mirror of
https://github.com/space-wizards/RobustToolbox.git
synced 2026-02-15 03:30:53 +01:00
972 lines
34 KiB
C#
972 lines
34 KiB
C#
#region --- License ---
|
|
|
|
/*
|
|
Copyright (c) 2006 - 2008 The Open Toolkit library.
|
|
|
|
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.
|
|
*/
|
|
|
|
#endregion --- License ---
|
|
|
|
using System;
|
|
using System.Runtime.CompilerServices;
|
|
using System.Runtime.InteropServices;
|
|
using System.Xml.Serialization;
|
|
|
|
namespace Robust.Shared.Maths
|
|
{
|
|
/// <summary>Represents a 4D vector using four single-precision floating-point numbers.</summary>
|
|
/// <remarks>
|
|
/// The Vector4 structure is suitable for interoperation with unmanaged code requiring four consecutive floats.
|
|
/// </remarks>
|
|
[Serializable]
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public struct Vector4 : IEquatable<Vector4>
|
|
{
|
|
#region Fields
|
|
|
|
/// <summary>
|
|
/// The X component of the Vector4.
|
|
/// </summary>
|
|
public float X;
|
|
|
|
/// <summary>
|
|
/// The Y component of the Vector4.
|
|
/// </summary>
|
|
public float Y;
|
|
|
|
/// <summary>
|
|
/// The Z component of the Vector4.
|
|
/// </summary>
|
|
public float Z;
|
|
|
|
/// <summary>
|
|
/// The W component of the Vector4.
|
|
/// </summary>
|
|
public float W;
|
|
|
|
/// <summary>
|
|
/// Defines a unit-length Vector4 that points towards the X-axis.
|
|
/// </summary>
|
|
public static readonly Vector4 UnitX = new(1, 0, 0, 0);
|
|
|
|
/// <summary>
|
|
/// Defines a unit-length Vector4 that points towards the Y-axis.
|
|
/// </summary>
|
|
public static readonly Vector4 UnitY = new(0, 1, 0, 0);
|
|
|
|
/// <summary>
|
|
/// Defines a unit-length Vector4 that points towards the Z-axis.
|
|
/// </summary>
|
|
public static readonly Vector4 UnitZ = new(0, 0, 1, 0);
|
|
|
|
/// <summary>
|
|
/// Defines a unit-length Vector4 that points towards the W-axis.
|
|
/// </summary>
|
|
public static readonly Vector4 UnitW = new(0, 0, 0, 1);
|
|
|
|
/// <summary>
|
|
/// Defines a zero-length Vector4.
|
|
/// </summary>
|
|
public static readonly Vector4 Zero = new(0, 0, 0, 0);
|
|
|
|
/// <summary>
|
|
/// Defines an instance with all components set to 1.
|
|
/// </summary>
|
|
public static readonly Vector4 One = new(1, 1, 1, 1);
|
|
|
|
/// <summary>
|
|
/// Defines the size of the Vector4 struct in bytes.
|
|
/// </summary>
|
|
public static readonly int SizeInBytes = Marshal.SizeOf(new Vector4());
|
|
|
|
#endregion Fields
|
|
|
|
#region Constructors
|
|
|
|
/// <summary>
|
|
/// Constructs a new instance.
|
|
/// </summary>
|
|
/// <param name="value">The value that will initialize this instance.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public Vector4(float value)
|
|
{
|
|
X = value;
|
|
Y = value;
|
|
Z = value;
|
|
W = value;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Constructs a new Vector4.
|
|
/// </summary>
|
|
/// <param name="x">The x component of the Vector4.</param>
|
|
/// <param name="y">The y component of the Vector4.</param>
|
|
/// <param name="z">The z component of the Vector4.</param>
|
|
/// <param name="w">The w component of the Vector4.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public Vector4(float x, float y, float z, float w)
|
|
{
|
|
X = x;
|
|
Y = y;
|
|
Z = z;
|
|
W = w;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Constructs a new Vector4 from the given Vector2.
|
|
/// </summary>
|
|
/// <param name="v">The Vector2 to copy components from.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public Vector4(Vector2 v)
|
|
{
|
|
X = v.X;
|
|
Y = v.Y;
|
|
Z = 0.0f;
|
|
W = 0.0f;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Constructs a new Vector4 from the given Vector3.
|
|
/// The w component is initialized to 0.
|
|
/// </summary>
|
|
/// <param name="v">The Vector3 to copy components from.</param>
|
|
/// <remarks><seealso cref="Vector4(Vector3, float)"/></remarks>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public Vector4(Vector3 v)
|
|
{
|
|
X = v.X;
|
|
Y = v.Y;
|
|
Z = v.Z;
|
|
W = 0.0f;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Constructs a new Vector4 from the specified Vector3 and w component.
|
|
/// </summary>
|
|
/// <param name="v">The Vector3 to copy components from.</param>
|
|
/// <param name="w">The w component of the new Vector4.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public Vector4(Vector3 v, float w)
|
|
{
|
|
X = v.X;
|
|
Y = v.Y;
|
|
Z = v.Z;
|
|
W = w;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Constructs a new Vector4 from the given Vector4.
|
|
/// </summary>
|
|
/// <param name="v">The Vector4 to copy components from.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public Vector4(Vector4 v)
|
|
{
|
|
X = v.X;
|
|
Y = v.Y;
|
|
Z = v.Z;
|
|
W = v.W;
|
|
}
|
|
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public void Deconstruct(out float x, out float y, out float z, out float w)
|
|
{
|
|
x = X;
|
|
y = Y;
|
|
z = Z;
|
|
w = W;
|
|
}
|
|
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static implicit operator Vector4((float x, float y, float z, float w) tuple)
|
|
{
|
|
var (x, y, z, w) = tuple;
|
|
return new Vector4(x, y, z, w);
|
|
}
|
|
|
|
#endregion Constructors
|
|
|
|
#region Public Members
|
|
|
|
#region Instance
|
|
|
|
#region public float Length
|
|
|
|
/// <summary>
|
|
/// Gets the length (magnitude) of the vector.
|
|
/// </summary>
|
|
/// <seealso cref="LengthSquared"/>
|
|
public float Length
|
|
{
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
get => MathF.Sqrt(LengthSquared);
|
|
}
|
|
|
|
#endregion public float Length
|
|
|
|
#region public float LengthSquared
|
|
|
|
/// <summary>
|
|
/// Gets the square of the vector length (magnitude).
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// This property avoids the costly square root operation required by the Length property. This makes it more suitable
|
|
/// for comparisons.
|
|
/// </remarks>
|
|
/// <see cref="Length"/>
|
|
public float LengthSquared
|
|
{
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
get => X * X + Y * Y + Z * Z + W * W;
|
|
}
|
|
|
|
#endregion public float LengthSquared
|
|
|
|
#region public void Normalize()
|
|
|
|
/// <summary>
|
|
/// Scales the Vector4 to unit length.
|
|
/// </summary>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public void Normalize()
|
|
{
|
|
var scale = 1.0f / Length;
|
|
X *= scale;
|
|
Y *= scale;
|
|
Z *= scale;
|
|
W *= scale;
|
|
}
|
|
|
|
#endregion public void Normalize()
|
|
|
|
#endregion Instance
|
|
|
|
#region Static
|
|
|
|
#region Add
|
|
|
|
/// <summary>
|
|
/// Adds two vectors.
|
|
/// </summary>
|
|
/// <param name="a">Left operand.</param>
|
|
/// <param name="b">Right operand.</param>
|
|
/// <returns>Result of operation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Add(Vector4 a, Vector4 b)
|
|
{
|
|
Add(ref a, ref b, out a);
|
|
return a;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds two vectors.
|
|
/// </summary>
|
|
/// <param name="a">Left operand.</param>
|
|
/// <param name="b">Right operand.</param>
|
|
/// <param name="result">Result of operation.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Add(ref Vector4 a, ref Vector4 b, out Vector4 result)
|
|
{
|
|
result = new Vector4(a.X + b.X, a.Y + b.Y, a.Z + b.Z, a.W + b.W);
|
|
}
|
|
|
|
#endregion Add
|
|
|
|
#region Subtract
|
|
|
|
/// <summary>
|
|
/// Subtract one Vector from another
|
|
/// </summary>
|
|
/// <param name="a">First operand</param>
|
|
/// <param name="b">Second operand</param>
|
|
/// <returns>Result of subtraction</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Subtract(Vector4 a, Vector4 b)
|
|
{
|
|
Subtract(ref a, ref b, out a);
|
|
return a;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Subtract one Vector from another
|
|
/// </summary>
|
|
/// <param name="a">First operand</param>
|
|
/// <param name="b">Second operand</param>
|
|
/// <param name="result">Result of subtraction</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Subtract(ref Vector4 a, ref Vector4 b, out Vector4 result)
|
|
{
|
|
result = new Vector4(a.X - b.X, a.Y - b.Y, a.Z - b.Z, a.W - b.W);
|
|
}
|
|
|
|
#endregion Subtract
|
|
|
|
#region Multiply
|
|
|
|
/// <summary>
|
|
/// Multiplies a vector by a scalar.
|
|
/// </summary>
|
|
/// <param name="vector">Left operand.</param>
|
|
/// <param name="scale">Right operand.</param>
|
|
/// <returns>Result of the operation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Multiply(Vector4 vector, float scale)
|
|
{
|
|
Multiply(ref vector, scale, out vector);
|
|
return vector;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Multiplies a vector by a scalar.
|
|
/// </summary>
|
|
/// <param name="vector">Left operand.</param>
|
|
/// <param name="scale">Right operand.</param>
|
|
/// <param name="result">Result of the operation.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Multiply(ref Vector4 vector, float scale, out Vector4 result)
|
|
{
|
|
result = new Vector4(vector.X * scale, vector.Y * scale, vector.Z * scale, vector.W * scale);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Multiplies a vector by the components a vector (scale).
|
|
/// </summary>
|
|
/// <param name="vector">Left operand.</param>
|
|
/// <param name="scale">Right operand.</param>
|
|
/// <returns>Result of the operation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Multiply(Vector4 vector, Vector4 scale)
|
|
{
|
|
Multiply(ref vector, ref scale, out vector);
|
|
return vector;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Multiplies a vector by the components of a vector (scale).
|
|
/// </summary>
|
|
/// <param name="vector">Left operand.</param>
|
|
/// <param name="scale">Right operand.</param>
|
|
/// <param name="result">Result of the operation.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Multiply(ref Vector4 vector, ref Vector4 scale, out Vector4 result)
|
|
{
|
|
result = new Vector4(vector.X * scale.X, vector.Y * scale.Y, vector.Z * scale.Z, vector.W * scale.W);
|
|
}
|
|
|
|
#endregion Multiply
|
|
|
|
#region Divide
|
|
|
|
/// <summary>
|
|
/// Divides a vector by a scalar.
|
|
/// </summary>
|
|
/// <param name="vector">Left operand.</param>
|
|
/// <param name="scale">Right operand.</param>
|
|
/// <returns>Result of the operation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Divide(Vector4 vector, float scale)
|
|
{
|
|
Divide(ref vector, scale, out vector);
|
|
return vector;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Divides a vector by a scalar.
|
|
/// </summary>
|
|
/// <param name="vector">Left operand.</param>
|
|
/// <param name="scale">Right operand.</param>
|
|
/// <param name="result">Result of the operation.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Divide(ref Vector4 vector, float scale, out Vector4 result)
|
|
{
|
|
Multiply(ref vector, 1 / scale, out result);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Divides a vector by the components of a vector (scale).
|
|
/// </summary>
|
|
/// <param name="vector">Left operand.</param>
|
|
/// <param name="scale">Right operand.</param>
|
|
/// <returns>Result of the operation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Divide(Vector4 vector, Vector4 scale)
|
|
{
|
|
Divide(ref vector, ref scale, out vector);
|
|
return vector;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Divide a vector by the components of a vector (scale).
|
|
/// </summary>
|
|
/// <param name="vector">Left operand.</param>
|
|
/// <param name="scale">Right operand.</param>
|
|
/// <param name="result">Result of the operation.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Divide(ref Vector4 vector, ref Vector4 scale, out Vector4 result)
|
|
{
|
|
result = new Vector4(vector.X / scale.X, vector.Y / scale.Y, vector.Z / scale.Z, vector.W / scale.W);
|
|
}
|
|
|
|
#endregion Divide
|
|
|
|
#region Min
|
|
|
|
/// <summary>
|
|
/// Calculate the component-wise minimum of two vectors
|
|
/// </summary>
|
|
/// <param name="a">First operand</param>
|
|
/// <param name="b">Second operand</param>
|
|
/// <returns>The component-wise minimum</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Min(Vector4 a, Vector4 b)
|
|
{
|
|
a.X = MathF.Min(a.X, b.X);
|
|
a.Y = MathF.Min(a.Y, b.Y);
|
|
a.Z = MathF.Min(a.Z, b.Z);
|
|
a.W = MathF.Min(a.W, b.W);
|
|
return a;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Calculate the component-wise minimum of two vectors
|
|
/// </summary>
|
|
/// <param name="a">First operand</param>
|
|
/// <param name="b">Second operand</param>
|
|
/// <param name="result">The component-wise minimum</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Min(ref Vector4 a, ref Vector4 b, out Vector4 result)
|
|
{
|
|
result.X = MathF.Min(a.X, b.X);
|
|
result.Y = MathF.Min(a.Y, b.Y);
|
|
result.Z = MathF.Min(a.Z, b.Z);
|
|
result.W = MathF.Min(a.W, b.W);
|
|
}
|
|
|
|
#endregion Min
|
|
|
|
#region Max
|
|
|
|
/// <summary>
|
|
/// Calculate the component-wise maximum of two vectors
|
|
/// </summary>
|
|
/// <param name="a">First operand</param>
|
|
/// <param name="b">Second operand</param>
|
|
/// <returns>The component-wise maximum</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Max(Vector4 a, Vector4 b)
|
|
{
|
|
a.X = MathF.Max(a.X, b.X);
|
|
a.Y = MathF.Max(a.Y, b.Y);
|
|
a.Z = MathF.Max(a.Z, b.Z);
|
|
a.W = MathF.Max(a.W, b.W);
|
|
return a;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Calculate the component-wise maximum of two vectors
|
|
/// </summary>
|
|
/// <param name="a">First operand</param>
|
|
/// <param name="b">Second operand</param>
|
|
/// <param name="result">The component-wise maximum</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Max(ref Vector4 a, ref Vector4 b, out Vector4 result)
|
|
{
|
|
result.X = MathF.Max(a.X, b.X);
|
|
result.Y = MathF.Max(a.Y, b.Y);
|
|
result.Z = MathF.Max(a.Z, b.Z);
|
|
result.W = MathF.Max(a.W, b.W);
|
|
}
|
|
|
|
#endregion Max
|
|
|
|
#region Clamp
|
|
|
|
/// <summary>
|
|
/// Clamp a vector to the given minimum and maximum vectors
|
|
/// </summary>
|
|
/// <param name="vec">Input vector</param>
|
|
/// <param name="min">Minimum vector</param>
|
|
/// <param name="max">Maximum vector</param>
|
|
/// <returns>The clamped vector</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Clamp(Vector4 vec, Vector4 min, Vector4 max)
|
|
{
|
|
vec.X = MathHelper.Clamp( vec.X, min.X, max.X );
|
|
vec.Y = MathHelper.Clamp( vec.Y, min.Y, max.Y );
|
|
vec.Z = MathHelper.Clamp( vec.Z, min.Z, max.Z );
|
|
vec.W = MathHelper.Clamp( vec.W, min.W, max.W );
|
|
return vec;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Clamp a vector to the given minimum and maximum vectors
|
|
/// </summary>
|
|
/// <param name="vec">Input vector</param>
|
|
/// <param name="min">Minimum vector</param>
|
|
/// <param name="max">Maximum vector</param>
|
|
/// <param name="result">The clamped vector</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Clamp(ref Vector4 vec, ref Vector4 min, ref Vector4 max, out Vector4 result)
|
|
{
|
|
result.X = MathHelper.Clamp( vec.X, min.X, max.X );
|
|
result.Y = MathHelper.Clamp( vec.Y, min.Y, max.Y );
|
|
result.Z = MathHelper.Clamp( vec.Z, min.Z, max.Z );
|
|
result.W = MathHelper.Clamp( vec.W, min.W, max.W );
|
|
}
|
|
|
|
#endregion Clamp
|
|
|
|
#region Normalize
|
|
|
|
/// <summary>
|
|
/// Scale a vector to unit length
|
|
/// </summary>
|
|
/// <param name="vec">The input vector</param>
|
|
/// <returns>The normalized vector</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Normalize(Vector4 vec)
|
|
{
|
|
var scale = 1.0f / vec.Length;
|
|
vec.X *= scale;
|
|
vec.Y *= scale;
|
|
vec.Z *= scale;
|
|
vec.W *= scale;
|
|
return vec;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Scale a vector to unit length
|
|
/// </summary>
|
|
/// <param name="vec">The input vector</param>
|
|
/// <param name="result">The normalized vector</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Normalize(ref Vector4 vec, out Vector4 result)
|
|
{
|
|
var scale = 1.0f / vec.Length;
|
|
result.X = vec.X * scale;
|
|
result.Y = vec.Y * scale;
|
|
result.Z = vec.Z * scale;
|
|
result.W = vec.W * scale;
|
|
}
|
|
|
|
#endregion Normalize
|
|
|
|
#region Dot
|
|
|
|
/// <summary>
|
|
/// Calculate the dot product of two vectors
|
|
/// </summary>
|
|
/// <param name="left">First operand</param>
|
|
/// <param name="right">Second operand</param>
|
|
/// <returns>The dot product of the two inputs</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static float Dot(Vector4 left, Vector4 right)
|
|
{
|
|
return left.X * right.X + left.Y * right.Y + left.Z * right.Z + left.W * right.W;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Calculate the dot product of two vectors
|
|
/// </summary>
|
|
/// <param name="left">First operand</param>
|
|
/// <param name="right">Second operand</param>
|
|
/// <param name="result">The dot product of the two inputs</param>
|
|
public static void Dot(ref Vector4 left, ref Vector4 right, out float result)
|
|
{
|
|
result = left.X * right.X + left.Y * right.Y + left.Z * right.Z + left.W * right.W;
|
|
}
|
|
|
|
#endregion Dot
|
|
|
|
#region Lerp
|
|
|
|
/// <summary>
|
|
/// Returns a new Vector that is the linear blend of the 2 given Vectors
|
|
/// </summary>
|
|
/// <param name="a">First input vector</param>
|
|
/// <param name="b">Second input vector</param>
|
|
/// <param name="blend">The blend factor. a when blend=0, b when blend=1.</param>
|
|
/// <returns>a when blend=0, b when blend=1, and a linear combination otherwise</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Lerp(Vector4 a, Vector4 b, float blend)
|
|
{
|
|
a.X = blend * (b.X - a.X) + a.X;
|
|
a.Y = blend * (b.Y - a.Y) + a.Y;
|
|
a.Z = blend * (b.Z - a.Z) + a.Z;
|
|
a.W = blend * (b.W - a.W) + a.W;
|
|
return a;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Returns a new Vector that is the linear blend of the 2 given Vectors
|
|
/// </summary>
|
|
/// <param name="a">First input vector</param>
|
|
/// <param name="b">Second input vector</param>
|
|
/// <param name="blend">The blend factor. a when blend=0, b when blend=1.</param>
|
|
/// <param name="result">a when blend=0, b when blend=1, and a linear combination otherwise</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Lerp(ref Vector4 a, ref Vector4 b, float blend, out Vector4 result)
|
|
{
|
|
result.X = MathHelper.Lerp(a.X, b.X, blend);
|
|
result.Y = MathHelper.Lerp(a.Y, b.Y, blend);
|
|
result.Z = MathHelper.Lerp(a.Z, b.Z, blend);
|
|
result.W = MathHelper.Lerp(a.W, b.W, blend);
|
|
}
|
|
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 InterpolateCubic(Vector4 preA, Vector4 a, Vector4 b, Vector4 postB, float t)
|
|
{
|
|
return a +
|
|
(b - preA + (preA * 2.0f - a * 5.0f + b * 4.0f - postB + ((a - b) * 3.0f + postB - preA) * t) * t) *
|
|
t * 0.5f;
|
|
}
|
|
|
|
#endregion Lerp
|
|
|
|
#region Barycentric
|
|
|
|
/// <summary>
|
|
/// Interpolate 3 Vectors using Barycentric coordinates
|
|
/// </summary>
|
|
/// <param name="a">First input Vector</param>
|
|
/// <param name="b">Second input Vector</param>
|
|
/// <param name="c">Third input Vector</param>
|
|
/// <param name="u">First Barycentric Coordinate</param>
|
|
/// <param name="v">Second Barycentric Coordinate</param>
|
|
/// <returns>a when u=v=0, b when u=1,v=0, c when u=0,v=1, and a linear combination of a,b,c otherwise</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 BaryCentric(Vector4 a, Vector4 b, Vector4 c, float u, float v)
|
|
{
|
|
return a + u * (b - a) + v * (c - a);
|
|
}
|
|
|
|
/// <summary>Interpolate 3 Vectors using Barycentric coordinates</summary>
|
|
/// <param name="a">First input Vector.</param>
|
|
/// <param name="b">Second input Vector.</param>
|
|
/// <param name="c">Third input Vector.</param>
|
|
/// <param name="u">First Barycentric Coordinate.</param>
|
|
/// <param name="v">Second Barycentric Coordinate.</param>
|
|
/// <param name="result">Output Vector. a when u=v=0, b when u=1,v=0, c when u=0,v=1, and a linear combination of a,b,c otherwise</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void BaryCentric(ref Vector4 a, ref Vector4 b, ref Vector4 c, float u, float v, out Vector4 result)
|
|
{
|
|
result = a; // copy
|
|
|
|
var temp = b; // copy
|
|
Subtract(ref temp, ref a, out temp);
|
|
Multiply(ref temp, u, out temp);
|
|
Add(ref result, ref temp, out result);
|
|
|
|
temp = c; // copy
|
|
Subtract(ref temp, ref a, out temp);
|
|
Multiply(ref temp, v, out temp);
|
|
Add(ref result, ref temp, out result);
|
|
}
|
|
|
|
#endregion Barycentric
|
|
|
|
#region Transform
|
|
|
|
/// <summary>Transform a Vector by the given Matrix</summary>
|
|
/// <param name="vec">The vector to transform</param>
|
|
/// <param name="mat">The desired transformation</param>
|
|
/// <returns>The transformed vector</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Transform(Vector4 vec, Matrix4 mat)
|
|
{
|
|
Transform(ref vec, ref mat, out var result);
|
|
return result;
|
|
}
|
|
|
|
/// <summary>Transform a Vector by the given Matrix</summary>
|
|
/// <param name="vec">The vector to transform</param>
|
|
/// <param name="mat">The desired transformation</param>
|
|
/// <param name="result">The transformed vector</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Transform(ref Vector4 vec, ref Matrix4 mat, out Vector4 result)
|
|
{
|
|
result = new Vector4(
|
|
vec.X * mat.Row0.X + vec.Y * mat.Row1.X + vec.Z * mat.Row2.X + vec.W * mat.Row3.X,
|
|
vec.X * mat.Row0.Y + vec.Y * mat.Row1.Y + vec.Z * mat.Row2.Y + vec.W * mat.Row3.Y,
|
|
vec.X * mat.Row0.Z + vec.Y * mat.Row1.Z + vec.Z * mat.Row2.Z + vec.W * mat.Row3.Z,
|
|
vec.X * mat.Row0.W + vec.Y * mat.Row1.W + vec.Z * mat.Row2.W + vec.W * mat.Row3.W);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Transforms a vector by a quaternion rotation.
|
|
/// </summary>
|
|
/// <param name="vec">The vector to transform.</param>
|
|
/// <param name="quat">The quaternion to rotate the vector by.</param>
|
|
/// <returns>The result of the operation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 Transform(Vector4 vec, Quaternion quat)
|
|
{
|
|
Transform(ref vec, ref quat, out var result);
|
|
return result;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Transforms a vector by a quaternion rotation.
|
|
/// </summary>
|
|
/// <param name="vec">The vector to transform.</param>
|
|
/// <param name="quat">The quaternion to rotate the vector by.</param>
|
|
/// <param name="result">The result of the operation.</param>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static void Transform(ref Vector4 vec, ref Quaternion quat, out Vector4 result)
|
|
{
|
|
var v = new Quaternion(vec.X, vec.Y, vec.Z, vec.W);
|
|
Quaternion.Invert(ref quat, out var i);
|
|
Quaternion.Multiply(ref quat, ref v, out var t);
|
|
Quaternion.Multiply(ref t, ref i, out v);
|
|
|
|
result = new Vector4(v.X, v.Y, v.Z, v.W);
|
|
}
|
|
|
|
#endregion Transform
|
|
|
|
#endregion Static
|
|
|
|
#region Swizzle
|
|
|
|
/// <summary>
|
|
/// Gets or sets an OpenTK.Vector2 with the X and Y components of this instance.
|
|
/// </summary>
|
|
[XmlIgnore]
|
|
public Vector2 Xy
|
|
{
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
get => new(X, Y);
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
set
|
|
{
|
|
X = value.X;
|
|
Y = value.Y;
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Gets or sets an OpenTK.Vector3 with the X, Y and Z components of this instance.
|
|
/// </summary>
|
|
[XmlIgnore]
|
|
public Vector3 Xyz
|
|
{
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
get => new(X, Y, Z);
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
set
|
|
{
|
|
X = value.X;
|
|
Y = value.Y;
|
|
Z = value.Z;
|
|
}
|
|
}
|
|
|
|
#endregion Swizzle
|
|
|
|
#region Operators
|
|
|
|
/// <summary>
|
|
/// Adds two instances.
|
|
/// </summary>
|
|
/// <param name="left">The first instance.</param>
|
|
/// <param name="right">The second instance.</param>
|
|
/// <returns>The result of the calculation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 operator +(Vector4 left, Vector4 right)
|
|
{
|
|
left.X += right.X;
|
|
left.Y += right.Y;
|
|
left.Z += right.Z;
|
|
left.W += right.W;
|
|
return left;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Subtracts two instances.
|
|
/// </summary>
|
|
/// <param name="left">The first instance.</param>
|
|
/// <param name="right">The second instance.</param>
|
|
/// <returns>The result of the calculation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 operator -(Vector4 left, Vector4 right)
|
|
{
|
|
left.X -= right.X;
|
|
left.Y -= right.Y;
|
|
left.Z -= right.Z;
|
|
left.W -= right.W;
|
|
return left;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Negates an instance.
|
|
/// </summary>
|
|
/// <param name="vec">The instance.</param>
|
|
/// <returns>The result of the calculation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 operator -(Vector4 vec)
|
|
{
|
|
vec.X = -vec.X;
|
|
vec.Y = -vec.Y;
|
|
vec.Z = -vec.Z;
|
|
vec.W = -vec.W;
|
|
return vec;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Multiplies an instance by a scalar.
|
|
/// </summary>
|
|
/// <param name="vec">The instance.</param>
|
|
/// <param name="scale">The scalar.</param>
|
|
/// <returns>The result of the calculation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 operator *(Vector4 vec, float scale)
|
|
{
|
|
vec.X *= scale;
|
|
vec.Y *= scale;
|
|
vec.Z *= scale;
|
|
vec.W *= scale;
|
|
return vec;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Multiplies an instance by a scalar.
|
|
/// </summary>
|
|
/// <param name="scale">The scalar.</param>
|
|
/// <param name="vec">The instance.</param>
|
|
/// <returns>The result of the calculation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 operator *(float scale, Vector4 vec)
|
|
{
|
|
vec.X *= scale;
|
|
vec.Y *= scale;
|
|
vec.Z *= scale;
|
|
vec.W *= scale;
|
|
return vec;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Divides an instance by a scalar.
|
|
/// </summary>
|
|
/// <param name="vec">The instance.</param>
|
|
/// <param name="scale">The scalar.</param>
|
|
/// <returns>The result of the calculation.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static Vector4 operator /(Vector4 vec, float scale)
|
|
{
|
|
var mult = 1.0f / scale;
|
|
vec.X *= mult;
|
|
vec.Y *= mult;
|
|
vec.Z *= mult;
|
|
vec.W *= mult;
|
|
return vec;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Compares two instances for equality.
|
|
/// </summary>
|
|
/// <param name="left">The first instance.</param>
|
|
/// <param name="right">The second instance.</param>
|
|
/// <returns>True, if left equals right; false otherwise.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static bool operator ==(Vector4 left, Vector4 right)
|
|
{
|
|
return left.Equals(right);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Compares two instances for inequality.
|
|
/// </summary>
|
|
/// <param name="left">The first instance.</param>
|
|
/// <param name="right">The second instance.</param>
|
|
/// <returns>True, if left does not equal right; false otherwise.</returns>
|
|
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
|
public static bool operator !=(Vector4 left, Vector4 right)
|
|
{
|
|
return !left.Equals(right);
|
|
}
|
|
|
|
#endregion Operators
|
|
|
|
#region Overrides
|
|
|
|
#region public override string ToString()
|
|
|
|
/// <summary>
|
|
/// Returns a System.String that represents the current Vector4.
|
|
/// </summary>
|
|
/// <returns></returns>
|
|
public override string ToString()
|
|
{
|
|
return $"({X}, {Y}, {Z}, {W})";
|
|
}
|
|
|
|
#endregion public override string ToString()
|
|
|
|
#region public override int GetHashCode()
|
|
|
|
/// <summary>
|
|
/// Returns the hash code for this instance.
|
|
/// </summary>
|
|
/// <returns>A System.Int32 containing the unique hashcode for this instance.</returns>
|
|
public override int GetHashCode()
|
|
{
|
|
return X.GetHashCode() ^ Y.GetHashCode() ^ Z.GetHashCode() ^ W.GetHashCode();
|
|
}
|
|
|
|
#endregion public override int GetHashCode()
|
|
|
|
#region public override bool Equals(object obj)
|
|
|
|
/// <summary>
|
|
/// Indicates whether this instance and a specified object are equal.
|
|
/// </summary>
|
|
/// <param name="obj">The object to compare to.</param>
|
|
/// <returns>True if the instances are equal; false otherwise.</returns>
|
|
public override bool Equals(object? obj)
|
|
{
|
|
if (!(obj is Vector4))
|
|
return false;
|
|
|
|
return Equals((Vector4) obj);
|
|
}
|
|
|
|
#endregion public override bool Equals(object obj)
|
|
|
|
#endregion Overrides
|
|
|
|
#endregion Public Members
|
|
|
|
#region IEquatable<Vector4> Members
|
|
|
|
/// <summary>Indicates whether the current vector is equal to another vector.</summary>
|
|
/// <param name="other">A vector to compare with this vector.</param>
|
|
/// <returns>true if the current vector is equal to the vector parameter; otherwise, false.</returns>
|
|
public bool Equals(Vector4 other)
|
|
{
|
|
return
|
|
X == other.X &&
|
|
Y == other.Y &&
|
|
Z == other.Z &&
|
|
W == other.W;
|
|
}
|
|
|
|
#endregion IEquatable<Vector4> Members
|
|
}
|
|
}
|