = a.M24 - s;
result.M31 = a.M31 - s;
result.M32 = a.M32 - s;
result.M33 = a.M33 - s;
result.M34 = a.M34 - s;
result.M41 = a.M41 - s;
result.M42 = a.M42 - s;
result.M43 = a.M43 - s;
result.M44 = a.M44 - s;
}
/// <summary>
/// Multiplies two matrices.
/// </summary>
/// <param name="a">A <see cref="Matrix4D"/> instance.</param>
/// <param name="b">A <see cref="Matrix4D"/> instance.</param>
/// <returns>A new <see cref="Matrix4D"/> instance containing the result.</returns>
public static Matrix4D Multiply(Matrix4D a, Matrix4D b)
{
return new Matrix4D(
a.M11 * b.M11 + a.M12 * b.M21 + a.M13 * b.M31 + a.M14 * b.M41,
a.M11 * b.M12 + a.M12 * b.M22 + a.M13 * b.M32 + a.M14 * b.M42,
a.M11 * b.M13 + a.M12 * b.M23 + a.M13 * b.M33 + a.M14 * b.M43,
a.M11 * b.M14 + a.M12 * b.M24 + a.M13 * b.M34 + a.M14 * b.M44,
a.M21 * b.M11 + a.M22 * b.M21 + a.M23 * b.M31 + a.M24 * b.M41,
a.M21 * b.M12 + a.M22 * b.M22 + a.M23 * b.M32 + a.M24 * b.M42,
a.M21 * b.M13 + a.M22 * b.M23 + a.M23 * b.M33 + a.M24 * b.M43,
a.M21 * b.M14 + a.M22 * b.M24 + a.M23 * b.M34 + a.M24 * b.M44,
a.M31 * b.M11 + a.M32 * b.M21 + a.M33 * b.M31 + a.M34 * b.M41,
a.M31 * b.M12 + a.M32 * b.M22 + a.M33 * b.M32 + a.M34 * b.M42,
a.M31 * b.M13 + a.M32 * b.M23 + a.M33 * b.M33 + a.M34 * b.M43,
a.M31 * b.M14 + a.M32 * b.M24 + a.M33 * b.M34 + a.M34 * b.M44,
a.M41 * b.M11 + a.M42 * b.M21 + a.M43 * b.M31 + a.M44 * b.M41,
a.M41 * b.M12 + a.M42 * b.M22 + a.M43 * b.M32 + a.M44 * b.M42,
a.M41 * b.M13 + a.M42 * b.M23 + a.M43 * b.M33 + a.M44 * b.M43,
a.M41 * b.M14 + a.M42 * b.M24 + a.M43 * b.M34 + a.M44 * b.M44
);
}
/// <summary>
/// Transposes a matrix.
/// </summary>
/// <param name="m">A <see cref="Matrix4D"/> instance.</param>
/// <returns>A new <see cref="Matrix4D"/> instance containing the transposed matrix.</returns>
public static Matrix4D Transpose(Matrix4D m)
{
Matrix4D t = new Matrix4D(m);
t.Transpose();
return t;
}
static void Main(string[] args)
{
Child child = Factory.GimmeAChild();
Parent parent = Factory.GimmeAParent();
Parent parent2 = Factory.GimmeAChildAsAParent();
child.DoEvenMore();
child.DoSomething(3, 4);
parent.DoSomething(2, 3);
parent2.DoSomething(1, 2);
Child child2 = (Child)parent2;
// SIZE howbig = SIZE.MEDIUM;
// parent2.MethodWithRefSize(ref howbig);
Vector3D v3 = new Vector3D(11, 22, 33);
Vector4D v4 = new Vector4D(1, 2, 3, 4);
Matrix4D mtx = new Matrix4D(11, 12, 13, 14, 21, 22, 23, 24, 31, 32, 33, 34, 41, 42, 43, 44);
int res;
// Handmade Matrix and Vector wrapping test
// Note: This tests the mapping of C++ Matrix and Vector types
// to exsiting C# Matrix and Vector types (and not wrapper classes)
res = HandmadeWrappers.HandMadeVectorTaker(ref v4);
//res = HandmadeWrappers.HandMadeMatrixTakerWrapper(ref mtx);
Vector4D vRes = HandmadeWrappers.HandMadeVectorReturner();
//Matrix4D mRes = HandmadeWrappers.HandMadeMatrixReturnerWrapper();
Vector4D vRes2 = HandmadeWrappers.HandMadeVectorPtrReturnerWrapper();
// Swig generated Matrix and Vector wrapping test
// Note: This tests the mapping of C++ Matrix and Vector types
// to exsiting C# Matrix and Vector types (and not wrapper classes generated by Swig).
// The mapping of the types is done by Swig, though
VectorConsumer vc = new VectorConsumer();
//Matrix4D mRes2 = vc.GimmeSomeMatrix();
res = vc.VectorTakerPtr3(ref v3);
res = vc.VectorTakerRef3(ref v3);
res = vc.VectorTakerVal3(v3);
Vector3D vRet = vc.GimmeSomeVector();
Vector3D vOld = vc.VV;
vc.VV = vRet;
vOld = vc.VV;
res = vc.VectorTakerPtr4(ref v4);
res = vc.VectorTakerRef4(ref v4);
res = vc.VectorTakerVal4(v4);
//res = vc.MatrixTakerPtr(ref mtx);
//res = vc.MatrixTakerRef(ref mtx);
//res = vc.MatrixTakerVal(mtx);
MyVectorConsumer myVc = new MyVectorConsumer();
VectorConsumerCaller.CallVectorConsumer(myVc);
AParamType param = null;
RefRefTest.ParameterTaker(ref param);
int i = 8;
}
/// <summary>
/// Transforms a given vector by a matrix applying the positional matrix components but omitting the projection components.
/// </summary>
/// <param name="matrix">A <see cref="Matrix4D"/> instance.</param>
/// <param name="vector">A <see cref="Vector3D"/> instance.</param>
/// <returns>A new <see cref="Vector3D"/> instance containing the result.</returns>
public static Vector3D Transform(Matrix4D matrix, Vector3D vector)
{
return new Vector3D(
(matrix.M11 * vector.X) + (matrix.M12 * vector.Y) + (matrix.M13 * vector.Z) + matrix.M14,
(matrix.M21 * vector.X) + (matrix.M22 * vector.Y) + (matrix.M23 * vector.Z) + matrix.M24,
(matrix.M31 * vector.X) + (matrix.M32 * vector.Y) + (matrix.M33 * vector.Z) + matrix.M34);
}
/// <summary>
/// Transforms a given 3D vector by a matrix using perspective division.
/// </summary>
/// <remarks>
/// Before the matrix multiplication the 3D vector is extended to 4D by setting its W component to 1.
/// After the matrix multiplication the resulting 4D vector is transformed to 3D by dividing X, Y, and Z by W.
/// (perspective division).
/// </remarks>
/// <param name="matrix">A <see cref="Matrix4D"/> instance.</param>
/// <param name="vector">A <see cref="Vector3D"/> instance.</param>
/// <returns>A new <see cref="Vector3D"/> instance containing the result.</returns>
public static Vector3D TransformPD(Matrix4D matrix, Vector3D vector)
{
double w = (matrix.M41 * vector.X) + (matrix.M42 * vector.Y) + (matrix.M43 * vector.Z) + matrix.M44;
return new Vector3D(
((matrix.M11 * vector.X) + (matrix.M12 * vector.Y) + (matrix.M13 * vector.Z) + matrix.M14) / w,
((matrix.M21 * vector.X) + (matrix.M22 * vector.Y) + (matrix.M23 * vector.Z) + matrix.M24) / w,
((matrix.M31 * vector.X) + (matrix.M32 * vector.Y) + (matrix.M33 * vector.Z) + matrix.M34) / w);
}
/// <summary>
/// Adds a matrix and a scalar.
/// </summary>
/// <param name="a">A <see cref="Matrix4D"/> instance.</param>
/// <param name="s">A scalar.</param>
/// <returns>A new <see cref="Matrix4D"/> instance containing the sum.</returns>
public static Matrix4D Add(Matrix4D a, double s)
{
return new Matrix4D(
a.M11 + s, a.M12 + s, a.M13 + s, a.M14 + s,
a.M21 + s, a.M22 + s, a.M23 + s, a.M24 + s,
a.M31 + s, a.M32 + s, a.M33 + s, a.M34 + s,
a.M41 + s, a.M42 + s, a.M43 + s, a.M44 + s
);
}
/// <summary>
/// Adds two matrices and put the result in a third matrix.
/// </summary>
/// <param name="a">A <see cref="Matrix4D"/> instance.</param>
/// <param name="b">A <see cref="Matrix4D"/> instance.</param>
/// <param name="result">A <see cref="Matrix4D"/> instance to hold the result.</param>
public static void Add(Matrix4D a, Matrix4D b, ref Matrix4D result)
{
result.M11 = a.M11 + b.M11;
result.M12 = a.M12 + b.M12;
result.M13 = a.M13 + b.M13;
result.M14 = a.M14 + b.M14;
result.M21 = a.M21 + b.M21;
result.M22 = a.M22 + b.M22;
result.M23 = a.M23 + b.M23;
result.M24 = a.M24 + b.M24;
result.M31 = a.M31 + b.M31;
result.M32 = a.M32 + b.M32;
result.M33 = a.M33 + b.M33;
result.M34 = a.M34 + b.M34;
result.M41 = a.M41 + b.M41;
result.M42 = a.M42 + b.M42;
result.M43 = a.M43 + b.M43;
result.M44 = a.M44 + b.M44;
}
/// <summary>
/// Initializes a new instance of the <see cref="Matrix4D"/> class using a given matrix.
/// </summary>
public Matrix4D(Matrix4D m)
{
_m11 = m.M11; _m12 = m.M12; _m13 = m.M13; _m14 = m.M14;
_m21 = m.M21; _m22 = m.M22; _m23 = m.M23; _m24 = m.M24;
_m31 = m.M31; _m32 = m.M32; _m33 = m.M33; _m34 = m.M34;
_m41 = m.M41; _m42 = m.M42; _m43 = m.M43; _m44 = m.M44;
}
/// <summary>
/// Adds two matrices.
/// </summary>
/// <param name="a">A <see cref="Matrix4D"/> instance.</param>
/// <param name="b">A <see cref="Matrix4D"/> instance.</param>
/// <returns>A new <see cref="Matrix4D"/> instance containing the sum.</returns>
public static Matrix4D Add(Matrix4D a, Matrix4D b)
{
return new Matrix4D(
a.M11 + b.M11, a.M12 + b.M12, a.M13 + b.M13, a.M14 + b.M14,
a.M21 + b.M21, a.M22 + b.M22, a.M23 + b.M23, a.M24 + b.M24,
a.M31 + b.M31, a.M32 + b.M32, a.M33 + b.M33, a.M34 + b.M34,
a.M41 + b.M41, a.M42 + b.M42, a.M43 + b.M43, a.M44 + b.M44
);
}
/// <summary>
/// Transform the vectors in the given array and put the result in another array.
/// </summary>
/// <param name="vectors">An array of vectors to transform.</param>
/// <param name="transformation">The transformation.</param>
/// <param name="result">An array of vectors to put the transformation results in (should be empty).</param>
public static void TransformArray(Vector3DArrayList vectors, Matrix4D transformation, Vector3DArrayList result)
{
for (int i = 0; i < vectors.Count; i++)
{
result.Add(Matrix4D.Transform(transformation, vectors[i]));
}
}
/// <summary>
/// Transform the vectors in the given array.
/// </summary>
/// <param name="vectors">An array of vectors to transform.</param>
/// <param name="transformation">The transformation.</param>
/// <remarks>
/// This method changes the vector values in the <paramref name="vectors"/> array.
/// </remarks>
public static void TransformArray(Vector3DArrayList vectors, Matrix4D transformation)
{
for (int i = 0; i < vectors.Count; i++)
{
vectors[i] = Matrix4D.Transform(transformation, vectors[i]);
}
}
/// <summary>
/// Transform the vectors in the given array.
/// </summary>
/// <param name="vectors">An array of vectors to transform.</param>
/// <param name="transformation">The transformation.</param>
/// <remarks>
/// This method changes the vector values in the <paramref name="vectors"/> array.
/// </remarks>
public static void TransformArray(Vector4DArrayList vectors, Matrix4D transformation)
{
for (int i = 0; i < vectors.Count; i++)
{
vectors[i] = transformation * vectors[i];
}
}
/// <summary>
/// Transforms a given vector by a matrix.
/// </summary>
/// <param name="matrix">A <see cref="Matrix4D"/> instance.</param>
/// <param name="vector">A <see cref="Vector4D"/> instance.</param>
/// <returns>A new <see cref="Vector4D"/> instance containing the result.</returns>
public static Vector4D Transform(Matrix4D matrix, Vector4D vector)
{
return new Vector4D(
(matrix.M11 * vector.X) + (matrix.M12 * vector.Y) + (matrix.M13 * vector.Z) + (matrix.M14 * vector.W),
(matrix.M21 * vector.X) + (matrix.M22 * vector.Y) + (matrix.M23 * vector.Z) + (matrix.M24 * vector.W),
(matrix.M31 * vector.X) + (matrix.M32 * vector.Y) + (matrix.M33 * vector.Z) + (matrix.M34 * vector.W),
(matrix.M41 * vector.X) + (matrix.M42 * vector.Y) + (matrix.M43 * vector.Z) + (matrix.M44 * vector.W));
}
/// <summary>
/// Adds a matrix and a scalar and put the result in a third matrix.
/// </summary>
/// <param name="a">A <see cref="Matrix4D"/> instance.</param>
/// <param name="s">A scalar.</param>
/// <param name="result">A <see cref="Matrix4D"/> instance to hold the result.</param>
public static void Add(Matrix4D a, double s, ref Matrix4D result)
{
result.M11 = a.M11 + s;
result.M12 = a.M12 + s;
result.M13 = a.M13 + s;
result.M14 = a.M14 + s;
result.M21 = a.M21 + s;
result.M22 = a.M22 + s;
result.M23 = a.M23 + s;
result.M24 = a.M24 + s;
result.M31 = a.M31 + s;
result.M32 = a.M32 + s;
result.M33 = a.M33 + s;
result.M34 = a.M34 + s;
result.M41 = a.M41 + s;
result.M42 = a.M42 + s;
result.M43 = a.M43 + s;
result.M44 = a.M44 + s;
}
/// <summary>
/// Transforms a given vector by a matrix and put the result in a vector.
/// </summary>
/// <param name="matrix">A <see cref="Matrix4D"/> instance.</param>
/// <param name="vector">A <see cref="Vector4D"/> instance.</param>
/// <param name="result">A <see cref="Vector4D"/> instance to hold the result.</param>
public static void Transform(Matrix4D matrix, Vector4D vector, ref Vector4D result)
{
result.X = (matrix.M11 * vector.X) + (matrix.M12 * vector.Y) + (matrix.M13 * vector.Z) + (matrix.M14 * vector.W);
result.Y = (matrix.M21 * vector.X) + (matrix.M22 * vector.Y) + (matrix.M23 * vector.Z) + (matrix.M24 * vector.W);
result.Z = (matrix.M31 * vector.X) + (matrix.M32 * vector.Y) + (matrix.M33 * vector.Z) + (matrix.M34 * vector.W);
result.W = (matrix.M41 * vector.X) + (matrix.M42 * vector.Y) + (matrix.M43 * vector.Z) + (matrix.M44 * vector.W);
}
/// <summary>
/// Subtracts a matrix from a matrix.
/// </summary>
/// <param name="a">A <see cref="Matrix4D"/> instance to subtract from.</param>
/// <param name="b">A <see cref="Matrix4D"/> instance to subtract.</param>
/// <returns>A new <see cref="Matrix4D"/> instance containing the difference.</returns>
/// <remarks>result[x][y] = a[x][y] - b[x][y]</remarks>
public static Matrix4D Subtract(Matrix4D a, Matrix4D b)
{
return new Matrix4D(
a.M11 - b.M11, a.M12 - b.M12, a.M13 - b.M13, a.M14 - b.M14,
a.M21 - b.M21, a.M22 - b.M22, a.M23 - b.M23, a.M24 - b.M24,
a.M31 - b.M31, a.M32 - b.M32, a.M33 - b.M33, a.M34 - b.M34,
a.M41 - b.M41, a.M42 - b.M42, a.M43 - b.M43, a.M44 - b.M44
);
}
/// <summary>
/// Transforms a given vector by a matrix applying the positional matrix components but omitting the projection components and put the result in a vector.
/// </summary>
/// <param name="matrix">A <see cref="Matrix4D"/> instance.</param>
/// <param name="vector">A <see cref="Vector3D"/> instance.</param>
/// <param name="result">A <see cref="Vector3D"/> instance to hold the result.</param>
public static void Transform(Matrix4D matrix, Vector3D vector, ref Vector3D result)
{
result.X = (matrix.M11 * vector.X) + (matrix.M12 * vector.Y) + (matrix.M13 * vector.Z) + matrix.M14;
result.Y = (matrix.M21 * vector.X) + (matrix.M22 * vector.Y) + (matrix.M23 * vector.Z) + matrix.M24;
result.Z = (matrix.M31 * vector.X) + (matrix.M32 * vector.Y) + (matrix.M33 * vector.Z) + matrix.M34;
}
/// <summary>
/// Subtracts a scalar from a matrix.
/// </summary>
/// <param name="a">A <see cref="Matrix4D"/> instance.</param>
/// <param name="s">A <see cref="Matrix4D"/> instance.</param>
/// <returns>A new <see cref="Matrix4D"/> instance containing the difference.</returns>
public static Matrix4D Subtract(Matrix4D a, double s)
{
return new Matrix4D(
a.M11 - s, a.M12 - s, a.M13 - s, a.M14 - s,
a.M21 - s, a.M22 - s, a.M23 - s, a.M24 - s,
a.M31 - s, a.M32 - s, a.M33 - s, a.M34 - s,
a.M41 - s, a.M42 - s, a.M43 - s, a.M44 - s
);
}
/// <summary>
/// Transforms a given vector by a matrix using perspective division and put the result in a vector.
/// </summary>
/// <remarks>
/// Before the matrix multiplication the 3D vector is extended to 4D by setting its W component to 1.
/// After the matrix multiplication the resulting 4D vector is transformed to 3D by dividing X, Y, and Z by W.
/// (perspective division).
/// </remarks>
/// <param name="matrix">A <see cref="Matrix4D"/> instance.</param>
/// <param name="vector">A <see cref="Vector3D"/> instance.</param>
/// <param name="result">A <see cref="Vector3D"/> instance to hold the result.</param>
public static void TransformPD(Matrix4D matrix, Vector3D vector, ref Vector3D result)
{
double w = (matrix.M41 * vector.X) + (matrix.M42 * vector.Y) + (matrix.M43 * vector.Z) + matrix.M44;
result.X = ((matrix.M11 * vector.X) + (matrix.M12 * vector.Y) + (matrix.M13 * vector.Z) + matrix.M14) / w;
result.Y = ((matrix.M21 * vector.X) + (matrix.M22 * vector.Y) + (matrix.M23 * vector.Z) + matrix.M24) / w;
result.Z = ((matrix.M31 * vector.X) + (matrix.M32 * vector.Y) + (matrix.M33 * vector.Z) + matrix.M34) / w;
}
/// <summary>
/// Subtracts a matrix from a matrix and put the result in a third matrix.
/// </summary>
/// <param name="a">A <see cref="Matrix4D"/> instance to subtract from.</param>
/// <param name="b">A <see cref="Matrix4D"/> instance to subtract.</param>
/// <param name="result">A <see cref="Matrix4D"/> instance to hold the result.</param>
/// <remarks>result[x][y] = a[x][y] - b[x][y]</remarks>
public static void Subtract(Matrix4D a, Matrix4D b, ref Matrix4D result)
{
result.M11 = a.M11 - b.M11;
result.M12 = a.M12 - b.M12;
result.M13 = a.M13 - b.M13;
result.M14 = a.M14 - b.M14;
result.M21 = a.M21 - b.M21;
result.M22 = a.M22 - b.M22;
result.M23 = a.M23 - b.M23;
result.M24 = a.M24 - b.M24;
result.M31 = a.M31 - b.M31;
result.M32 = a.M32 - b.M32;
result.M33 = a.M33 - b.M33;
result.M34 = a.M34 - b.M34;
result.M41 = a.M41 - b.M41;
result.M42 = a.M42 - b.M42;
result.M43 = a.M43 - b.M43;
result.M44 = a.M44 - b.M44;
}
/// <summary>
/// Calculates the adjoint of the matrix.
/// </summary>
/// <returns>A <see cref="Matrix4D"/> instance containing the adjoint of the matrix.</returns>
public Matrix4D Adjoint()
{
Matrix4D result = new Matrix4D();
for (int row = 0; row < 4; row++)
{
for (int col = 0; col < 4; col++)
{
if (((col+row) % 2) == 0)
result[row, col] = Minor(col, row).Determinant();
else
result[row, col] = -Minor(col, row).Determinant();
}
}
return result;
}
//TODO: deleted 'override'
public bool MoveHandle(BaseObject op, BaseObject undo, ref Matrix4D tm, int hit_id, QUALIFIER qualifier)
{
BaseContainer src = undo.GetDataInstance();
BaseContainer dst = op.GetDataInstance();
Vector3D handle_dir = new Vector3D(1.0,0.0,0.0);
handle_dir = SwapPoint(handle_dir,src.GetLong(C4dApi.PRIM_PLANE));
double val = Vector3D.Dot(tm.Offset, handle_dir);
dst.SetReal(CIRCLEOBJECT_RAD, MathFunctions.Saturate(src.GetReal(CIRCLEOBJECT_RAD)+val, 0.0, C4dApi.MAXRANGE));
return true;
}