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210 lines
No EOL
8.4 KiB
C#
210 lines
No EOL
8.4 KiB
C#
#region --- License ---
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/*
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Copyright (c) 2006 - 2008 The Open Toolkit library.
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Permission is hereby granted, free of charge, to any person obtaining a copy of
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this software and associated documentation files (the "Software"), to deal in
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the Software without restriction, including without limitation the rights to
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use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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of the Software, and to permit persons to whom the Software is furnished to do
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so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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*/
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#endregion
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using System;
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using System.Runtime.InteropServices;
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namespace OpenTK {
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[StructLayout(LayoutKind.Sequential)]
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public struct Matrix4 : IEquatable<Matrix4> {
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/// <summary> Top row of the matrix </summary>
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public Vector4 Row0;
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/// <summary> 2nd row of the matrix </summary>
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public Vector4 Row1;
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/// <summary> 3rd row of the matrix </summary>
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public Vector4 Row2;
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/// <summary> Bottom row of the matrix </summary>
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public Vector4 Row3;
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/// <summary> The identity matrix </summary>
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public static Matrix4 Identity = new Matrix4(Vector4.UnitX, Vector4.UnitY, Vector4.UnitZ, Vector4.UnitW);
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public Matrix4(Vector4 row0, Vector4 row1, Vector4 row2, Vector4 row3) {
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Row0 = row0; Row1 = row1; Row2 = row2; Row3 = row3;
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}
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public Matrix4(
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float m00, float m01, float m02, float m03,
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float m10, float m11, float m12, float m13,
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float m20, float m21, float m22, float m23,
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float m30, float m31, float m32, float m33) {
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Row0 = new Vector4(m00, m01, m02, m03);
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Row1 = new Vector4(m10, m11, m12, m13);
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Row2 = new Vector4(m20, m21, m22, m23);
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Row3 = new Vector4(m30, m31, m32, m33);
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}
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public static void RotateX(out Matrix4 result, float angle) {
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float cos = (float)Math.Cos(angle);
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float sin = (float)Math.Sin(angle);
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result.Row0 = Vector4.UnitX;
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result.Row1 = new Vector4(0.0f, cos, sin, 0.0f);
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result.Row2 = new Vector4(0.0f, -sin, cos, 0.0f);
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result.Row3 = Vector4.UnitW;
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}
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public static void RotateY(out Matrix4 result, float angle) {
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float cos = (float)Math.Cos(angle);
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float sin = (float)Math.Sin(angle);
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result.Row0 = new Vector4(cos, 0.0f, -sin, 0.0f);
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result.Row1 = Vector4.UnitY;
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result.Row2 = new Vector4(sin, 0.0f, cos, 0.0f);
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result.Row3 = Vector4.UnitW;
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}
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public static void RotateZ(out Matrix4 result, float angle) {
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float cos = (float)Math.Cos(angle);
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float sin = (float)Math.Sin(angle);
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result.Row0 = new Vector4(cos, sin, 0.0f, 0.0f);
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result.Row1 = new Vector4(-sin, cos, 0.0f, 0.0f);
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result.Row2 = Vector4.UnitZ;
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result.Row3 = Vector4.UnitW;
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}
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public static void Translate(out Matrix4 result, float x, float y, float z) {
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result = Identity;
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result.Row3 = new Vector4(x, y, z, 1);
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}
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public static void Scale(out Matrix4 result, float x, float y, float z) {
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result.Row0 = Vector4.UnitX; result.Row0.X *= x;
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result.Row1 = Vector4.UnitY; result.Row1.Y *= y;
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result.Row2 = Vector4.UnitZ; result.Row2.Z *= z;
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result.Row3 = Vector4.UnitW;
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}
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public static void CreateOrthographicOffCenter(float left, float right, float bottom, float top, float zNear, float zFar, out Matrix4 result) {
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result = new Matrix4();
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float invRL = 1 / (right - left);
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float invTB = 1 / (top - bottom);
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float invFN = 1 / (zFar - zNear);
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result.Row0.X = 2 * invRL;
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result.Row1.Y = 2 * invTB;
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result.Row2.Z = -2 * invFN;
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result.Row3.X = -(right + left) * invRL;
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result.Row3.Y = -(top + bottom) * invTB;
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result.Row3.Z = -(zFar + zNear) * invFN;
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result.Row3.W = 1;
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}
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public static void CreatePerspectiveFieldOfView(float fovy, float aspect, float zNear, float zFar, out Matrix4 result) {
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float yMax = zNear * (float)System.Math.Tan(0.5f * fovy);
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float yMin = -yMax;
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float xMin = yMin * aspect;
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float xMax = yMax * aspect;
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CreatePerspectiveOffCenter(xMin, xMax, yMin, yMax, zNear, zFar, out result);
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}
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public static void CreatePerspectiveOffCenter(float left, float right, float bottom, float top, float zNear, float zFar, out Matrix4 result) {
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float x = (2.0f * zNear) / (right - left);
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float y = (2.0f * zNear) / (top - bottom);
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float a = (right + left) / (right - left);
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float b = (top + bottom) / (top - bottom);
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float c = -(zFar + zNear) / (zFar - zNear);
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float d = -(2.0f * zFar * zNear) / (zFar - zNear);
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result = new Matrix4(x, 0, 0, 0,
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0, y, 0, 0,
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a, b, c, -1,
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0, 0, d, 0);
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}
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public static void LookRot(Vector3 pos, ClassicalSharp.Vector2 rot, out Matrix4 result) {
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Matrix4 rotX, rotY, trans;
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RotateX(out rotX, rot.Y);
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RotateY(out rotY, rot.X);
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Translate(out trans, -pos.X, -pos.Y, -pos.Z);
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Mult(out result, ref rotY, ref rotX);
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Mult(out result, ref trans, ref result);
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}
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public static void Mult(out Matrix4 result, ref Matrix4 left, ref Matrix4 right) {
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// Originally from http://www.edais.co.uk/blog/?p=27
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float lM11 = left.Row0.X, lM12 = left.Row0.Y, lM13 = left.Row0.Z, lM14 = left.Row0.W,
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lM21 = left.Row1.X, lM22 = left.Row1.Y, lM23 = left.Row1.Z, lM24 = left.Row1.W,
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lM31 = left.Row2.X, lM32 = left.Row2.Y, lM33 = left.Row2.Z, lM34 = left.Row2.W,
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lM41 = left.Row3.X, lM42 = left.Row3.Y, lM43 = left.Row3.Z, lM44 = left.Row3.W,
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rM11 = right.Row0.X, rM12 = right.Row0.Y, rM13 = right.Row0.Z, rM14 = right.Row0.W,
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rM21 = right.Row1.X, rM22 = right.Row1.Y, rM23 = right.Row1.Z, rM24 = right.Row1.W,
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rM31 = right.Row2.X, rM32 = right.Row2.Y, rM33 = right.Row2.Z, rM34 = right.Row2.W,
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rM41 = right.Row3.X, rM42 = right.Row3.Y, rM43 = right.Row3.Z, rM44 = right.Row3.W;
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result.Row0.X = (((lM11 * rM11) + (lM12 * rM21)) + (lM13 * rM31)) + (lM14 * rM41);
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result.Row0.Y = (((lM11 * rM12) + (lM12 * rM22)) + (lM13 * rM32)) + (lM14 * rM42);
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result.Row0.Z = (((lM11 * rM13) + (lM12 * rM23)) + (lM13 * rM33)) + (lM14 * rM43);
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result.Row0.W = (((lM11 * rM14) + (lM12 * rM24)) + (lM13 * rM34)) + (lM14 * rM44);
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result.Row1.X = (((lM21 * rM11) + (lM22 * rM21)) + (lM23 * rM31)) + (lM24 * rM41);
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result.Row1.Y = (((lM21 * rM12) + (lM22 * rM22)) + (lM23 * rM32)) + (lM24 * rM42);
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result.Row1.Z = (((lM21 * rM13) + (lM22 * rM23)) + (lM23 * rM33)) + (lM24 * rM43);
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result.Row1.W = (((lM21 * rM14) + (lM22 * rM24)) + (lM23 * rM34)) + (lM24 * rM44);
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result.Row2.X = (((lM31 * rM11) + (lM32 * rM21)) + (lM33 * rM31)) + (lM34 * rM41);
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result.Row2.Y = (((lM31 * rM12) + (lM32 * rM22)) + (lM33 * rM32)) + (lM34 * rM42);
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result.Row2.Z = (((lM31 * rM13) + (lM32 * rM23)) + (lM33 * rM33)) + (lM34 * rM43);
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result.Row2.W = (((lM31 * rM14) + (lM32 * rM24)) + (lM33 * rM34)) + (lM34 * rM44);
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result.Row3.X = (((lM41 * rM11) + (lM42 * rM21)) + (lM43 * rM31)) + (lM44 * rM41);
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result.Row3.Y = (((lM41 * rM12) + (lM42 * rM22)) + (lM43 * rM32)) + (lM44 * rM42);
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result.Row3.Z = (((lM41 * rM13) + (lM42 * rM23)) + (lM43 * rM33)) + (lM44 * rM43);
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result.Row3.W = (((lM41 * rM14) + (lM42 * rM24)) + (lM43 * rM34)) + (lM44 * rM44);
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}
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public static bool operator == (Matrix4 left, Matrix4 right) {
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return left.Equals(right);
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}
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public static bool operator != (Matrix4 left, Matrix4 right) {
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return !left.Equals(right);
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}
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public override int GetHashCode() {
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return Row0.GetHashCode() ^ Row1.GetHashCode() ^ Row2.GetHashCode() ^ Row3.GetHashCode();
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}
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public override bool Equals(object obj) {
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return (obj is Matrix4) && Equals((Matrix4)obj);
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}
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public bool Equals(Matrix4 other) {
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return Row0 == other.Row0 && Row1 == other.Row1 &&
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Row2 == other.Row2 && Row3 == other.Row3;
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}
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public override string ToString() {
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return string.Format("Row0={0},\r\n Row1={1},\r\n Row2={2},\r\n Row3={3}]", Row0, Row1, Row2, Row3);
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}
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}
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} |