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892 行
34 KiB
892 行
34 KiB
using System;
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using Unity.UIWidgets.foundation;
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using Unity.UIWidgets.painting;
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using UnityEngine;
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namespace Unity.UIWidgets.ui {
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public class Matrix4 : IEquatable<Matrix4> {
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internal readonly float[] _m4storage;
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int dimension {
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get { return 4; }
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}
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public Matrix4() {
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this._m4storage = new float[16];
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}
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public Matrix4(Matrix4 other) {
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this._m4storage = new float[16];
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this.setFrom(other);
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}
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public static Matrix4 tryInvert(Matrix4 other) {
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Matrix4 r = new Matrix4();
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float determinant = r.copyInverse(other);
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if (determinant == 0) {
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return null;
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}
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return r;
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}
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public Matrix4(
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float arg0,
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float arg1,
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float arg2,
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float arg3,
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float arg4,
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float arg5,
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float arg6,
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float arg7,
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float arg8,
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float arg9,
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float arg10,
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float arg11,
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float arg12,
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float arg13,
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float arg14,
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float arg15) {
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this._m4storage = new float[16];
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this.setValues(arg0, arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9,
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arg10, arg11, arg12, arg13, arg14, arg15);
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}
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public Matrix4 fromList(
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float arg0,
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float arg1,
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float arg2,
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float arg3,
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float arg4,
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float arg5,
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float arg6,
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float arg7,
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float arg8,
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float arg9,
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float arg10,
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float arg11,
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float arg12,
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float arg13,
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float arg14,
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float arg15) {
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this.setValues(arg0, arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9,
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arg10, arg11, arg12, arg13, arg14, arg15);
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return this;
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}
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public Matrix4 identity() {
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this.setIdentity();
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return this;
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}
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public Matrix4 inverted(Matrix4 other) {
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double determinant = this.copyInverse(other);
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if (determinant == 0) {
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// throw new Exception("input matrix cannot be inverted");
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return null;
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}
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return this;
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}
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public Matrix4 copy(Matrix4 other) {
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this.setFrom(other);
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return this;
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}
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public Matrix4 compose(Vector3 translation, Quaternion rotation, Vector3 scale) {
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this.setFromTranslationRotationScale(translation, rotation, scale);
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return this;
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}
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public void setColumn(int column, Vector4 arg) {
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int entry = column * 4;
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this._m4storage[entry + 3] = arg[3];
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this._m4storage[entry + 2] = arg[2];
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this._m4storage[entry + 1] = arg[1];
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this._m4storage[entry + 0] = arg[0];
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}
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public Vector4 getColumn(int column) {
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Vector4 r = new Vector4();
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int entry = column * 4;
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r[3] = this._m4storage[entry + 3];
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r[2] = this._m4storage[entry + 2];
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r[1] = this._m4storage[entry + 1];
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r[0] = this._m4storage[entry + 0];
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return r;
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}
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public void setRow(int row, Vector4 arg) {
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this._m4storage[this.index(row, 0)] = arg[0];
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this._m4storage[this.index(row, 1)] = arg[1];
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this._m4storage[this.index(row, 2)] = arg[2];
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this._m4storage[this.index(row, 3)] = arg[3];
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}
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public Vector4 getRow(int row) {
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Vector4 r = new Vector4();
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r[0] = this._m4storage[this.index(row, 0)];
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r[1] = this._m4storage[this.index(row, 1)];
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r[2] = this._m4storage[this.index(row, 2)];
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r[3] = this._m4storage[this.index(row, 3)];
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return r;
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}
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public Matrix4 clone() => new Matrix4().copy(this);
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public static Matrix4 operator *(Matrix4 a, Matrix4 b) {
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var result = a.clone();
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result.multiply(b);
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return result;
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}
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void setFromTranslationRotationScale(
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Vector3 translation, Quaternion rotation, Vector3 scale) {
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this.setFromTranslationRotation(translation, rotation);
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this.scale(scale);
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}
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void setFromTranslationRotation(Vector3 arg0, Quaternion arg1) {
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float x = arg1[0];
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float y = arg1[1];
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float z = arg1[2];
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float w = arg1[3];
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float x2 = x + x;
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float y2 = y + y;
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float z2 = z + z;
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float xx = x * x2;
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float xy = x * y2;
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float xz = x * z2;
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float yy = y * y2;
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float yz = y * z2;
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float zz = z * z2;
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float wx = w * x2;
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float wy = w * y2;
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float wz = w * z2;
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this._m4storage[0] = 1.0f - (yy + zz);
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this._m4storage[1] = xy + wz;
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this._m4storage[2] = xz - wy;
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this._m4storage[3] = 0;
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this._m4storage[4] = xy - wz;
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this._m4storage[5] = 1.0f - (xx + zz);
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this._m4storage[6] = yz + wx;
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this._m4storage[7] = 0;
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this._m4storage[8] = xz + wy;
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this._m4storage[9] = yz - wx;
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this._m4storage[10] = 1.0f - (xx + yy);
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this._m4storage[11] = 0;
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this._m4storage[12] = arg0[0];
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this._m4storage[13] = arg0[1];
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this._m4storage[14] = arg0[2];
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this._m4storage[15] = 1.0f;
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}
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void setFrom(Matrix4 arg) {
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this._m4storage[15] = arg[15];
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this._m4storage[14] = arg[14];
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this._m4storage[13] = arg[13];
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this._m4storage[12] = arg[12];
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this._m4storage[11] = arg[11];
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this._m4storage[10] = arg[10];
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this._m4storage[9] = arg[9];
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this._m4storage[8] = arg[8];
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this._m4storage[7] = arg[7];
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this._m4storage[6] = arg[6];
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this._m4storage[5] = arg[5];
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this._m4storage[4] = arg[4];
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this._m4storage[3] = arg[3];
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this._m4storage[2] = arg[2];
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this._m4storage[1] = arg[1];
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this._m4storage[0] = arg[0];
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}
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void setValues(
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float arg0,
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float arg1,
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float arg2,
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float arg3,
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float arg4,
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float arg5,
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float arg6,
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float arg7,
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float arg8,
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float arg9,
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float arg10,
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float arg11,
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float arg12,
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float arg13,
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float arg14,
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float arg15) {
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this._m4storage[15] = arg15;
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this._m4storage[14] = arg14;
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this._m4storage[13] = arg13;
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this._m4storage[12] = arg12;
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this._m4storage[11] = arg11;
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this._m4storage[10] = arg10;
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this._m4storage[9] = arg9;
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this._m4storage[8] = arg8;
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this._m4storage[7] = arg7;
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this._m4storage[6] = arg6;
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this._m4storage[5] = arg5;
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this._m4storage[4] = arg4;
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this._m4storage[3] = arg3;
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this._m4storage[2] = arg2;
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this._m4storage[1] = arg1;
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this._m4storage[0] = arg0;
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}
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public void setZero() {
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this._m4storage[0] = 0;
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this._m4storage[1] = 0;
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this._m4storage[2] = 0;
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this._m4storage[3] = 0;
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this._m4storage[4] = 0;
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this._m4storage[5] = 0;
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this._m4storage[6] = 0;
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this._m4storage[7] = 0;
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this._m4storage[8] = 0;
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this._m4storage[9] = 0;
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this._m4storage[10] = 0;
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this._m4storage[11] = 0;
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this._m4storage[12] = 0;
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this._m4storage[13] = 0;
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this._m4storage[14] = 0;
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this._m4storage[15] = 0;
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}
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void setIdentity() {
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this._m4storage[0] = 1;
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this._m4storage[1] = 0;
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this._m4storage[2] = 0;
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this._m4storage[3] = 0;
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this._m4storage[4] = 0;
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this._m4storage[5] = 1;
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this._m4storage[6] = 0;
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this._m4storage[7] = 0;
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this._m4storage[8] = 0;
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this._m4storage[9] = 0;
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this._m4storage[10] = 1;
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this._m4storage[11] = 0;
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this._m4storage[12] = 0;
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this._m4storage[13] = 0;
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this._m4storage[14] = 0;
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this._m4storage[15] = 1;
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}
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Matrix4 absolute() {
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Matrix4 r = new Matrix4();
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this[0] = this._m4storage[0].abs();
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this[1] = this._m4storage[1].abs();
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this[2] = this._m4storage[2].abs();
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this[3] = this._m4storage[3].abs();
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this[4] = this._m4storage[4].abs();
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this[5] = this._m4storage[5].abs();
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this[6] = this._m4storage[6].abs();
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this[7] = this._m4storage[7].abs();
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this[8] = this._m4storage[8].abs();
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this[9] = this._m4storage[9].abs();
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this[10] = this._m4storage[10].abs();
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this[11] = this._m4storage[11].abs();
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this[12] = this._m4storage[12].abs();
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this[13] = this._m4storage[13].abs();
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this[14] = this._m4storage[14].abs();
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this[15] = this._m4storage[15].abs();
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return r;
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}
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public float determinant() {
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float det2_01_01 =
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this._m4storage[0] * this._m4storage[5] - this._m4storage[1] * this._m4storage[4];
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float det2_01_02 =
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this._m4storage[0] * this._m4storage[6] - this._m4storage[2] * this._m4storage[4];
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float det2_01_03 =
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this._m4storage[0] * this._m4storage[7] - this._m4storage[3] * this._m4storage[4];
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float det2_01_12 =
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this._m4storage[1] * this._m4storage[6] - this._m4storage[2] * this._m4storage[5];
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float det2_01_13 =
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this._m4storage[1] * this._m4storage[7] - this._m4storage[3] * this._m4storage[5];
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float det2_01_23 =
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this._m4storage[2] * this._m4storage[7] - this._m4storage[3] * this._m4storage[6];
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float det3_201_012 = this._m4storage[8] * det2_01_12 -
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this._m4storage[9] * det2_01_02 +
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this._m4storage[10] * det2_01_01;
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float det3_201_013 = this._m4storage[8] * det2_01_13 -
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this._m4storage[9] * det2_01_03 +
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this._m4storage[11] * det2_01_01;
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float det3_201_023 = this._m4storage[8] * det2_01_23 -
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this._m4storage[10] * det2_01_03 +
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this._m4storage[11] * det2_01_02;
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float det3_201_123 = this._m4storage[9] * det2_01_23 -
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this._m4storage[10] * det2_01_13 +
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this._m4storage[11] * det2_01_12;
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return -det3_201_123 * this._m4storage[12] +
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det3_201_023 * this._m4storage[13] -
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det3_201_013 * this._m4storage[14] +
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det3_201_012 * this._m4storage[15];
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}
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float invertRotation() {
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float det = this.determinant();
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if (det == 0) {
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return 0;
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}
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float invDet = 1.0f / det;
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float ix;
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float iy;
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float iz;
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float jx;
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float jy;
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float jz;
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float kx;
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float ky;
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float kz;
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ix = invDet *
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(this._m4storage[5] * this._m4storage[10] - this._m4storage[6] * this._m4storage[9]);
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iy = invDet *
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(this._m4storage[2] * this._m4storage[9] - this._m4storage[1] * this._m4storage[10]);
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iz = invDet *
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(this._m4storage[1] * this._m4storage[6] - this._m4storage[2] * this._m4storage[5]);
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jx = invDet *
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(this._m4storage[6] * this._m4storage[8] - this._m4storage[4] * this._m4storage[10]);
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jy = invDet *
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(this._m4storage[0] * this._m4storage[10] - this._m4storage[2] * this._m4storage[8]);
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jz = invDet *
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(this._m4storage[2] * this._m4storage[4] - this._m4storage[0] * this._m4storage[6]);
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kx = invDet *
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(this._m4storage[4] * this._m4storage[9] - this._m4storage[5] * this._m4storage[8]);
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ky = invDet *
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(this._m4storage[1] * this._m4storage[8] - this._m4storage[0] * this._m4storage[9]);
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kz = invDet *
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(this._m4storage[0] * this._m4storage[5] - this._m4storage[1] * this._m4storage[4]);
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this._m4storage[0] = ix;
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this._m4storage[1] = iy;
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this._m4storage[2] = iz;
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this._m4storage[4] = jx;
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this._m4storage[5] = jy;
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this._m4storage[6] = jz;
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this._m4storage[8] = kx;
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this._m4storage[9] = ky;
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this._m4storage[10] = kz;
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return det;
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}
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public Vector4 transform(Vector4 arg) {
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float x_ = (this._m4storage[0] * arg[0]) +
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(this._m4storage[4] * arg[1]) +
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(this._m4storage[8] * arg[2]) +
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(this._m4storage[12] * arg[3]);
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float y_ = (this._m4storage[1] * arg[0]) +
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(this._m4storage[5] * arg[1]) +
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(this._m4storage[9] * arg[2]) +
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(this._m4storage[13] * arg[3]);
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float z_ = (this._m4storage[2] * arg[0]) +
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(this._m4storage[6] * arg[1]) +
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(this._m4storage[10] * arg[2]) +
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(this._m4storage[14] * arg[3]);
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float w_ = (this._m4storage[3] * arg[0]) +
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(this._m4storage[7] * arg[1]) +
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(this._m4storage[11] * arg[2]) +
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(this._m4storage[15] * arg[3]);
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arg[0] = x_;
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arg[1] = y_;
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arg[2] = z_;
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arg[3] = w_;
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return arg;
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}
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public Vector3 perspectiveTransform(Vector3 arg) {
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float x_ = (this._m4storage[0] * arg[0]) +
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(this._m4storage[4] * arg[1]) +
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(this._m4storage[8] * arg[2]) +
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this._m4storage[12];
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float y_ = (this._m4storage[1] * arg[0]) +
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(this._m4storage[5] * arg[1]) +
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(this._m4storage[9] * arg[2]) +
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this._m4storage[13];
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float z_ = (this._m4storage[2] * arg[0]) +
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(this._m4storage[6] * arg[1]) +
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(this._m4storage[10] * arg[2]) +
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this._m4storage[14];
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float w_ = 1.0f /
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((this._m4storage[3] * arg[0]) +
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(this._m4storage[7] * arg[1]) +
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(this._m4storage[11] * arg[2]) +
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this._m4storage[15]);
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arg[0] = x_ * w_;
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arg[1] = y_ * w_;
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arg[2] = z_ * w_;
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return arg;
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}
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public void translate(float tx, float ty = 0, float tz = 0, float tw = 1) {
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float t1 = this._m4storage[0] * tx +
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this._m4storage[4] * ty +
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this._m4storage[8] * tz +
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this._m4storage[12] * tw;
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float t2 = this._m4storage[1] * tx +
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this._m4storage[5] * ty +
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this._m4storage[9] * tz +
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this._m4storage[13] * tw;
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float t3 = this._m4storage[2] * tx +
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this._m4storage[6] * ty +
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this._m4storage[10] * tz +
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this._m4storage[14] * tw;
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float t4 = this._m4storage[3] * tx +
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this._m4storage[7] * ty +
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this._m4storage[11] * tz +
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this._m4storage[15] * tw;
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this._m4storage[12] = t1;
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this._m4storage[13] = t2;
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this._m4storage[14] = t3;
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this._m4storage[15] = t4;
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}
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public Matrix4 rotationX(float radians) {
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this._m4storage[15] = 1.0f;
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this.setRotationX(radians);
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return this;
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}
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public Matrix4 rotationY(float radians) {
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this._m4storage[15] = 1.0f;
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this.setRotationY(radians);
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return this;
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}
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public Matrix4 rotationZ(float radians) {
|
|
this._m4storage[15] = 1.0f;
|
|
this.setRotationZ(radians);
|
|
return this;
|
|
}
|
|
|
|
public Matrix4 rotationZ(float radians, float px, float py) {
|
|
this._m4storage[15] = 1.0f;
|
|
this.setRotationZ(radians, px, py);
|
|
return this;
|
|
}
|
|
|
|
public Matrix4 diagonal3Values(float x, float y, float z) {
|
|
this._m4storage[15] = 1;
|
|
this._m4storage[10] = z;
|
|
this._m4storage[5] = y;
|
|
this._m4storage[0] = x;
|
|
return this;
|
|
}
|
|
|
|
public void scale(float sx, float sy, float sz, float sw = 1) {
|
|
this._m4storage[0] *= sx;
|
|
this._m4storage[1] *= sx;
|
|
this._m4storage[2] *= sx;
|
|
this._m4storage[3] *= sx;
|
|
this._m4storage[4] *= sy;
|
|
this._m4storage[5] *= sy;
|
|
this._m4storage[6] *= sy;
|
|
this._m4storage[7] *= sy;
|
|
this._m4storage[8] *= sz;
|
|
this._m4storage[9] *= sz;
|
|
this._m4storage[10] *= sz;
|
|
this._m4storage[11] *= sz;
|
|
this._m4storage[12] *= sw;
|
|
this._m4storage[13] *= sw;
|
|
this._m4storage[14] *= sw;
|
|
this._m4storage[15] *= sw;
|
|
}
|
|
|
|
public void scale(Vector3 s) {
|
|
float sx = s.x;
|
|
float sy = s.y;
|
|
float sz = s.z;
|
|
float sw = 1;
|
|
this._m4storage[0] *= sx;
|
|
this._m4storage[1] *= sx;
|
|
this._m4storage[2] *= sx;
|
|
this._m4storage[3] *= sx;
|
|
this._m4storage[4] *= sy;
|
|
this._m4storage[5] *= sy;
|
|
this._m4storage[6] *= sy;
|
|
this._m4storage[7] *= sy;
|
|
this._m4storage[8] *= sz;
|
|
this._m4storage[9] *= sz;
|
|
this._m4storage[10] *= sz;
|
|
this._m4storage[11] *= sz;
|
|
this._m4storage[12] *= sw;
|
|
this._m4storage[13] *= sw;
|
|
this._m4storage[14] *= sw;
|
|
this._m4storage[15] *= sw;
|
|
}
|
|
|
|
Matrix4 scaled(float sx, float sy, float sz, float sw = 1) {
|
|
var result = this.clone();
|
|
result.scale(sx, sy, sz, sw);
|
|
return result;
|
|
}
|
|
|
|
public Matrix4 translationValues(float x, float y, float z) {
|
|
this.identity();
|
|
this.setTranslationRaw(x, y, z);
|
|
return this;
|
|
}
|
|
|
|
public void rotateX(float angle) {
|
|
float cosAngle = Mathf.Cos(angle);
|
|
float sinAngle = Mathf.Sin(angle);
|
|
float t1 = this._m4storage[4] * cosAngle + this._m4storage[8] * sinAngle;
|
|
float t2 = this._m4storage[5] * cosAngle + this._m4storage[9] * sinAngle;
|
|
float t3 = this._m4storage[6] * cosAngle + this._m4storage[10] * sinAngle;
|
|
float t4 = this._m4storage[7] * cosAngle + this._m4storage[11] * sinAngle;
|
|
float t5 = this._m4storage[4] * -sinAngle + this._m4storage[8] * cosAngle;
|
|
float t6 = this._m4storage[5] * -sinAngle + this._m4storage[9] * cosAngle;
|
|
float t7 = this._m4storage[6] * -sinAngle + this._m4storage[10] * cosAngle;
|
|
float t8 = this._m4storage[7] * -sinAngle + this._m4storage[11] * cosAngle;
|
|
this._m4storage[4] = t1;
|
|
this._m4storage[5] = t2;
|
|
this._m4storage[6] = t3;
|
|
this._m4storage[7] = t4;
|
|
this._m4storage[8] = t5;
|
|
this._m4storage[9] = t6;
|
|
this._m4storage[10] = t7;
|
|
this._m4storage[11] = t8;
|
|
}
|
|
|
|
public void rotateY(float angle) {
|
|
float cosAngle = Mathf.Cos(angle);
|
|
float sinAngle = Mathf.Sin(angle);
|
|
float t1 = this._m4storage[0] * cosAngle + this._m4storage[8] * -sinAngle;
|
|
float t2 = this._m4storage[1] * cosAngle + this._m4storage[9] * -sinAngle;
|
|
float t3 = this._m4storage[2] * cosAngle + this._m4storage[10] * -sinAngle;
|
|
float t4 = this._m4storage[3] * cosAngle + this._m4storage[11] * -sinAngle;
|
|
float t5 = this._m4storage[0] * sinAngle + this._m4storage[8] * cosAngle;
|
|
float t6 = this._m4storage[1] * sinAngle + this._m4storage[9] * cosAngle;
|
|
float t7 = this._m4storage[2] * sinAngle + this._m4storage[10] * cosAngle;
|
|
float t8 = this._m4storage[3] * sinAngle + this._m4storage[11] * cosAngle;
|
|
this._m4storage[0] = t1;
|
|
this._m4storage[1] = t2;
|
|
this._m4storage[2] = t3;
|
|
this._m4storage[3] = t4;
|
|
this._m4storage[8] = t5;
|
|
this._m4storage[9] = t6;
|
|
this._m4storage[10] = t7;
|
|
this._m4storage[11] = t8;
|
|
}
|
|
|
|
public void rotateZ(float angle) {
|
|
float cosAngle = Mathf.Cos(angle);
|
|
float sinAngle = Mathf.Sin(angle);
|
|
float t1 = this._m4storage[0] * cosAngle + this._m4storage[4] * sinAngle;
|
|
float t2 = this._m4storage[1] * cosAngle + this._m4storage[5] * sinAngle;
|
|
float t3 = this._m4storage[2] * cosAngle + this._m4storage[6] * sinAngle;
|
|
float t4 = this._m4storage[3] * cosAngle + this._m4storage[7] * sinAngle;
|
|
float t5 = this._m4storage[0] * -sinAngle + this._m4storage[4] * cosAngle;
|
|
float t6 = this._m4storage[1] * -sinAngle + this._m4storage[5] * cosAngle;
|
|
float t7 = this._m4storage[2] * -sinAngle + this._m4storage[6] * cosAngle;
|
|
float t8 = this._m4storage[3] * -sinAngle + this._m4storage[7] * cosAngle;
|
|
this._m4storage[0] = t1;
|
|
this._m4storage[1] = t2;
|
|
this._m4storage[2] = t3;
|
|
this._m4storage[3] = t4;
|
|
this._m4storage[4] = t5;
|
|
this._m4storage[5] = t6;
|
|
this._m4storage[6] = t7;
|
|
this._m4storage[7] = t8;
|
|
}
|
|
|
|
public void multiply(Matrix4 arg) {
|
|
float m00 = this._m4storage[0];
|
|
float m01 = this._m4storage[4];
|
|
float m02 = this._m4storage[8];
|
|
float m03 = this._m4storage[12];
|
|
float m10 = this._m4storage[1];
|
|
float m11 = this._m4storage[5];
|
|
float m12 = this._m4storage[9];
|
|
float m13 = this._m4storage[13];
|
|
float m20 = this._m4storage[2];
|
|
float m21 = this._m4storage[6];
|
|
float m22 = this._m4storage[10];
|
|
float m23 = this._m4storage[14];
|
|
float m30 = this._m4storage[3];
|
|
float m31 = this._m4storage[7];
|
|
float m32 = this._m4storage[11];
|
|
float m33 = this._m4storage[15];
|
|
float[] argStorage = arg._m4storage;
|
|
float n00 = argStorage[0];
|
|
float n01 = argStorage[4];
|
|
float n02 = argStorage[8];
|
|
float n03 = argStorage[12];
|
|
float n10 = argStorage[1];
|
|
float n11 = argStorage[5];
|
|
float n12 = argStorage[9];
|
|
float n13 = argStorage[13];
|
|
float n20 = argStorage[2];
|
|
float n21 = argStorage[6];
|
|
float n22 = argStorage[10];
|
|
float n23 = argStorage[14];
|
|
float n30 = argStorage[3];
|
|
float n31 = argStorage[7];
|
|
float n32 = argStorage[11];
|
|
float n33 = argStorage[15];
|
|
this._m4storage[0] = (m00 * n00) + (m01 * n10) + (m02 * n20) + (m03 * n30);
|
|
this._m4storage[4] = (m00 * n01) + (m01 * n11) + (m02 * n21) + (m03 * n31);
|
|
this._m4storage[8] = (m00 * n02) + (m01 * n12) + (m02 * n22) + (m03 * n32);
|
|
this._m4storage[12] = (m00 * n03) + (m01 * n13) + (m02 * n23) + (m03 * n33);
|
|
this._m4storage[1] = (m10 * n00) + (m11 * n10) + (m12 * n20) + (m13 * n30);
|
|
this._m4storage[5] = (m10 * n01) + (m11 * n11) + (m12 * n21) + (m13 * n31);
|
|
this._m4storage[9] = (m10 * n02) + (m11 * n12) + (m12 * n22) + (m13 * n32);
|
|
this._m4storage[13] = (m10 * n03) + (m11 * n13) + (m12 * n23) + (m13 * n33);
|
|
this._m4storage[2] = (m20 * n00) + (m21 * n10) + (m22 * n20) + (m23 * n30);
|
|
this._m4storage[6] = (m20 * n01) + (m21 * n11) + (m22 * n21) + (m23 * n31);
|
|
this._m4storage[10] = (m20 * n02) + (m21 * n12) + (m22 * n22) + (m23 * n32);
|
|
this._m4storage[14] = (m20 * n03) + (m21 * n13) + (m22 * n23) + (m23 * n33);
|
|
this._m4storage[3] = (m30 * n00) + (m31 * n10) + (m32 * n20) + (m33 * n30);
|
|
this._m4storage[7] = (m30 * n01) + (m31 * n11) + (m32 * n21) + (m33 * n31);
|
|
this._m4storage[11] = (m30 * n02) + (m31 * n12) + (m32 * n22) + (m33 * n32);
|
|
this._m4storage[15] = (m30 * n03) + (m31 * n13) + (m32 * n23) + (m33 * n33);
|
|
}
|
|
|
|
public void decompose(ref Vector3 translation, ref Quaternion rotation, ref Vector3 scale) {
|
|
Vector3 v = Vector3.zero;
|
|
|
|
v.Set(this._m4storage[0], this._m4storage[1], this._m4storage[2]);
|
|
float sx = v.sqrMagnitude;
|
|
|
|
v.Set(this._m4storage[4], this._m4storage[5], this._m4storage[6]);
|
|
float sy = v.sqrMagnitude;
|
|
|
|
v.Set(this._m4storage[8], this._m4storage[9], this._m4storage[10]);
|
|
float sz = v.sqrMagnitude;
|
|
|
|
if (this.determinant() < 0) {
|
|
sx = -sx;
|
|
}
|
|
|
|
translation[0] = this._m4storage[12];
|
|
translation[1] = this._m4storage[13];
|
|
translation[2] = this._m4storage[14];
|
|
|
|
float invSX = 1.0f / sx;
|
|
float invSY = 1.0f / sy;
|
|
float invSZ = 1.0f / sz;
|
|
|
|
Matrix4 m = new Matrix4().copy(this);
|
|
m._m4storage[0] *= invSX;
|
|
m._m4storage[1] *= invSX;
|
|
m._m4storage[2] *= invSX;
|
|
m._m4storage[4] *= invSY;
|
|
m._m4storage[5] *= invSY;
|
|
m._m4storage[6] *= invSY;
|
|
m._m4storage[8] *= invSZ;
|
|
m._m4storage[9] *= invSZ;
|
|
m._m4storage[10] *= invSZ;
|
|
|
|
m.QuaternionFromMatrix(ref rotation);
|
|
|
|
scale[0] = sx;
|
|
scale[1] = sy;
|
|
scale[2] = sz;
|
|
}
|
|
|
|
void setTranslationRaw(float x, float y, float z) {
|
|
this._m4storage[14] = z;
|
|
this._m4storage[13] = y;
|
|
this._m4storage[12] = x;
|
|
}
|
|
|
|
void setRotationX(float radians) {
|
|
float c = Mathf.Cos(radians);
|
|
float s = Mathf.Sin(radians);
|
|
this._m4storage[0] = 1.0f;
|
|
this._m4storage[1] = 0;
|
|
this._m4storage[2] = 0;
|
|
this._m4storage[4] = 0;
|
|
this._m4storage[5] = c;
|
|
this._m4storage[6] = s;
|
|
this._m4storage[8] = 0;
|
|
this._m4storage[9] = -s;
|
|
this._m4storage[10] = c;
|
|
this._m4storage[3] = 0;
|
|
this._m4storage[7] = 0;
|
|
this._m4storage[11] = 0;
|
|
}
|
|
|
|
void setRotationY(float radians) {
|
|
float c = Mathf.Cos(radians);
|
|
float s = Mathf.Sin(radians);
|
|
this._m4storage[0] = c;
|
|
this._m4storage[1] = 0;
|
|
this._m4storage[2] = -s;
|
|
this._m4storage[4] = 0;
|
|
this._m4storage[5] = 1.0f;
|
|
this._m4storage[6] = 0;
|
|
this._m4storage[8] = s;
|
|
this._m4storage[9] = 0;
|
|
this._m4storage[10] = c;
|
|
this._m4storage[3] = 0;
|
|
this._m4storage[7] = 0;
|
|
this._m4storage[11] = 0;
|
|
}
|
|
|
|
void setRotationZ(float radians) {
|
|
float c = Mathf.Cos(radians);
|
|
float s = Mathf.Sin(radians);
|
|
this._m4storage[0] = c;
|
|
this._m4storage[1] = s;
|
|
this._m4storage[2] = 0;
|
|
this._m4storage[4] = -s;
|
|
this._m4storage[5] = c;
|
|
this._m4storage[6] = 0;
|
|
this._m4storage[8] = 0;
|
|
this._m4storage[9] = 0;
|
|
this._m4storage[10] = 1.0f;
|
|
this._m4storage[3] = 0;
|
|
this._m4storage[7] = 0;
|
|
this._m4storage[11] = 0;
|
|
}
|
|
|
|
void setRotationZ(float radians, float px, float py) {
|
|
float c = Mathf.Cos(radians);
|
|
float s = Mathf.Sin(radians);
|
|
this._m4storage[0] = c;
|
|
this._m4storage[1] = s;
|
|
this._m4storage[2] = 0;
|
|
this._m4storage[4] = -s;
|
|
this._m4storage[5] = c;
|
|
this._m4storage[6] = 0;
|
|
this._m4storage[8] = 0;
|
|
this._m4storage[9] = 0;
|
|
this._m4storage[10] = 1.0f;
|
|
this._m4storage[3] = 0;
|
|
this._m4storage[7] = 0;
|
|
this._m4storage[11] = 0;
|
|
this._m4storage[12] = s * py + (1 - c) * px;
|
|
this._m4storage[13] = -s * px + (1 - c) * py;
|
|
}
|
|
|
|
public float invert() => this.copyInverse(this);
|
|
|
|
float copyInverse(Matrix4 arg) {
|
|
float a00 = arg[0];
|
|
float a01 = arg[1];
|
|
float a02 = arg[2];
|
|
float a03 = arg[3];
|
|
float a10 = arg[4];
|
|
float a11 = arg[5];
|
|
float a12 = arg[6];
|
|
float a13 = arg[7];
|
|
float a20 = arg[8];
|
|
float a21 = arg[9];
|
|
float a22 = arg[10];
|
|
float a23 = arg[11];
|
|
float a30 = arg[12];
|
|
float a31 = arg[13];
|
|
float a32 = arg[14];
|
|
float a33 = arg[15];
|
|
float b00 = a00 * a11 - a01 * a10;
|
|
float b01 = a00 * a12 - a02 * a10;
|
|
float b02 = a00 * a13 - a03 * a10;
|
|
float b03 = a01 * a12 - a02 * a11;
|
|
float b04 = a01 * a13 - a03 * a11;
|
|
float b05 = a02 * a13 - a03 * a12;
|
|
float b06 = a20 * a31 - a21 * a30;
|
|
float b07 = a20 * a32 - a22 * a30;
|
|
float b08 = a20 * a33 - a23 * a30;
|
|
float b09 = a21 * a32 - a22 * a31;
|
|
float b10 = a21 * a33 - a23 * a31;
|
|
float b11 = a22 * a33 - a23 * a32;
|
|
float det =
|
|
(b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06);
|
|
if (det == 0) {
|
|
this.setFrom(arg);
|
|
return 0;
|
|
}
|
|
|
|
float invDet = 1.0f / det;
|
|
this._m4storage[0] = (a11 * b11 - a12 * b10 + a13 * b09) * invDet;
|
|
this._m4storage[1] = (-a01 * b11 + a02 * b10 - a03 * b09) * invDet;
|
|
this._m4storage[2] = (a31 * b05 - a32 * b04 + a33 * b03) * invDet;
|
|
this._m4storage[3] = (-a21 * b05 + a22 * b04 - a23 * b03) * invDet;
|
|
this._m4storage[4] = (-a10 * b11 + a12 * b08 - a13 * b07) * invDet;
|
|
this._m4storage[5] = (a00 * b11 - a02 * b08 + a03 * b07) * invDet;
|
|
this._m4storage[6] = (-a30 * b05 + a32 * b02 - a33 * b01) * invDet;
|
|
this._m4storage[7] = (a20 * b05 - a22 * b02 + a23 * b01) * invDet;
|
|
this._m4storage[8] = (a10 * b10 - a11 * b08 + a13 * b06) * invDet;
|
|
this._m4storage[9] = (-a00 * b10 + a01 * b08 - a03 * b06) * invDet;
|
|
this._m4storage[10] = (a30 * b04 - a31 * b02 + a33 * b00) * invDet;
|
|
this._m4storage[11] = (-a20 * b04 + a21 * b02 - a23 * b00) * invDet;
|
|
this._m4storage[12] = (-a10 * b09 + a11 * b07 - a12 * b06) * invDet;
|
|
this._m4storage[13] = (a00 * b09 - a01 * b07 + a02 * b06) * invDet;
|
|
this._m4storage[14] = (-a30 * b03 + a31 * b01 - a32 * b00) * invDet;
|
|
this._m4storage[15] = (a20 * b03 - a21 * b01 + a22 * b00) * invDet;
|
|
return det;
|
|
}
|
|
|
|
public int index(int row, int col) => (col * 4) + row;
|
|
|
|
public float entry(int row, int col) {
|
|
D.assert((row >= 0) && (row < this.dimension));
|
|
D.assert((col >= 0) && (col < this.dimension));
|
|
|
|
return this._m4storage[this.index(row, col)];
|
|
}
|
|
|
|
public float this[int index] {
|
|
get {
|
|
D.assert((uint) index < 16);
|
|
return this._m4storage[index];
|
|
}
|
|
|
|
set {
|
|
D.assert((uint) index < 16);
|
|
this._m4storage[index] = value;
|
|
}
|
|
}
|
|
|
|
public bool Equals(Matrix4 other) {
|
|
if (ReferenceEquals(null, other)) {
|
|
return false;
|
|
}
|
|
|
|
if (ReferenceEquals(this, other)) {
|
|
return true;
|
|
}
|
|
|
|
return (this._m4storage[0] == other._m4storage[0]) &&
|
|
(this._m4storage[1] == other._m4storage[1]) &&
|
|
(this._m4storage[2] == other._m4storage[2]) &&
|
|
(this._m4storage[3] == other._m4storage[3]) &&
|
|
(this._m4storage[4] == other._m4storage[4]) &&
|
|
(this._m4storage[5] == other._m4storage[5]) &&
|
|
(this._m4storage[6] == other._m4storage[6]) &&
|
|
(this._m4storage[7] == other._m4storage[7]) &&
|
|
(this._m4storage[8] == other._m4storage[8]) &&
|
|
(this._m4storage[9] == other._m4storage[9]) &&
|
|
(this._m4storage[10] == other._m4storage[10]) &&
|
|
(this._m4storage[11] == other._m4storage[11]) &&
|
|
(this._m4storage[12] == other._m4storage[12]) &&
|
|
(this._m4storage[13] == other._m4storage[13]) &&
|
|
(this._m4storage[14] == other._m4storage[14]) &&
|
|
(this._m4storage[15] == other._m4storage[15]);
|
|
}
|
|
|
|
public override bool Equals(object obj) {
|
|
if (ReferenceEquals(null, obj)) {
|
|
return false;
|
|
}
|
|
|
|
if (ReferenceEquals(this, obj)) {
|
|
return true;
|
|
}
|
|
|
|
if (obj.GetType() != this.GetType()) {
|
|
return false;
|
|
}
|
|
|
|
return this.Equals((Matrix4) obj);
|
|
}
|
|
|
|
public override int GetHashCode() {
|
|
return (this._m4storage != null ? this._m4storage.GetHashCode() : 0);
|
|
}
|
|
}
|
|
}
|