//----------------------------------------------------------------------- //----------------------------------------------------------------------- // file="matrix3x4.cs" // Project: StgSharp // AuthorGroup: Nitload Space // Copyright (c) Nitload Space. All rights reserved. // // Permission is hereby granted, free of charge, to any person // obtaining a copy of this software and associated documentation // files (the “Software”), to deal in the Software without restriction, // including without limitation the rights to use, copy, modify, merge, // publish, distribute, sublicense, and/or sell copies of the Software, // and to permit persons to whom the Software is furnished to do so, // subject to the following conditions: // // The above copyright notice and // this permission notice shall be included in all copies // or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED “AS IS”, // WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, // INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. // IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, // DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, // ARISING FROM, OUT OF OR IN CONNECTION WITH // THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. // //----------------------------------------------------------------------- //----------------------------------------------------------------------- using System; using System.Drawing; using System.Numerics; using System.Runtime.CompilerServices; using System.Runtime.InteropServices; namespace StgSharp.Math { [StructLayout(LayoutKind.Explicit, Size = (7 * 4 * sizeof(float)) + sizeof(bool), Pack = 16)] public struct Matrix3x4 { [FieldOffset(0)] internal Mat4 mat; [FieldOffset(4 * 4 * sizeof(float))] internal Mat3 transpose; [FieldOffset(7 * 4 * sizeof(float))] internal bool isTransposed; [FieldOffset(0 * 4 * sizeof(float))] public vec3d Colum0; [FieldOffset(1 * 4 * sizeof(float))] public vec3d Colum1; [FieldOffset(2 * 4 * sizeof(float))] public vec3d Colum2; [FieldOffset(3 * 4 * sizeof(float))] public vec3d Colum3; internal Matrix3x4(Mat4 mat) { this.mat = mat; } internal Matrix3x4( Vector4 c0, Vector4 c1, Vector4 c2, Vector4 c3 ) { mat.colum0 = c0; mat.colum1 = c1; mat.colum2 = c2; mat.colum3 = c3; } public Matrix3x4( float a00, float a01, float a02, float a03, float a10, float a11, float a12, float a13, float a20, float a21, float a22, float a23 ) { mat.colum0 = new Vector4(a00, a10, a20, 0); mat.colum0 = new Vector4(a01, a11, a21, 0); mat.colum0 = new Vector4(a02, a12, a22, 0); mat.colum0 = new Vector4(a03, a13, a23, 0); } public unsafe float this[int rowNum, int columNum] { get { if ((rowNum > 2) || (rowNum < 0)) { throw new ArgumentOutOfRangeException(nameof(columNum)); } if ((columNum > 3) || (columNum < 0)) { throw new ArgumentOutOfRangeException(nameof(columNum)); } InternalTranspose(); fixed (float* p = &this.transpose.m00) { ulong pbit = ((ulong)p) + (((ulong)sizeof(Vector4)) * ((ulong)rowNum)) + (((ulong)sizeof(float)) * ((ulong)columNum)); return *(float*)pbit; } } set { if ((rowNum > 2) || (rowNum < 0)) { throw new ArgumentOutOfRangeException(nameof(columNum)); } if ((columNum > 3) || (columNum < 0)) { throw new ArgumentOutOfRangeException(nameof(columNum)); } InternalTranspose(); fixed (float* p = &this.transpose.m00) { ulong pbit = ((ulong)p) + (((ulong)sizeof(Vector4)) * ((ulong)rowNum)) + (((ulong)sizeof(float)) * ((ulong)columNum)); *(float*)pbit = value; } isTransposed = false; } } internal unsafe void InternalTranspose() { if (!isTransposed) { fixed (Mat4* source = &this.mat) { fixed (Mat3* target = &this.transpose) { InternalIO.Transpose4to3_internal(source, target); } } isTransposed = true; } } [MethodImpl(MethodImplOptions.AggressiveInlining)] public static Matrix3x4 operator -(Matrix3x4 left, Matrix3x4 right) { return new Matrix3x4( left.mat.colum0 - right.mat.colum0, left.mat.colum1 - right.mat.colum1, left.mat.colum2 - right.mat.colum2, left.mat.colum3 - right.mat.colum3 ); } [MethodImpl(MethodImplOptions.AggressiveInlining)] public static Matrix3x4 operator *(Matrix3x4 mat, float value) { return new Matrix3x4( mat.mat.colum0 * value, mat.mat.colum1 * value, mat.mat.colum2 * value, mat.mat.colum3 * value ); } [MethodImpl(MethodImplOptions.AggressiveInlining)] public static Matrix3x2 operator *(Matrix3x4 left, Matrix4x2 right) { left.InternalTranspose(); return new Matrix3x2( Vector4.Dot(left.transpose.colum0, right.mat.colum0), Vector4.Dot(left.transpose.colum0, right.mat.colum1), Vector4.Dot(left.transpose.colum1, right.mat.colum0), Vector4.Dot(left.transpose.colum1, right.mat.colum1), Vector4.Dot(left.transpose.colum2, right.mat.colum0), Vector4.Dot(left.transpose.colum2, right.mat.colum1) ); } [MethodImpl(MethodImplOptions.AggressiveInlining)] public static Matrix3x3 operator *(Matrix3x4 left, Matrix4x3 right) { left.InternalTranspose(); return new Matrix3x3( Vector4.Dot(left.transpose.colum0, right.mat.colum0), Vector4.Dot(left.transpose.colum0, right.mat.colum1), Vector4.Dot(left.transpose.colum0, right.mat.colum2), Vector4.Dot(left.transpose.colum1, right.mat.colum0), Vector4.Dot(left.transpose.colum1, right.mat.colum1), Vector4.Dot(left.transpose.colum1, right.mat.colum2), Vector4.Dot(left.transpose.colum2, right.mat.colum0), Vector4.Dot(left.transpose.colum2, right.mat.colum1), Vector4.Dot(left.transpose.colum2, right.mat.colum2) ); } [MethodImpl(MethodImplOptions.AggressiveInlining)] public static Matrix3x4 operator *(Matrix3x4 left, Matrix4x4 right) { left.InternalTranspose(); return new Matrix3x4( Vector4.Dot(left.transpose.colum0, right.mat.colum0), Vector4.Dot(left.transpose.colum0, right.mat.colum1), Vector4.Dot(left.transpose.colum0, right.mat.colum2), Vector4.Dot(left.transpose.colum0, right.mat.colum3), Vector4.Dot(left.transpose.colum1, right.mat.colum0), Vector4.Dot(left.transpose.colum1, right.mat.colum1), Vector4.Dot(left.transpose.colum1, right.mat.colum2), Vector4.Dot(left.transpose.colum1, right.mat.colum3), Vector4.Dot(left.transpose.colum2, right.mat.colum0), Vector4.Dot(left.transpose.colum2, right.mat.colum1), Vector4.Dot(left.transpose.colum2, right.mat.colum2), Vector4.Dot(left.transpose.colum2, right.mat.colum3) ); } [MethodImpl(MethodImplOptions.AggressiveInlining)] public static Matrix3x4 operator /(Matrix3x4 mat, float value) { return new Matrix3x4( mat.mat.colum0 / value, mat.mat.colum1 / value, mat.mat.colum2 / value, mat.mat.colum3 / value ); } [MethodImpl(MethodImplOptions.AggressiveInlining)] public static Matrix3x4 operator +(Matrix3x4 left, Matrix3x4 right) { return new Matrix3x4( left.mat.colum0 + right.mat.colum0, left.mat.colum1 + right.mat.colum1, left.mat.colum2 + right.mat.colum2, left.mat.colum3 + right.mat.colum3 ); } } }