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feat: added inverse & float scale methods to 4x4 matrices

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Syntriax
2026-01-26 21:48:15 +03:00
parent ee58e60ef1
commit 5ce5e4eb0b
1 changed files with 86 additions and 0 deletions
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86
Engine.Core/Primitives/Matrix4x4.cs
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@@ -62,6 +62,11 @@ public readonly struct Matrix4x4(
0f, 0f, 0f, 1f
);
/// <summary>
/// Represents the inverted version of this <see cref="Matrix4x4"/>.
/// </summary>
public Matrix4x4 Inverse => Invert(this);
public static Matrix4x4 operator *(Matrix4x4 a, Matrix4x4 b) => new(
a.M11 * b.M11 + a.M12 * b.M21 + a.M13 * b.M31 + a.M14 * b.M41,
a.M11 * b.M12 + a.M12 * b.M22 + a.M13 * b.M32 + a.M14 * b.M42,
@@ -129,6 +134,74 @@ public readonly struct Matrix4x4(
m.M13 * m.M21 * m.M32 * m.M44 - m.M11 * m.M23 * m.M32 * m.M44 -
m.M12 * m.M21 * m.M33 * m.M44 + m.M11 * m.M22 * m.M33 * m.M44;
/// <summary>
/// Inverts the given <see cref="Matrix4x4"/>.
/// </summary>
/// <param name="m">The <see cref="Matrix4x4"/>.</param>
/// <returns>The inverted <see cref="Matrix4x4"/> of the given <see cref="Matrix4x4"/>.</returns>
public static Matrix4x4 Invert(Matrix4x4 m)
{
float m1 = m.M11, m2 = m.M12, m3 = m.M13, m4 = m.M14;
float m5 = m.M21, m6 = m.M22, m7 = m.M23, m8 = m.M24;
float m9 = m.M31, m10 = m.M32, m11 = m.M33, m12 = m.M34;
float m13 = m.M41, m14 = m.M42, m15 = m.M43, m16 = m.M44;
float num = m11 * m16 - m12 * m15;
float num2 = m10 * m16 - m12 * m14;
float num3 = m10 * m15 - m11 * m14;
float num4 = m9 * m16 - m12 * m13;
float num5 = m9 * m15 - m11 * m13;
float num6 = m9 * m14 - m10 * m13;
float num7 = m6 * num - m7 * num2 + m8 * num3;
float num8 = -(m5 * num - m7 * num4 + m8 * num5);
float num9 = m5 * num2 - m6 * num4 + m8 * num6;
float num10 = -(m5 * num3 - m6 * num5 + m7 * num6);
float invDet = 1f / (m1 * num7 + m2 * num8 + m3 * num9 + m4 * num10);
float r11 = num7 * invDet;
float r21 = num8 * invDet;
float r31 = num9 * invDet;
float r41 = num10 * invDet;
float r12 = (-(m2 * num - m3 * num2 + m4 * num3)) * invDet;
float r22 = (m1 * num - m3 * num4 + m4 * num5) * invDet;
float r32 = (-(m1 * num2 - m2 * num4 + m4 * num6)) * invDet;
float r42 = (m1 * num3 - m2 * num5 + m3 * num6) * invDet;
float num12 = m7 * m16 - m8 * m15;
float num13 = m6 * m16 - m8 * m14;
float num14 = m6 * m15 - m7 * m14;
float num15 = m5 * m16 - m8 * m13;
float num16 = m5 * m15 - m7 * m13;
float num17 = m5 * m14 - m6 * m13;
float r13 = (m2 * num12 - m3 * num13 + m4 * num14) * invDet;
float r23 = (-(m1 * num12 - m3 * num15 + m4 * num16)) * invDet;
float r33 = (m1 * num13 - m2 * num15 + m4 * num17) * invDet;
float r43 = (-(m1 * num14 - m2 * num16 + m3 * num17)) * invDet;
float num18 = m7 * m12 - m8 * m11;
float num19 = m6 * m12 - m8 * m10;
float num20 = m6 * m11 - m7 * m10;
float num21 = m5 * m12 - m8 * m9;
float num22 = m5 * m11 - m7 * m9;
float num23 = m5 * m10 - m6 * m9;
float r14 = (-(m2 * num18 - m3 * num19 + m4 * num20)) * invDet;
float r24 = (m1 * num18 - m3 * num21 + m4 * num22) * invDet;
float r34 = (-(m1 * num19 - m2 * num21 + m4 * num23)) * invDet;
float r44 = (m1 * num20 - m2 * num22 + m3 * num23) * invDet;
return new(
r11, r12, r13, r14,
r21, r22, r23, r24,
r31, r32, r33, r34,
r41, r42, r43, r44
);
}
public static Matrix4x4 CreateTranslation(Vector3D position) => new(
1f, 0f, 0f, 0f,
0f, 1f, 0f, 0f,
@@ -136,6 +209,13 @@ public readonly struct Matrix4x4(
position.X, position.Y, position.Z, 1
);
public static Matrix4x4 CreateScale(float scale) => new(
scale, 0f, 0f, 0f,
0f, scale, 0f, 0f,
0f, 0f, scale, 0f,
0f, 0f, 0f, 1f
);
public static Matrix4x4 CreateScale(Vector3D scale) => new(
scale.X, 0f, 0f, 0f,
0f, scale.Y, 0f, 0f,
@@ -261,12 +341,18 @@ public static class Matrix4x4Extensions
/// <inheritdoc cref="Matrix4x4.Determinant(Matrix4x4)" />
public static float Determinant(this Matrix4x4 matrix) => Matrix4x4.Determinant(matrix);
/// <inheritdoc cref="Matrix4x4.Invert(Matrix4x4)" />
public static Matrix4x4 Invert(this Matrix4x4 matrix) => Matrix4x4.Invert(matrix);
/// <inheritdoc cref="Matrix4x4.CreateTranslation(Vector3D)" />
public static Matrix4x4 ApplyTranslation(this Matrix4x4 matrix, Vector3D translation) => matrix * Matrix4x4.CreateTranslation(translation);
/// <inheritdoc cref="Matrix4x4.CreateScale(Vector3D)" />
public static Matrix4x4 ApplyScale(this Matrix4x4 matrix, Vector3 scale) => matrix * Matrix4x4.CreateScale(scale);
/// <inheritdoc cref="Matrix4x4.CreateScale(float)" />
public static Matrix4x4 ApplyScale(this Matrix4x4 matrix, float scale) => matrix * Matrix4x4.CreateScale(scale);
/// <inheritdoc cref="Matrix4x4.CreateRotationZ(float)" />
public static Matrix4x4 ApplyRotationX(this Matrix4x4 matrix, float radians) => matrix * Matrix4x4.CreateRotationX(radians);