add from giga-device, new branch added
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Nitload Youmu
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//-----------------------------------------------------------------------
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//-----------------------------------------------------------------------
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// file="Matrix33.cs"
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// Project: StgSharp
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// AuthorGroup: Nitload Space
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// Copyright (c) Nitload Space. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person
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// obtaining a copy of this software and associated documentation
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// files (the “Software”), to deal in the Software without restriction,
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// including without limitation the rights to use, copy, modify, merge,
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// publish, distribute, sublicense, and/or sell copies of the Software,
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// and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and
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// this permission notice shall be included in all copies
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// or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED “AS IS”,
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// WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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// IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
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// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
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// ARISING FROM, OUT OF OR IN CONNECTION WITH
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// THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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//
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//-----------------------------------------------------------------------
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//-----------------------------------------------------------------------
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using StgSharp.Internal.Intrinsic;
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using System;
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using System.Numerics;
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using System.Runtime.CompilerServices;
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using System.Runtime.InteropServices;
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namespace StgSharp.Mathematics
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{
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[StructLayout(
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LayoutKind.Explicit,
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Size = ( 6 * 4 * sizeof( float ) ) + sizeof( bool ),
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Pack = 16 )]
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public struct Matrix33 : IMatrix<Matrix33>
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{
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[FieldOffset( 6 * 4 * sizeof( float ) )] internal bool isTransposed;
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[FieldOffset( 0 )] internal ColumnSet3 mat;
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[FieldOffset( 3 * 4 * sizeof( float ) )] internal ColumnSet3 transpose;
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[FieldOffset( 0 * 4 * sizeof( float ) )] public Vec3 Colum0;
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[FieldOffset( 1 * 4 * sizeof( float ) )] public Vec3 Colum1;
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[FieldOffset( 2 * 4 * sizeof( float ) )] public Vec3 Colum2;
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internal Matrix33( Vector4 c0, Vector4 c1, Vector4 c2 )
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{
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Unsafe.SkipInit( out this );
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isTransposed = false;
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mat.colum0 = c0;
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mat.colum1 = c1;
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mat.colum2 = c2;
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}
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public Matrix33()
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{
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Unsafe.SkipInit( out this );
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isTransposed = false;
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}
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public Matrix33(
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float a00,
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float a01,
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float a02,
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float a10,
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float a11,
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float a12,
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float a20,
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float a21,
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float a22 )
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{
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Unsafe.SkipInit( out this );
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isTransposed = false;
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mat.colum0 = new Vector4( a00, a10, a20, 0 );
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mat.colum1 = new Vector4( a01, a11, a21, 0 );
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mat.colum2 = new Vector4( a02, a12, a22, 0 );
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}
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public unsafe float this[ int rowNum, int columNum ]
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{
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get
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{
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if( ( rowNum > 2 ) || ( rowNum < 0 ) ) {
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throw new ArgumentOutOfRangeException( nameof( columNum ) );
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}
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if( ( columNum > 2 ) || ( columNum < 0 ) ) {
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throw new ArgumentOutOfRangeException( nameof( columNum ) );
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}
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InternalTranspose();
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fixed( float* p = &this.transpose.m00 )
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{
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ulong pbit = ( ( ulong )p ) + ( ( ( ulong )sizeof( Vector4 ) ) * ( ( ulong )rowNum ) ) + ( ( ( ulong )sizeof( float ) ) * ( ( ulong )columNum ) );
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return *( float* )pbit;
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}
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}
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set
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{
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if( ( rowNum > 2 ) || ( rowNum < 0 ) ) {
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throw new ArgumentOutOfRangeException( nameof( columNum ) );
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}
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if( ( columNum > 2 ) || ( columNum < 0 ) ) {
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InternalIO.InternalWriteLog(
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$"Attempt to write unused space in {GetType().Name} {nameof(mat)}",
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LogType.Error );
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}
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InternalTranspose();
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fixed( float* p = &this.transpose.m00 )
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{
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ulong pbit = ( ( ulong )p ) + ( ( ( ulong )sizeof( Vector4 ) ) * ( ( ulong )rowNum ) ) + ( ( ( ulong )sizeof( float ) ) * ( ( ulong )columNum ) );
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*( float* )pbit = value;
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}
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isTransposed = false;
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}
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}
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[MethodImpl( MethodImplOptions.AggressiveInlining )]
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public unsafe float Det()
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{
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fixed( ColumnSet3* mat = &this.mat ) {
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return InternalIO.Intrinsic.det_mat_3( mat, ( ColumnSet3* )0 );
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}
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}
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[MethodImpl( MethodImplOptions.AggressiveInlining )]
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internal unsafe void InternalTranspose()
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{
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if( !isTransposed )
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{
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fixed( ColumnSet3* source = &this.mat, target = &this.transpose ) {
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InternalIO.Intrinsic.transpose33( source, target );
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}
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isTransposed = true;
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}
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}
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[MethodImpl( MethodImplOptions.AggressiveInlining )]
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public static unsafe Matrix33 operator -( Matrix33 left, Matrix33 right )
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{
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Matrix33 ret = new Matrix33();
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InternalIO.Intrinsic.sub_mat_3( &left.mat, &right.mat, &ret.mat );
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return ret;
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}
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[MethodImpl( MethodImplOptions.AggressiveInlining )]
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public static Matrix33 operator *( Matrix33 mat, float value )
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{
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return new Matrix33(
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mat.mat.colum0 * value, mat.mat.colum1 * value, mat.mat.colum2 * value );
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}
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[MethodImpl( MethodImplOptions.AggressiveInlining )]
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public static Vec3 operator *( Matrix33 left, Vec3 right )
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{
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left.InternalTranspose();
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return new Vec3(
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Vector4.Dot( left.transpose.colum0, right.reg.AsVector4() ),
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Vector4.Dot( left.transpose.colum1, right.reg.AsVector4() ),
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Vector4.Dot( left.transpose.colum2, right.reg.AsVector4() ) );
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}
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[MethodImpl( MethodImplOptions.AggressiveInlining )]
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public static Matrix32 operator *( Matrix33 left, Matrix32 right )
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{
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left.InternalTranspose();
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return new Matrix32(
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Vector4.Dot( left.transpose.colum0, right.mat.colum0 ),
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Vector4.Dot( left.transpose.colum0, right.mat.colum1 ),
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Vector4.Dot( left.transpose.colum1, right.mat.colum0 ),
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Vector4.Dot( left.transpose.colum1, right.mat.colum1 ),
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Vector4.Dot( left.transpose.colum2, right.mat.colum0 ),
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Vector4.Dot( left.transpose.colum2, right.mat.colum1 ) );
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}
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[MethodImpl( MethodImplOptions.AggressiveInlining )]
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public static Matrix33 operator *( Matrix33 left, Matrix33 right )
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{
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left.InternalTranspose();
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return new Matrix33(
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Vector4.Dot( left.transpose.colum0, right.mat.colum0 ),
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Vector4.Dot( left.transpose.colum0, right.mat.colum1 ),
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Vector4.Dot( left.transpose.colum0, right.mat.colum2 ),
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Vector4.Dot( left.transpose.colum1, right.mat.colum0 ),
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Vector4.Dot( left.transpose.colum1, right.mat.colum1 ),
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Vector4.Dot( left.transpose.colum1, right.mat.colum2 ),
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Vector4.Dot( left.transpose.colum2, right.mat.colum0 ),
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Vector4.Dot( left.transpose.colum2, right.mat.colum1 ),
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Vector4.Dot( left.transpose.colum2, right.mat.colum2 ) );
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}
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[MethodImpl( MethodImplOptions.AggressiveInlining )]
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public static Matrix34 operator *( Matrix33 left, Matrix34 right )
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{
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left.InternalTranspose();
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return new Matrix34(
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Vector4.Dot( left.transpose.colum0, right.mat.colum0 ),
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Vector4.Dot( left.transpose.colum0, right.mat.colum1 ),
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Vector4.Dot( left.transpose.colum0, right.mat.colum2 ),
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Vector4.Dot( left.transpose.colum0, right.mat.colum3 ),
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Vector4.Dot( left.transpose.colum1, right.mat.colum0 ),
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Vector4.Dot( left.transpose.colum1, right.mat.colum1 ),
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Vector4.Dot( left.transpose.colum1, right.mat.colum2 ),
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Vector4.Dot( left.transpose.colum1, right.mat.colum3 ),
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Vector4.Dot( left.transpose.colum2, right.mat.colum0 ),
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Vector4.Dot( left.transpose.colum2, right.mat.colum1 ),
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Vector4.Dot( left.transpose.colum2, right.mat.colum2 ),
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Vector4.Dot( left.transpose.colum2, right.mat.colum3 ) );
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}
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[MethodImpl( MethodImplOptions.AggressiveInlining )]
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public static Matrix33 operator /( Matrix33 mat, float value )
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{
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return new Matrix33(
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mat.mat.colum0 / value, mat.mat.colum1 / value, mat.mat.colum2 / value );
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}
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[MethodImpl( MethodImplOptions.AggressiveInlining )]
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public static unsafe Matrix33 operator +( Matrix33 left, Matrix33 right )
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{
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Matrix33 ret = new Matrix33();
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InternalIO.Intrinsic.add_mat_3( &left.mat, &right.mat, &ret.mat );
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return ret;
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}
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}
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}
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