Multiplication operator for Matrix-Vector transformation and Quaternion-Vector transformations
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2 changed files with 77 additions and 2 deletions
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@ -1114,6 +1114,29 @@ namespace OpenTK
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mat.Row3.Z;
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}
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/// <summary>Transform a Vector by the given Matrix</summary>
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/// <param name="vec">The vector to transform</param>
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/// <param name="mat">The desired transformation</param>
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/// <returns>The transformed vector</returns>
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public static Vector3 Transform(Vector3 vec, Matrix3 mat)
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{
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Vector3 result;
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Transform(ref vec, ref mat, out result);
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return result;
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}
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/// <summary>Transform a Vector by the given Matrix</summary>
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/// <param name="vec">The vector to transform</param>
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/// <param name="mat">The desired transformation</param>
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/// <param name="result">The transformed vector</param>
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public static void Transform(ref Vector3 vec, ref Matrix3 mat, out Vector3 result)
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{
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result = new Vector3(
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vec.X * mat.Row0.X + vec.Y * mat.Row1.X + vec.Z * mat.Row2.X,
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vec.X * mat.Row0.Y + vec.Y * mat.Row1.Y + vec.Z * mat.Row2.Y,
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vec.X * mat.Row0.Z + vec.Y * mat.Row1.Z + vec.Z * mat.Row2.Z);
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}
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/// <summary>Transform a Vector by the given Matrix</summary>
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/// <param name="vec">The vector to transform</param>
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/// <param name="mat">The desired transformation</param>
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@ -1503,6 +1526,32 @@ namespace OpenTK
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return vec;
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}
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/// <summary>
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/// Transform a Vector by the given Matrix.
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/// </summary>
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/// <param name="vec">The vector to transform</param>
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/// <param name="mat">The desired transformation</param>
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/// <returns></returns>
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public static Vector3 operator *(Matrix3 mat, Vector3 vec)
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{
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Vector3 result;
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Vector3.Transform(ref vec, ref mat, out result);
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return result;
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}
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/// <summary>
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/// Transforms a vector by a quaternion rotation.
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/// </summary>
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/// <param name="vec">The vector to transform.</param>
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/// <param name="quat">The quaternion to rotate the vector by.</param>
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/// <returns></returns>
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public static Vector3 operator *(Quaternion quat, Vector3 vec)
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{
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Vector3 result;
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Vector3.Transform(ref vec, ref quat, out result);
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return result;
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}
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/// <summary>
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/// Divides an instance by a scalar.
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/// </summary>
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@ -1506,6 +1506,32 @@ namespace OpenTK
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return vec;
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}
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/// <summary>
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/// Transform a Vector by the given Matrix.
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/// </summary>
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/// <param name="vec">The vector to transform</param>
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/// <param name="mat">The desired transformation</param>
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/// <returns></returns>
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public static Vector4 operator *(Matrix4 mat, Vector4 vec)
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{
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Vector4 result;
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Vector4.Transform(ref vec, ref mat, out result);
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return result;
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}
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/// <summary>
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/// Transforms a vector by a quaternion rotation.
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/// </summary>
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/// <param name="vec">The vector to transform.</param>
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/// <param name="quat">The quaternion to rotate the vector by.</param>
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/// <returns></returns>
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public static Vector4 operator *(Quaternion quat, Vector4 vec)
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{
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Vector4 result;
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Vector4.Transform(ref vec, ref quat, out result);
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return result;
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}
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/// <summary>
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/// Divides an instance by a scalar.
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/// </summary>
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