Struct Matrix3d

Represents a 3x3 matrix containing 3D rotation and scale with double-precision components.

Implements

IEquatable<Matrix3d>

Inherited Members

Object.Equals(Object, Object)

Object.ReferenceEquals(Object, Object)

Object.GetType()

Namespace: OpenTK

Assembly: OpenTK.dll

Syntax

[Serializable]
public struct Matrix3d : IEquatable<Matrix3d>

Constructors

Matrix3d(Matrix4d)

Constructs a new instance.

Declaration

public Matrix3d(Matrix4d matrix)

Parameters

Type	Name	Description
Matrix4d	matrix	A Matrix4d to take the upper-left 3x3 from.

Matrix3d(Vector3d, Vector3d, Vector3d)

Constructs a new instance.

Declaration

public Matrix3d(Vector3d row0, Vector3d row1, Vector3d row2)

Parameters

Type	Name	Description
Vector3d	row0	Top row of the matrix
Vector3d	row1	Second row of the matrix
Vector3d	row2	Bottom row of the matrix

Matrix3d(Double, Double, Double, Double, Double, Double, Double, Double, Double)

Constructs a new instance.

Declaration

public Matrix3d(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)

Parameters

Type	Name	Description
Double	m00	First item of the first row of the matrix.
Double	m01	Second item of the first row of the matrix.
Double	m02	Third item of the first row of the matrix.
Double	m10	First item of the second row of the matrix.
Double	m11	Second item of the second row of the matrix.
Double	m12	Third item of the second row of the matrix.
Double	m20	First item of the third row of the matrix.
Double	m21	Second item of the third row of the matrix.
Double	m22	Third item of the third row of the matrix.

Fields

Identity

The identity matrix.

Declaration

public static Matrix3d Identity

Field Value

Type	Description
Matrix3d

Row0

First row of the matrix.

Declaration

public Vector3d Row0

Field Value

Type	Description
Vector3d

Row1

Second row of the matrix.

Declaration

public Vector3d Row1

Field Value

Type	Description
Vector3d

Row2

Third row of the matrix.

Declaration

public Vector3d Row2

Field Value

Type	Description
Vector3d

Properties

Column0

Gets the first column of this matrix.

Declaration

public readonly Vector3d Column0 { get; }

Property Value

Type	Description
Vector3d

Column1

Gets the second column of this matrix.

Declaration

public readonly Vector3d Column1 { get; }

Property Value

Type	Description
Vector3d

Column2

Gets the third column of this matrix.

Declaration

public readonly Vector3d Column2 { get; }

Property Value

Type	Description
Vector3d

Determinant

Gets the determinant of this matrix.

Declaration

public readonly double Determinant { get; }

Property Value

Type	Description
Double

Diagonal

Gets or sets the values along the main diagonal of the matrix.

Declaration

public Vector3d Diagonal { get; set; }

Property Value

Type	Description
Vector3d

Item[Int32, Int32]

Gets or sets the value at a specified row and column.

Declaration

public double this[int rowIndex, int columnIndex] { get; set; }

Parameters

Type	Name	Description
Int32	rowIndex
Int32	columnIndex

Property Value

Type	Description
Double

M11

Gets or sets the value at row 1, column 1 of this instance.

Declaration

public double M11 { get; set; }

Property Value

Type	Description
Double

M12

Gets or sets the value at row 1, column 2 of this instance.

Declaration

public double M12 { get; set; }

Property Value

Type	Description
Double

M13

Gets or sets the value at row 1, column 3 of this instance.

Declaration

public double M13 { get; set; }

Property Value

Type	Description
Double

M21

Gets or sets the value at row 2, column 1 of this instance.

Declaration

public double M21 { get; set; }

Property Value

Type	Description
Double

M22

Gets or sets the value at row 2, column 2 of this instance.

Declaration

public double M22 { get; set; }

Property Value

Type	Description
Double

M23

Gets or sets the value at row 2, column 3 of this instance.

Declaration

public double M23 { get; set; }

Property Value

Type	Description
Double

M31

Gets or sets the value at row 3, column 1 of this instance.

Declaration

public double M31 { get; set; }

Property Value

Type	Description
Double

M32

Gets or sets the value at row 3, column 2 of this instance.

Declaration

public double M32 { get; set; }

Property Value

Type	Description
Double

M33

Gets or sets the value at row 3, column 3 of this instance.

Declaration

public double M33 { get; set; }

Property Value

Type	Description
Double

Trace

Gets the trace of the matrix, the sum of the values along the diagonal.

Declaration

public readonly double Trace { get; }

Property Value

Type	Description
Double

Methods

Add(Matrix3d, Matrix3d)

Adds two instances.

Declaration

public static Matrix3d Add(Matrix3d left, Matrix3d right)

Parameters

Type	Name	Description
Matrix3d	left	The left operand of the addition.
Matrix3d	right	The right operand of the addition.

Returns

Type	Description
Matrix3d	A new instance that is the result of the addition.

Add(ref Matrix3d, ref Matrix3d, out Matrix3d)

Adds two instances.

Declaration

public static void Add(ref Matrix3d left, ref Matrix3d right, out Matrix3d result)

Parameters

Type	Name	Description
Matrix3d	left	The left operand of the addition.
Matrix3d	right	The right operand of the addition.
Matrix3d	result	A new instance that is the result of the addition.

ClearRotation()

Returns a copy of this Matrix3 without rotation.

Declaration

public Matrix3d ClearRotation()

Returns

Type	Description
Matrix3d

ClearScale()

Returns a copy of this Matrix3 without scale.

Declaration

public Matrix3d ClearScale()

Returns

Type	Description
Matrix3d

CreateFromAxisAngle(Vector3d, Double)

Build a rotation matrix from the specified axis/angle rotation.

Declaration

public static Matrix3d CreateFromAxisAngle(Vector3d axis, double angle)

Parameters

Type	Name	Description
Vector3d	axis	The axis to rotate about.
Double	angle	Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).

Returns

Type	Description
Matrix3d	A matrix instance.

CreateFromAxisAngle(Vector3d, Double, out Matrix3d)

Build a rotation matrix from the specified axis/angle rotation.

Declaration

public static void CreateFromAxisAngle(Vector3d axis, double angle, out Matrix3d result)

Parameters

Type	Name	Description
Vector3d	axis	The axis to rotate about.
Double	angle	Angle in radians to rotate counter-clockwise (looking in the direction of the given axis).
Matrix3d	result	A matrix instance.

CreateFromQuaternion(Quaterniond)

Build a rotation matrix from the specified quaternion.

Declaration

public static Matrix3d CreateFromQuaternion(Quaterniond q)

Parameters

Type	Name	Description
Quaterniond	q	Quaternion to translate.

Returns

Type	Description
Matrix3d	A matrix instance.

CreateFromQuaternion(ref Quaterniond, out Matrix3d)

Build a rotation matrix from the specified quaternion.

Declaration

public static void CreateFromQuaternion(ref Quaterniond q, out Matrix3d result)

Parameters

Type	Name	Description
Quaterniond	q	Quaternion to translate.
Matrix3d	result	Matrix result.

CreateRotationX(Double)

Builds a rotation matrix for a rotation around the x-axis.

Declaration

public static Matrix3d CreateRotationX(double angle)

Parameters

Type	Name	Description
Double	angle	The counter-clockwise angle in radians.

Returns

Type	Description
Matrix3d	The resulting Matrix3d instance.

CreateRotationX(Double, out Matrix3d)

Builds a rotation matrix for a rotation around the x-axis.

Declaration

public static void CreateRotationX(double angle, out Matrix3d result)

Parameters

Type	Name	Description
Double	angle	The counter-clockwise angle in radians.
Matrix3d	result	The resulting Matrix3d instance.

CreateRotationY(Double)

Builds a rotation matrix for a rotation around the y-axis.

Declaration

public static Matrix3d CreateRotationY(double angle)

Parameters

Type	Name	Description
Double	angle	The counter-clockwise angle in radians.

Returns

Type	Description
Matrix3d	The resulting Matrix3d instance.

CreateRotationY(Double, out Matrix3d)

Builds a rotation matrix for a rotation around the y-axis.

Declaration

public static void CreateRotationY(double angle, out Matrix3d result)

Parameters

Type	Name	Description
Double	angle	The counter-clockwise angle in radians.
Matrix3d	result	The resulting Matrix3d instance.

CreateRotationZ(Double)

Builds a rotation matrix for a rotation around the z-axis.

Declaration

public static Matrix3d CreateRotationZ(double angle)

Parameters

Type	Name	Description
Double	angle	The counter-clockwise angle in radians.

Returns

Type	Description
Matrix3d	The resulting Matrix3d instance.

CreateRotationZ(Double, out Matrix3d)

Builds a rotation matrix for a rotation around the z-axis.

Declaration

public static void CreateRotationZ(double angle, out Matrix3d result)

Parameters

Type	Name	Description
Double	angle	The counter-clockwise angle in radians.
Matrix3d	result	The resulting Matrix3d instance.

CreateScale(Vector3d)

Creates a scale matrix.

Declaration

public static Matrix3d CreateScale(Vector3d scale)

Parameters

Type	Name	Description
Vector3d	scale	Scale factors for the x, y, and z axes.

Returns

Type	Description
Matrix3d	A scale matrix.

CreateScale(ref Vector3d, out Matrix3d)

Creates a scale matrix.

Declaration

public static void CreateScale(ref Vector3d scale, out Matrix3d result)

Parameters

Type	Name	Description
Vector3d	scale	Scale factors for the x, y, and z axes.
Matrix3d	result	A scale matrix.

CreateScale(Double)

Creates a scale matrix.

Declaration

public static Matrix3d CreateScale(double scale)

Parameters

Type	Name	Description
Double	scale	Single scale factor for the x, y, and z axes.

Returns

Type	Description
Matrix3d	A scale matrix.

CreateScale(Double, out Matrix3d)

Creates a scale matrix.

Declaration

public static void CreateScale(double scale, out Matrix3d result)

Parameters

Type	Name	Description
Double	scale	Single scale factor for the x, y, and z axes.
Matrix3d	result	A scale matrix.

CreateScale(Double, Double, Double)

Creates a scale matrix.

Declaration

public static Matrix3d CreateScale(double x, double y, double z)

Parameters

Type	Name	Description
Double	x	Scale factor for the x axis.
Double	y	Scale factor for the y axis.
Double	z	Scale factor for the z axis.

Returns

Type	Description
Matrix3d	A scale matrix.

CreateScale(Double, Double, Double, out Matrix3d)

Creates a scale matrix.

Declaration

public static void CreateScale(double x, double y, double z, out Matrix3d result)

Parameters

Type	Name	Description
Double	x	Scale factor for the x axis.
Double	y	Scale factor for the y axis.
Double	z	Scale factor for the z axis.
Matrix3d	result	A scale matrix.

Equals(Matrix3d)

Indicates whether the current matrix is equal to another matrix.

Declaration

public bool Equals(Matrix3d other)

Parameters

Type	Name	Description
Matrix3d	other	A matrix to compare with this matrix.

Returns

Type	Description
Boolean	true if the current matrix is equal to the matrix parameter; otherwise, false.

Equals(Object)

Indicates whether this instance and a specified object are equal.

Declaration

public override bool Equals(object obj)

Parameters

Type	Name	Description
Object	obj	The object to compare to.

Returns

Type	Description
Boolean	True if the instances are equal; false otherwise.

Overrides

ValueType.Equals(Object)

ExtractRotation(Boolean)

Returns the rotation component of this instance. Quite slow.

Declaration

public Quaterniond ExtractRotation(bool row_normalise = true)

Parameters

Type	Name	Description
Boolean	row_normalise	Whether the method should row-normalise (i.e. remove scale from) the Matrix. Pass false if you know it's already normalised.

Returns

Type	Description
Quaterniond

ExtractScale()

Returns the scale component of this instance.

Declaration

public Vector3d ExtractScale()

Returns

Type	Description
Vector3d

GetHashCode()

Returns the hashcode for this instance.

Declaration

public override int GetHashCode()

Returns

Type	Description
Int32	A System.Int32 containing the unique hashcode for this instance.

Overrides

ValueType.GetHashCode()

Invert()

Converts this instance into its inverse.

Declaration

public void Invert()

Invert(Matrix3d)

Calculate the inverse of the given matrix

Declaration

public static Matrix3d Invert(Matrix3d mat)

Parameters

Type	Name	Description
Matrix3d	mat	The matrix to invert

Returns

Type	Description
Matrix3d	The inverse of the given matrix if it has one, or the input if it is singular

Exceptions

Type	Condition
InvalidOperationException	Thrown if the Matrix4 is singular.

Invert(ref Matrix3d, out Matrix3d)

Calculate the inverse of the given matrix

Declaration

public static void Invert(ref Matrix3d mat, out Matrix3d result)

Parameters

Type	Name	Description
Matrix3d	mat	The matrix to invert
Matrix3d	result	The inverse of the given matrix if it has one, or the input if it is singular

Exceptions

Type	Condition
InvalidOperationException	Thrown if the Matrix3d is singular.

Inverted()

Returns an inverted copy of this instance.

Declaration

public Matrix3d Inverted()

Returns

Type	Description
Matrix3d

Mult(Matrix3d, Matrix3d)

Multiplies two instances.

Declaration

public static Matrix3d Mult(Matrix3d left, Matrix3d right)

Parameters

Type	Name	Description
Matrix3d	left	The left operand of the multiplication.
Matrix3d	right	The right operand of the multiplication.

Returns

Type	Description
Matrix3d	A new instance that is the result of the multiplication

Mult(ref Matrix3d, ref Matrix3d, out Matrix3d)

Multiplies two instances.

Declaration

public static void Mult(ref Matrix3d left, ref Matrix3d right, out Matrix3d result)

Parameters

Type	Name	Description
Matrix3d	left	The left operand of the multiplication.
Matrix3d	right	The right operand of the multiplication.
Matrix3d	result	A new instance that is the result of the multiplication

Normalize()

Divides each element in the Matrix by the Determinant.

Declaration

public void Normalize()

Normalized()

Returns a normalised copy of this instance.

Declaration

public Matrix3d Normalized()

Returns

Type	Description
Matrix3d

ToString()

Returns a System.String that represents the current Matrix3d.

Declaration

public override string ToString()

Returns

Type	Description
String	The string representation of the matrix.

Overrides

ValueType.ToString()

Transpose()

Converts this instance into its transpose.

Declaration

public void Transpose()

Transpose(Matrix3d)

Calculate the transpose of the given matrix

Declaration

public static Matrix3d Transpose(Matrix3d mat)

Parameters

Type	Name	Description
Matrix3d	mat	The matrix to transpose

Returns

Type	Description
Matrix3d	The transpose of the given matrix

Transpose(ref Matrix3d, out Matrix3d)

Calculate the transpose of the given matrix

Declaration

public static void Transpose(ref Matrix3d mat, out Matrix3d result)

Parameters

Type	Name	Description
Matrix3d	mat	The matrix to transpose
Matrix3d	result	The result of the calculation

Operators

Equality(Matrix3d, Matrix3d)

Compares two instances for equality.

Declaration

public static bool operator ==(Matrix3d left, Matrix3d right)

Parameters

Type	Name	Description
Matrix3d	left	The first instance.
Matrix3d	right	The second instance.

Returns

Type	Description
Boolean	True, if left equals right; false otherwise.

Inequality(Matrix3d, Matrix3d)

Compares two instances for inequality.

Declaration

public static bool operator !=(Matrix3d left, Matrix3d right)

Parameters

Type	Name	Description
Matrix3d	left	The first instance.
Matrix3d	right	The second instance.

Returns

Type	Description
Boolean	True, if left does not equal right; false otherwise.

Multiply(Matrix3d, Matrix3d)

Matrix multiplication

Declaration

public static Matrix3d operator *(Matrix3d left, Matrix3d right)

Parameters

Type	Name	Description
Matrix3d	left	left-hand operand
Matrix3d	right	right-hand operand

Returns

Type	Description
Matrix3d	A new Matrix3d which holds the result of the multiplication

Implements

System.IEquatable<T>