--- /dev/null
+using System;
+using System.Runtime.InteropServices;
+
+using OpenTK;
+
+namespace TopHat.Mathematics
+{
+ /// <summary>
+ /// Represents a 3x4 Matrix
+ /// </summary>
+ [Serializable]
+ [StructLayout(LayoutKind.Sequential)]
+ public struct Matrix3x4 : IEquatable<Matrix3x4>
+ {
+ #region Fields
+
+ /// <summary>
+ /// Top row of the matrix
+ /// </summary>
+ public Vector4 Row0;
+
+ /// <summary>
+ /// 2nd row of the matrix
+ /// </summary>
+ public Vector4 Row1;
+
+ /// <summary>
+ /// Bottom row of the matrix
+ /// </summary>
+ public Vector4 Row2;
+
+ /// <summary>
+ /// The identity matrix
+ /// </summary>
+ public static Matrix3x4 Identity = new Matrix3x4(Vector4.UnitX, Vector4.UnitY, Vector4.UnitZ);
+
+ #endregion
+
+ #region Constructors
+
+ /// <summary>
+ /// Constructs a new instance.
+ /// </summary>
+ /// <param name="row0">Top row of the matrix</param>
+ /// <param name="row1">Second row of the matrix</param>
+ /// <param name="row2">Bottom row of the matrix</param>
+ public Matrix3x4(Vector4 row0, Vector4 row1, Vector4 row2)
+ {
+ Row0 = row0;
+ Row1 = row1;
+ Row2 = row2;
+ }
+
+ /// <summary>
+ /// Constructs a new instance.
+ /// </summary>
+ /// <param name="m00">First item of the first row of the matrix.</param>
+ /// <param name="m01">Second item of the first row of the matrix.</param>
+ /// <param name="m02">Third item of the first row of the matrix.</param>
+ /// <param name="m03">Fourth item of the first row of the matrix.</param>
+ /// <param name="m10">First item of the second row of the matrix.</param>
+ /// <param name="m11">Second item of the second row of the matrix.</param>
+ /// <param name="m12">Third item of the second row of the matrix.</param>
+ /// <param name="m13">Fourth item of the second row of the matrix.</param>
+ /// <param name="m20">First item of the third row of the matrix.</param>
+ /// <param name="m21">Second item of the third row of the matrix.</param>
+ /// <param name="m22">Third item of the third row of the matrix.</param>
+ /// <param name="m23">First item of the third row of the matrix.</param>
+ public Matrix3x4(
+ float m00, float m01, float m02, float m03,
+ float m10, float m11, float m12, float m13,
+ float m20, float m21, float m22, float m23)
+ {
+ Row0 = new Vector4(m00, m01, m02, m03);
+ Row1 = new Vector4(m10, m11, m12, m13);
+ Row2 = new Vector4(m20, m21, m22, m23);
+ }
+
+ #endregion
+
+ #region Public Members
+
+ #region Properties
+
+ /// <summary>
+ /// Gets the first column of this matrix.
+ /// </summary>
+ public Vector3 Column0
+ {
+ get { return new Vector3(Row0.X, Row1.X, Row2.X); }
+ }
+
+ /// <summary>
+ /// Gets the second column of this matrix.
+ /// </summary>
+ public Vector3 Column1
+ {
+ get { return new Vector3(Row0.Y, Row1.Y, Row2.Y); }
+ }
+
+ /// <summary>
+ /// Gets the third column of this matrix.
+ /// </summary>
+ public Vector3 Column2
+ {
+ get { return new Vector3(Row0.Z, Row1.Z, Row2.Z); }
+ }
+
+ /// <summary>
+ /// Gets the fourth column of this matrix.
+ /// </summary>
+ public Vector3 Column3
+ {
+ get { return new Vector3(Row0.W, Row1.W, Row2.W); }
+ }
+
+ /// <summary>
+ /// Gets or sets the value at row 1, column 1 of this instance.
+ /// </summary>
+ public float M11 { get { return Row0.X; } set { Row0.X = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 1, column 2 of this instance.
+ /// </summary>
+ public float M12 { get { return Row0.Y; } set { Row0.Y = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 1, column 3 of this instance.
+ /// </summary>
+ public float M13 { get { return Row0.Z; } set { Row0.Z = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 1, column 4 of this instance.
+ /// </summary>
+ public float M14 { get { return Row0.W; } set { Row0.W = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 2, column 1 of this instance.
+ /// </summary>
+ public float M21 { get { return Row1.X; } set { Row1.X = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 2, column 2 of this instance.
+ /// </summary>
+ public float M22 { get { return Row1.Y; } set { Row1.Y = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 2, column 3 of this instance.
+ /// </summary>
+ public float M23 { get { return Row1.Z; } set { Row1.Z = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 2, column 4 of this instance.
+ /// </summary>
+ public float M24 { get { return Row1.W; } set { Row1.W = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 3, column 1 of this instance.
+ /// </summary>
+ public float M31 { get { return Row2.X; } set { Row2.X = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 3, column 2 of this instance.
+ /// </summary>
+ public float M32 { get { return Row2.Y; } set { Row2.Y = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 3, column 3 of this instance.
+ /// </summary>
+ public float M33 { get { return Row2.Z; } set { Row2.Z = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 3, column 4 of this instance.
+ /// </summary>
+ public float M34 { get { return Row2.W; } set { Row2.W = value; } }
+
+ #endregion
+
+ #region Instance
+
+ #region public void Invert()
+
+ public void Invert()
+ {
+ this = Matrix3x4.Invert(this);
+ }
+
+ #endregion
+
+ #endregion
+
+ #region Static
+
+ #region CreateFromAxisAngle
+
+ /// <summary>
+ /// Build a rotation matrix from the specified axis/angle rotation.
+ /// </summary>
+ /// <param name="axis">The axis to rotate about.</param>
+ /// <param name="angle">Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).</param>
+ /// <param name="result">A matrix instance.</param>
+ public static void CreateFromAxisAngle(Vector3 axis, float angle, out Matrix3x4 result)
+ {
+ axis.Normalize();
+ float axisX = axis.X, axisY = axis.Y, axisZ = axis.Z;
+
+ float cos = (float)System.Math.Cos(angle);
+ float sin = (float)System.Math.Sin(angle);
+ float t = 1.0f - cos;
+
+ float tXX = t * axisX * axisX,
+ tXY = t * axisX * axisY,
+ tXZ = t * axisX * axisZ,
+ tYY = t * axisY * axisY,
+ tYZ = t * axisY * axisZ,
+ tZZ = t * axisZ * axisZ;
+
+ float sinX = sin * axisX,
+ sinY = sin * axisY,
+ sinZ = sin * axisZ;
+
+ result.Row0.X = tXX + cos;
+ result.Row0.Y = tXY - sinZ;
+ result.Row0.Z = tXZ + sinY;
+ result.Row0.W = 0;
+ result.Row1.X = tXY + sinZ;
+ result.Row1.Y = tYY + cos;
+ result.Row1.Z = tYZ - sinX;
+ result.Row1.W = 0;
+ result.Row2.X = tXZ - sinY;
+ result.Row2.Y = tYZ + sinX;
+ result.Row2.Z = tZZ + cos;
+ result.Row2.W = 0;
+ }
+
+ /// <summary>
+ /// Build a rotation matrix from the specified axis/angle rotation.
+ /// </summary>
+ /// <param name="axis">The axis to rotate about.</param>
+ /// <param name="angle">Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).</param>
+ /// <returns>A matrix instance.</returns>
+ public static Matrix3x4 CreateFromAxisAngle(Vector3 axis, float angle)
+ {
+ Matrix3x4 result;
+ CreateFromAxisAngle(axis, angle, out result);
+ return result;
+ }
+
+ #endregion
+
+ #region CreateFromQuaternion
+
+ /// <summary>
+ /// Builds a rotation matrix from a quaternion.
+ /// </summary>
+ /// <param name="q">The quaternion to rotate by.</param>
+ /// <param name="result">A matrix instance.</param>
+ public static void CreateFromQuaternion(ref Quaternion q, out Matrix3x4 result)
+ {
+ float x = q.X, y = q.Y, z = q.Z, w = q.W,
+ tx = 2 * x, ty = 2 * y, tz = 2 * z,
+ txx = tx * x, tyy = ty * y, tzz = tz * z,
+ txy = tx * y, txz = tx * z, tyz = ty * z,
+ txw = tx * w, tyw = ty * w, tzw = tz * w;
+
+ result.Row0.X = 1f - (tyy + tzz);
+ result.Row0.Y = txy + tzw;
+ result.Row0.Z = txz - tyw;
+ result.Row0.W = 0f;
+ result.Row1.X = txy - tzw;
+ result.Row1.Y = 1f - (txx + tzz);
+ result.Row1.Z = tyz + txw;
+ result.Row1.W = 0f;
+ result.Row2.X = txz + tyw;
+ result.Row2.Y = tyz - txw;
+ result.Row2.Z = 1f - (txx + tyy);
+ result.Row2.W = 0f;
+
+ /*Vector3 axis;
+ float angle;
+ q.ToAxisAngle(out axis, out angle);
+ CreateFromAxisAngle(axis, angle, out result);*/
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix from a quaternion.
+ /// </summary>
+ /// <param name="q">The quaternion to rotate by.</param>
+ /// <returns>A matrix instance.</returns>
+ public static Matrix3x4 CreateFromQuaternion(Quaternion q)
+ {
+ Matrix3x4 result;
+ CreateFromQuaternion(ref q, out result);
+ return result;
+ }
+
+ #endregion
+
+ #region CreateRotation[XYZ]
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the x-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <param name="result">The resulting Matrix4 instance.</param>
+ public static void CreateRotationX(float angle, out Matrix3x4 result)
+ {
+ float cos = (float)System.Math.Cos(angle);
+ float sin = (float)System.Math.Sin(angle);
+
+ result = Identity;
+ result.Row1.Y = cos;
+ result.Row1.Z = sin;
+ result.Row2.Y = -sin;
+ result.Row2.Z = cos;
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the x-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <returns>The resulting Matrix4 instance.</returns>
+ public static Matrix3x4 CreateRotationX(float angle)
+ {
+ Matrix3x4 result;
+ CreateRotationX(angle, out result);
+ return result;
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the y-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <param name="result">The resulting Matrix4 instance.</param>
+ public static void CreateRotationY(float angle, out Matrix3x4 result)
+ {
+ float cos = (float)System.Math.Cos(angle);
+ float sin = (float)System.Math.Sin(angle);
+
+ result = Identity;
+ result.Row0.X = cos;
+ result.Row0.Z = -sin;
+ result.Row2.X = sin;
+ result.Row2.Z = cos;
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the y-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <returns>The resulting Matrix4 instance.</returns>
+ public static Matrix3x4 CreateRotationY(float angle)
+ {
+ Matrix3x4 result;
+ CreateRotationY(angle, out result);
+ return result;
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the z-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <param name="result">The resulting Matrix4 instance.</param>
+ public static void CreateRotationZ(float angle, out Matrix3x4 result)
+ {
+ float cos = (float)System.Math.Cos(angle);
+ float sin = (float)System.Math.Sin(angle);
+
+ result = Identity;
+ result.Row0.X = cos;
+ result.Row0.Y = sin;
+ result.Row1.X = -sin;
+ result.Row1.Y = cos;
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the z-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <returns>The resulting Matrix4 instance.</returns>
+ public static Matrix3x4 CreateRotationZ(float angle)
+ {
+ Matrix3x4 result;
+ CreateRotationZ(angle, out result);
+ return result;
+ }
+
+ #endregion
+
+ #region CreateTranslation
+
+ /// <summary>
+ /// Creates a translation matrix.
+ /// </summary>
+ /// <param name="x">X translation.</param>
+ /// <param name="y">Y translation.</param>
+ /// <param name="z">Z translation.</param>
+ /// <param name="result">The resulting Matrix4 instance.</param>
+ public static void CreateTranslation(float x, float y, float z, out Matrix3x4 result)
+ {
+ result = Identity;
+ result.Row0.W = x;
+ result.Row1.W = y;
+ result.Row2.W = z;
+ }
+
+ /// <summary>
+ /// Creates a translation matrix.
+ /// </summary>
+ /// <param name="vector">The translation vector.</param>
+ /// <param name="result">The resulting Matrix4 instance.</param>
+ public static void CreateTranslation(ref Vector3 vector, out Matrix3x4 result)
+ {
+ result = Identity;
+ result.Row0.W = vector.X;
+ result.Row1.W = vector.Y;
+ result.Row2.W = vector.Z;
+ }
+
+ /// <summary>
+ /// Creates a translation matrix.
+ /// </summary>
+ /// <param name="x">X translation.</param>
+ /// <param name="y">Y translation.</param>
+ /// <param name="z">Z translation.</param>
+ /// <returns>The resulting Matrix4 instance.</returns>
+ public static Matrix3x4 CreateTranslation(float x, float y, float z)
+ {
+ Matrix3x4 result;
+ CreateTranslation(x, y, z, out result);
+ return result;
+ }
+
+ /// <summary>
+ /// Creates a translation matrix.
+ /// </summary>
+ /// <param name="vector">The translation vector.</param>
+ /// <returns>The resulting Matrix4 instance.</returns>
+ public static Matrix3x4 CreateTranslation(Vector3 vector)
+ {
+ Matrix3x4 result;
+ CreateTranslation(vector.X, vector.Y, vector.Z, out result);
+ return result;
+ }
+
+ #endregion
+
+ #region CreateScale
+
+ /// <summary>
+ /// Build a scaling matrix
+ /// </summary>
+ /// <param name="scale">Single scale factor for x,y and z axes</param>
+ /// <returns>A scaling matrix</returns>
+ public static Matrix3x4 CreateScale(float scale)
+ {
+ return CreateScale(scale, scale, scale);
+ }
+
+ /// <summary>
+ /// Build a scaling matrix
+ /// </summary>
+ /// <param name="scale">Scale factors for x,y and z axes</param>
+ /// <returns>A scaling matrix</returns>
+ public static Matrix3x4 CreateScale(Vector3 scale)
+ {
+ return CreateScale(scale.X, scale.Y, scale.Z);
+ }
+
+ /// <summary>
+ /// Build a scaling matrix
+ /// </summary>
+ /// <param name="x">Scale factor for x-axis</param>
+ /// <param name="y">Scale factor for y-axis</param>
+ /// <param name="z">Scale factor for z-axis</param>
+ /// <returns>A scaling matrix</returns>
+ public static Matrix3x4 CreateScale(float x, float y, float z)
+ {
+ Matrix3x4 result = Identity;
+ result.Row0.X = x;
+ result.Row1.Y = y;
+ result.Row2.Z = z;
+ return result;
+ }
+
+ #endregion
+
+ #region Multiply Functions
+
+ /// <summary>
+ /// Multiplies two instances.
+ /// </summary>
+ /// <param name="left">The left operand of the multiplication.</param>
+ /// <param name="right">The right operand of the multiplication.</param>
+ /// <returns>A new instance that is the result of the multiplication</returns>
+ public static Matrix3 Mult(Matrix3x4 left, Matrix4x3 right)
+ {
+ Matrix3 result;
+ Mult(ref left, ref right, out result);
+ return result;
+ }
+
+ /// <summary>
+ /// Multiplies two instances.
+ /// </summary>
+ /// <param name="left">The left operand of the multiplication.</param>
+ /// <param name="right">The right operand of the multiplication.</param>
+ /// <param name="result">A new instance that is the result of the multiplication</param>
+ public static void Mult(ref Matrix3x4 left, ref Matrix4x3 right, out Matrix3 result)
+ {
+ float lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W,
+ lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, lM24 = left.Row1.W,
+ lM31 = left.Row2.X, lM32 = left.Row2.Y, lM33 = left.Row2.Z, lM34 = left.Row2.W,
+ rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z,
+ rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z,
+ rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z,
+ rM41 = right.Row3.X, rM42 = right.Row3.Y, rM43 = right.Row3.Z;
+
+ result.Row0.X = (lM11 * rM11) + (lM12 * rM21) + (lM13 * rM31) + (lM14 * rM41);
+ result.Row0.Y = (lM11 * rM12) + (lM12 * rM22) + (lM13 * rM32) + (lM14 * rM42);
+ result.Row0.Z = (lM11 * rM13) + (lM12 * rM23) + (lM13 * rM33) + (lM14 * rM43);
+ result.Row1.X = (lM21 * rM11) + (lM22 * rM21) + (lM23 * rM31) + (lM24 * rM41);
+ result.Row1.Y = (lM21 * rM12) + (lM22 * rM22) + (lM23 * rM32) + (lM24 * rM42);
+ result.Row1.Z = (lM21 * rM13) + (lM22 * rM23) + (lM23 * rM33) + (lM24 * rM43);
+ result.Row2.X = (lM31 * rM11) + (lM32 * rM21) + (lM33 * rM31) + (lM34 * rM41);
+ result.Row2.Y = (lM31 * rM12) + (lM32 * rM22) + (lM33 * rM32) + (lM34 * rM42);
+ result.Row2.Z = (lM31 * rM13) + (lM32 * rM23) + (lM33 * rM33) + (lM34 * rM43);
+ }
+
+ public static Matrix3x4 Mult(Matrix3x4 left, Matrix3x4 right)
+ {
+ Matrix3x4 result;
+ Mult(ref left, ref right, out result);
+ return result;
+ }
+
+ public static void Mult(ref Matrix3x4 left, ref Matrix3x4 right, out Matrix3x4 result)
+ {
+ float lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W,
+ lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, lM24 = left.Row1.W,
+ lM31 = left.Row2.X, lM32 = left.Row2.Y, lM33 = left.Row2.Z, lM34 = left.Row2.W,
+ rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W,
+ rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W,
+ rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z, rM34 = right.Row2.W;
+
+ result.Row0.X = (lM11 * rM11) + (lM12 * rM21) + (lM13 * rM31);
+ result.Row0.Y = (lM11 * rM12) + (lM12 * rM22) + (lM13 * rM32);
+ result.Row0.Z = (lM11 * rM13) + (lM12 * rM23) + (lM13 * rM33);
+ result.Row0.W = (lM11 * rM14) + (lM12 * rM24) + (lM13 * rM34) + lM14;
+ result.Row1.X = (lM21 * rM11) + (lM22 * rM21) + (lM23 * rM31);
+ result.Row1.Y = (lM21 * rM12) + (lM22 * rM22) + (lM23 * rM32);
+ result.Row1.Z = (lM21 * rM13) + (lM22 * rM23) + (lM23 * rM33);
+ result.Row1.W = (lM21 * rM14) + (lM22 * rM24) + (lM23 * rM34) + lM24;
+ result.Row2.X = (lM31 * rM11) + (lM32 * rM21) + (lM33 * rM31);
+ result.Row2.Y = (lM31 * rM12) + (lM32 * rM22) + (lM33 * rM32);
+ result.Row2.Z = (lM31 * rM13) + (lM32 * rM23) + (lM33 * rM33);
+ result.Row2.W = (lM31 * rM14) + (lM32 * rM24) + (lM33 * rM34) + lM34;
+
+ /*result.Row0 = (right.Row0 * lM11 + right.Row1 * lM12 + right.Row2 * lM13);
+ result.Row0.W += lM14;
+
+ result.Row1 = (right.Row0 * lM21 + right.Row1 * lM22 + right.Row2 * lM23);
+ result.Row1.W += lM24;
+
+ result.Row2 = (right.Row0 * lM31 + right.Row1 * lM32 + right.Row2 * lM33);
+ result.Row2.W += lM34;*/
+ }
+
+ public static Matrix3x4 Mult(Matrix3x4 left, float right)
+ {
+ Matrix3x4 result;
+ Mult(ref left, right, out result);
+ return result;
+ }
+
+ public static void Mult(ref Matrix3x4 left, float right, out Matrix3x4 result)
+ {
+ result.Row0 = left.Row0 * right;
+ result.Row1 = left.Row1 * right;
+ result.Row2 = left.Row2 * right;
+ }
+
+ #endregion
+
+ #region Add Functions
+
+ public static Matrix3x4 Add(Matrix3x4 left, Matrix3x4 right)
+ {
+ Matrix3x4 result;
+ Add(ref left, ref right, out result);
+ return result;
+ }
+
+ public static void Add(ref Matrix3x4 left, ref Matrix3x4 right, out Matrix3x4 result)
+ {
+ result.Row0 = left.Row0 + right.Row0;
+ result.Row1 = left.Row1 + right.Row1;
+ result.Row2 = left.Row2 + right.Row2;
+ }
+
+ #endregion
+
+ #region Subtract Functions
+
+ public static Matrix3x4 Subtract(Matrix3x4 left, Matrix3x4 right)
+ {
+ Matrix3x4 result;
+ Subtract(ref left, ref right, out result);
+ return result;
+ }
+
+ public static void Subtract(ref Matrix3x4 left, ref Matrix3x4 right, out Matrix3x4 result)
+ {
+ result.Row0 = left.Row0 - right.Row0;
+ result.Row1 = left.Row1 - right.Row1;
+ result.Row2 = left.Row2 - right.Row2;
+ }
+
+ #endregion
+
+ #region Invert Functions
+
+ public static Matrix3x4 Invert(Matrix3x4 mat)
+ {
+ Matrix3x4 result;
+ Invert(ref mat, out result);
+ return result;
+ }
+
+ public static void Invert(ref Matrix3x4 mat, out Matrix3x4 result)
+ {
+ Matrix3 inverseRotation = new Matrix3(mat.Column0, mat.Column1, mat.Column2);
+ inverseRotation.Row0 /= inverseRotation.Row0.LengthSquared;
+ inverseRotation.Row1 /= inverseRotation.Row1.LengthSquared;
+ inverseRotation.Row2 /= inverseRotation.Row2.LengthSquared;
+
+ Vector3 translation = new Vector3(mat.Row0.W, mat.Row1.W, mat.Row2.W);
+
+ result.Row0 = new Vector4(inverseRotation.Row0, -Vector3.Dot(inverseRotation.Row0, translation));
+ result.Row1 = new Vector4(inverseRotation.Row1, -Vector3.Dot(inverseRotation.Row1, translation));
+ result.Row2 = new Vector4(inverseRotation.Row2, -Vector3.Dot(inverseRotation.Row2, translation));
+ }
+
+ #endregion
+
+ #region Transpose
+
+ public static Matrix4x3 Transpose(Matrix3x4 mat)
+ {
+ return new Matrix4x3(mat.Column0, mat.Column1, mat.Column2, mat.Column3);
+ }
+
+ public static void Transpose(ref Matrix3x4 mat, out Matrix4x3 result)
+ {
+ result.Row0 = mat.Column0;
+ result.Row1 = mat.Column1;
+ result.Row2 = mat.Column2;
+ result.Row3 = mat.Column3;
+ }
+
+ #endregion
+
+ #endregion
+
+ #region Operators
+
+ public static Matrix3 operator *(Matrix3x4 left, Matrix4x3 right)
+ {
+ return Matrix3x4.Mult(left, right);
+ }
+
+ public static Matrix3x4 operator *(Matrix3x4 left, Matrix3x4 right)
+ {
+ return Matrix3x4.Mult(left, right);
+ }
+
+ public static Matrix3x4 operator *(Matrix3x4 left, float right)
+ {
+ return Matrix3x4.Mult(left, right);
+ }
+
+ public static Matrix3x4 operator +(Matrix3x4 left, Matrix3x4 right)
+ {
+ return Matrix3x4.Add(left, right);
+ }
+
+ public static Matrix3x4 operator -(Matrix3x4 left, Matrix3x4 right)
+ {
+ return Matrix3x4.Subtract(left, right);
+ }
+
+ public static bool operator ==(Matrix3x4 left, Matrix3x4 right)
+ {
+ return left.Equals(right);
+ }
+
+ public static bool operator !=(Matrix3x4 left, Matrix3x4 right)
+ {
+ return !left.Equals(right);
+ }
+
+ #endregion
+
+ #region Overrides
+
+ #region public override string ToString()
+
+ public override string ToString()
+ {
+ return string.Format("{0}\n{1}\n{2}", Row0, Row1, Row2);
+ }
+
+ #endregion
+
+ #region public override int GetHashCode()
+
+ public override int GetHashCode()
+ {
+ return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode();
+ }
+
+ #endregion
+
+ #region public override bool Equals(object obj)
+
+ public override bool Equals(object obj)
+ {
+ if (!(obj is Matrix3x4))
+ return false;
+
+ return this.Equals((Matrix3x4)obj);
+ }
+
+ #endregion
+
+ #endregion
+
+ #endregion
+
+ #region IEquatable<Matrix3x4> Members
+
+ /// <summary>Indicates whether the current matrix is equal to another matrix.</summary>
+ /// <param name="other">An matrix to compare with this matrix.</param>
+ /// <returns>true if the current matrix is equal to the matrix parameter; otherwise, false.</returns>
+ public bool Equals(Matrix3x4 other)
+ {
+ return
+ Row0 == other.Row0 &&
+ Row1 == other.Row1 &&
+ Row2 == other.Row2;
+ }
+
+ #endregion
+ }
+}
--- /dev/null
+using System;
+using System.Runtime.InteropServices;
+
+using OpenTK;
+
+namespace TopHat.Mathematics
+{
+ /// <summary>
+ /// Represents a 3x4 Matrix
+ /// </summary>
+ [Serializable]
+ [StructLayout(LayoutKind.Sequential)]
+ public struct Matrix4x3 : IEquatable<Matrix4x3>
+ {
+ #region Fields
+
+ /// <summary>
+ /// Top row of the matrix
+ /// </summary>
+ public Vector3 Row0;
+
+ /// <summary>
+ /// 2nd row of the matrix
+ /// </summary>
+ public Vector3 Row1;
+
+ /// <summary>
+ /// 3rd row of the matrix
+ /// </summary>
+ public Vector3 Row2;
+
+ /// <summary>
+ /// Bottom row of the matrix
+ /// </summary>
+ public Vector3 Row3;
+
+ /// <summary>
+ /// The identity matrix
+ /// </summary>
+ public static Matrix4x3 Identity = new Matrix4x3(Vector3.UnitX, Vector3.UnitY, Vector3.UnitZ, Vector3.Zero);
+
+ #endregion
+
+ #region Constructors
+
+ /// <summary>
+ /// Constructs a new instance.
+ /// </summary>
+ /// <param name="row0">Top row of the matrix</param>
+ /// <param name="row1">Second row of the matrix</param>
+ /// <param name="row1">Third row of the matrix</param>
+ /// <param name="row3">Bottom row of the matrix</param>
+ public Matrix4x3(Vector3 row0, Vector3 row1, Vector3 row2, Vector3 row3)
+ {
+ Row0 = row0;
+ Row1 = row1;
+ Row2 = row2;
+ Row3 = row3;
+ }
+
+ /// <summary>
+ /// Constructs a new instance.
+ /// </summary>
+ /// <param name="m00">First item of the first row of the matrix.</param>
+ /// <param name="m01">Second item of the first row of the matrix.</param>
+ /// <param name="m02">Third item of the first row of the matrix.</param>
+ /// <param name="m10">First item of the second row of the matrix.</param>
+ /// <param name="m11">Second item of the second row of the matrix.</param>
+ /// <param name="m12">Third item of the second row of the matrix.</param>
+ /// <param name="m20">First item of the third row of the matrix.</param>
+ /// <param name="m21">Second item of the third row of the matrix.</param>
+ /// <param name="m22">Third item of the third row of the matrix.</param>
+ /// <param name="m30">First item of the fourth row of the matrix.</param>
+ /// <param name="m31">Second item of the fourth row of the matrix.</param>
+ /// <param name="m32">Third item of the fourth row of the matrix.</param>
+ public Matrix4x3(
+ float m00, float m01, float m02,
+ float m10, float m11, float m12,
+ float m20, float m21, float m22,
+ float m30, float m31, float m32)
+ {
+ Row0 = new Vector3(m00, m01, m02);
+ Row1 = new Vector3(m10, m11, m12);
+ Row2 = new Vector3(m20, m21, m22);
+ Row3 = new Vector3(m30, m31, m32);
+ }
+
+ #endregion
+
+ #region Public Members
+
+ #region Properties
+
+ /// <summary>
+ /// Gets the first column of this matrix.
+ /// </summary>
+ public Vector4 Column0
+ {
+ get { return new Vector4(Row0.X, Row1.X, Row2.X, Row3.X); }
+ }
+
+ /// <summary>
+ /// Gets the second column of this matrix.
+ /// </summary>
+ public Vector4 Column1
+ {
+ get { return new Vector4(Row0.Y, Row1.Y, Row2.Y, Row3.Y); }
+ }
+
+ /// <summary>
+ /// Gets the third column of this matrix.
+ /// </summary>
+ public Vector4 Column2
+ {
+ get { return new Vector4(Row0.Z, Row1.Z, Row2.Z, Row3.Z); }
+ }
+
+ /// <summary>
+ /// Gets or sets the value at row 1, column 1 of this instance.
+ /// </summary>
+ public float M11 { get { return Row0.X; } set { Row0.X = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 1, column 2 of this instance.
+ /// </summary>
+ public float M12 { get { return Row0.Y; } set { Row0.Y = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 1, column 3 of this instance.
+ /// </summary>
+ public float M13 { get { return Row0.Z; } set { Row0.Z = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 2, column 1 of this instance.
+ /// </summary>
+ public float M21 { get { return Row1.X; } set { Row1.X = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 2, column 2 of this instance.
+ /// </summary>
+ public float M22 { get { return Row1.Y; } set { Row1.Y = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 2, column 3 of this instance.
+ /// </summary>
+ public float M23 { get { return Row1.Z; } set { Row1.Z = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 3, column 1 of this instance.
+ /// </summary>
+ public float M31 { get { return Row2.X; } set { Row2.X = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 3, column 2 of this instance.
+ /// </summary>
+ public float M32 { get { return Row2.Y; } set { Row2.Y = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 3, column 3 of this instance.
+ /// </summary>
+ public float M33 { get { return Row2.Z; } set { Row2.Z = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 4, column 1 of this instance.
+ /// </summary>
+ public float M41 { get { return Row3.X; } set { Row3.X = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 4, column 2 of this instance.
+ /// </summary>
+ public float M42 { get { return Row3.Y; } set { Row3.Y = value; } }
+
+ /// <summary>
+ /// Gets or sets the value at row 4, column 3 of this instance.
+ /// </summary>
+ public float M43 { get { return Row3.Z; } set { Row3.Z = value; } }
+
+ #endregion
+
+ #region Instance
+
+ #region public void Invert()
+
+ public void Invert()
+ {
+ this = Matrix4x3.Invert(this);
+ }
+
+ #endregion
+
+ #endregion
+
+ #region Static
+
+ #region CreateFromAxisAngle
+
+ /// <summary>
+ /// Build a rotation matrix from the specified axis/angle rotation.
+ /// </summary>
+ /// <param name="axis">The axis to rotate about.</param>
+ /// <param name="angle">Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).</param>
+ /// <param name="result">A matrix instance.</param>
+ public static void CreateFromAxisAngle(Vector3 axis, float angle, out Matrix4x3 result)
+ {
+ axis.Normalize();
+ float axisX = axis.X, axisY = axis.Y, axisZ = axis.Z;
+
+ float cos = (float)System.Math.Cos(-angle);
+ float sin = (float)System.Math.Sin(-angle);
+ float t = 1.0f - cos;
+
+ float tXX = t * axisX * axisX,
+ tXY = t * axisX * axisY,
+ tXZ = t * axisX * axisZ,
+ tYY = t * axisY * axisY,
+ tYZ = t * axisY * axisZ,
+ tZZ = t * axisZ * axisZ;
+
+ float sinX = sin * axisX,
+ sinY = sin * axisY,
+ sinZ = sin * axisZ;
+
+ result.Row0.X = tXX + cos;
+ result.Row0.Y = tXY - sinZ;
+ result.Row0.Z = tXZ + sinY;
+ result.Row1.X = tXY + sinZ;
+ result.Row1.Y = tYY + cos;
+ result.Row1.Z = tYZ - sinX;
+ result.Row2.X = tXZ - sinY;
+ result.Row2.Y = tYZ + sinX;
+ result.Row2.Z = tZZ + cos;
+ result.Row3.X = 0;
+ result.Row3.Y = 0;
+ result.Row3.Z = 0;
+ }
+
+ /// <summary>
+ /// Build a rotation matrix from the specified axis/angle rotation.
+ /// </summary>
+ /// <param name="axis">The axis to rotate about.</param>
+ /// <param name="angle">Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).</param>
+ /// <returns>A matrix instance.</returns>
+ public static Matrix4x3 CreateFromAxisAngle(Vector3 axis, float angle)
+ {
+ Matrix4x3 result;
+ CreateFromAxisAngle(axis, angle, out result);
+ return result;
+ }
+
+ #endregion
+
+ #region CreateFromQuaternion
+
+ /// <summary>
+ /// Builds a rotation matrix from a quaternion.
+ /// </summary>
+ /// <param name="q">The quaternion to rotate by.</param>
+ /// <param name="result">A matrix instance.</param>
+ public static void CreateFromQuaternion(ref Quaternion q, out Matrix4x3 result)
+ {
+ float x = q.X, y = q.Y, z = q.Z, w = q.W,
+ tx = 2 * x, ty = 2 * y, tz = 2 * z,
+ txx = tx * x, tyy = ty * y, tzz = tz * z,
+ txy = tx * y, txz = tx * z, tyz = ty * z,
+ twx = w * tx, twy = w * ty, twz = w * tz;
+
+ result.Row0.X = 1f - tyy - tzz;
+ result.Row0.Y = txy - twz;
+ result.Row0.Z = txz + twy;
+ result.Row1.X = txy + twz;
+ result.Row1.Y = 1f - txx - tzz;
+ result.Row1.Z = tyz - twx;
+ result.Row2.X = txz - twy;
+ result.Row2.Y = tyz + twx;
+ result.Row2.Z = 1f - txx - tyy;
+ result.Row3.X = 0;
+ result.Row3.Y = 0;
+ result.Row3.Z = 0;
+
+ /*Vector3 axis;
+ float angle;
+ q.ToAxisAngle(out axis, out angle);
+ CreateFromAxisAngle(axis, angle, out result);*/
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix from a quaternion.
+ /// </summary>
+ /// <param name="q">The quaternion to rotate by.</param>
+ /// <returns>A matrix instance.</returns>
+ public static Matrix4x3 CreateFromQuaternion(Quaternion q)
+ {
+ Matrix4x3 result;
+ CreateFromQuaternion(ref q, out result);
+ return result;
+ }
+
+ #endregion
+
+ #region CreateRotation[XYZ]
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the x-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <param name="result">The resulting Matrix4 instance.</param>
+ public static void CreateRotationX(float angle, out Matrix4x3 result)
+ {
+ float cos = (float)System.Math.Cos(angle);
+ float sin = (float)System.Math.Sin(angle);
+
+ result = Identity;
+ result.Row1.Y = cos;
+ result.Row1.Z = sin;
+ result.Row2.Y = -sin;
+ result.Row2.Z = cos;
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the x-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <returns>The resulting Matrix4 instance.</returns>
+ public static Matrix4x3 CreateRotationX(float angle)
+ {
+ Matrix4x3 result;
+ CreateRotationX(angle, out result);
+ return result;
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the y-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <param name="result">The resulting Matrix4 instance.</param>
+ public static void CreateRotationY(float angle, out Matrix4x3 result)
+ {
+ float cos = (float)System.Math.Cos(angle);
+ float sin = (float)System.Math.Sin(angle);
+
+ result = Identity;
+ result.Row0.X = cos;
+ result.Row0.Z = -sin;
+ result.Row2.X = sin;
+ result.Row2.Z = cos;
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the y-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <returns>The resulting Matrix4 instance.</returns>
+ public static Matrix4x3 CreateRotationY(float angle)
+ {
+ Matrix4x3 result;
+ CreateRotationY(angle, out result);
+ return result;
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the z-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <param name="result">The resulting Matrix4 instance.</param>
+ public static void CreateRotationZ(float angle, out Matrix4x3 result)
+ {
+ float cos = (float)System.Math.Cos(angle);
+ float sin = (float)System.Math.Sin(angle);
+
+ result = Identity;
+ result.Row0.X = cos;
+ result.Row0.Y = sin;
+ result.Row1.X = -sin;
+ result.Row1.Y = cos;
+ }
+
+ /// <summary>
+ /// Builds a rotation matrix for a rotation around the z-axis.
+ /// </summary>
+ /// <param name="angle">The counter-clockwise angle in radians.</param>
+ /// <returns>The resulting Matrix4 instance.</returns>
+ public static Matrix4x3 CreateRotationZ(float angle)
+ {
+ Matrix4x3 result;
+ CreateRotationZ(angle, out result);
+ return result;
+ }
+
+ #endregion
+
+ #region CreateTranslation
+
+ /// <summary>
+ /// Creates a translation matrix.
+ /// </summary>
+ /// <param name="x">X translation.</param>
+ /// <param name="y">Y translation.</param>
+ /// <param name="z">Z translation.</param>
+ /// <param name="result">The resulting Matrix4 instance.</param>
+ public static void CreateTranslation(float x, float y, float z, out Matrix4x3 result)
+ {
+ result = Identity;
+ result.Row3.X = x;
+ result.Row3.Y = y;
+ result.Row3.Z = z;
+ }
+
+ /// <summary>
+ /// Creates a translation matrix.
+ /// </summary>
+ /// <param name="vector">The translation vector.</param>
+ /// <param name="result">The resulting Matrix4 instance.</param>
+ public static void CreateTranslation(ref Vector3 vector, out Matrix4x3 result)
+ {
+ result = Identity;
+ result.Row3.X = vector.X;
+ result.Row3.Y = vector.Y;
+ result.Row3.Z = vector.Z;
+ }
+
+ /// <summary>
+ /// Creates a translation matrix.
+ /// </summary>
+ /// <param name="x">X translation.</param>
+ /// <param name="y">Y translation.</param>
+ /// <param name="z">Z translation.</param>
+ /// <returns>The resulting Matrix4 instance.</returns>
+ public static Matrix4x3 CreateTranslation(float x, float y, float z)
+ {
+ Matrix4x3 result;
+ CreateTranslation(x, y, z, out result);
+ return result;
+ }
+
+ /// <summary>
+ /// Creates a translation matrix.
+ /// </summary>
+ /// <param name="vector">The translation vector.</param>
+ /// <returns>The resulting Matrix4 instance.</returns>
+ public static Matrix4x3 CreateTranslation(Vector3 vector)
+ {
+ Matrix4x3 result;
+ CreateTranslation(vector.X, vector.Y, vector.Z, out result);
+ return result;
+ }
+
+ #endregion
+
+ #region CreateScale
+
+ /// <summary>
+ /// Build a scaling matrix
+ /// </summary>
+ /// <param name="scale">Single scale factor for x,y and z axes</param>
+ /// <returns>A scaling matrix</returns>
+ public static Matrix4x3 CreateScale(float scale)
+ {
+ return CreateScale(scale, scale, scale);
+ }
+
+ /// <summary>
+ /// Build a scaling matrix
+ /// </summary>
+ /// <param name="scale">Scale factors for x,y and z axes</param>
+ /// <returns>A scaling matrix</returns>
+ public static Matrix4x3 CreateScale(Vector3 scale)
+ {
+ return CreateScale(scale.X, scale.Y, scale.Z);
+ }
+
+ /// <summary>
+ /// Build a scaling matrix
+ /// </summary>
+ /// <param name="x">Scale factor for x-axis</param>
+ /// <param name="y">Scale factor for y-axis</param>
+ /// <param name="z">Scale factor for z-axis</param>
+ /// <returns>A scaling matrix</returns>
+ public static Matrix4x3 CreateScale(float x, float y, float z)
+ {
+ Matrix4x3 result = Identity;
+ result.Row0.X = x;
+ result.Row1.Y = y;
+ result.Row2.Z = z;
+ return result;
+ }
+
+ #endregion
+
+ #region Multiply Functions
+
+ /// <summary>
+ /// Multiplies two instances.
+ /// </summary>
+ /// <param name="left">The left operand of the multiplication.</param>
+ /// <param name="right">The right operand of the multiplication.</param>
+ /// <returns>A new instance that is the result of the multiplication</returns>
+ public static Matrix4 Mult(Matrix4x3 left, Matrix3x4 right)
+ {
+ Matrix4 result;
+ Mult(ref left, ref right, out result);
+ return result;
+ }
+
+ /// <summary>
+ /// Multiplies two instances.
+ /// </summary>
+ /// <param name="left">The left operand of the multiplication.</param>
+ /// <param name="right">The right operand of the multiplication.</param>
+ /// <param name="result">A new instance that is the result of the multiplication</param>
+ public static void Mult(ref Matrix4x3 left, ref Matrix3x4 right, out Matrix4 result)
+ {
+ float lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z,
+ lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z,
+ lM31 = left.Row2.X, lM32 = left.Row2.Y, lM33 = left.Row2.Z,
+ lM41 = left.Row3.X, lM42 = left.Row3.Y, lM43 = left.Row3.Z,
+ rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W,
+ rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W,
+ rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z, rM34 = right.Row2.W;
+
+ result.Row0.X = (lM11 * rM11) + (lM12 * rM21) + (lM13 * rM31);
+ result.Row0.Y = (lM11 * rM12) + (lM12 * rM22) + (lM13 * rM32);
+ result.Row0.Z = (lM11 * rM13) + (lM12 * rM23) + (lM13 * rM33);
+ result.Row0.W = (lM11 * rM14) + (lM12 * rM24) + (lM13 * rM34);
+ result.Row1.X = (lM21 * rM11) + (lM22 * rM21) + (lM23 * rM31);
+ result.Row1.Y = (lM21 * rM12) + (lM22 * rM22) + (lM23 * rM32);
+ result.Row1.Z = (lM21 * rM13) + (lM22 * rM23) + (lM23 * rM33);
+ result.Row1.W = (lM21 * rM14) + (lM22 * rM24) + (lM23 * rM34);
+ result.Row2.X = (lM31 * rM11) + (lM32 * rM21) + (lM33 * rM31);
+ result.Row2.Y = (lM31 * rM12) + (lM32 * rM22) + (lM33 * rM32);
+ result.Row2.Z = (lM31 * rM13) + (lM32 * rM23) + (lM33 * rM33);
+ result.Row2.W = (lM31 * rM14) + (lM32 * rM24) + (lM33 * rM34);
+ result.Row3.X = (lM41 * rM11) + (lM42 * rM21) + (lM43 * rM31);
+ result.Row3.Y = (lM41 * rM12) + (lM42 * rM22) + (lM43 * rM32);
+ result.Row3.Z = (lM41 * rM13) + (lM42 * rM23) + (lM43 * rM33);
+ result.Row3.W = (lM41 * rM14) + (lM42 * rM24) + (lM43 * rM34);
+ }
+
+ public static Matrix4x3 Mult(Matrix4x3 left, Matrix4x3 right)
+ {
+ Matrix4x3 result;
+ Mult(ref left, ref right, out result);
+ return result;
+ }
+
+ public static void Mult(ref Matrix4x3 left, ref Matrix4x3 right, out Matrix4x3 result)
+ {
+ float lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z,
+ lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z,
+ lM31 = left.Row2.X, lM32 = left.Row2.Y, lM33 = left.Row2.Z,
+ lM41 = left.Row3.X, lM42 = left.Row3.Y, lM43 = left.Row3.Z,
+ rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z,
+ rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z,
+ rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z,
+ rM41 = right.Row3.X, rM42 = right.Row3.Y, rM43 = right.Row3.Z;
+
+ result.Row0.X = (lM11 * rM11) + (lM12 * rM21) + (lM13 * rM31) + rM41;
+ result.Row0.Y = (lM11 * rM12) + (lM12 * rM22) + (lM13 * rM32) + rM42;
+ result.Row0.Z = (lM11 * rM13) + (lM12 * rM23) + (lM13 * rM33) + rM43;
+ result.Row1.X = (lM21 * rM11) + (lM22 * rM21) + (lM23 * rM31) + rM41;
+ result.Row1.Y = (lM21 * rM12) + (lM22 * rM22) + (lM23 * rM32) + rM42;
+ result.Row1.Z = (lM21 * rM13) + (lM22 * rM23) + (lM23 * rM33) + rM43;
+ result.Row2.X = (lM31 * rM11) + (lM32 * rM21) + (lM33 * rM31) + rM41;
+ result.Row2.Y = (lM31 * rM12) + (lM32 * rM22) + (lM33 * rM32) + rM42;
+ result.Row2.Z = (lM31 * rM13) + (lM32 * rM23) + (lM33 * rM33) + rM43;
+ result.Row3.X = (lM41 * rM11) + (lM42 * rM21) + (lM43 * rM31) + rM41;
+ result.Row3.Y = (lM41 * rM12) + (lM42 * rM22) + (lM43 * rM32) + rM42;
+ result.Row3.Z = (lM41 * rM13) + (lM42 * rM23) + (lM43 * rM33) + rM43;
+ }
+
+ public static Matrix4x3 Mult(Matrix4x3 left, float right)
+ {
+ Matrix4x3 result;
+ Mult(ref left, right, out result);
+ return result;
+ }
+
+ public static void Mult(ref Matrix4x3 left, float right, out Matrix4x3 result)
+ {
+ result.Row0 = left.Row0 * right;
+ result.Row1 = left.Row1 * right;
+ result.Row2 = left.Row2 * right;
+ result.Row3 = left.Row3 * right;
+ }
+
+ #endregion
+
+ #region Add Functions
+
+ public static Matrix4x3 Add(Matrix4x3 left, Matrix4x3 right)
+ {
+ Matrix4x3 result;
+ Add(ref left, ref right, out result);
+ return result;
+ }
+
+ public static void Add(ref Matrix4x3 left, ref Matrix4x3 right, out Matrix4x3 result)
+ {
+ result.Row0 = left.Row0 + right.Row0;
+ result.Row1 = left.Row1 + right.Row1;
+ result.Row2 = left.Row2 + right.Row2;
+ result.Row3 = left.Row3 + right.Row3;
+ }
+
+ #endregion
+
+ #region Subtract Functions
+
+ public static Matrix4x3 Subtract(Matrix4x3 left, Matrix4x3 right)
+ {
+ Matrix4x3 result;
+ Subtract(ref left, ref right, out result);
+ return result;
+ }
+
+ public static void Subtract(ref Matrix4x3 left, ref Matrix4x3 right, out Matrix4x3 result)
+ {
+ result.Row0 = left.Row0 - right.Row0;
+ result.Row1 = left.Row1 - right.Row1;
+ result.Row2 = left.Row2 - right.Row2;
+ result.Row3 = left.Row3 - right.Row3;
+ }
+
+ #endregion
+
+ #region Invert Functions
+
+ public static Matrix4x3 Invert(Matrix4x3 mat)
+ {
+ Matrix4x3 result;
+ Invert(ref mat, out result);
+ return result;
+ }
+
+ public static void Invert(ref Matrix4x3 mat, out Matrix4x3 result)
+ {
+ Matrix3 inverseRotation = new Matrix3(mat.Column0.Xyz, mat.Column1.Xyz, mat.Column2.Xyz);
+ inverseRotation.Row0 /= inverseRotation.Row0.LengthSquared;
+ inverseRotation.Row1 /= inverseRotation.Row1.LengthSquared;
+ inverseRotation.Row2 /= inverseRotation.Row2.LengthSquared;
+
+ Vector3 translation = mat.Row3;
+
+ result.Row0 = inverseRotation.Row0;
+ result.Row1 = inverseRotation.Row1;
+ result.Row2 = inverseRotation.Row2;
+ result.Row3 = new Vector3(-Vector3.Dot(inverseRotation.Row0, translation), -Vector3.Dot(inverseRotation.Row1, translation), -Vector3.Dot(inverseRotation.Row2, translation));
+ }
+
+ #endregion
+
+ #region Transpose
+
+ /*public static Matrix3x4 Transpose(Matrix4x3 mat)
+ {
+ return new Matrix3x4(mat.Column0, mat.Column1, mat.Column2);
+ }
+
+ public static void Transpose(ref Matrix4x3 mat, out Matrix4x3 result)
+ {
+ result.Row0 = mat.Column0;
+ result.Row1 = mat.Column1;
+ result.Row2 = mat.Column2;
+ }*/
+
+ #endregion
+
+ #endregion
+
+ #region Operators
+
+ public static Matrix4 operator *(Matrix4x3 left, Matrix3x4 right)
+ {
+ return Matrix4x3.Mult(left, right);
+ }
+
+ public static Matrix4x3 operator *(Matrix4x3 left, Matrix4x3 right)
+ {
+ return Matrix4x3.Mult(left, right);
+ }
+
+ public static Matrix4x3 operator *(Matrix4x3 left, float right)
+ {
+ return Matrix4x3.Mult(left, right);
+ }
+
+ public static Matrix4x3 operator +(Matrix4x3 left, Matrix4x3 right)
+ {
+ return Matrix4x3.Add(left, right);
+ }
+
+ public static Matrix4x3 operator -(Matrix4x3 left, Matrix4x3 right)
+ {
+ return Matrix4x3.Subtract(left, right);
+ }
+
+ public static bool operator ==(Matrix4x3 left, Matrix4x3 right)
+ {
+ return left.Equals(right);
+ }
+
+ public static bool operator !=(Matrix4x3 left, Matrix4x3 right)
+ {
+ return !left.Equals(right);
+ }
+
+ #endregion
+
+ #region Overrides
+
+ #region public override string ToString()
+
+ public override string ToString()
+ {
+ return string.Format("{0}\n{1}\n{2}", Row0, Row1, Row2);
+ }
+
+ #endregion
+
+ #region public override int GetHashCode()
+
+ public override int GetHashCode()
+ {
+ return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode();
+ }
+
+ #endregion
+
+ #region public override bool Equals(object obj)
+
+ public override bool Equals(object obj)
+ {
+ if (!(obj is Matrix4x3))
+ return false;
+
+ return this.Equals((Matrix4x3)obj);
+ }
+
+ #endregion
+
+ #endregion
+
+ #endregion
+
+ #region IEquatable<Matrix4x3> Members
+
+ /// <summary>Indicates whether the current matrix is equal to another matrix.</summary>
+ /// <param name="other">An matrix to compare with this matrix.</param>
+ /// <returns>true if the current matrix is equal to the matrix parameter; otherwise, false.</returns>
+ public bool Equals(Matrix4x3 other)
+ {
+ return
+ Row0 == other.Row0 &&
+ Row1 == other.Row1 &&
+ Row2 == other.Row2 &&
+ Row3 == other.Row3;
+ }
+
+ #endregion
+ }
+}
-<?xml version="1.0" encoding="utf-8"?>\r
+<?xml version="1.0" encoding="utf-8"?>\r
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" ToolsVersion="4.0">\r
<PropertyGroup>\r
<ProjectType>Local</ProjectType>\r
<Compile Include="Input\IKeyboardDriver2.cs" />\r
<Compile Include="Input\IMouseDriver2.cs" />\r
<Compile Include="Math\Matrix3.cs" />\r
+ <Compile Include="Math\Matrix3x4.cs" />\r
+ <Compile Include="Math\Matrix4x3.cs" />\r
<Compile Include="Platform\DisplayDeviceBase.cs" />\r
<Compile Include="Platform\Windows\WinInputBase.cs" />\r
<Compile Include="WindowBorder.cs">\r
</EmbeddedResource>\r
<Compile Include="Platform\MacOS\HIDInput.cs" />\r
<Compile Include="IntPtrEqualityComparer.cs" />\r
- <Compile Include="Input\GamePadButton.cs" />\r
- <Compile Include="Input\GamePadAxis.cs" />\r
+ <Compile Include="Input\GamePadButton.cs" />\r
+ <Compile Include="Input\GamePadAxis.cs" />\r
</ItemGroup>\r
<Import Project="$(MSBuildBinPath)\Microsoft.CSharp.targets" />\r
<PropertyGroup>\r
projects / platform / core / csapi / opentk.git / commitdiff