/// <summary>
/// TODO: document this method...
///
/// Not 100% sure what this does -- it came from the GLTK code.
/// I think it keeps the rotations the same but makes them more 'normalised'?
/// </summary>
public Matrix Orthogonalise()
{
Vector lColumn1 = new Vector(this[1, 0], this[1, 1], this[1, 2]);
Vector lColumn2 = new Vector(this[2, 0], this[2, 1], this[2, 2]);
Vector lNewColumn0 = (lColumn1 ^ lColumn2).Normalise();
Vector lNewColumn1 = lColumn1.Normalise();
Vector lNewColumn2 = (lNewColumn0 ^ lColumn1).Normalise();
return(new Matrix(
lNewColumn0.x, lNewColumn0.y, lNewColumn0.z, 0,
lNewColumn1.x, lNewColumn1.y, lNewColumn1.z, 0,
lNewColumn2.x, lNewColumn2.y, lNewColumn2.z, 0,
this[3, 0], this[3, 1], this[3, 2], this[3, 3]));
}
public void LookAt(Point xiTarget, Vector xiUp)
{
Vector lV1 = (Position - xiTarget).Normalise();
Vector lV2 = xiUp.Normalise();
Vector lV3 = lV2 ^ lV1;
lV2 = lV1 ^ lV3;
mTransform = new Matrix(
lV3.x, lV3.y, lV3.z, 0,
lV2.x, lV2.y, lV2.z, 0,
lV1.x, lV1.y, lV1.z, 0,
mTransform[3, 0], mTransform[3, 1], mTransform[3, 2], mTransform[3, 3]);
Reorthogonalise();
}
/// <summary>
/// TODO: document this method...
///
/// Not 100% sure what this does -- it came from the GLTK code.
/// I think it keeps the rotations the same but makes them more 'normalised'?
/// </summary>
public Matrix Orthogonalise()
{
Vector lColumn1 = new Vector(this[1, 0], this[1, 1], this[1, 2]);
Vector lColumn2 = new Vector(this[2, 0], this[2, 1], this[2, 2]);
Vector lNewColumn0 = (lColumn1 ^ lColumn2).Normalise();
Vector lNewColumn1 = lColumn1.Normalise();
Vector lNewColumn2 = (lNewColumn0 ^ lColumn1).Normalise();
return new Matrix(
lNewColumn0.x, lNewColumn0.y, lNewColumn0.z, 0,
lNewColumn1.x, lNewColumn1.y, lNewColumn1.z, 0,
lNewColumn2.x, lNewColumn2.y, lNewColumn2.z, 0,
this[3, 0], this[3, 1], this[3, 2], this[3, 3]);
}
public void LookAt(Point xiTarget, Vector xiUp)
{
Vector lV1 = (Position - xiTarget).Normalise();
Vector lV2 = xiUp.Normalise();
Vector lV3 = lV2 ^ lV1;
lV2 = lV1 ^ lV3;
mTransform = new Matrix(
lV3.x, lV3.y, lV3.z, 0,
lV2.x, lV2.y, lV2.z, 0,
lV1.x, lV1.y, lV1.z, 0,
mTransform[3, 0], mTransform[3, 1], mTransform[3, 2], mTransform[3, 3]);
Reorthogonalise();
}