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Merge pull request #15 from GoldBlockGames/master

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Implemented Quaternion.FromMatrix
This commit is contained in:
Andy Korth 2013-07-18 14:06:45 -07:00
commit 5037836c08
20 changed files with 1256 additions and 8 deletions
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21
Source/OpenTK/Math/Matrix2.cs
View file

@ -142,6 +142,27 @@ namespace OpenTK
/// </summary>
public float M22 { get { return Row1.Y; } set { Row1.Y = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector2 Diagonal
{
get
{
return new Vector2(Row0.X, Row1.Y);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public float Trace { get { return Row0.X + Row1.Y; } }
#endregion
#region Indexers

21
Source/OpenTK/Math/Matrix2d.cs
View file

@ -142,6 +142,27 @@ namespace OpenTK
/// </summary>
public double M22 { get { return Row1.Y; } set { Row1.Y = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector2d Diagonal
{
get
{
return new Vector2d(Row0.X, Row1.Y);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public double Trace { get { return Row0.X + Row1.Y; } }
#endregion
#region Indexers

21
Source/OpenTK/Math/Matrix2x3.cs
View file

@ -144,6 +144,27 @@ namespace OpenTK
/// </summary>
public float M23 { get { return Row1.Z; } set { Row1.Z = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector2 Diagonal
{
get
{
return new Vector2(Row0.X, Row1.Y);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public float Trace { get { return Row0.X + Row1.Y; } }
#endregion
#region Indexers

21
Source/OpenTK/Math/Matrix2x3d.cs
View file

@ -144,6 +144,27 @@ namespace OpenTK
/// </summary>
public double M23 { get { return Row1.Z; } set { Row1.Z = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector2d Diagonal
{
get
{
return new Vector2d(Row0.X, Row1.Y);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public double Trace { get { return Row0.X + Row1.Y; } }
#endregion
#region Indexers

21
Source/OpenTK/Math/Matrix2x4.cs
View file

@ -165,6 +165,27 @@ namespace OpenTK
/// </summary>
public float M24 { get { return Row1.W; } set { Row1.W = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector2 Diagonal
{
get
{
return new Vector2(Row0.X, Row1.Y);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public float Trace { get { return Row0.X + Row1.Y; } }
#endregion
#region Indexers

21
Source/OpenTK/Math/Matrix2x4d.cs
View file

@ -165,6 +165,27 @@ namespace OpenTK
/// </summary>
public double M24 { get { return Row1.W; } set { Row1.W = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector2d Diagonal
{
get
{
return new Vector2d(Row0.X, Row1.Y);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public double Trace { get { return Row0.X + Row1.Y; } }
#endregion
#region Indexers

22
Source/OpenTK/Math/Matrix3.cs
View file

@ -202,6 +202,28 @@ namespace OpenTK
/// </summary>
public float M33 { get { return Row2.Z; } set { Row2.Z = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector3 Diagonal
{
get
{
return new Vector3(Row0.X, Row1.Y, Row2.Z);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
Row2.Z = value.Z;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public float Trace { get { return Row0.X + Row1.Y + Row2.Z; } }
#endregion
#region Indexers

22
Source/OpenTK/Math/Matrix3d.cs
View file

@ -198,6 +198,28 @@ namespace OpenTK
/// </summary>
public double M33 { get { return Row2.Z; } set { Row2.Z = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector3d Diagonal
{
get
{
return new Vector3d(Row0.X, Row1.Y, Row2.Z);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
Row2.Z = value.Z;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public double Trace { get { return Row0.X + Row1.Y + Row2.Z; } }
#endregion
#region Indexers

21
Source/OpenTK/Math/Matrix3x2.cs
View file

@ -144,6 +144,27 @@ namespace OpenTK
/// </summary>
public float M32 { get { return Row2.Y; } set { Row2.Y = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector2 Diagonal
{
get
{
return new Vector2(Row0.X, Row1.Y);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public float Trace { get { return Row0.X + Row1.Y; } }
#endregion
#region Indexers

21
Source/OpenTK/Math/Matrix3x2d.cs
View file

@ -144,6 +144,27 @@ namespace OpenTK
/// </summary>
public double M32 { get { return Row2.Y; } set { Row2.Y = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector2d Diagonal
{
get
{
return new Vector2d(Row0.X, Row1.Y);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public double Trace { get { return Row0.X + Row1.Y; } }
#endregion
#region Indexers

150
Source/OpenTK/Math/Matrix3x4.cs
View file

@ -196,6 +196,28 @@ namespace OpenTK
/// </summary>
public float M34 { get { return Row2.W; } set { Row2.W = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector3 Diagonal
{
get
{
return new Vector3(Row0.X, Row1.Y, Row2.Z);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
Row2.Z = value.Z;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public float Trace { get { return Row0.X + Row1.Y + Row2.Z; } }
#endregion
#region Indexers
@ -227,6 +249,9 @@ namespace OpenTK
#region public void Invert()
/// <summary>
/// Converts this instance into its inverse.
/// </summary>
public void Invert()
{
this = Matrix3x4.Invert(this);
@ -620,6 +645,12 @@ namespace OpenTK
result.Row2.Z = (lM31 * rM13) + (lM32 * rM23) + (lM33 * rM33) + (lM34 * rM43);
}
/// <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 Matrix3x4 Mult(Matrix3x4 left, Matrix3x4 right)
{
Matrix3x4 result;
@ -627,6 +658,12 @@ namespace OpenTK
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 Matrix3x4 right, out Matrix3x4 result)
{
float lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W,
@ -659,6 +696,12 @@ namespace OpenTK
result.Row2.W += lM34;*/
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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 Matrix3x4 Mult(Matrix3x4 left, float right)
{
Matrix3x4 result;
@ -666,6 +709,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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, float right, out Matrix3x4 result)
{
result.Row0 = left.Row0 * right;
@ -677,6 +726,12 @@ namespace OpenTK
#region Add Functions
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <returns>A new instance that is the result of the addition.</returns>
public static Matrix3x4 Add(Matrix3x4 left, Matrix3x4 right)
{
Matrix3x4 result;
@ -684,6 +739,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <param name="result">A new instance that is the result of the addition.</param>
public static void Add(ref Matrix3x4 left, ref Matrix3x4 right, out Matrix3x4 result)
{
result.Row0 = left.Row0 + right.Row0;
@ -695,6 +756,12 @@ namespace OpenTK
#region Subtract Functions
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <returns>A new instance that is the result of the subraction.</returns>
public static Matrix3x4 Subtract(Matrix3x4 left, Matrix3x4 right)
{
Matrix3x4 result;
@ -702,6 +769,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <param name="result">A new instance that is the result of the subraction.</param>
public static void Subtract(ref Matrix3x4 left, ref Matrix3x4 right, out Matrix3x4 result)
{
result.Row0 = left.Row0 - right.Row0;
@ -713,6 +786,12 @@ namespace OpenTK
#region Invert Functions
/// <summary>
/// Calculate the inverse of the given matrix
/// </summary>
/// <param name="mat">The matrix to invert</param>
/// <returns>The inverse of the given matrix if it has one, or the input if it is singular</returns>
/// <exception cref="InvalidOperationException">Thrown if the Matrix4 is singular.</exception>
public static Matrix3x4 Invert(Matrix3x4 mat)
{
Matrix3x4 result;
@ -720,6 +799,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Calculate the inverse of the given matrix
/// </summary>
/// <param name="mat">The matrix to invert</param>
/// <param name="result">The inverse of the given matrix if it has one, or the input if it is singular</param>
/// <exception cref="InvalidOperationException">Thrown if the Matrix4 is singular.</exception>
public static void Invert(ref Matrix3x4 mat, out Matrix3x4 result)
{
Matrix3 inverseRotation = new Matrix3(mat.Column0, mat.Column1, mat.Column2);
@ -738,11 +823,21 @@ namespace OpenTK
#region Transpose
/// <summary>
/// Calculate the transpose of the given matrix
/// </summary>
/// <param name="mat">The matrix to transpose</param>
/// <returns>The transpose of the given matrix</returns>
public static Matrix4x3 Transpose(Matrix3x4 mat)
{
return new Matrix4x3(mat.Column0, mat.Column1, mat.Column2, mat.Column3);
}
/// <summary>
/// Calculate the transpose of the given matrix
/// </summary>
/// <param name="mat">The matrix to transpose</param>
/// <param name="result">The result of the calculation</param>
public static void Transpose(ref Matrix3x4 mat, out Matrix4x3 result)
{
result.Row0 = mat.Column0;
@ -757,36 +852,78 @@ namespace OpenTK
#region Operators
/// <summary>
/// Matrix multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix3 which holds the result of the multiplication</returns>
public static Matrix3 operator *(Matrix3x4 left, Matrix4x3 right)
{
return Matrix3x4.Mult(left, right);
}
/// <summary>
/// Matrix-scalar multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix3x4 which holds the result of the multiplication</returns>
public static Matrix3x4 operator *(Matrix3x4 left, Matrix3x4 right)
{
return Matrix3x4.Mult(left, right);
}
/// <summary>
/// Matrix-scalar multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix3x4 which holds the result of the multiplication</returns>
public static Matrix3x4 operator *(Matrix3x4 left, float right)
{
return Matrix3x4.Mult(left, right);
}
/// <summary>
/// Matrix addition
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix3x4 which holds the result of the addition</returns>
public static Matrix3x4 operator +(Matrix3x4 left, Matrix3x4 right)
{
return Matrix3x4.Add(left, right);
}
/// <summary>
/// Matrix subtraction
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix3x4 which holds the result of the subtraction</returns>
public static Matrix3x4 operator -(Matrix3x4 left, Matrix3x4 right)
{
return Matrix3x4.Subtract(left, right);
}
/// <summary>
/// Compares two instances for equality.
/// </summary>
/// <param name="left">The first instance.</param>
/// <param name="right">The second instance.</param>
/// <returns>True, if left equals right; false otherwise.</returns>
public static bool operator ==(Matrix3x4 left, Matrix3x4 right)
{
return left.Equals(right);
}
/// <summary>
/// Compares two instances for inequality.
/// </summary>
/// <param name="left">The first instance.</param>
/// <param name="right">The second instance.</param>
/// <returns>True, if left does not equal right; false otherwise.</returns>
public static bool operator !=(Matrix3x4 left, Matrix3x4 right)
{
return !left.Equals(right);
@ -798,6 +935,10 @@ namespace OpenTK
#region public override string ToString()
/// <summary>
/// Returns a System.String that represents the current Matrix4.
/// </summary>
/// <returns>The string representation of the matrix.</returns>
public override string ToString()
{
return string.Format("{0}\n{1}\n{2}", Row0, Row1, Row2);
@ -807,6 +948,10 @@ namespace OpenTK
#region public override int GetHashCode()
/// <summary>
/// Returns the hashcode for this instance.
/// </summary>
/// <returns>A System.Int32 containing the unique hashcode for this instance.</returns>
public override int GetHashCode()
{
return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode();
@ -816,6 +961,11 @@ namespace OpenTK
#region public override bool Equals(object obj)
/// <summary>
/// Indicates whether this instance and a specified object are equal.
/// </summary>
/// <param name="obj">The object to compare to.</param>
/// <returns>True if the instances are equal; false otherwise.</returns>
public override bool Equals(object obj)
{
if (!(obj is Matrix3x4))

150
Source/OpenTK/Math/Matrix3x4d.cs
View file

@ -196,6 +196,28 @@ namespace OpenTK
/// </summary>
public double M34 { get { return Row2.W; } set { Row2.W = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector3d Diagonal
{
get
{
return new Vector3d(Row0.X, Row1.Y, Row2.Z);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
Row2.Z = value.Z;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public double Trace { get { return Row0.X + Row1.Y + Row2.Z; } }
#endregion
#region Indexers
@ -227,6 +249,9 @@ namespace OpenTK
#region public void Invert()
/// <summary>
/// Converts this instance into its inverse.
/// </summary>
public void Invert()
{
this = Matrix3x4d.Invert(this);
@ -620,6 +645,12 @@ namespace OpenTK
result.Row2.Z = (lM31 * rM13) + (lM32 * rM23) + (lM33 * rM33) + (lM34 * rM43);
}
/// <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 Matrix3x4d Mult(Matrix3x4d left, Matrix3x4d right)
{
Matrix3x4d result;
@ -627,6 +658,12 @@ namespace OpenTK
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 Matrix3x4d left, ref Matrix3x4d right, out Matrix3x4d result)
{
double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W,
@ -659,6 +696,12 @@ namespace OpenTK
result.Row2.W += lM34;*/
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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 Matrix3x4d Mult(Matrix3x4d left, double right)
{
Matrix3x4d result;
@ -666,6 +709,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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 Matrix3x4d left, double right, out Matrix3x4d result)
{
result.Row0 = left.Row0 * right;
@ -677,6 +726,12 @@ namespace OpenTK
#region Add Functions
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <returns>A new instance that is the result of the addition.</returns>
public static Matrix3x4d Add(Matrix3x4d left, Matrix3x4d right)
{
Matrix3x4d result;
@ -684,6 +739,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <param name="result">A new instance that is the result of the addition.</param>
public static void Add(ref Matrix3x4d left, ref Matrix3x4d right, out Matrix3x4d result)
{
result.Row0 = left.Row0 + right.Row0;
@ -695,6 +756,12 @@ namespace OpenTK
#region Subtract Functions
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <returns>A new instance that is the result of the subraction.</returns>
public static Matrix3x4d Subtract(Matrix3x4d left, Matrix3x4d right)
{
Matrix3x4d result;
@ -702,6 +769,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <param name="result">A new instance that is the result of the subraction.</param>
public static void Subtract(ref Matrix3x4d left, ref Matrix3x4d right, out Matrix3x4d result)
{
result.Row0 = left.Row0 - right.Row0;
@ -713,6 +786,12 @@ namespace OpenTK
#region Invert Functions
/// <summary>
/// Calculate the inverse of the given matrix
/// </summary>
/// <param name="mat">The matrix to invert</param>
/// <returns>The inverse of the given matrix if it has one, or the input if it is singular</returns>
/// <exception cref="InvalidOperationException">Thrown if the Matrix4 is singular.</exception>
public static Matrix3x4d Invert(Matrix3x4d mat)
{
Matrix3x4d result;
@ -720,6 +799,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Calculate the inverse of the given matrix
/// </summary>
/// <param name="mat">The matrix to invert</param>
/// <param name="result">The inverse of the given matrix if it has one, or the input if it is singular</param>
/// <exception cref="InvalidOperationException">Thrown if the Matrix4 is singular.</exception>
public static void Invert(ref Matrix3x4d mat, out Matrix3x4d result)
{
Matrix3d inverseRotation = new Matrix3d(mat.Column0, mat.Column1, mat.Column2);
@ -738,11 +823,21 @@ namespace OpenTK
#region Transpose
/// <summary>
/// Calculate the transpose of the given matrix
/// </summary>
/// <param name="mat">The matrix to transpose</param>
/// <returns>The transpose of the given matrix</returns>
public static Matrix4x3d Transpose(Matrix3x4d mat)
{
return new Matrix4x3d(mat.Column0, mat.Column1, mat.Column2, mat.Column3);
}
/// <summary>
/// Calculate the transpose of the given matrix
/// </summary>
/// <param name="mat">The matrix to transpose</param>
/// <param name="result">The result of the calculation</param>
public static void Transpose(ref Matrix3x4d mat, out Matrix4x3d result)
{
result.Row0 = mat.Column0;
@ -757,36 +852,78 @@ namespace OpenTK
#region Operators
/// <summary>
/// Matrix multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix3d which holds the result of the multiplication</returns>
public static Matrix3d operator *(Matrix3x4d left, Matrix4x3d right)
{
return Matrix3x4d.Mult(left, right);
}
/// <summary>
/// Matrix multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix3x4d which holds the result of the multiplication</returns>
public static Matrix3x4d operator *(Matrix3x4d left, Matrix3x4d right)
{
return Matrix3x4d.Mult(left, right);
}
/// <summary>
/// Matrix-scalar multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix3x4d which holds the result of the multiplication</returns>
public static Matrix3x4d operator *(Matrix3x4d left, double right)
{
return Matrix3x4d.Mult(left, right);
}
/// <summary>
/// Matrix addition
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix3x4d which holds the result of the addition</returns>
public static Matrix3x4d operator +(Matrix3x4d left, Matrix3x4d right)
{
return Matrix3x4d.Add(left, right);
}
/// <summary>
/// Matrix subtraction
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix3x4d which holds the result of the subtraction</returns>
public static Matrix3x4d operator -(Matrix3x4d left, Matrix3x4d right)
{
return Matrix3x4d.Subtract(left, right);
}
/// <summary>
/// Compares two instances for equality.
/// </summary>
/// <param name="left">The first instance.</param>
/// <param name="right">The second instance.</param>
/// <returns>True, if left equals right; false otherwise.</returns>
public static bool operator ==(Matrix3x4d left, Matrix3x4d right)
{
return left.Equals(right);
}
/// <summary>
/// Compares two instances for inequality.
/// </summary>
/// <param name="left">The first instance.</param>
/// <param name="right">The second instance.</param>
/// <returns>True, if left does not equal right; false otherwise.</returns>
public static bool operator !=(Matrix3x4d left, Matrix3x4d right)
{
return !left.Equals(right);
@ -798,6 +935,10 @@ namespace OpenTK
#region public override string ToString()
/// <summary>
/// Returns a System.String that represents the current Matrix4.
/// </summary>
/// <returns>The string representation of the matrix.</returns>
public override string ToString()
{
return string.Format("{0}\n{1}\n{2}", Row0, Row1, Row2);
@ -807,6 +948,10 @@ namespace OpenTK
#region public override int GetHashCode()
/// <summary>
/// Returns the hashcode for this instance.
/// </summary>
/// <returns>A System.Int32 containing the unique hashcode for this instance.</returns>
public override int GetHashCode()
{
return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode();
@ -816,6 +961,11 @@ namespace OpenTK
#region public override bool Equals(object obj)
/// <summary>
/// Indicates whether this instance and a specified object are equal.
/// </summary>
/// <param name="obj">The object to compare to.</param>
/// <returns>True if the instances are equal; false otherwise.</returns>
public override bool Equals(object obj)
{
if (!(obj is Matrix3x4d))

145
Source/OpenTK/Math/Matrix4.cs
View file

@ -261,6 +261,29 @@ namespace OpenTK
/// </summary>
public float M44 { get { return Row3.W; } set { Row3.W = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector4 Diagonal
{
get
{
return new Vector4(Row0.X, Row1.Y, Row2.Z, Row3.W);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
Row2.Z = value.Z;
Row3.W = value.W;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public float Trace { get { return Row0.X + Row1.Y + Row2.Z + Row3.W; } }
#endregion
#region Indexers
@ -1266,6 +1289,68 @@ namespace OpenTK
#endregion
#region Add Functions
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <returns>A new instance that is the result of the addition.</returns>
public static Matrix4 Add(Matrix4 left, Matrix4 right)
{
Matrix4 result;
Add(ref left, ref right, out result);
return result;
}
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <param name="result">A new instance that is the result of the addition.</param>
public static void Add(ref Matrix4 left, ref Matrix4 right, out Matrix4 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
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <returns>A new instance that is the result of the subraction.</returns>
public static Matrix4 Subtract(Matrix4 left, Matrix4 right)
{
Matrix4 result;
Subtract(ref left, ref right, out result);
return result;
}
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <param name="result">A new instance that is the result of the subraction.</param>
public static void Subtract(ref Matrix4 left, ref Matrix4 right, out Matrix4 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 Multiply Functions
/// <summary>
@ -1316,6 +1401,33 @@ namespace OpenTK
result.Row3.W = (((lM41 * rM14) + (lM42 * rM24)) + (lM43 * rM34)) + (lM44 * rM44);
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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(Matrix4 left, float right)
{
Matrix4 result;
Mult(ref left, right, out result);
return result;
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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 Matrix4 left, float right, out Matrix4 result)
{
result.Row0 = left.Row0 * right;
result.Row1 = left.Row1 * right;
result.Row2 = left.Row2 * right;
result.Row3 = left.Row3 * right;
}
#endregion
#region Invert Functions
@ -1499,6 +1611,39 @@ namespace OpenTK
return Matrix4.Mult(left, right);
}
/// <summary>
/// Matrix-scalar multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4 which holds the result of the multiplication</returns>
public static Matrix4 operator *(Matrix4 left, float right)
{
return Matrix4.Mult(left, right);
}
/// <summary>
/// Matrix addition
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4 which holds the result of the addition</returns>
public static Matrix4 operator +(Matrix4 left, Matrix4 right)
{
return Matrix4.Add(left, right);
}
/// <summary>
/// Matrix subtraction
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4 which holds the result of the subtraction</returns>
public static Matrix4 operator -(Matrix4 left, Matrix4 right)
{
return Matrix4.Subtract(left, right);
}
/// <summary>
/// Compares two instances for equality.
/// </summary>

148
Source/OpenTK/Math/Matrix4d.cs
View file

@ -248,6 +248,29 @@ namespace OpenTK
/// </summary>
public double M44 { get { return Row3.W; } set { Row3.W = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector4d Diagonal
{
get
{
return new Vector4d(Row0.X, Row1.Y, Row2.Z, Row3.W);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
Row2.Z = value.Z;
Row3.W = value.W;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public double Trace { get { return Row0.X + Row1.Y + Row2.Z + Row3.W; } }
#endregion
#region Indexers
@ -862,8 +885,6 @@ namespace OpenTK
#endregion
#region CreateFromQuaternion
/// <summary>
/// Build a rotation matrix from the specified quaternion.
@ -938,7 +959,6 @@ namespace OpenTK
#endregion
#region Obsolete Functions
#region Translation Functions
@ -1191,6 +1211,68 @@ namespace OpenTK
#endregion
#region Add Functions
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <returns>A new instance that is the result of the addition.</returns>
public static Matrix4d Add(Matrix4d left, Matrix4d right)
{
Matrix4d result;
Add(ref left, ref right, out result);
return result;
}
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <param name="result">A new instance that is the result of the addition.</param>
public static void Add(ref Matrix4d left, ref Matrix4d right, out Matrix4d 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
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <returns>A new instance that is the result of the subraction.</returns>
public static Matrix4d Subtract(Matrix4d left, Matrix4d right)
{
Matrix4d result;
Subtract(ref left, ref right, out result);
return result;
}
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <param name="result">A new instance that is the result of the subraction.</param>
public static void Subtract(ref Matrix4d left, ref Matrix4d right, out Matrix4d 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 Multiply Functions
/// <summary>
@ -1241,6 +1323,33 @@ namespace OpenTK
result.Row3.W = (((lM41 * rM14) + (lM42 * rM24)) + (lM43 * rM34)) + (lM44 * rM44);
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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 Matrix4d Mult(Matrix4d left, double right)
{
Matrix4d result;
Mult(ref left, right, out result);
return result;
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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 Matrix4d left, double right, out Matrix4d result)
{
result.Row0 = left.Row0 * right;
result.Row1 = left.Row1 * right;
result.Row2 = left.Row2 * right;
result.Row3 = left.Row3 * right;
}
#endregion
#region Invert Functions
@ -1400,6 +1509,39 @@ namespace OpenTK
return Matrix4d.Mult(left, right);
}
/// <summary>
/// Matrix-scalar multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4d which holds the result of the multiplication</returns>
public static Matrix4d operator *(Matrix4d left, float right)
{
return Matrix4d.Mult(left, right);
}
/// <summary>
/// Matrix addition
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4d which holds the result of the addition</returns>
public static Matrix4d operator +(Matrix4d left, Matrix4d right)
{
return Matrix4d.Add(left, right);
}
/// <summary>
/// Matrix subtraction
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4d which holds the result of the subtraction</returns>
public static Matrix4d operator -(Matrix4d left, Matrix4d right)
{
return Matrix4d.Subtract(left, right);
}
/// <summary>
/// Compares two instances for equality.
/// </summary>

21
Source/OpenTK/Math/Matrix4x2.cs
View file

@ -166,6 +166,27 @@ namespace OpenTK
/// </summary>
public float M42 { get { return Row3.Y; } set { Row3.Y = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector2 Diagonal
{
get
{
return new Vector2(Row0.X, Row1.Y);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public float Trace { get { return Row0.X + Row1.Y; } }
#endregion
#region Indexers

21
Source/OpenTK/Math/Matrix4x2d.cs
View file

@ -166,6 +166,27 @@ namespace OpenTK
/// </summary>
public double M42 { get { return Row3.Y; } set { Row3.Y = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector2d Diagonal
{
get
{
return new Vector2d(Row0.X, Row1.Y);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public double Trace { get { return Row0.X + Row1.Y; } }
#endregion
#region Indexers

130
Source/OpenTK/Math/Matrix4x3.cs
View file

@ -197,6 +197,28 @@ namespace OpenTK
/// </summary>
public float M43 { get { return Row3.Z; } set { Row3.Z = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector3 Diagonal
{
get
{
return new Vector3(Row0.X, Row1.Y, Row2.Z);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
Row2.Z = value.Z;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public float Trace { get { return Row0.X + Row1.Y + Row2.Z; } }
#endregion
#region Indexers
@ -635,6 +657,12 @@ namespace OpenTK
result.Row3.W = (lM41 * rM14) + (lM42 * rM24) + (lM43 * rM34);
}
/// <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 Matrix4x3 Mult(Matrix4x3 left, Matrix4x3 right)
{
Matrix4x3 result;
@ -674,6 +702,12 @@ namespace OpenTK
result.Row3.Z = (lM41 * rM13) + (lM42 * rM23) + (lM43 * rM33) + rM43;
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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 Matrix4x3 Mult(Matrix4x3 left, float right)
{
Matrix4x3 result;
@ -681,7 +715,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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, float right, out Matrix4x3 result)
{
result.Row0 = left.Row0 * right;
@ -694,6 +733,12 @@ namespace OpenTK
#region Add Functions
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <returns>A new instance that is the result of the addition.</returns>
public static Matrix4x3 Add(Matrix4x3 left, Matrix4x3 right)
{
Matrix4x3 result;
@ -701,6 +746,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <param name="result">A new instance that is the result of the addition.</param>
public static void Add(ref Matrix4x3 left, ref Matrix4x3 right, out Matrix4x3 result)
{
result.Row0 = left.Row0 + right.Row0;
@ -713,6 +764,12 @@ namespace OpenTK
#region Subtract Functions
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <returns>A new instance that is the result of the subraction.</returns>
public static Matrix4x3 Subtract(Matrix4x3 left, Matrix4x3 right)
{
Matrix4x3 result;
@ -720,6 +777,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <param name="result">A new instance that is the result of the subraction.</param>
public static void Subtract(ref Matrix4x3 left, ref Matrix4x3 right, out Matrix4x3 result)
{
result.Row0 = left.Row0 - right.Row0;
@ -732,6 +795,12 @@ namespace OpenTK
#region Invert Functions
/// <summary>
/// Calculate the inverse of the given matrix
/// </summary>
/// <param name="mat">The matrix to invert</param>
/// <returns>The inverse of the given matrix if it has one, or the input if it is singular</returns>
/// <exception cref="InvalidOperationException">Thrown if the Matrix4 is singular.</exception>
public static Matrix4x3 Invert(Matrix4x3 mat)
{
Matrix4x3 result;
@ -739,6 +808,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Calculate the inverse of the given matrix
/// </summary>
/// <param name="mat">The matrix to invert</param>
/// <param name="result">The inverse of the given matrix if it has one, or the input if it is singular</param>
/// <exception cref="InvalidOperationException">Thrown if the Matrix4 is singular.</exception>
public static void Invert(ref Matrix4x3 mat, out Matrix4x3 result)
{
Matrix3 inverseRotation = new Matrix3(mat.Column0.Xyz, mat.Column1.Xyz, mat.Column2.Xyz);
@ -757,12 +832,21 @@ namespace OpenTK
#endregion
#region Transpose
/// <summary>
/// Calculate the transpose of the given matrix
/// </summary>
/// <param name="mat">The matrix to transpose</param>
/// <returns>The transpose of the given matrix</returns>
public static Matrix3x4 Transpose(Matrix4x3 mat)
{
return new Matrix3x4(mat.Column0, mat.Column1, mat.Column2);
}
/// <summary>
/// Calculate the transpose of the given matrix
/// </summary>
/// <param name="mat">The matrix to transpose</param>
/// <param name="result">The result of the calculation</param>
public static void Transpose(ref Matrix4x3 mat, out Matrix3x4 result)
{
result.Row0 = mat.Column0;
@ -776,36 +860,78 @@ namespace OpenTK
#region Operators
/// <summary>
/// Matrix multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4 which holds the result of the multiplication</returns>
public static Matrix4 operator *(Matrix4x3 left, Matrix3x4 right)
{
return Matrix4x3.Mult(left, right);
}
/// <summary>
/// Matrix multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4x3 which holds the result of the multiplication</returns>
public static Matrix4x3 operator *(Matrix4x3 left, Matrix4x3 right)
{
return Matrix4x3.Mult(left, right);
}
/// <summary>
/// Matrix-scalar multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4x3 which holds the result of the multiplication</returns>
public static Matrix4x3 operator *(Matrix4x3 left, float right)
{
return Matrix4x3.Mult(left, right);
}
/// <summary>
/// Matrix addition
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4x3 which holds the result of the addition</returns>
public static Matrix4x3 operator +(Matrix4x3 left, Matrix4x3 right)
{
return Matrix4x3.Add(left, right);
}
/// <summary>
/// Matrix subtraction
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4x3 which holds the result of the subtraction</returns>
public static Matrix4x3 operator -(Matrix4x3 left, Matrix4x3 right)
{
return Matrix4x3.Subtract(left, right);
}
/// <summary>
/// Compares two instances for equality.
/// </summary>
/// <param name="left">The first instance.</param>
/// <param name="right">The second instance.</param>
/// <returns>True, if left equals right; false otherwise.</returns>
public static bool operator ==(Matrix4x3 left, Matrix4x3 right)
{
return left.Equals(right);
}
/// <summary>
/// Compares two instances for inequality.
/// </summary>
/// <param name="left">The first instance.</param>
/// <param name="right">The second instance.</param>
/// <returns>True, if left does not equal right; false otherwise.</returns>
public static bool operator !=(Matrix4x3 left, Matrix4x3 right)
{
return !left.Equals(right);

137
Source/OpenTK/Math/Matrix4x3d.cs
View file

@ -197,6 +197,28 @@ namespace OpenTK
/// </summary>
public double M43 { get { return Row3.Z; } set { Row3.Z = value; } }
/// <summary>
/// Gets or sets the values along the main diagonal of the matrix.
/// </summary>
public Vector3d Diagonal
{
get
{
return new Vector3d(Row0.X, Row1.Y, Row2.Z);
}
set
{
Row0.X = value.X;
Row1.Y = value.Y;
Row2.Z = value.Z;
}
}
/// <summary>
/// Gets the trace of the matrix, the sum of the values along the diagonal.
/// </summary>
public double Trace { get { return Row0.X + Row1.Y + Row2.Z; } }
#endregion
#region Indexers
@ -230,6 +252,9 @@ namespace OpenTK
#region public void Invert()
/// <summary>
/// Converts this instance into its inverse.
/// </summary>
public void Invert()
{
this = Matrix4x3d.Invert(this);
@ -632,6 +657,12 @@ namespace OpenTK
result.Row3.W = (lM41 * rM14) + (lM42 * rM24) + (lM43 * rM34);
}
/// <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 Matrix4x3d Mult(Matrix4x3d left, Matrix4x3d right)
{
Matrix4x3d result;
@ -639,6 +670,12 @@ namespace OpenTK
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 Matrix4x3d left, ref Matrix4x3d right, out Matrix4x3d result)
{
double lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z,
@ -664,6 +701,12 @@ namespace OpenTK
result.Row3.Z = (lM41 * rM13) + (lM42 * rM23) + (lM43 * rM33) + rM43;
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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 Matrix4x3d Mult(Matrix4x3d left, double right)
{
Matrix4x3d result;
@ -671,6 +714,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Multiplies an instance by a scalar.
/// </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 Matrix4x3d left, double right, out Matrix4x3d result)
{
result.Row0 = left.Row0 * right;
@ -683,6 +732,12 @@ namespace OpenTK
#region Add Functions
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <returns>A new instance that is the result of the addition.</returns>
public static Matrix4x3d Add(Matrix4x3d left, Matrix4x3d right)
{
Matrix4x3d result;
@ -690,6 +745,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Adds two instances.
/// </summary>
/// <param name="left">The left operand of the addition.</param>
/// <param name="right">The right operand of the addition.</param>
/// <param name="result">A new instance that is the result of the addition.</param>
public static void Add(ref Matrix4x3d left, ref Matrix4x3d right, out Matrix4x3d result)
{
result.Row0 = left.Row0 + right.Row0;
@ -702,6 +763,12 @@ namespace OpenTK
#region Subtract Functions
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <returns>A new instance that is the result of the subraction.</returns>
public static Matrix4x3d Subtract(Matrix4x3d left, Matrix4x3d right)
{
Matrix4x3d result;
@ -709,6 +776,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Subtracts one instance from another.
/// </summary>
/// <param name="left">The left operand of the subraction.</param>
/// <param name="right">The right operand of the subraction.</param>
/// <param name="result">A new instance that is the result of the subraction.</param>
public static void Subtract(ref Matrix4x3d left, ref Matrix4x3d right, out Matrix4x3d result)
{
result.Row0 = left.Row0 - right.Row0;
@ -721,6 +794,12 @@ namespace OpenTK
#region Invert Functions
/// <summary>
/// Calculate the inverse of the given matrix
/// </summary>
/// <param name="mat">The matrix to invert</param>
/// <returns>The inverse of the given matrix if it has one, or the input if it is singular</returns>
/// <exception cref="InvalidOperationException">Thrown if the Matrix4 is singular.</exception>
public static Matrix4x3d Invert(Matrix4x3d mat)
{
Matrix4x3d result;
@ -728,6 +807,12 @@ namespace OpenTK
return result;
}
/// <summary>
/// Calculate the inverse of the given matrix
/// </summary>
/// <param name="mat">The matrix to invert</param>
/// <param name="result">The inverse of the given matrix if it has one, or the input if it is singular</param>
/// <exception cref="InvalidOperationException">Thrown if the Matrix4 is singular.</exception>
public static void Invert(ref Matrix4x3d mat, out Matrix4x3d result)
{
Matrix3d inverseRotation = new Matrix3d(mat.Column0.Xyz, mat.Column1.Xyz, mat.Column2.Xyz);
@ -747,11 +832,21 @@ namespace OpenTK
#region Transpose
/// <summary>
/// Calculate the transpose of the given matrix
/// </summary>
/// <param name="mat">The matrix to transpose</param>
/// <returns>The transpose of the given matrix</returns>
public static Matrix3x4d Transpose(Matrix4x3d mat)
{
return new Matrix3x4d(mat.Column0, mat.Column1, mat.Column2);
}
/// <summary>
/// Calculate the transpose of the given matrix
/// </summary>
/// <param name="mat">The matrix to transpose</param>
/// <param name="result">The result of the calculation</param>
public static void Transpose(ref Matrix4x3d mat, out Matrix3x4d result)
{
result.Row0 = mat.Column0;
@ -765,36 +860,78 @@ namespace OpenTK
#region Operators
/// <summary>
/// Matrix multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4d which holds the result of the multiplication</returns>
public static Matrix4d operator *(Matrix4x3d left, Matrix3x4d right)
{
return Matrix4x3d.Mult(left, right);
}
/// <summary>
/// Matrix multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4x3d which holds the result of the multiplication</returns>
public static Matrix4x3d operator *(Matrix4x3d left, Matrix4x3d right)
{
return Matrix4x3d.Mult(left, right);
}
/// <summary>
/// Matrix-scalar multiplication
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4x3d which holds the result of the multiplication</returns>
public static Matrix4x3d operator *(Matrix4x3d left, double right)
{
return Matrix4x3d.Mult(left, right);
}
/// <summary>
/// Matrix addition
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4x3d which holds the result of the addition</returns>
public static Matrix4x3d operator +(Matrix4x3d left, Matrix4x3d right)
{
return Matrix4x3d.Add(left, right);
}
/// <summary>
/// Matrix subtraction
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix4x3d which holds the result of the subtraction</returns>
public static Matrix4x3d operator -(Matrix4x3d left, Matrix4x3d right)
{
return Matrix4x3d.Subtract(left, right);
}
/// <summary>
/// Compares two instances for equality.
/// </summary>
/// <param name="left">The first instance.</param>
/// <param name="right">The second instance.</param>
/// <returns>True, if left equals right; false otherwise.</returns>
public static bool operator ==(Matrix4x3d left, Matrix4x3d right)
{
return left.Equals(right);
}
/// <summary>
/// Compares two instances for inequality.
/// </summary>
/// <param name="left">The first instance.</param>
/// <param name="right">The second instance.</param>
/// <returns>True, if left does not equal right; false otherwise.</returns>
public static bool operator !=(Matrix4x3d left, Matrix4x3d right)
{
return !left.Equals(right);

76
Source/OpenTK/Math/Quaternion.cs
View file

@ -252,7 +252,7 @@ namespace OpenTK
/// <summary>
/// Defines the identity quaternion.
/// </summary>
public static Quaternion Identity = new Quaternion(0, 0, 0, 1);
public static readonly Quaternion Identity = new Quaternion(0, 0, 0, 1);
#endregion
@ -489,7 +489,7 @@ namespace OpenTK
/// </summary>
/// <param name="axis">The axis to rotate about</param>
/// <param name="angle">The rotation angle in radians</param>
/// <returns></returns>
/// <returns>The equivalent quaternion</returns>
public static Quaternion FromAxisAngle(Vector3 axis, float angle)
{
if (axis.LengthSquared == 0.0f)
@ -507,6 +507,78 @@ namespace OpenTK
#endregion
#region FromMatrix
/// <summary>
/// Builds a quaternion from the given rotation matrix
/// </summary>
/// <param name="matrix">A rotation matrix</param>
/// <returns>The equivalent quaternion</returns>
public static Quaternion FromMatrix(Matrix3 matrix)
{
Quaternion result;
FromMatrix(ref matrix, out result);
return result;
}
/// <summary>
/// Builds a quaternion from the given rotation matrix
/// </summary>
/// <param name="matrix">A rotation matrix</param>
/// <param name="result">The equivalent quaternion</param>
public static void FromMatrix(ref Matrix3 matrix, out Quaternion result)
{
float trace = matrix.Trace;
if (trace > 0)
{
float s = (float)Math.Sqrt(trace + 1) * 2;
float invS = 1f / s;
result.w = s * 0.25f;
result.xyz.X = (matrix.Row2.Y - matrix.Row1.Z) * invS;
result.xyz.Y = (matrix.Row0.Z - matrix.Row2.X) * invS;
result.xyz.Z = (matrix.Row1.X - matrix.Row0.Y) * invS;
}
else
{
float m00 = matrix.Row0.X, m11 = matrix.Row1.Y, m22 = matrix.Row2.Z;
if (m00 > m11 && m00 > m22)
{
float s = (float)Math.Sqrt(1 + m00 - m11 - m22) * 2;
float invS = 1f / s;
result.w = (matrix.Row2.Y - matrix.Row1.Z) * invS;
result.xyz.X = s * 0.25f;
result.xyz.Y = (matrix.Row0.Y + matrix.Row1.X) * invS;
result.xyz.Z = (matrix.Row0.Z + matrix.Row2.X) * invS;
}
else if (m11 > m22)
{
float s = (float)Math.Sqrt(1 + m11 - m00 - m22) * 2;
float invS = 1f / s;
result.w = (matrix.Row0.Z - matrix.Row2.X) * invS;
result.xyz.X = (matrix.Row0.Y + matrix.Row1.X) * invS;
result.xyz.Y = s * 0.25f;
result.xyz.Z = (matrix.Row1.Z + matrix.Row2.Y) * invS;
}
else
{
float s = (float)Math.Sqrt(1 + m22 - m00 - m11) * 2;
float invS = 1f / s;
result.w = (matrix.Row1.X - matrix.Row0.Y) * invS;
result.xyz.X = (matrix.Row0.Z + matrix.Row2.X) * invS;
result.xyz.Y = (matrix.Row1.Z + matrix.Row2.Y) * invS;
result.xyz.Z = s * 0.25f;
}
}
}
#endregion
#region Slerp
/// <summary>

72
Source/OpenTK/Math/Quaterniond.cs
View file

@ -507,6 +507,78 @@ namespace OpenTK
#endregion
#region FromMatrix
/// <summary>
/// Builds a quaternion from the given rotation matrix
/// </summary>
/// <param name="matrix">A rotation matrix</param>
/// <returns>The equivalent quaternion</returns>
public static Quaterniond FromMatrix(Matrix3d matrix)
{
Quaterniond result;
FromMatrix(ref matrix, out result);
return result;
}
/// <summary>
/// Builds a quaternion from the given rotation matrix
/// </summary>
/// <param name="matrix">A rotation matrix</param>
/// <param name="result">The equivalent quaternion</param>
public static void FromMatrix(ref Matrix3d matrix, out Quaterniond result)
{
double trace = matrix.Trace;
if (trace > 0)
{
double s = Math.Sqrt(trace + 1) * 2;
double invS = 1.0 / s;
result.w = s * 0.25;
result.xyz.X = (matrix.Row2.Y - matrix.Row1.Z) * invS;
result.xyz.Y = (matrix.Row0.Z - matrix.Row2.X) * invS;
result.xyz.Z = (matrix.Row1.X - matrix.Row0.Y) * invS;
}
else
{
double m00 = matrix.Row0.X, m11 = matrix.Row1.Y, m22 = matrix.Row2.Z;
if (m00 > m11 && m00 > m22)
{
double s = Math.Sqrt(1 + m00 - m11 - m22) * 2;
double invS = 1.0 / s;
result.w = (matrix.Row2.Y - matrix.Row1.Z) * invS;
result.xyz.X = s * 0.25;
result.xyz.Y = (matrix.Row0.Y + matrix.Row1.X) * invS;
result.xyz.Z = (matrix.Row0.Z + matrix.Row2.X) * invS;
}
else if (m11 > m22)
{
double s = Math.Sqrt(1 + m11 - m00 - m22) * 2;
double invS = 1.0 / s;
result.w = (matrix.Row0.Z - matrix.Row2.X) * invS;
result.xyz.X = (matrix.Row0.Y + matrix.Row1.X) * invS;
result.xyz.Y = s * 0.25;
result.xyz.Z = (matrix.Row1.Z + matrix.Row2.Y) * invS;
}
else
{
double s = Math.Sqrt(1 + m22 - m00 - m11) * 2;
double invS = 1.0 / s;
result.w = (matrix.Row1.X - matrix.Row0.Y) * invS;
result.xyz.X = (matrix.Row0.Z + matrix.Row2.X) * invS;
result.xyz.Y = (matrix.Row1.Z + matrix.Row2.Y) * invS;
result.xyz.Z = s * 0.25;
}
}
}
#endregion
#region Slerp
/// <summary>