public static KVector2 Multiply(KVector2 A, KMatrix3x3Opti B)
{
double X = A.X * B.A11 + A.Y * B.A21;
double Y = A.X * B.A12 + A.Y * B.A22;
return(new KVector2(X, Y));
}
public static KVector2 Multiply(KMatrix3x3Opti A, KVector2 B)
{
double X = A.A11 * B.X + A.A12 * B.Y;
double Y = A.A21 * B.X + A.A22 * B.Y;
return(new KVector2(X, Y));
}
public static KVector3 Multiply(KMatrix3x3Opti A, KVector3 B)
{
double X = A.A11 * B.X + A.A12 * B.Y + A.A13 * B.Z;
double Y = A.A21 * B.X + A.A22 * B.Y + A.A23 * B.Z;
double Z = B.Z;
return(new KVector3(X, Y, Z));
}
public static KVector3 Multiply(KVector3 A, KMatrix3x3Opti B)
{
double X = A.X * B.A11 + A.Y * B.A21;
double Y = A.X * B.A12 + A.Y * B.A22;
double Z = A.X * B.A13 + A.Y * B.A23 + A.Z;
return(new KVector3(X, Y, Z));
}
public static KMatrix3x3Opti Add(KMatrix3x3Opti A, KMatrix3x3Opti B)
{
return(new KMatrix3x3Opti(
A.A11 + B.A11,
A.A12 + B.A12,
A.A21 + B.A21,
A.A22 + B.A22,
A.A13 + B.A13,
A.A23 + B.A23));
}
public static KMatrix3x3Opti Multiply(KMatrix3x3Opti A, double k)
{
return(new KMatrix3x3Opti(
k * A.A11,
k * A.A12,
k * A.A21,
k * A.A22,
k * A.A13,
k * A.A23));
}
public static KMatrix3x3Opti Substract(KMatrix3x3Opti A, KMatrix3x3Opti B)
{
return(new KMatrix3x3Opti(
A.A11 - B.A11,
A.A12 - B.A12,
A.A21 - B.A21,
A.A22 - B.A22,
A.A13 - B.A13,
A.A23 - B.A23));
}
public static KVector2 TransformVector(KVector2 v, KMatrix3x3Opti mat)
{
KVector2 result = new KVector2
{
X = mat.A11 * v.X + mat.A12 * v.Y,
Y = mat.A21 * v.X + mat.A22 * v.Y
};
return(result);
}
public static KMatrix3x3Opti Multiply(KMatrix3x3Opti A, KMatrix3x3Opti B)
{
double c11 = A.A11 * B.A11 + A.A12 * B.A21;
double c12 = A.A11 * B.A12 + A.A12 * B.A22;
double c13 = A.A11 * B.A13 + A.A12 * B.A23 + A.A13;
double c21 = A.A21 * B.A11 + A.A22 * B.A21;
double c22 = A.A21 * B.A12 + A.A22 * B.A22;
double c23 = A.A21 * B.A13 + A.A22 * B.A23 + A.A23;
return(new KMatrix3x3Opti(c11, c12, c21, c22, c13, c23));
}
public static void ComputeScRotTr(KVector2 scale, double rotation, KVector2 translation, out KMatrix3x3Opti mat)
{
mat = KMatrix3x3Opti.CreateScale(scale)
* KMatrix3x3Opti.CreateRotation(rotation)
* KMatrix3x3Opti.CreateTranslation(translation);
}
public static void ComputeWorldToLocal(KTransform t, out KMatrix3x3Opti mat)
{
ComputeScRotTr(new KVector2(1 / t.Scale.X, 1 / t.Scale.Y), t.Rotation, -t.Position, out mat);
}
public static void ComputeLocalToWorld(KTransform t, out KMatrix3x3Opti mat)
{
ComputeTrRotSc(t.Position, -t.Rotation, t.Scale, out mat);
}
public static KVector2 TransformNormal(KVector2 v, KMatrix3x3Opti mat)
{
return(Normalize(TransformDir(v, mat)));
}