ryujinx-backup/Opentk
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

Copied Matrix4 changes to other classes

Browse source 
* Removed  pointless LengthSquared check from ExtractRotation()
* Improved inline documentation
This commit is contained in:
Tom Edwards 2013-03-20 12:44:12 +00:00
parent 498b659d58
commit ca7e2c9c4b
7 changed files with 473 additions and 119 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

108
Source/OpenTK/Math/Matrix3.cs
View file

@ -28,7 +28,7 @@ using System.Runtime.InteropServices;
namespace OpenTK
{
/// <summary>
/// Represents a 3x3 Matrix
/// Represents a 3x3 matrix containing 3D rotation and scale.
/// </summary>
[Serializable]
[StructLayout(LayoutKind.Sequential)]
@ -254,7 +254,111 @@ namespace OpenTK
}
#endregion
/// <summary>
/// Returns a normalised copy of this instance.
/// </summary>
public Matrix3 Normalized()
{
Matrix3 m = this;
m.Normalize();
return m;
}
/// <summary>
/// Divides each element in the Matrix by the <see cref="Determinant"/>.
/// </summary>
public void Normalize()
{
var determinant = this.Determinant;
Row0 /= determinant;
Row1 /= determinant;
Row2 /= determinant;
}
/// <summary>
/// Returns an inverted copy of this instance.
/// </summary>
public Matrix3 Inverted()
{
Matrix3 m = this;
if (m.Determinant != 0)
m.Invert();
return m;
}
/// <summary>
/// Returns the scale component of this instance.
/// </summary>
public Vector3 ExtractScale() { return new Vector3(Row0.Length, Row1.Length, Row2.Length); }
/// <summary>
/// Returns the rotation component of this instance. Quite slow.
/// </summary>
/// <param name="row_normalise">Whether the method should row-normalise (i.e. remove scale from) the Matrix. Pass false if you know it's already normalised.</param>
public Quaternion ExtractRotation(bool row_normalise = true)
{
var row0 = Row0;
var row1 = Row1;
var row2 = Row2;
if (row_normalise)
{
row0 = row0.Normalized();
row1 = row1.Normalized();
row2 = row2.Normalized();
}
// code below adapted from Blender
Quaternion q = new Quaternion();
double trace = 0.25 * (row0[0] + row1[1] + row2[2] + 1.0);
if (trace > 0)
{
double sq = Math.Sqrt(trace);
q.W = (float)sq;
sq = 1.0 / (4.0 * sq);
q.X = (float)((row1[2] - row2[1]) * sq);
q.Y = (float)((row2[0] - row0[2]) * sq);
q.Z = (float)((row0[1] - row1[0]) * sq);
}
else if (row0[0] > row1[1] && row0[0] > row2[2])
{
double sq = 2.0 * Math.Sqrt(1.0 + row0[0] - row1[1] - row2[2]);
q.X = (float)(0.25 * sq);
sq = 1.0 / sq;
q.W = (float)((row2[1] - row1[2]) * sq);
q.Y = (float)((row1[0] + row0[1]) * sq);
q.Z = (float)((row2[0] + row0[2]) * sq);
}
else if (row1[1] > row2[2])
{
double sq = 2.0 * Math.Sqrt(1.0 + row1[1] - row0[0] - row2[2]);
q.Y = (float)(0.25 * sq);
sq = 1.0 / sq;
q.W = (float)((row2[0] - row0[2]) * sq);
q.X = (float)((row1[0] + row0[1]) * sq);
q.Z = (float)((row2[1] + row1[2]) * sq);
}
else
{
double sq = 2.0 * Math.Sqrt(1.0 + row2[2] - row0[0] - row1[1]);
q.Z = (float)(0.25 * sq);
sq = 1.0 / sq;
q.W = (float)((row1[0] - row0[1]) * sq);
q.X = (float)((row2[0] + row0[2]) * sq);
q.Y = (float)((row2[1] + row1[2]) * sq);
}
q.Normalize();
return q;
}
#endregion
#region Static

108
Source/OpenTK/Math/Matrix3d.cs
View file

@ -28,7 +28,7 @@ using System.Runtime.InteropServices;
namespace OpenTK
{
/// <summary>
/// Represents a 3x3 Matrix
/// Represents a 3x3 matrix containing 3D rotation and scale with double-precision components.
/// </summary>
[Serializable]
[StructLayout(LayoutKind.Sequential)]
@ -250,7 +250,111 @@ namespace OpenTK
}
#endregion
/// <summary>
/// Returns a normalised copy of this instance.
/// </summary>
public Matrix3d Normalized()
{
Matrix3d m = this;
m.Normalize();
return m;
}
/// <summary>
/// Divides each element in the Matrix by the <see cref="Determinant"/>.
/// </summary>
public void Normalize()
{
var determinant = this.Determinant;
Row0 /= determinant;
Row1 /= determinant;
Row2 /= determinant;
}
/// <summary>
/// Returns an inverted copy of this instance.
/// </summary>
public Matrix3d Inverted()
{
Matrix3d m = this;
if (m.Determinant != 0)
m.Invert();
return m;
}
/// <summary>
/// Returns the scale component of this instance.
/// </summary>
public Vector3d ExtractScale() { return new Vector3d(Row0.Length, Row1.Length, Row2.Length); }
/// <summary>
/// Returns the rotation component of this instance. Quite slow.
/// </summary>
/// <param name="row_normalise">Whether the method should row-normalise (i.e. remove scale from) the Matrix. Pass false if you know it's already normalised.</param>
public Quaterniond ExtractRotation(bool row_normalise = true)
{
var row0 = Row0;
var row1 = Row1;
var row2 = Row2;
if (row_normalise)
{
row0 = row0.Normalized();
row1 = row1.Normalized();
row2 = row2.Normalized();
}
// code below adapted from Blender
Quaterniond q = new Quaterniond();
double trace = 0.25 * (row0[0] + row1[1] + row2[2] + 1.0);
if (trace > 0)
{
double sq = Math.Sqrt(trace);
q.W = sq;
sq = 1.0 / (4.0 * sq);
q.X = (row1[2] - row2[1]) * sq;
q.Y = (row2[0] - row0[2]) * sq;
q.Z = (row0[1] - row1[0]) * sq;
}
else if (row0[0] > row1[1] && row0[0] > row2[2])
{
double sq = 2.0 * Math.Sqrt(1.0 + row0[0] - row1[1] - row2[2]);
q.X = 0.25 * sq;
sq = 1.0 / sq;
q.W = (row2[1] - row1[2]) * sq;
q.Y = (row1[0] + row0[1]) * sq;
q.Z = (row2[0] + row0[2]) * sq;
}
else if (row1[1] > row2[2])
{
double sq = 2.0 * Math.Sqrt(1.0 + row1[1] - row0[0] - row2[2]);
q.Y = 0.25 * sq;
sq = 1.0 / sq;
q.W = (row2[0] - row0[2]) * sq;
q.X = (row1[0] + row0[1]) * sq;
q.Z = (row2[1] + row1[2]) * sq;
}
else
{
double sq = 2.0 * Math.Sqrt(1.0 + row2[2] - row0[0] - row1[1]);
q.Z = 0.25 * sq;
sq = 1.0 / sq;
q.W = (row1[0] - row0[1]) * sq;
q.X = (row2[0] + row0[2]) * sq;
q.Y = (row2[1] + row1[2]) * sq;
}
q.Normalize();
return q;
}
#endregion
#region Static

223
Source/OpenTK/Math/Matrix4.cs
View file

@ -28,8 +28,9 @@ using System.Runtime.InteropServices;
namespace OpenTK
{
/// <summary>
/// Represents a 4x4 Matrix
/// Represents a 4x4 matrix containing 3D rotation, scale, transform, and projection.
/// </summary>
/// <seealso cref="Matrix4d"/>
[Serializable]
[StructLayout(LayoutKind.Sequential)]
public struct Matrix4 : IEquatable<Matrix4>
@ -260,116 +261,6 @@ namespace OpenTK
/// </summary>
public float M44 { get { return Row3.W; } set { Row3.W = value; } }
/// <summary>
/// Returns a copy of this instance with scale transform removed.
/// </summary>
public Matrix4 Normalized()
{
Matrix4 m = this;
m.Normalize();
return m;
}
/// <summary>
/// Removes scale transform from this instance.
/// </summary>
public void Normalize()
{
var determinant = this.Determinant;
Row0 /= determinant;
Row1 /= determinant;
Row2 /= determinant;
Row3 /= determinant;
}
/// <summary>
/// Returns an inverted copy of this instance.
/// </summary>
public Matrix4 Inverted()
{
Matrix4 m = this;
if (m.Determinant != 0)
m.Invert();
return m;
}
/// <summary>
/// Returns the translation component of this instance.
/// </summary>
public Vector3 ExtractTranslation() { return Row3.Xyz; }
/// <summary>
/// Returns the scale component of this instance.
/// </summary>
public Vector3 ExtractScale() { return new Vector3 (Row0.Length, Row1.Length, Row2.Length); }
/// <summary>
/// Returns the rotation component of this instance. Quite slow.
/// </summary>
/// <param name="row_normalise">Whether the method should operate on a row-normalised (i.e. scale == 1) version of the Matrix. Pass false if you know it's already normalised.</param>
public Quaternion ExtractRotation(bool row_normalise = true)
{
var row0 = Row0.Xyz;
var row1 = Row1.Xyz;
var row2 = Row2.Xyz;
if (row_normalise)
{
if (row0.LengthSquared != 1) row0 = row0.Normalized();
if (row1.LengthSquared != 1) row1 = row1.Normalized();
if (row2.LengthSquared != 1) row2 = row2.Normalized();
}
// code below adapted from Blender
Quaternion q = new Quaternion();
double trace = 0.25 * (row0[0] + row1[1] + row2[2] + 1.0);
if (trace > 0)
{
double sq = Math.Sqrt(trace);
q.W = (float)sq;
sq = 1.0 / (4.0 * sq);
q.X = (float)((row1[2] - row2[1]) * sq);
q.Y = (float)((row2[0] - row0[2]) * sq);
q.Z = (float)((row0[1] - row1[0]) * sq);
}
else if (row0[0] > row1[1] && row0[0] > row2[2])
{
double sq = 2.0 * Math.Sqrt(1.0 + row0[0] - row1[1] - row2[2]);
q.X = (float)(0.25 * sq);
sq = 1.0 / sq;
q.W = (float)((row2[1] - row1[2]) * sq);
q.Y = (float)((row1[0] + row0[1]) * sq);
q.Z = (float)((row2[0] + row0[2]) * sq);
}
else if (row1[1] > row2[2])
{
double sq = 2.0 * Math.Sqrt(1.0 + row1[1] - row0[0] - row2[2]);
q.Y = (float)(0.25 * sq);
sq = 1.0 / sq;
q.W = (float)((row2[0] - row0[2]) * sq);
q.X = (float)((row1[0] + row0[1]) * sq);
q.Z = (float)((row2[1] + row1[2]) * sq);
}
else
{
double sq = 2.0 * Math.Sqrt(1.0 + row2[2] - row0[0] - row1[1]);
q.Z = (float)(0.25 * sq);
sq = 1.0 / sq;
q.W = (float)((row1[0] - row0[1]) * sq);
q.X = (float)((row2[0] + row0[2]) * sq);
q.Y = (float)((row2[1] + row1[2]) * sq);
}
q.Normalize();
return q;
}
#endregion
#region Indexers
@ -425,6 +316,116 @@ namespace OpenTK
#endregion
/// <summary>
/// Returns a normalised copy of this instance.
/// </summary>
public Matrix4 Normalized()
{
Matrix4 m = this;
m.Normalize();
return m;
}
/// <summary>
/// Divides each element in the Matrix by the <see cref="Determinant"/>.
/// </summary>
public void Normalize()
{
var determinant = this.Determinant;
Row0 /= determinant;
Row1 /= determinant;
Row2 /= determinant;
Row3 /= determinant;
}
/// <summary>
/// Returns an inverted copy of this instance.
/// </summary>
public Matrix4 Inverted()
{
Matrix4 m = this;
if (m.Determinant != 0)
m.Invert();
return m;
}
/// <summary>
/// Returns the translation component of this instance.
/// </summary>
public Vector3 ExtractTranslation() { return Row3.Xyz; }
/// <summary>
/// Returns the scale component of this instance.
/// </summary>
public Vector3 ExtractScale() { return new Vector3(Row0.Length, Row1.Length, Row2.Length); }
/// <summary>
/// Returns the rotation component of this instance. Quite slow.
/// </summary>
/// <param name="row_normalise">Whether the method should row-normalise (i.e. remove scale from) the Matrix. Pass false if you know it's already normalised.</param>
public Quaternion ExtractRotation(bool row_normalise = true)
{
var row0 = Row0.Xyz;
var row1 = Row1.Xyz;
var row2 = Row2.Xyz;
if (row_normalise)
{
row0 = row0.Normalized();
row1 = row1.Normalized();
row2 = row2.Normalized();
}
// code below adapted from Blender
Quaternion q = new Quaternion();
double trace = 0.25 * (row0[0] + row1[1] + row2[2] + 1.0);
if (trace > 0)
{
double sq = Math.Sqrt(trace);
q.W = (float)sq;
sq = 1.0 / (4.0 * sq);
q.X = (float)((row1[2] - row2[1]) * sq);
q.Y = (float)((row2[0] - row0[2]) * sq);
q.Z = (float)((row0[1] - row1[0]) * sq);
}
else if (row0[0] > row1[1] && row0[0] > row2[2])
{
double sq = 2.0 * Math.Sqrt(1.0 + row0[0] - row1[1] - row2[2]);
q.X = (float)(0.25 * sq);
sq = 1.0 / sq;
q.W = (float)((row2[1] - row1[2]) * sq);
q.Y = (float)((row1[0] + row0[1]) * sq);
q.Z = (float)((row2[0] + row0[2]) * sq);
}
else if (row1[1] > row2[2])
{
double sq = 2.0 * Math.Sqrt(1.0 + row1[1] - row0[0] - row2[2]);
q.Y = (float)(0.25 * sq);
sq = 1.0 / sq;
q.W = (float)((row2[0] - row0[2]) * sq);
q.X = (float)((row1[0] + row0[1]) * sq);
q.Z = (float)((row2[1] + row1[2]) * sq);
}
else
{
double sq = 2.0 * Math.Sqrt(1.0 + row2[2] - row0[0] - row1[1]);
q.Z = (float)(0.25 * sq);
sq = 1.0 / sq;
q.W = (float)((row1[0] - row0[1]) * sq);
q.X = (float)((row2[0] + row0[2]) * sq);
q.Y = (float)((row2[1] + row1[2]) * sq);
}
q.Normalize();
return q;
}
#endregion
#region Static

113
Source/OpenTK/Math/Matrix4d.cs
View file

@ -28,8 +28,9 @@ using System.Runtime.InteropServices;
namespace OpenTK
{
/// <summary>
/// Represents a 4x4 Matrix with double-precision components.
/// Represents a 4x4 matrix containing 3D rotation, scale, transform, and projection with double-precision components.
/// </summary>
/// <seealso cref="Matrix4"/>
[Serializable]
[StructLayout(LayoutKind.Sequential)]
public struct Matrix4d : IEquatable<Matrix4d>
@ -298,6 +299,116 @@ namespace OpenTK
#endregion
/// <summary>
/// Returns a normalised copy of this instance.
/// </summary>
public Matrix4d Normalized()
{
Matrix4d m = this;
m.Normalize();
return m;
}
/// <summary>
/// Divides each element in the Matrix by the <see cref="Determinant"/>.
/// </summary>
public void Normalize()
{
var determinant = this.Determinant;
Row0 /= determinant;
Row1 /= determinant;
Row2 /= determinant;
Row3 /= determinant;
}
/// <summary>
/// Returns an inverted copy of this instance.
/// </summary>
public Matrix4d Inverted()
{
Matrix4d m = this;
if (m.Determinant != 0)
m.Invert();
return m;
}
/// <summary>
/// Returns the translation component of this instance.
/// </summary>
public Vector3d ExtractTranslation() { return Row3.Xyz; }
/// <summary>
/// Returns the scale component of this instance.
/// </summary>
public Vector3d ExtractScale() { return new Vector3d(Row0.Length, Row1.Length, Row2.Length); }
/// <summary>
/// Returns the rotation component of this instance. Quite slow.
/// </summary>
/// <param name="row_normalise">Whether the method should row-normalise (i.e. remove scale from) the Matrix. Pass false if you know it's already normalised.</param>
public Quaterniond ExtractRotation(bool row_normalise = true)
{
var row0 = Row0.Xyz;
var row1 = Row1.Xyz;
var row2 = Row2.Xyz;
if (row_normalise)
{
row0 = row0.Normalized();
row1 = row1.Normalized();
row2 = row2.Normalized();
}
// code below adapted from Blender
Quaterniond q = new Quaterniond();
double trace = 0.25 * (row0[0] + row1[1] + row2[2] + 1.0);
if (trace > 0)
{
double sq = Math.Sqrt(trace);
q.W = sq;
sq = 1.0 / (4.0 * sq);
q.X = (row1[2] - row2[1]) * sq;
q.Y = (row2[0] - row0[2]) * sq;
q.Z = (row0[1] - row1[0]) * sq;
}
else if (row0[0] > row1[1] && row0[0] > row2[2])
{
double sq = 2.0 * Math.Sqrt(1.0 + row0[0] - row1[1] - row2[2]);
q.X = 0.25 * sq;
sq = 1.0 / sq;
q.W = (row2[1] - row1[2]) * sq;
q.Y = (row1[0] + row0[1]) * sq;
q.Z = (row2[0] + row0[2]) * sq;
}
else if (row1[1] > row2[2])
{
double sq = 2.0 * Math.Sqrt(1.0 + row1[1] - row0[0] - row2[2]);
q.Y = 0.25 * sq;
sq = 1.0 / sq;
q.W = (row2[0] - row0[2]) * sq;
q.X = (row1[0] + row0[1]) * sq;
q.Z = (row2[1] + row1[2]) * sq;
}
else
{
double sq = 2.0 * Math.Sqrt(1.0 + row2[2] - row0[0] - row1[1]);
q.Z = 0.25 * sq;
sq = 1.0 / sq;
q.W = (row1[0] - row0[1]) * sq;
q.X = (row2[0] + row0[2]) * sq;
q.Y = (row2[1] + row1[2]) * sq;
}
q.Normalize();
return q;
}
#endregion
#region Static

8
Source/OpenTK/Math/Quaternion.cs
View file

@ -199,11 +199,17 @@ namespace OpenTK
return q;
}
/// <summary>
/// Reverses the rotation angle of this Quaterniond.
/// </summary>
public void Invert()
{
W = -W;
}
/// <summary>
/// Returns a copy of this Quaterniond with its rotation angle reversed.
/// </summary>
public Quaternion Inverted()
{
var q = this;
@ -228,7 +234,7 @@ namespace OpenTK
#region public void Conjugate()
/// <summary>
/// Convert this quaternion to its conjugate
/// Inverts the Vector3 component of this Quaternion.
/// </summary>
public void Conjugate()
{

30
Source/OpenTK/Math/Quaterniond.cs
View file

@ -189,6 +189,34 @@ namespace OpenTK
#endregion
/// <summary>
/// Returns a copy of the Quaterniond scaled to unit length.
/// </summary>
public Quaterniond Normalized()
{
Quaterniond q = this;
q.Normalize();
return q;
}
/// <summary>
/// Reverses the rotation angle of this Quaterniond.
/// </summary>
public void Invert()
{
W = -W;
}
/// <summary>
/// Returns a copy of this Quaterniond with its rotation angle reversed.
/// </summary>
public Quaterniond Inverted()
{
var q = this;
q.Invert();
return q;
}
#region public void Normalize()
/// <summary>
@ -206,7 +234,7 @@ namespace OpenTK
#region public void Conjugate()
/// <summary>
/// Convert this Quaterniond to its conjugate
/// Inverts the Vector3d component of this Quaterniond.
/// </summary>
public void Conjugate()
{

2
Source/OpenTK/Math/Vector4d.cs
View file

@ -341,7 +341,7 @@ namespace OpenTK
#endregion
/// <summary>
/// Returns a copy of the Vector4d scaled to unid length.
/// Returns a copy of the Vector4d scaled to unit length.
/// </summary>
public Vector4d Normalized()
{