WebSVN - AndroidProjects - Blame - Rev 1452 - /BauzoidTools/OpenTK/1.0/Source/OpenTK/Math/Matrix3d.cs

Rev	Author	Line No.	Line
1452	chris	1	#region --- License ---
		2	/*
		3	Copyright (c) 2006 - 2008 The Open Toolkit library.
		4
		5	Permission is hereby granted, free of charge, to any person obtaining a copy of
		6	this software and associated documentation files (the "Software"), to deal in
		7	the Software without restriction, including without limitation the rights to
		8	use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
		9	of the Software, and to permit persons to whom the Software is furnished to do
		10	so, subject to the following conditions:
		11
		12	The above copyright notice and this permission notice shall be included in all
		13	copies or substantial portions of the Software.
		14
		15	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
		16	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
		17	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
		18	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
		19	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
		20	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
		21	SOFTWARE.
		22	*/
		23	#endregion
		24
		25	using System;
		26	using System.Runtime.InteropServices;
		27
		28	namespace OpenTK
		29	{
		30	// Todo: Remove this warning when the code goes public.
		31	#pragma warning disable 3019
		32	#if false
		33	[Serializable]
		34	[StructLayout(LayoutKind.Sequential)]
		35	public struct Matrix3d : IEquatable<Matrix3d>
		36	{
		37	#region Fields & Access
		38
		39	/// <summary>Row 0, Column 0</summary>
		40	public double R0C0;
		41
		42	/// <summary>Row 0, Column 1</summary>
		43	public double R0C1;
		44
		45	/// <summary>Row 0, Column 2</summary>
		46	public double R0C2;
		47
		48	/// <summary>Row 1, Column 0</summary>
		49	public double R1C0;
		50
		51	/// <summary>Row 1, Column 1</summary>
		52	public double R1C1;
		53
		54	/// <summary>Row 1, Column 2</summary>
		55	public double R1C2;
		56
		57	/// <summary>Row 2, Column 0</summary>
		58	public double R2C0;
		59
		60	/// <summary>Row 2, Column 1</summary>
		61	public double R2C1;
		62
		63	/// <summary>Row 2, Column 2</summary>
		64	public double R2C2;
		65
		66	/// <summary>Gets the component at the given row and column in the matrix.</summary>
		67	/// <param name="row">The row of the matrix.</param>
		68	/// <param name="column">The column of the matrix.</param>
		69	/// <returns>The component at the given row and column in the matrix.</returns>
		70	public double this[int row, int column]
		71	{
		72	get
		73	{
		74	switch( row )
		75	{
		76	case 0:
		77	switch (column)
		78	{
		79	case 0: return R0C0;
		80	case 1: return R0C1;
		81	case 2: return R0C2;
		82	}
		83	break;
		84
		85	case 1:
		86	switch (column)
		87	{
		88	case 0: return R1C0;
		89	case 1: return R1C1;
		90	case 2: return R1C2;
		91	}
		92	break;
		93
		94	case 2:
		95	switch (column)
		96	{
		97	case 0: return R2C0;
		98	case 1: return R2C1;
		99	case 2: return R2C2;
		100	}
		101	break;
		102	}
		103
		104	throw new IndexOutOfRangeException();
		105	}
		106	set
		107	{
		108	switch( row )
		109	{
		110	case 0:
		111	switch (column)
		112	{
		113	case 0: R0C0 = value; return;
		114	case 1: R0C1 = value; return;
		115	case 2: R0C2 = value; return;
		116	}
		117	break;
		118
		119	case 1:
		120	switch (column)
		121	{
		122	case 0: R1C0 = value; return;
		123	case 1: R1C1 = value; return;
		124	case 2: R1C2 = value; return;
		125	}
		126	break;
		127
		128	case 2:
		129	switch (column)
		130	{
		131	case 0: R2C0 = value; return;
		132	case 1: R2C1 = value; return;
		133	case 2: R2C2 = value; return;
		134	}
		135	break;
		136	}
		137
		138	throw new IndexOutOfRangeException();
		139	}
		140	}
		141
		142	/// <summary>Gets the component at the index into the matrix.</summary>
		143	/// <param name="index">The index into the components of the matrix.</param>
		144	/// <returns>The component at the given index into the matrix.</returns>
		145	public double this[int index]
		146	{
		147	get
		148	{
		149	switch (index)
		150	{
		151	case 0: return R0C0;
		152	case 1: return R0C1;
		153	case 2: return R0C2;
		154	case 3: return R1C0;
		155	case 4: return R1C1;
		156	case 5: return R1C2;
		157	case 6: return R2C0;
		158	case 7: return R2C1;
		159	case 8: return R2C2;
		160	default: throw new IndexOutOfRangeException();
		161	}
		162	}
		163	set
		164	{
		165	switch (index)
		166	{
		167	case 0: R0C0 = value; return;
		168	case 1: R0C1 = value; return;
		169	case 2: R0C2 = value; return;
		170	case 3: R1C0 = value; return;
		171	case 4: R1C1 = value; return;
		172	case 5: R1C2 = value; return;
		173	case 6: R2C0 = value; return;
		174	case 7: R2C1 = value; return;
		175	case 8: R2C2 = value; return;
		176	default: throw new IndexOutOfRangeException();
		177	}
		178	}
		179	}
		180
		181	/// <summary>Converts the matrix into an IntPtr.</summary>
		182	/// <param name="matrix">The matrix to convert.</param>
		183	/// <returns>An IntPtr for the matrix.</returns>
		184	public static explicit operator IntPtr(Matrix3d matrix)
		185	{
		186	unsafe
		187	{
		188	return (IntPtr)(&matrix.R0C0);
		189	}
		190	}
		191
		192	/// <summary>Converts the matrix into left double*.</summary>
		193	/// <param name="matrix">The matrix to convert.</param>
		194	/// <returns>A double* for the matrix.</returns>
		195	[CLSCompliant(false)]
		196	unsafe public static explicit operator double*(Matrix3d matrix)
		197	{
		198	return &matrix.R0C0;
		199	}
		200
		201	/// <summary>Converts the matrix into an array of doubles.</summary>
		202	/// <param name="matrix">The matrix to convert.</param>
		203	/// <returns>An array of doubles for the matrix.</returns>
		204	public static explicit operator double[](Matrix3d matrix)
		205	{
		206	return new double[9]
		207	{
		208	matrix.R0C0,
		209	matrix.R0C1,
		210	matrix.R0C2,
		211	matrix.R1C0,
		212	matrix.R1C1,
		213	matrix.R1C2,
		214	matrix.R2C0,
		215	matrix.R2C1,
		216	matrix.R2C2
		217	};
		218	}
		219
		220	#endregion
		221
		222	#region Constructors
		223
		224	/// <summary>Constructs left matrix with the same components as the given matrix.</summary>
		225	/// <param name="vector">The matrix whose components to copy.</param>
		226	public Matrix3d(ref Matrix3d matrix)
		227	{
		228	this.R0C0 = matrix.R0C0;
		229	this.R0C1 = matrix.R0C1;
		230	this.R0C2 = matrix.R0C2;
		231	this.R1C0 = matrix.R1C0;
		232	this.R1C1 = matrix.R1C1;
		233	this.R1C2 = matrix.R1C2;
		234	this.R2C0 = matrix.R2C0;
		235	this.R2C1 = matrix.R2C1;
		236	this.R2C2 = matrix.R2C2;
		237	}
		238
		239	/// <summary>Constructs left matrix with the given values.</summary>
		240	/// <param name="r0c0">The value for row 0 column 0.</param>
		241	/// <param name="r0c1">The value for row 0 column 1.</param>
		242	/// <param name="r0c2">The value for row 0 column 2.</param>
		243	/// <param name="r1c0">The value for row 1 column 0.</param>
		244	/// <param name="r1c1">The value for row 1 column 1.</param>
		245	/// <param name="r1c2">The value for row 1 column 2.</param>
		246	/// <param name="r2c0">The value for row 2 column 0.</param>
		247	/// <param name="r2c1">The value for row 2 column 1.</param>
		248	/// <param name="r2c2">The value for row 2 column 2.</param>
		249	public Matrix3d
		250	(
		251	double r0c0,
		252	double r0c1,
		253	double r0c2,
		254	double r1c0,
		255	double r1c1,
		256	double r1c2,
		257	double r2c0,
		258	double r2c1,
		259	double r2c2
		260	)
		261	{
		262	this.R0C0 = r0c0;
		263	this.R0C1 = r0c1;
		264	this.R0C2 = r0c2;
		265	this.R1C0 = r1c0;
		266	this.R1C1 = r1c1;
		267	this.R1C2 = r1c2;
		268	this.R2C0 = r2c0;
		269	this.R2C1 = r2c1;
		270	this.R2C2 = r2c2;
		271	}
		272
		273	/// <summary>Constructs left matrix from the given array of double-precision floating-point numbers.</summary>
		274	/// <param name="doubleArray">The array of doubles for the components of the matrix.</param>
		275	public Matrix3d(double[] doubleArray)
		276	{
		277	if (doubleArray == null \|\| doubleArray.GetLength(0) < 9) throw new MissingFieldException();
		278
		279	this.R0C0 = doubleArray[0];
		280	this.R0C1 = doubleArray[1];
		281	this.R0C2 = doubleArray[2];
		282	this.R1C0 = doubleArray[3];
		283	this.R1C1 = doubleArray[4];
		284	this.R1C2 = doubleArray[5];
		285	this.R2C0 = doubleArray[6];
		286	this.R2C1 = doubleArray[7];
		287	this.R2C2 = doubleArray[8];
		288	}
		289
		290	/// <summary>Constructs left matrix from the given quaternion.</summary>
		291	/// <param name="quaternion">The quaternion to use to construct the martix.</param>
		292	public Matrix3d(Quaterniond quaternion)
		293	{
		294	quaternion.Normalize();
		295
		296	double xx = quaternion.X * quaternion.X;
		297	double yy = quaternion.Y * quaternion.Y;
		298	double zz = quaternion.Z * quaternion.Z;
		299	double xy = quaternion.X * quaternion.Y;
		300	double xz = quaternion.X * quaternion.Z;
		301	double yz = quaternion.Y * quaternion.Z;
		302	double wx = quaternion.W * quaternion.X;
		303	double wy = quaternion.W * quaternion.Y;
		304	double wz = quaternion.W * quaternion.Z;
		305
		306	R0C0 = 1 - 2 * (yy + zz);
		307	R0C1 = 2 * (xy - wz);
		308	R0C2 = 2 * (xz + wy);
		309
		310	R1C0 = 2 * (xy + wz);
		311	R1C1 = 1 - 2 * (xx + zz);
		312	R1C2 = 2 * (yz - wx);
		313
		314	R2C0 = 2 * (xz - wy);
		315	R2C1 = 2 * (yz + wx);
		316	R2C2 = 1 - 2 * (xx + yy);
		317	}
		318
		319	#endregion
		320
		321	#region Equality
		322
		323	/// <summary>Indicates whether the current matrix is equal to another matrix.</summary>
		324	/// <param name="matrix">The OpenTK.Matrix3d structure to compare with.</param>
		325	/// <returns>true if the current matrix is equal to the matrix parameter; otherwise, false.</returns>
		326	[CLSCompliant(false)]
		327	public bool Equals(Matrix3d matrix)
		328	{
		329	return
		330	R0C0 == matrix.R0C0 &&
		331	R0C1 == matrix.R0C1 &&
		332	R0C2 == matrix.R0C2 &&
		333	R1C0 == matrix.R1C0 &&
		334	R1C1 == matrix.R1C1 &&
		335	R1C2 == matrix.R1C2 &&
		336	R2C0 == matrix.R2C0 &&
		337	R2C1 == matrix.R2C1 &&
		338	R2C2 == matrix.R2C2;
		339	}
		340
		341	/// <summary>Indicates whether the current matrix is equal to another matrix.</summary>
		342	/// <param name="matrix">The OpenTK.Matrix3d structure to compare to.</param>
		343	/// <returns>true if the current matrix is equal to the matrix parameter; otherwise, false.</returns>
		344	public bool Equals(ref Matrix3d matrix)
		345	{
		346	return
		347	R0C0 == matrix.R0C0 &&
		348	R0C1 == matrix.R0C1 &&
		349	R0C2 == matrix.R0C2 &&
		350	R1C0 == matrix.R1C0 &&
		351	R1C1 == matrix.R1C1 &&
		352	R1C2 == matrix.R1C2 &&
		353	R2C0 == matrix.R2C0 &&
		354	R2C1 == matrix.R2C1 &&
		355	R2C2 == matrix.R2C2;
		356	}
		357
		358	/// <summary>Indicates whether the current matrix is equal to another matrix.</summary>
		359	/// <param name="left">The left-hand operand.</param>
		360	/// <param name="right">The right-hand operand.</param>
		361	/// <returns>true if the current matrix is equal to the matrix parameter; otherwise, false.</returns>
		362	public static bool Equals(ref Matrix3d left, ref Matrix3d right)
		363	{
		364	return
		365	left.R0C0 == right.R0C0 &&
		366	left.R0C1 == right.R0C1 &&
		367	left.R0C2 == right.R0C2 &&
		368	left.R1C0 == right.R1C0 &&
		369	left.R1C1 == right.R1C1 &&
		370	left.R1C2 == right.R1C2 &&
		371	left.R2C0 == right.R2C0 &&
		372	left.R2C1 == right.R2C1 &&
		373	left.R2C2 == right.R2C2;
		374	}
		375
		376	/// <summary>Indicates whether the current matrix is approximately equal to another matrix.</summary>
		377	/// <param name="matrix">The OpenTK.Matrix3d structure to compare with.</param>
		378	/// <param name="tolerance">The limit below which the matrices are considered equal.</param>
		379	/// <returns>true if the current matrix is approximately equal to the matrix parameter; otherwise, false.</returns>
		380	public bool EqualsApprox(ref Matrix3d matrix, double tolerance)
		381	{
		382	return
		383	System.Math.Abs(R0C0 - matrix.R0C0) <= tolerance &&
		384	System.Math.Abs(R0C1 - matrix.R0C1) <= tolerance &&
		385	System.Math.Abs(R0C2 - matrix.R0C2) <= tolerance &&
		386	System.Math.Abs(R1C0 - matrix.R1C0) <= tolerance &&
		387	System.Math.Abs(R1C1 - matrix.R1C1) <= tolerance &&
		388	System.Math.Abs(R1C2 - matrix.R1C2) <= tolerance &&
		389	System.Math.Abs(R2C0 - matrix.R2C0) <= tolerance &&
		390	System.Math.Abs(R2C1 - matrix.R2C1) <= tolerance &&
		391	System.Math.Abs(R2C2 - matrix.R2C2) <= tolerance;
		392	}
		393
		394	/// <summary>Indicates whether the current matrix is approximately equal to another matrix.</summary>
		395	/// <param name="left">The left-hand operand.</param>
		396	/// <param name="right">The right-hand operand.</param>
		397	/// <param name="tolerance">The limit below which the matrices are considered equal.</param>
		398	/// <returns>true if the current matrix is approximately equal to the matrix parameter; otherwise, false.</returns>
		399	public static bool EqualsApprox(ref Matrix3d left, ref Matrix3d right, double tolerance)
		400	{
		401	return
		402	System.Math.Abs(left.R0C0 - right.R0C0) <= tolerance &&
		403	System.Math.Abs(left.R0C1 - right.R0C1) <= tolerance &&
		404	System.Math.Abs(left.R0C2 - right.R0C2) <= tolerance &&
		405	System.Math.Abs(left.R1C0 - right.R1C0) <= tolerance &&
		406	System.Math.Abs(left.R1C1 - right.R1C1) <= tolerance &&
		407	System.Math.Abs(left.R1C2 - right.R1C2) <= tolerance &&
		408	System.Math.Abs(left.R2C0 - right.R2C0) <= tolerance &&
		409	System.Math.Abs(left.R2C1 - right.R2C1) <= tolerance &&
		410	System.Math.Abs(left.R2C2 - right.R2C2) <= tolerance;
		411	}
		412
		413	#endregion
		414
		415	#region Arithmetic Operators
		416
		417
		418	/// <summary>Add left matrix to this matrix.</summary>
		419	/// <param name="matrix">The matrix to add.</param>
		420	public void Add(ref Matrix3d matrix)
		421	{
		422	R0C0 = R0C0 + matrix.R0C0;
		423	R0C1 = R0C1 + matrix.R0C1;
		424	R0C2 = R0C2 + matrix.R0C2;
		425	R1C0 = R1C0 + matrix.R1C0;
		426	R1C1 = R1C1 + matrix.R1C1;
		427	R1C2 = R1C2 + matrix.R1C2;
		428	R2C0 = R2C0 + matrix.R2C0;
		429	R2C1 = R2C1 + matrix.R2C1;
		430	R2C2 = R2C2 + matrix.R2C2;
		431	}
		432
		433	/// <summary>Add left matrix to this matrix.</summary>
		434	/// <param name="matrix">The matrix to add.</param>
		435	/// <param name="result">The resulting matrix of the addition.</param>
		436	public void Add(ref Matrix3d matrix, out Matrix3d result)
		437	{
		438	result.R0C0 = R0C0 + matrix.R0C0;
		439	result.R0C1 = R0C1 + matrix.R0C1;
		440	result.R0C2 = R0C2 + matrix.R0C2;
		441	result.R1C0 = R1C0 + matrix.R1C0;
		442	result.R1C1 = R1C1 + matrix.R1C1;
		443	result.R1C2 = R1C2 + matrix.R1C2;
		444	result.R2C0 = R2C0 + matrix.R2C0;
		445	result.R2C1 = R2C1 + matrix.R2C1;
		446	result.R2C2 = R2C2 + matrix.R2C2;
		447	}
		448
		449	/// <summary>Add left matrix to left matrix.</summary>
		450	/// <param name="matrix">The matrix on the matrix side of the equation.</param>
		451	/// <param name="right">The matrix on the right side of the equation</param>
		452	/// <param name="result">The resulting matrix of the addition.</param>
		453	public static void Add(ref Matrix3d left, ref Matrix3d right, out Matrix3d result)
		454	{
		455	result.R0C0 = left.R0C0 + right.R0C0;
		456	result.R0C1 = left.R0C1 + right.R0C1;
		457	result.R0C2 = left.R0C2 + right.R0C2;
		458	result.R1C0 = left.R1C0 + right.R1C0;
		459	result.R1C1 = left.R1C1 + right.R1C1;
		460	result.R1C2 = left.R1C2 + right.R1C2;
		461	result.R2C0 = left.R2C0 + right.R2C0;
		462	result.R2C1 = left.R2C1 + right.R2C1;
		463	result.R2C2 = left.R2C2 + right.R2C2;
		464	}
		465
		466
		467	/// <summary>Subtract left matrix from this matrix.</summary>
		468	/// <param name="matrix">The matrix to subtract.</param>
		469	public void Subtract(ref Matrix3d matrix)
		470	{
		471	R0C0 = R0C0 + matrix.R0C0;
		472	R0C1 = R0C1 + matrix.R0C1;
		473	R0C2 = R0C2 + matrix.R0C2;
		474	R1C0 = R1C0 + matrix.R1C0;
		475	R1C1 = R1C1 + matrix.R1C1;
		476	R1C2 = R1C2 + matrix.R1C2;
		477	R2C0 = R2C0 + matrix.R2C0;
		478	R2C1 = R2C1 + matrix.R2C1;
		479	R2C2 = R2C2 + matrix.R2C2;
		480	}
		481
		482	/// <summary>Subtract left matrix from this matrix.</summary>
		483	/// <param name="matrix">The matrix to subtract.</param>
		484	/// <param name="result">The resulting matrix of the subtraction.</param>
		485	public void Subtract(ref Matrix3d matrix, out Matrix3d result)
		486	{
		487	result.R0C0 = R0C0 + matrix.R0C0;
		488	result.R0C1 = R0C1 + matrix.R0C1;
		489	result.R0C2 = R0C2 + matrix.R0C2;
		490	result.R1C0 = R1C0 + matrix.R1C0;
		491	result.R1C1 = R1C1 + matrix.R1C1;
		492	result.R1C2 = R1C2 + matrix.R1C2;
		493	result.R2C0 = R2C0 + matrix.R2C0;
		494	result.R2C1 = R2C1 + matrix.R2C1;
		495	result.R2C2 = R2C2 + matrix.R2C2;
		496	}
		497
		498	/// <summary>Subtract left matrix from left matrix.</summary>
		499	/// <param name="matrix">The matrix on the matrix side of the equation.</param>
		500	/// <param name="right">The matrix on the right side of the equation</param>
		501	/// <param name="result">The resulting matrix of the subtraction.</param>
		502	public static void Subtract(ref Matrix3d left, ref Matrix3d right, out Matrix3d result)
		503	{
		504	result.R0C0 = left.R0C0 + right.R0C0;
		505	result.R0C1 = left.R0C1 + right.R0C1;
		506	result.R0C2 = left.R0C2 + right.R0C2;
		507	result.R1C0 = left.R1C0 + right.R1C0;
		508	result.R1C1 = left.R1C1 + right.R1C1;
		509	result.R1C2 = left.R1C2 + right.R1C2;
		510	result.R2C0 = left.R2C0 + right.R2C0;
		511	result.R2C1 = left.R2C1 + right.R2C1;
		512	result.R2C2 = left.R2C2 + right.R2C2;
		513	}
		514
		515
		516	/// <summary>Multiply left martix times this matrix.</summary>
		517	/// <param name="matrix">The matrix to multiply.</param>
		518	public void Multiply(ref Matrix3d matrix)
		519	{
		520	double r0c0 = matrix.R0C0 * R0C0 + matrix.R0C1 * R1C0 + matrix.R0C2 * R2C0;
		521	double r0c1 = matrix.R0C0 * R0C1 + matrix.R0C1 * R1C1 + matrix.R0C2 * R2C1;
		522	double r0c2 = matrix.R0C0 * R0C2 + matrix.R0C1 * R1C2 + matrix.R0C2 * R2C2;
		523
		524	double r1c0 = matrix.R1C0 * R0C0 + matrix.R1C1 * R1C0 + matrix.R1C2 * R2C0;
		525	double r1c1 = matrix.R1C0 * R0C1 + matrix.R1C1 * R1C1 + matrix.R1C2 * R2C1;
		526	double r1c2 = matrix.R1C0 * R0C2 + matrix.R1C1 * R1C2 + matrix.R1C2 * R2C2;
		527
		528	R2C0 = matrix.R2C0 * R0C0 + matrix.R2C1 * R1C0 + matrix.R2C2 * R2C0;
		529	R2C1 = matrix.R2C0 * R0C1 + matrix.R2C1 * R1C1 + matrix.R2C2 * R2C1;
		530	R2C2 = matrix.R2C0 * R0C2 + matrix.R2C1 * R1C2 + matrix.R2C2 * R2C2;
		531
		532
		533	R0C0 = r0c0;
		534	R0C1 = r0c1;
		535	R0C2 = r0c2;
		536
		537	R1C0 = r1c0;
		538	R1C1 = r1c1;
		539	R1C2 = r1c2;
		540	}
		541
		542	/// <summary>Multiply matrix times this matrix.</summary>
		543	/// <param name="matrix">The matrix to multiply.</param>
		544	/// <param name="result">The resulting matrix of the multiplication.</param>
		545	public void Multiply(ref Matrix3d matrix, out Matrix3d result)
		546	{
		547	result.R0C0 = matrix.R0C0 * R0C0 + matrix.R0C1 * R1C0 + matrix.R0C2 * R2C0;
		548	result.R0C1 = matrix.R0C0 * R0C1 + matrix.R0C1 * R1C1 + matrix.R0C2 * R2C1;
		549	result.R0C2 = matrix.R0C0 * R0C2 + matrix.R0C1 * R1C2 + matrix.R0C2 * R2C2;
		550	result.R1C0 = matrix.R1C0 * R0C0 + matrix.R1C1 * R1C0 + matrix.R1C2 * R2C0;
		551	result.R1C1 = matrix.R1C0 * R0C1 + matrix.R1C1 * R1C1 + matrix.R1C2 * R2C1;
		552	result.R1C2 = matrix.R1C0 * R0C2 + matrix.R1C1 * R1C2 + matrix.R1C2 * R2C2;
		553	result.R2C0 = matrix.R2C0 * R0C0 + matrix.R2C1 * R1C0 + matrix.R2C2 * R2C0;
		554	result.R2C1 = matrix.R2C0 * R0C1 + matrix.R2C1 * R1C1 + matrix.R2C2 * R2C1;
		555	result.R2C2 = matrix.R2C0 * R0C2 + matrix.R2C1 * R1C2 + matrix.R2C2 * R2C2;
		556	}
		557
		558	/// <summary>Multiply left matrix times left matrix.</summary>
		559	/// <param name="matrix">The matrix on the matrix side of the equation.</param>
		560	/// <param name="right">The matrix on the right side of the equation</param>
		561	/// <param name="result">The resulting matrix of the multiplication.</param>
		562	public static void Multiply(ref Matrix3d left, ref Matrix3d right, out Matrix3d result)
		563	{
		564	result.R0C0 = right.R0C0 * left.R0C0 + right.R0C1 * left.R1C0 + right.R0C2 * left.R2C0;
		565	result.R0C1 = right.R0C0 * left.R0C1 + right.R0C1 * left.R1C1 + right.R0C2 * left.R2C1;
		566	result.R0C2 = right.R0C0 * left.R0C2 + right.R0C1 * left.R1C2 + right.R0C2 * left.R2C2;
		567	result.R1C0 = right.R1C0 * left.R0C0 + right.R1C1 * left.R1C0 + right.R1C2 * left.R2C0;
		568	result.R1C1 = right.R1C0 * left.R0C1 + right.R1C1 * left.R1C1 + right.R1C2 * left.R2C1;
		569	result.R1C2 = right.R1C0 * left.R0C2 + right.R1C1 * left.R1C2 + right.R1C2 * left.R2C2;
		570	result.R2C0 = right.R2C0 * left.R0C0 + right.R2C1 * left.R1C0 + right.R2C2 * left.R2C0;
		571	result.R2C1 = right.R2C0 * left.R0C1 + right.R2C1 * left.R1C1 + right.R2C2 * left.R2C1;
		572	result.R2C2 = right.R2C0 * left.R0C2 + right.R2C1 * left.R1C2 + right.R2C2 * left.R2C2;
		573	}
		574
		575
		576	/// <summary>Multiply matrix times this matrix.</summary>
		577	/// <param name="matrix">The matrix to multiply.</param>
		578	public void Multiply(double scalar)
		579	{
		580	R0C0 = scalar * R0C0;
		581	R0C1 = scalar * R0C1;
		582	R0C2 = scalar * R0C2;
		583	R1C0 = scalar * R1C0;
		584	R1C1 = scalar * R1C1;
		585	R1C2 = scalar * R1C2;
		586	R2C0 = scalar * R2C0;
		587	R2C1 = scalar * R2C1;
		588	R2C2 = scalar * R2C2;
		589	}
		590
		591	/// <summary>Multiply matrix times this matrix.</summary>
		592	/// <param name="matrix">The matrix to multiply.</param>
		593	/// <param name="result">The resulting matrix of the multiplication.</param>
		594	public void Multiply(double scalar, out Matrix3d result)
		595	{
		596	result.R0C0 = scalar * R0C0;
		597	result.R0C1 = scalar * R0C1;
		598	result.R0C2 = scalar * R0C2;
		599	result.R1C0 = scalar * R1C0;
		600	result.R1C1 = scalar * R1C1;
		601	result.R1C2 = scalar * R1C2;
		602	result.R2C0 = scalar * R2C0;
		603	result.R2C1 = scalar * R2C1;
		604	result.R2C2 = scalar * R2C2;
		605	}
		606
		607	/// <summary>Multiply left matrix times left matrix.</summary>
		608	/// <param name="matrix">The matrix on the matrix side of the equation.</param>
		609	/// <param name="right">The matrix on the right side of the equation</param>
		610	/// <param name="result">The resulting matrix of the multiplication.</param>
		611	public static void Multiply(ref Matrix3d matrix, double scalar, out Matrix3d result)
		612	{
		613	result.R0C0 = scalar * matrix.R0C0;
		614	result.R0C1 = scalar * matrix.R0C1;
		615	result.R0C2 = scalar * matrix.R0C2;
		616	result.R1C0 = scalar * matrix.R1C0;
		617	result.R1C1 = scalar * matrix.R1C1;
		618	result.R1C2 = scalar * matrix.R1C2;
		619	result.R2C0 = scalar * matrix.R2C0;
		620	result.R2C1 = scalar * matrix.R2C1;
		621	result.R2C2 = scalar * matrix.R2C2;
		622	}
		623
		624
		625	#endregion
		626
		627	#region Functions
		628
		629	public double Determinant
		630	{
		631	get
		632	{
		633	return R0C0 * R1C1 * R2C2 - R0C0 * R1C2 * R2C1 - R0C1 * R1C0 * R2C2 + R0C2 * R1C0 * R2C1 + R0C1 * R1C2 * R2C0 - R0C2 * R1C1 * R2C0;
		634	}
		635	}
		636
		637	public void Transpose()
		638	{
		639	Functions.Swap(ref R0C1, ref R1C0);
		640	Functions.Swap(ref R0C2, ref R2C0);
		641	Functions.Swap(ref R1C2, ref R2C1);
		642	}
		643	public void Transpose(out Matrix3d result)
		644	{
		645	result.R0C0 = R0C0;
		646	result.R0C1 = R1C0;
		647	result.R0C2 = R2C0;
		648	result.R1C0 = R0C1;
		649	result.R1C1 = R1C1;
		650	result.R1C2 = R2C1;
		651	result.R2C0 = R0C2;
		652	result.R2C1 = R1C2;
		653	result.R2C2 = R2C2;
		654	}
		655	public static void Transpose(ref Matrix3d matrix, out Matrix3d result)
		656	{
		657	result.R0C0 = matrix.R0C0;
		658	result.R0C1 = matrix.R1C0;
		659	result.R0C2 = matrix.R2C0;
		660	result.R1C0 = matrix.R0C1;
		661	result.R1C1 = matrix.R1C1;
		662	result.R1C2 = matrix.R2C1;
		663	result.R2C0 = matrix.R0C2;
		664	result.R2C1 = matrix.R1C2;
		665	result.R2C2 = matrix.R2C2;
		666	}
		667
		668	#endregion
		669
		670	#region Transformation Functions
		671
		672	public void Transform(ref Vector3d vector)
		673	{
		674	double x = R0C0 * vector.X + R0C1 * vector.Y + R0C2 * vector.Z;
		675	double y = R1C0 * vector.X + R1C1 * vector.Y + R1C2 * vector.Z;
		676	vector.Z = R2C0 * vector.X + R2C1 * vector.Y + R2C2 * vector.Z;
		677	vector.X = x;
		678	vector.Y = y;
		679	}
		680	public static void Transform(ref Matrix3d matrix, ref Vector3d vector)
		681	{
		682	double x = matrix.R0C0 * vector.X + matrix.R0C1 * vector.Y + matrix.R0C2 * vector.Z;
		683	double y = matrix.R1C0 * vector.X + matrix.R1C1 * vector.Y + matrix.R1C2 * vector.Z;
		684	vector.Z = matrix.R2C0 * vector.X + matrix.R2C1 * vector.Y + matrix.R2C2 * vector.Z;
		685	vector.X = x;
		686	vector.Y = y;
		687	}
		688	public void Transform(ref Vector3d vector, out Vector3d result)
		689	{
		690	result.X = R0C0 * vector.X + R0C1 * vector.Y + R0C2 * vector.Z;
		691	result.Y = R1C0 * vector.X + R1C1 * vector.Y + R1C2 * vector.Z;
		692	result.Z = R2C0 * vector.X + R2C1 * vector.Y + R2C2 * vector.Z;
		693	}
		694	public static void Transform(ref Matrix3d matrix, ref Vector3d vector, out Vector3d result)
		695	{
		696	result.X = matrix.R0C0 * vector.X + matrix.R0C1 * vector.Y + matrix.R0C2 * vector.Z;
		697	result.Y = matrix.R1C0 * vector.X + matrix.R1C1 * vector.Y + matrix.R1C2 * vector.Z;
		698	result.Z = matrix.R2C0 * vector.X + matrix.R2C1 * vector.Y + matrix.R2C2 * vector.Z;
		699	}
		700
		701	public void Rotate(double angle)
		702	{
		703	double angleRadians = Functions.DTOR * angle;
		704	double sin = (double)System.Math.Sin(angleRadians);
		705	double cos = (double)System.Math.Cos(angleRadians);
		706
		707	double r0c0 = cos * R0C0 + sin * R1C0;
		708	double r0c1 = cos * R0C1 + sin * R1C1;
		709	double r0c2 = cos * R0C2 + sin * R1C2;
		710
		711	R1C0 = cos * R1C0 - sin * R0C0;
		712	R1C1 = cos * R1C1 - sin * R0C1;
		713	R1C2 = cos * R1C2 - sin * R0C2;
		714
		715	R0C0 = r0c0;
		716	R0C1 = r0c1;
		717	R0C2 = r0c2;
		718	}
		719	public void Rotate(double angle, out Matrix3d result)
		720	{
		721	double angleRadians = Functions.DTOR * angle;
		722	double sin = (double)System.Math.Sin(angleRadians);
		723	double cos = (double)System.Math.Cos(angleRadians);
		724
		725	result.R0C0 = cos * R0C0 + sin * R1C0;
		726	result.R0C1 = cos * R0C1 + sin * R1C1;
		727	result.R0C2 = cos * R0C2 + sin * R1C2;
		728	result.R1C0 = cos * R1C0 - sin * R0C0;
		729	result.R1C1 = cos * R1C1 - sin * R0C1;
		730	result.R1C2 = cos * R1C2 - sin * R0C2;
		731	result.R2C0 = R2C0;
		732	result.R2C1 = R2C1;
		733	result.R2C2 = R2C2;
		734	}
		735	public static void Rotate(ref Matrix3d matrix, double angle, out Matrix3d result)
		736	{
		737	double angleRadians = Functions.DTOR * angle;
		738	double sin = (double)System.Math.Sin(angleRadians);
		739	double cos = (double)System.Math.Cos(angleRadians);
		740
		741	result.R0C0 = cos * matrix.R0C0 + sin * matrix.R1C0;
		742	result.R0C1 = cos * matrix.R0C1 + sin * matrix.R1C1;
		743	result.R0C2 = cos * matrix.R0C2 + sin * matrix.R1C2;
		744	result.R1C0 = cos * matrix.R1C0 - sin * matrix.R0C0;
		745	result.R1C1 = cos * matrix.R1C1 - sin * matrix.R0C1;
		746	result.R1C2 = cos * matrix.R1C2 - sin * matrix.R0C2;
		747	result.R2C0 = matrix.R2C0;
		748	result.R2C1 = matrix.R2C1;
		749	result.R2C2 = matrix.R2C2;
		750	}
		751	public static void RotateMatrix(double angle, out Matrix3d result)
		752	{
		753	double angleRadians = Functions.DTOR * angle;
		754	double sin = (double)System.Math.Sin(angleRadians);
		755	double cos = (double)System.Math.Cos(angleRadians);
		756
		757	result.R0C0 = cos;
		758	result.R0C1 = sin;
		759	result.R0C2 = 0;
		760	result.R1C0 = -sin;
		761	result.R1C1 = cos;
		762	result.R1C2 = 0;
		763	result.R2C0 = 0;
		764	result.R2C1 = 0;
		765	result.R2C2 = 1;
		766	}
		767
		768	public Quaterniond ToQuaternion()
		769	{
		770	//return new Quaterniond(ref this);
		771	}
		772
		773	#endregion
		774
		775	#region Constants
		776
		777	/// <summary>The identity matrix.</summary>
		778	public static readonly Matrix3d Identity = new Matrix3d
		779	(
		780	1, 0, 0,
		781	0, 1, 0,
		782	0, 0, 1
		783	);
		784
		785	/// <summary>A matrix of all zeros.</summary>
		786	public static readonly Matrix3d Zero = new Matrix3d
		787	(
		788	0, 0, 0,
		789	0, 0, 0,
		790	0, 0, 0
		791	);
		792
		793	#endregion
		794
		795	#region HashCode
		796
		797	/// <summary>Returns the hash code for this instance.</summary>
		798	/// <returns>A 32-bit signed integer that is the hash code for this instance.</returns>
		799	public override int GetHashCode()
		800	{
		801	return
		802	R0C0.GetHashCode() ^ R0C1.GetHashCode() ^ R0C2.GetHashCode() ^
		803	R1C0.GetHashCode() ^ R1C1.GetHashCode() ^ R1C2.GetHashCode() ^
		804	R2C0.GetHashCode() ^ R2C1.GetHashCode() ^ R2C2.GetHashCode();
		805	}
		806
		807	#endregion
		808
		809	#region String
		810
		811	/// <summary>Returns the fully qualified type name of this instance.</summary>
		812	/// <returns>A System.String containing left fully qualified type name.</returns>
		813	public override string ToString()
		814	{
		815	return String.Format(
		816	"\|{00}, {01}, {02}\|\n" +
		817	"\|{03}, {04}, {05}\|\n" +
		818	"\|{06}, {07}, {18}\|\n" +
		819	R0C0, R0C1, R0C2,
		820	R1C0, R1C1, R1C2,
		821	R2C0, R2C1, R2C2);
		822	}
		823
		824	#endregion
		825	}
		826	#endif
		827	#pragma warning restore 3019
		828	}

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(root)/BauzoidTools/OpenTK/1.0/Source/OpenTK/Math/Matrix3d.cs - Rev 1452