249 lines
9.2 KiB
C#
249 lines
9.2 KiB
C#
//-----------------------------------------------------------------------
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//-----------------------------------------------------------------------
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// file="matrix3x4.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 System;
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using System.Drawing;
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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.Math
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{
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[StructLayout(LayoutKind.Explicit, Size = (7 * 4 * sizeof(float)) + sizeof(bool), Pack = 16)]
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public struct Matrix34:IMat
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{
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[FieldOffset(7 * 4 * sizeof(float))] internal bool isTransposed;
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[FieldOffset(0)] internal Mat4 mat;
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[FieldOffset(4 * 4 * sizeof(float))] internal Mat3 transpose;
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[FieldOffset(0 * 4 * sizeof(float))] public vec3d Colum0;
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[FieldOffset(1 * 4 * sizeof(float))] public vec3d Colum1;
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[FieldOffset(2 * 4 * sizeof(float))] public vec3d Colum2;
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[FieldOffset(3 * 4 * sizeof(float))] public vec3d Colum3;
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internal Matrix34(Mat4 mat)
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{
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this.mat = mat;
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}
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internal Matrix34(
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Vector4 c0,
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Vector4 c1,
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Vector4 c2,
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Vector4 c3
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)
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{
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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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mat.colum3 = c3;
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}
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public Matrix34(
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float a00, float a01, float a02, float a03,
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float a10, float a11, float a12, float a13,
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float a20, float a21, float a22, float a23
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)
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{
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mat.colum0 = new Vector4(a00, a10, a20, 0);
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mat.colum0 = new Vector4(a01, a11, a21, 0);
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mat.colum0 = new Vector4(a02, a12, a22, 0);
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mat.colum0 = new Vector4(a03, a13, a23, 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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{
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throw new ArgumentOutOfRangeException(nameof(columNum));
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}
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if ((columNum > 3) || (columNum < 0))
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{
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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)
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+ (((ulong)sizeof(Vector4)) * ((ulong)rowNum))
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+ (((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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{
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throw new ArgumentOutOfRangeException(nameof(columNum));
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}
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if ((columNum > 3) || (columNum < 0))
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{
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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)
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+ (((ulong)sizeof(Vector4)) * ((ulong)rowNum))
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+ (((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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internal unsafe void InternalTranspose()
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{
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if (!isTransposed)
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{
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fixed (Mat4* source = &this.mat)
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{
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fixed (Mat3* target = &this.transpose)
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{
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InternalIO.Transpose4to3_internal(source, target);
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}
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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 Matrix34 operator -(Matrix34 left, Matrix34 right)
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{
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return new Matrix34(
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left.mat.colum0 - right.mat.colum0,
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left.mat.colum1 - right.mat.colum1,
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left.mat.colum2 - right.mat.colum2,
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left.mat.colum3 - right.mat.colum3
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);
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}
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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public static Matrix34 operator *(Matrix34 mat, float value)
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{
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return new Matrix34(
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mat.mat.colum0 * value,
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mat.mat.colum1 * value,
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mat.mat.colum2 * value,
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mat.mat.colum3 * value
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);
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}
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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public static Matrix32 operator *(Matrix34 left, Matrix42 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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}
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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public static Matrix33 operator *(Matrix34 left, Matrix43 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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}
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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public static Matrix34 operator *(Matrix34 left, Matrix44 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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}
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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public static Matrix34 operator /(Matrix34 mat, float value)
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{
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return new Matrix34(
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mat.mat.colum0 / value,
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mat.mat.colum1 / value,
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mat.mat.colum2 / value,
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mat.mat.colum3 / value
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);
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}
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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public static Matrix34 operator +(Matrix34 left, Matrix34 right)
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{
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return new Matrix34(
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left.mat.colum0 + right.mat.colum0,
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left.mat.colum1 + right.mat.colum1,
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left.mat.colum2 + right.mat.colum2,
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left.mat.colum3 + right.mat.colum3
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);
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}
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}
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}
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