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Matrix4 optimizations

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This commit is contained in:
Robert Rouhani 2013-01-16 17:45:10 -08:00
parent fa422dca2a
commit 7a0634814e
2 changed files with 384 additions and 315 deletions
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167
.gitignore vendored
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@ -1,135 +1,56 @@
# Ignores specific to OpenTK.
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OpenTK.userprefs
Source/GlobalAssemblyInfo.cs
Version.txt
# OpenTK Resource files that seem like they should be ignored:
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Source/Compatibility/Tao/Platform/Windows/SimpleOpenGlControl.resources
Source/Examples/ExampleBrowser.resources
Source/Examples/OpenAL/1.1/Parrot.resources
Source/Examples/OpenTK/Fonts/FontRenderingBasic.resources
Source/Examples/OpenTK/GLControl/DerivedGLControl.resources
Source/Examples/OpenTK/GLControl/GLControlGameLoop.resources
Source/Examples/OpenTK/GLControl/GLControlSimple.resources
Source/Examples/OpenTK/GLControl/MultipleGLControls.resources
Source/Examples/OpenTK/Test/Extensions.resources
Source/Examples/OpenTK/Test/InputLogger.resources
Source/Examples/Properties/Resources.resources
Source/OpenTK/Properties/Resources.resources
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/Source/GlobalAssemblyInfo.cs
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530
Source/OpenTK/Math/Matrix4.cs
View file

@ -37,24 +37,27 @@ namespace OpenTK
#region Fields
/// <summary>
/// Top row of the matrix
/// Top row of the matrix.
/// </summary>
public Vector4 Row0;
/// <summary>
/// 2nd row of the matrix
/// 2nd row of the matrix.
/// </summary>
public Vector4 Row1;
/// <summary>
/// 3rd row of the matrix
/// 3rd row of the matrix.
/// </summary>
public Vector4 Row2;
/// <summary>
/// Bottom row of the matrix
/// Bottom row of the matrix.
/// </summary>
public Vector4 Row3;
/// <summary>
/// The identity matrix
/// The identity matrix.
/// </summary>
public static Matrix4 Identity = new Matrix4(Vector4.UnitX, Vector4.UnitY, Vector4.UnitZ, Vector4.UnitW);
@ -65,10 +68,10 @@ namespace OpenTK
/// <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">Third row of the matrix</param>
/// <param name="row3">Bottom row of the matrix</param>
/// <param name="row0">Top row of the matrix.</param>
/// <param name="row1">Second row of the matrix.</param>
/// <param name="row2">Third row of the matrix.</param>
/// <param name="row3">Bottom row of the matrix.</param>
public Matrix4(Vector4 row0, Vector4 row1, Vector4 row2, Vector4 row3)
{
Row0 = row0;
@ -134,23 +137,29 @@ namespace OpenTK
/// <summary>
/// The determinant of this matrix
/// Gets the determinant of this matrix.
/// </summary>
public float Determinant
{
get
{
float m11 = Row0.X, m12 = Row0.Y, m13 = Row0.Z, m14 = Row0.W,
m21 = Row1.X, m22 = Row1.Y, m23 = Row1.Z, m24 = Row1.W,
m31 = Row2.X, m32 = Row2.Y, m33 = Row2.Z, m34 = Row2.W,
m41 = Row3.X, m42 = Row3.Y, m43 = Row3.Z, m44 = Row3.W;
return
Row0.X * Row1.Y * Row2.Z * Row3.W - Row0.X * Row1.Y * Row2.W * Row3.Z + Row0.X * Row1.Z * Row2.W * Row3.Y - Row0.X * Row1.Z * Row2.Y * Row3.W
+ Row0.X * Row1.W * Row2.Y * Row3.Z - Row0.X * Row1.W * Row2.Z * Row3.Y - Row0.Y * Row1.Z * Row2.W * Row3.X + Row0.Y * Row1.Z * Row2.X * Row3.W
- Row0.Y * Row1.W * Row2.X * Row3.Z + Row0.Y * Row1.W * Row2.Z * Row3.X - Row0.Y * Row1.X * Row2.Z * Row3.W + Row0.Y * Row1.X * Row2.W * Row3.Z
+ Row0.Z * Row1.W * Row2.X * Row3.Y - Row0.Z * Row1.W * Row2.Y * Row3.X + Row0.Z * Row1.X * Row2.Y * Row3.W - Row0.Z * Row1.X * Row2.W * Row3.Y
+ Row0.Z * Row1.Y * Row2.W * Row3.X - Row0.Z * Row1.Y * Row2.X * Row3.W - Row0.W * Row1.X * Row2.Y * Row3.Z + Row0.W * Row1.X * Row2.Z * Row3.Y
- Row0.W * Row1.Y * Row2.Z * Row3.X + Row0.W * Row1.Y * Row2.X * Row3.Z - Row0.W * Row1.Z * Row2.X * Row3.Y + Row0.W * Row1.Z * Row2.Y * Row3.X;
m11 * m22 * m33 * m44 - m11 * m22 * m34 * m43 + m11 * m23 * m34 * m42 - m11 * m23 * m32 * m44
+ m11 * m24 * m32 * m43 - m11 * m24 * m33 * m42 - m12 * m23 * m34 * m41 + m12 * m23 * m31 * m44
- m12 * m24 * m31 * m43 + m12 * m24 * m33 * m41 - m12 * m21 * m33 * m44 + m12 * m21 * m34 * m43
+ m13 * m24 * m31 * m42 - m13 * m24 * m32 * m41 + m13 * m21 * m32 * m44 - m13 * m21 * m34 * m42
+ m13 * m22 * m34 * m41 - m13 * m22 * m31 * m44 - m14 * m21 * m32 * m43 + m14 * m21 * m33 * m42
- m14 * m22 * m33 * m41 + m14 * m22 * m31 * m43 - m14 * m23 * m31 * m42 + m14 * m23 * m32 * m41;
}
}
/// <summary>
/// The first column of this matrix
/// Gets the first column of this matrix.
/// </summary>
public Vector4 Column0
{
@ -158,7 +167,7 @@ namespace OpenTK
}
/// <summary>
/// The second column of this matrix
/// Gets the second column of this matrix.
/// </summary>
public Vector4 Column1
{
@ -166,7 +175,7 @@ namespace OpenTK
}
/// <summary>
/// The third column of this matrix
/// Gets the third column of this matrix.
/// </summary>
public Vector4 Column2
{
@ -174,7 +183,7 @@ namespace OpenTK
}
/// <summary>
/// The fourth column of this matrix
/// Gets the fourth column of this matrix.
/// </summary>
public Vector4 Column3
{
@ -303,16 +312,40 @@ namespace OpenTK
/// <param name="result">A matrix instance.</param>
public static void CreateFromAxisAngle(Vector3 axis, float angle, out Matrix4 result)
{
// normalize and create a local copy of the vector.
axis.Normalize();
float axisX = axis.X, axisY = axis.Y, axisZ = axis.Z;
// calculate angles
float cos = (float)System.Math.Cos(-angle);
float sin = (float)System.Math.Sin(-angle);
float t = 1.0f - cos;
axis.Normalize();
// do the conversion math once
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;
result = new Matrix4(t * axis.X * axis.X + cos, t * axis.X * axis.Y - sin * axis.Z, t * axis.X * axis.Z + sin * axis.Y, 0.0f,
t * axis.X * axis.Y + sin * axis.Z, t * axis.Y * axis.Y + cos, t * axis.Y * axis.Z - sin * axis.X, 0.0f,
t * axis.X * axis.Z - sin * axis.Y, t * axis.Y * axis.Z + sin * axis.X, t * axis.Z * axis.Z + cos, 0.0f,
0, 0, 0, 1);
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;
result.Row3 = Vector4.UnitW;
}
/// <summary>
@ -330,6 +363,35 @@ namespace OpenTK
#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 Matrix4 result)
{
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 Matrix4 CreateFromQuaternion(Quaternion q)
{
Matrix4 result;
CreateFromQuaternion(ref q, out result);
return result;
}
#endregion
#region CreateRotation[XYZ]
/// <summary>
@ -342,10 +404,11 @@ namespace OpenTK
float cos = (float)System.Math.Cos(angle);
float sin = (float)System.Math.Sin(angle);
result.Row0 = Vector4.UnitX;
result.Row1 = new Vector4(0.0f, cos, sin, 0.0f);
result.Row2 = new Vector4(0.0f, -sin, cos, 0.0f);
result.Row3 = Vector4.UnitW;
result = Identity;
result.Row1.Y = cos;
result.Row1.Z = sin;
result.Row2.Y = -sin;
result.Row2.Z = cos;
}
/// <summary>
@ -370,10 +433,11 @@ namespace OpenTK
float cos = (float)System.Math.Cos(angle);
float sin = (float)System.Math.Sin(angle);
result.Row0 = new Vector4(cos, 0.0f, -sin, 0.0f);
result.Row1 = Vector4.UnitY;
result.Row2 = new Vector4(sin, 0.0f, cos, 0.0f);
result.Row3 = Vector4.UnitW;
result = Identity;
result.Row0.X = cos;
result.Row0.Z = -sin;
result.Row2.X = sin;
result.Row2.Z = cos;
}
/// <summary>
@ -398,10 +462,11 @@ namespace OpenTK
float cos = (float)System.Math.Cos(angle);
float sin = (float)System.Math.Sin(angle);
result.Row0 = new Vector4(cos, sin, 0.0f, 0.0f);
result.Row1 = new Vector4(-sin, cos, 0.0f, 0.0f);
result.Row2 = Vector4.UnitZ;
result.Row3 = Vector4.UnitW;
result = Identity;
result.Row0.X = cos;
result.Row0.Y = sin;
result.Row1.X = -sin;
result.Row1.Y = cos;
}
/// <summary>
@ -430,7 +495,9 @@ namespace OpenTK
public static void CreateTranslation(float x, float y, float z, out Matrix4 result)
{
result = Identity;
result.Row3 = new Vector4(x, y, z, 1);
result.Row3.X = x;
result.Row3.Y = y;
result.Row3.Z = z;
}
/// <summary>
@ -441,7 +508,9 @@ namespace OpenTK
public static void CreateTranslation(ref Vector3 vector, out Matrix4 result)
{
result = Identity;
result.Row3 = new Vector4(vector.X, vector.Y, vector.Z, 1);
result.Row3.X = vector.X;
result.Row3.Y = vector.Y;
result.Row3.Z = vector.Z;
}
/// <summary>
@ -472,6 +541,89 @@ namespace OpenTK
#endregion
#region CreateScale
/// <summary>
/// Creates a scale matrix.
/// </summary>
/// <param name="scale">Single scale factor for the x, y, and z axes.</param>
/// <returns>A scale matrix.</returns>
public static Matrix4 CreateScale(float scale)
{
Matrix4 result;
CreateScale(scale, out result);
return result;
}
/// <summary>
/// Creates a scale matrix.
/// </summary>
/// <param name="scale">Scale factors for the x, y, and z axes.</param>
/// <returns>A scale matrix.</returns>
public static Matrix4 CreateScale(Vector3 scale)
{
Matrix4 result;
CreateScale(ref scale, out result);
return result;
}
/// <summary>
/// Creates a scale matrix.
/// </summary>
/// <param name="x">Scale factor for the x axis.</param>
/// <param name="y">Scale factor for the y axis.</param>
/// <param name="z">Scale factor for the z axis.</param>
/// <returns>A scale matrix.</returns>
public static Matrix4 CreateScale(float x, float y, float z)
{
Matrix4 result;
CreateScale(x, y, z, out result);
return result;
}
/// <summary>
/// Creates a scale matrix.
/// </summary>
/// <param name="scale">Single scale factor for the x, y, and z axes.</param>
/// <param name="result">A scale matrix.</param>
public static void CreateScale(float scale, out Matrix4 result)
{
result = Identity;
result.Row0.X = scale;
result.Row1.Y = scale;
result.Row2.Z = scale;
}
/// <summary>
/// Creates a scale matrix.
/// </summary>
/// <param name="scale">Scale factors for the x, y, and z axes.</param>
/// <param name="result">A scale matrix.</param>
public static void CreateScale(ref Vector3 scale, out Matrix4 result)
{
result = Identity;
result.Row0.X = scale.X;
result.Row1.Y = scale.Y;
result.Row2.Z = scale.Z;
}
/// <summary>
/// Creates a scale matrix.
/// </summary>
/// <param name="x">Scale factor for the x axis.</param>
/// <param name="y">Scale factor for the y axis.</param>
/// <param name="z">Scale factor for the z axis.</param>
/// <param name="result">A scale matrix.</returns>
public static void CreateScale(float x, float y, float z, out Matrix4 result)
{
result = Identity;
result.Row0.X = x;
result.Row1.Y = y;
result.Row2.Z = z;
}
#endregion
#region CreateOrthographic
/// <summary>
@ -518,20 +670,19 @@ namespace OpenTK
/// <param name="result">The resulting Matrix4 instance.</param>
public static void CreateOrthographicOffCenter(float left, float right, float bottom, float top, float zNear, float zFar, out Matrix4 result)
{
result = new Matrix4();
result = Identity;
float invRL = 1 / (right - left);
float invTB = 1 / (top - bottom);
float invFN = 1 / (zFar - zNear);
float invRL = 1.0f / (right - left);
float invTB = 1.0f / (top - bottom);
float invFN = 1.0f / (zFar - zNear);
result.M11 = 2 * invRL;
result.M22 = 2 * invTB;
result.M33 = -2 * invFN;
result.Row0.X = 2 * invRL;
result.Row1.Y = 2 * invTB;
result.Row2.Z = -2 * invFN;
result.M41 = -(right + left) * invRL;
result.M42 = -(top + bottom) * invTB;
result.M43 = -(zFar + zNear) * invFN;
result.M44 = 1;
result.Row3.X = -(right + left) * invRL;
result.Row3.Y = -(top + bottom) * invTB;
result.Row3.Z = -(zFar + zNear) * invFN;
}
/// <summary>
@ -655,10 +806,15 @@ namespace OpenTK
float c = -(zFar + zNear) / (zFar - zNear);
float d = -(2.0f * zFar * zNear) / (zFar - zNear);
result = new Matrix4(x, 0, 0, 0,
0, y, 0, 0,
a, b, c, -1,
0, 0, d, 0);
result = Identity;
result.Row0.X = x;
result.Row1.Y = y;
result.Row2.X = a;
result.Row2.Y = b;
result.Row2.Z = c;
result.Row2.W = -1;
result.Row3.Z = d;
result.Row3.W = 0;
}
/// <summary>
@ -775,7 +931,7 @@ namespace OpenTK
[Obsolete("Use CreateTranslation instead.")]
public static Matrix4 Translation(Vector3 trans)
{
return Translation(trans.X, trans.Y, trans.Z);
return CreateTranslation(trans);
}
/// <summary>
@ -788,52 +944,7 @@ namespace OpenTK
[Obsolete("Use CreateTranslation instead.")]
public static Matrix4 Translation(float x, float y, float z)
{
Matrix4 result = Identity;
result.Row3 = new Vector4(x, y, z, 1.0f);
return result;
}
#endregion
#endregion
#region Scale Functions
/// <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 Matrix4 Scale(float scale)
{
return Scale(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 Matrix4 Scale(Vector3 scale)
{
return Scale(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 Matrix4 Scale(float x, float y, float z)
{
Matrix4 result;
result.Row0 = Vector4.UnitX * x;
result.Row1 = Vector4.UnitY * y;
result.Row2 = Vector4.UnitZ * z;
result.Row3 = Vector4.UnitW;
return result;
return CreateTranslation(x, y, z);
}
#endregion
@ -848,15 +959,7 @@ namespace OpenTK
[Obsolete("Use CreateRotationX instead.")]
public static Matrix4 RotateX(float angle)
{
float cos = (float)System.Math.Cos(angle);
float sin = (float)System.Math.Sin(angle);
Matrix4 result;
result.Row0 = Vector4.UnitX;
result.Row1 = new Vector4(0.0f, cos, sin, 0.0f);
result.Row2 = new Vector4(0.0f, -sin, cos, 0.0f);
result.Row3 = Vector4.UnitW;
return result;
return CreateRotationX(angle);
}
/// <summary>
@ -867,15 +970,7 @@ namespace OpenTK
[Obsolete("Use CreateRotationY instead.")]
public static Matrix4 RotateY(float angle)
{
float cos = (float)System.Math.Cos(angle);
float sin = (float)System.Math.Sin(angle);
Matrix4 result;
result.Row0 = new Vector4(cos, 0.0f, -sin, 0.0f);
result.Row1 = Vector4.UnitY;
result.Row2 = new Vector4(sin, 0.0f, cos, 0.0f);
result.Row3 = Vector4.UnitW;
return result;
return CreateRotationY(angle);
}
/// <summary>
@ -886,15 +981,7 @@ namespace OpenTK
[Obsolete("Use CreateRotationZ instead.")]
public static Matrix4 RotateZ(float angle)
{
float cos = (float)System.Math.Cos(angle);
float sin = (float)System.Math.Sin(angle);
Matrix4 result;
result.Row0 = new Vector4(cos, sin, 0.0f, 0.0f);
result.Row1 = new Vector4(-sin, cos, 0.0f, 0.0f);
result.Row2 = Vector4.UnitZ;
result.Row3 = Vector4.UnitW;
return result;
return CreateRotationZ(angle);
}
/// <summary>
@ -906,18 +993,7 @@ namespace OpenTK
[Obsolete("Use CreateFromAxisAngle instead.")]
public static Matrix4 Rotate(Vector3 axis, float angle)
{
float cos = (float)System.Math.Cos(-angle);
float sin = (float)System.Math.Sin(-angle);
float t = 1.0f - cos;
axis.Normalize();
Matrix4 result;
result.Row0 = new Vector4(t * axis.X * axis.X + cos, t * axis.X * axis.Y - sin * axis.Z, t * axis.X * axis.Z + sin * axis.Y, 0.0f);
result.Row1 = new Vector4(t * axis.X * axis.Y + sin * axis.Z, t * axis.Y * axis.Y + cos, t * axis.Y * axis.Z - sin * axis.X, 0.0f);
result.Row2 = new Vector4(t * axis.X * axis.Z - sin * axis.Y, t * axis.Y * axis.Z + sin * axis.X, t * axis.Z * axis.Z + cos, 0.0f);
result.Row3 = Vector4.UnitW;
return result;
return CreateFromAxisAngle(axis, angle);
}
/// <summary>
@ -925,59 +1001,60 @@ namespace OpenTK
/// </summary>
/// <param name="q">the quaternion</param>
/// <returns>A rotation matrix</returns>
[Obsolete("Use CreateRotation instead.")]
public static Matrix4 Rotate(Quaternion q)
{
Vector3 axis;
float angle;
q.ToAxisAngle(out axis, out angle);
return CreateFromAxisAngle(axis, angle);
return CreateFromQuaternion(q);
}
#endregion
#region Scale Functions
/// <summary>
/// Build a scaling matrix
/// </summary>
/// <param name="scale">Single scale factor for x,y and z axes</param>
/// <returns>A scaling matrix</returns>
[Obsolete("Use CreateScale instead.")]
public static Matrix4 Scale(float scale)
{
return Scale(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>
[Obsolete("Use CreateScale instead.")]
public static Matrix4 Scale(Vector3 scale)
{
return Scale(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>
[Obsolete("Use CreateScale instead.")]
public static Matrix4 Scale(float x, float y, float z)
{
Matrix4 result;
result.Row0 = Vector4.UnitX * x;
result.Row1 = Vector4.UnitY * y;
result.Row2 = Vector4.UnitZ * z;
result.Row3 = Vector4.UnitW;
return result;
}
#endregion
#region Camera Helper Functions
/// <summary>
/// Build a world space to camera space matrix
/// </summary>
/// <param name="eye">Eye (camera) position in world space</param>
/// <param name="target">Target position in world space</param>
/// <param name="up">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
/// <returns>A Matrix4 that transforms world space to camera space</returns>
public static Matrix4 LookAt(Vector3 eye, Vector3 target, Vector3 up)
{
Vector3 z = Vector3.Normalize(eye - target);
Vector3 x = Vector3.Normalize(Vector3.Cross(up, z));
Vector3 y = Vector3.Normalize(Vector3.Cross(z, x));
Matrix4 rot = new Matrix4(new Vector4(x.X, y.X, z.X, 0.0f),
new Vector4(x.Y, y.Y, z.Y, 0.0f),
new Vector4(x.Z, y.Z, z.Z, 0.0f),
Vector4.UnitW);
Matrix4 trans = Matrix4.CreateTranslation(-eye);
return trans * rot;
}
/// <summary>
/// Build a world space to camera space matrix
/// </summary>
/// <param name="eyeX">Eye (camera) position in world space</param>
/// <param name="eyeY">Eye (camera) position in world space</param>
/// <param name="eyeZ">Eye (camera) position in world space</param>
/// <param name="targetX">Target position in world space</param>
/// <param name="targetY">Target position in world space</param>
/// <param name="targetZ">Target position in world space</param>
/// <param name="upX">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
/// <param name="upY">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
/// <param name="upZ">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
/// <returns>A Matrix4 that transforms world space to camera space</returns>
public static Matrix4 LookAt(float eyeX, float eyeY, float eyeZ, float targetX, float targetY, float targetZ, float upX, float upY, float upZ)
{
return LookAt(new Vector3(eyeX, eyeY, eyeZ), new Vector3(targetX, targetY, targetZ), new Vector3(upX, upY, upZ));
}
/// <summary>
/// Build a projection matrix
/// </summary>
@ -1021,6 +1098,64 @@ namespace OpenTK
#endregion
#endregion
#region Camera Helper Functions
/// <summary>
/// Build a world space to camera space matrix
/// </summary>
/// <param name="eye">Eye (camera) position in world space</param>
/// <param name="target">Target position in world space</param>
/// <param name="up">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
/// <returns>A Matrix4 that transforms world space to camera space</returns>
public static Matrix4 LookAt(Vector3 eye, Vector3 target, Vector3 up)
{
Vector3 z = Vector3.Normalize(eye - target);
Vector3 x = Vector3.Normalize(Vector3.Cross(up, z));
Vector3 y = Vector3.Normalize(Vector3.Cross(z, x));
Matrix4 result = Identity;
//rotation
result.Row0.X = x.X;
result.Row0.Y = y.X;
result.Row0.Z = z.X;
result.Row1.X = x.Y;
result.Row1.Y = y.Y;
result.Row1.Z = z.Y;
result.Row2.X = x.Z;
result.Row2.Y = y.Z;
result.Row2.Z = z.Z;
//position
result.Row0.W = -eye.X;
result.Row1.W = -eye.Y;
result.Row2.W = -eye.Z;
return result;
}
/// <summary>
/// Build a world space to camera space matrix
/// </summary>
/// <param name="eyeX">Eye (camera) position in world space</param>
/// <param name="eyeY">Eye (camera) position in world space</param>
/// <param name="eyeZ">Eye (camera) position in world space</param>
/// <param name="targetX">Target position in world space</param>
/// <param name="targetY">Target position in world space</param>
/// <param name="targetZ">Target position in world space</param>
/// <param name="upX">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
/// <param name="upY">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
/// <param name="upZ">Up vector in world space (should not be parallel to the camera direction, that is target - eye)</param>
/// <returns>A Matrix4 that transforms world space to camera space</returns>
public static Matrix4 LookAt(float eyeX, float eyeY, float eyeZ, float targetX, float targetY, float targetZ, float upX, float upY, float upZ)
{
return LookAt(new Vector3(eyeX, eyeY, eyeZ), new Vector3(targetX, targetY, targetZ), new Vector3(upX, upY, upZ));
}
#endregion
#region Multiply Functions
/// <summary>
@ -1178,10 +1313,23 @@ namespace OpenTK
}
}
mat.Row0 = new Vector4(inverse[0, 0], inverse[0, 1], inverse[0, 2], inverse[0, 3]);
mat.Row1 = new Vector4(inverse[1, 0], inverse[1, 1], inverse[1, 2], inverse[1, 3]);
mat.Row2 = new Vector4(inverse[2, 0], inverse[2, 1], inverse[2, 2], inverse[2, 3]);
mat.Row3 = new Vector4(inverse[3, 0], inverse[3, 1], inverse[3, 2], inverse[3, 3]);
mat.Row0.X = inverse[0, 0];
mat.Row0.Y = inverse[0, 1];
mat.Row0.Z = inverse[0, 2];
mat.Row0.W = inverse[0, 3];
mat.Row1.X = inverse[1, 0];
mat.Row1.Y = inverse[1, 1];
mat.Row1.Z = inverse[1, 2];
mat.Row1.W = inverse[1, 3];
mat.Row2.X = inverse[2, 0];
mat.Row2.Y = inverse[2, 1];
mat.Row2.Z = inverse[2, 2];
mat.Row2.W = inverse[2, 3];
mat.Row3.X = inverse[3, 0];
mat.Row3.Y = inverse[3, 1];
mat.Row3.Z = inverse[3, 2];
mat.Row3.W = inverse[3, 3];
return mat;
}
@ -1224,7 +1372,7 @@ namespace OpenTK
/// </summary>
/// <param name="left">left-hand operand</param>
/// <param name="right">right-hand operand</param>
/// <returns>A new Matrix44 which holds the result of the multiplication</returns>
/// <returns>A new Matrix4 which holds the result of the multiplication</returns>
public static Matrix4 operator *(Matrix4 left, Matrix4 right)
{
return Matrix4.Mult(left, right);
@ -1259,9 +1407,9 @@ namespace OpenTK
#region public override string ToString()
/// <summary>
/// Returns a System.String that represents the current Matrix44.
/// Returns a System.String that represents the current Matrix4.
/// </summary>
/// <returns></returns>
/// <returns>The string representation of the matrix.</returns>
public override string ToString()
{
return String.Format("{0}\n{1}\n{2}\n{3}", Row0, Row1, Row2, Row3);