317 lines
9.7 KiB
Haxe
317 lines
9.7 KiB
Haxe
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package kha.math;
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class Matrix4 {
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static inline var width: Int = 4;
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static inline var height: Int = 4;
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public var _00: Float;
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public var _10: Float;
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public var _20: Float;
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public var _30: Float;
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public var _01: Float;
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public var _11: Float;
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public var _21: Float;
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public var _31: Float;
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public var _02: Float;
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public var _12: Float;
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public var _22: Float;
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public var _32: Float;
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public var _03: Float;
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public var _13: Float;
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public var _23: Float;
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public var _33: Float;
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public inline function new(_00: Float, _10: Float, _20: Float, _30: Float, _01: Float, _11: Float, _21: Float, _31: Float, _02: Float, _12: Float,
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_22: Float, _32: Float, _03: Float, _13: Float, _23: Float, _33: Float) {
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this._00 = _00;
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this._10 = _10;
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this._20 = _20;
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this._30 = _30;
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this._01 = _01;
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this._11 = _11;
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this._21 = _21;
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this._31 = _31;
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this._02 = _02;
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this._12 = _12;
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this._22 = _22;
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this._32 = _32;
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this._03 = _03;
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this._13 = _13;
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this._23 = _23;
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this._33 = _33;
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}
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public static inline function fromFastMatrix4(m: FastMatrix4): Matrix4 {
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return new Matrix4(m._00, m._10, m._20, m._30, m._01, m._11, m._21, m._31, m._02, m._12, m._22, m._32, m._03, m._13, m._23, m._33);
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}
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extern public inline function setFrom(m: Matrix4): Void {
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this._00 = m._00;
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this._10 = m._10;
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this._20 = m._20;
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this._30 = m._30;
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this._01 = m._01;
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this._11 = m._11;
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this._21 = m._21;
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this._31 = m._31;
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this._02 = m._02;
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this._12 = m._12;
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this._22 = m._22;
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this._32 = m._32;
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this._03 = m._03;
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this._13 = m._13;
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this._23 = m._23;
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this._33 = m._33;
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}
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extern public static inline function translation(x: Float, y: Float, z: Float): Matrix4 {
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return new Matrix4(1, 0, 0, x, 0, 1, 0, y, 0, 0, 1, z, 0, 0, 0, 1);
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}
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extern public static inline function empty(): Matrix4 {
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return new Matrix4(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
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}
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extern public static inline function identity(): Matrix4 {
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return new Matrix4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
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}
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extern public static inline function scale(x: Float, y: Float, z: Float): Matrix4 {
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return new Matrix4(x, 0, 0, 0, 0, y, 0, 0, 0, 0, z, 0, 0, 0, 0, 1);
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}
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extern public static inline function rotationX(alpha: Float): Matrix4 {
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var ca = Math.cos(alpha);
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var sa = Math.sin(alpha);
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return new Matrix4(1, 0, 0, 0, 0, ca, -sa, 0, 0, sa, ca, 0, 0, 0, 0, 1);
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}
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extern public static inline function rotationY(alpha: Float): Matrix4 {
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var ca = Math.cos(alpha);
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var sa = Math.sin(alpha);
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return new Matrix4(ca, 0, sa, 0, 0, 1, 0, 0, -sa, 0, ca, 0, 0, 0, 0, 1);
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}
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extern public static inline function rotationZ(alpha: Float): Matrix4 {
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var ca = Math.cos(alpha);
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var sa = Math.sin(alpha);
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return new Matrix4(ca, -sa, 0, 0, sa, ca, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
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}
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extern public static inline function rotation(yaw: Float, pitch: Float, roll: Float): Matrix4 {
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var sy = Math.sin(yaw);
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var cy = Math.cos(yaw);
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var sx = Math.sin(pitch);
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var cx = Math.cos(pitch);
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var sz = Math.sin(roll);
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var cz = Math.cos(roll);
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return new Matrix4(cx * cy, cx * sy * sz
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- sx * cz, cx * sy * cz
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+ sx * sz, 0, sx * cy, sx * sy * sz
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+ cx * cz, sx * sy * cz
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- cx * sz, 0,
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-sy,
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cy * sz, cy * cz, 0, 0, 0, 0, 1);
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}
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// Inlining this leads to weird error in C#, please investigate
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public static function orthogonalProjection(left: Float, right: Float, bottom: Float, top: Float, zn: Float, zf: Float): Matrix4 {
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var tx: Float = -(right + left) / (right - left);
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var ty: Float = -(top + bottom) / (top - bottom);
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var tz: Float = -(zf + zn) / (zf - zn);
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return new Matrix4(2 / (right - left), 0, 0, tx, 0, 2 / (top - bottom), 0, ty, 0, 0, -2 / (zf - zn), tz, 0, 0, 0, 1);
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}
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public static function perspectiveProjection(fovY: Float, aspect: Float, zn: Float, zf: Float): Matrix4 {
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var uh = 1.0 / Math.tan(fovY / 2);
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var uw = uh / aspect;
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return new Matrix4(uw, 0, 0, 0, 0, uh, 0, 0, 0, 0, (zf + zn) / (zn - zf), 2 * zf * zn / (zn - zf), 0, 0, -1, 0);
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}
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public static function lookAt(eye: Vector3, at: Vector3, up: Vector3): Matrix4 {
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var zaxis = at.sub(eye).normalized();
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var xaxis = zaxis.cross(up).normalized();
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var yaxis = xaxis.cross(zaxis);
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return new Matrix4(xaxis.x, xaxis.y, xaxis.z, -xaxis.dot(eye), yaxis.x, yaxis.y, yaxis.z, -yaxis.dot(eye), -zaxis.x, -zaxis.y, -zaxis.z,
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zaxis.dot(eye), 0, 0, 0, 1);
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}
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extern public inline function add(m: Matrix4): Matrix4 {
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return new Matrix4(_00
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+ m._00, _10
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+ m._10, _20
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+ m._20, _30
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+ m._30, _01
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+ m._01, _11
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+ m._11, _21
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+ m._21, _31
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+ m._31, _02
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+ m._02, _12
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+ m._12,
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_22
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+ m._22, _32
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+ m._32, _03
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+ m._03, _13
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+ m._13, _23
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+ m._23, _33
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+ m._33);
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}
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extern public inline function sub(m: Matrix4): Matrix4 {
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return new Matrix4(_00
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- m._00, _10
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- m._10, _20
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- m._20, _30
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- m._30, _01
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- m._01, _11
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- m._11, _21
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- m._21, _31
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- m._31, _02
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- m._02, _12
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- m._12,
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_22
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- m._22, _32
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- m._32, _03
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- m._03, _13
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- m._13, _23
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- m._23, _33
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- m._33);
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}
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extern public inline function mult(value: Float): Matrix4 {
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return new Matrix4(_00 * value, _10 * value, _20 * value, _30 * value, _01 * value, _11 * value, _21 * value, _31 * value, _02 * value, _12 * value,
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_22 * value, _32 * value, _03 * value, _13 * value, _23 * value, _33 * value);
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}
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extern public inline function transpose(): Matrix4 {
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return new Matrix4(_00, _01, _02, _03, _10, _11, _12, _13, _20, _21, _22, _23, _30, _31, _32, _33);
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}
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extern public inline function transpose3x3(): Matrix4 {
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return new Matrix4(_00, _01, _02, _30, _10, _11, _12, _31, _20, _21, _22, _32, _03, _13, _23, _33);
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}
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extern public inline function trace(): Float {
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return _00 + _11 + _22 + _33;
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}
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extern public inline function multmat(m: Matrix4): Matrix4 {
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return new Matrix4(_00 * m._00
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+ _10 * m._01
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+ _20 * m._02
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+ _30 * m._03, _00 * m._10
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+ _10 * m._11
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+ _20 * m._12
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+ _30 * m._13,
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_00 * m._20
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+ _10 * m._21
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+ _20 * m._22
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+ _30 * m._23, _00 * m._30
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+ _10 * m._31
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+ _20 * m._32
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+ _30 * m._33,
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_01 * m._00
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+ _11 * m._01
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+ _21 * m._02
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+ _31 * m._03, _01 * m._10
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+ _11 * m._11
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+ _21 * m._12
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+ _31 * m._13,
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_01 * m._20
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+ _11 * m._21
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+ _21 * m._22
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+ _31 * m._23, _01 * m._30
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+ _11 * m._31
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+ _21 * m._32
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+ _31 * m._33,
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_02 * m._00
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+ _12 * m._01
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+ _22 * m._02
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+ _32 * m._03, _02 * m._10
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+ _12 * m._11
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+ _22 * m._12
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+ _32 * m._13,
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_02 * m._20
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+ _12 * m._21
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+ _22 * m._22
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+ _32 * m._23, _02 * m._30
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+ _12 * m._31
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+ _22 * m._32
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+ _32 * m._33,
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_03 * m._00
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+ _13 * m._01
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+ _23 * m._02
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+ _33 * m._03, _03 * m._10
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+ _13 * m._11
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+ _23 * m._12
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+ _33 * m._13,
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_03 * m._20
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+ _13 * m._21
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+ _23 * m._22
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+ _33 * m._23, _03 * m._30
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+ _13 * m._31
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+ _23 * m._32
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+ _33 * m._33);
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}
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extern public inline function multvec(value: Vector4): Vector4 {
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var product = new Vector4();
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product.x = _00 * value.x + _10 * value.y + _20 * value.z + _30 * value.w;
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product.y = _01 * value.x + _11 * value.y + _21 * value.z + _31 * value.w;
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product.z = _02 * value.x + _12 * value.y + _22 * value.z + _32 * value.w;
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product.w = _03 * value.x + _13 * value.y + _23 * value.z + _33 * value.w;
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return product;
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}
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extern public inline function cofactor(m0: Float, m1: Float, m2: Float, m3: Float, m4: Float, m5: Float, m6: Float, m7: Float, m8: Float): Float {
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return m0 * (m4 * m8 - m5 * m7) - m1 * (m3 * m8 - m5 * m6) + m2 * (m3 * m7 - m4 * m6);
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}
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extern public inline function determinant(): Float {
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var c00 = cofactor(_11, _21, _31, _12, _22, _32, _13, _23, _33);
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var c01 = cofactor(_10, _20, _30, _12, _22, _32, _13, _23, _33);
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var c02 = cofactor(_10, _20, _30, _11, _21, _31, _13, _23, _33);
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var c03 = cofactor(_10, _20, _30, _11, _21, _31, _12, _22, _32);
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return _00 * c00 - _01 * c01 + _02 * c02 - _03 * c03;
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}
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extern public inline function inverse(): Matrix4 {
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var c00 = cofactor(_11, _21, _31, _12, _22, _32, _13, _23, _33);
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var c01 = cofactor(_10, _20, _30, _12, _22, _32, _13, _23, _33);
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var c02 = cofactor(_10, _20, _30, _11, _21, _31, _13, _23, _33);
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var c03 = cofactor(_10, _20, _30, _11, _21, _31, _12, _22, _32);
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var det: Float = _00 * c00 - _01 * c01 + _02 * c02 - _03 * c03;
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if (Math.abs(det) < 0.000001) {
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throw "determinant is too small";
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}
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var c10 = cofactor(_01, _21, _31, _02, _22, _32, _03, _23, _33);
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var c11 = cofactor(_00, _20, _30, _02, _22, _32, _03, _23, _33);
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var c12 = cofactor(_00, _20, _30, _01, _21, _31, _03, _23, _33);
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var c13 = cofactor(_00, _20, _30, _01, _21, _31, _02, _22, _32);
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var c20 = cofactor(_01, _11, _31, _02, _12, _32, _03, _13, _33);
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var c21 = cofactor(_00, _10, _30, _02, _12, _32, _03, _13, _33);
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var c22 = cofactor(_00, _10, _30, _01, _11, _31, _03, _13, _33);
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var c23 = cofactor(_00, _10, _30, _01, _11, _31, _02, _12, _32);
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var c30 = cofactor(_01, _11, _21, _02, _12, _22, _03, _13, _23);
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var c31 = cofactor(_00, _10, _20, _02, _12, _22, _03, _13, _23);
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var c32 = cofactor(_00, _10, _20, _01, _11, _21, _03, _13, _23);
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var c33 = cofactor(_00, _10, _20, _01, _11, _21, _02, _12, _22);
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var invdet: Float = 1.0 / det;
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return new Matrix4(c00 * invdet,
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-c01 * invdet, c02 * invdet,
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-c03 * invdet,
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-c10 * invdet, c11 * invdet,
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-c12 * invdet, c13 * invdet, c20 * invdet,
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-c21 * invdet, c22 * invdet,
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-c23 * invdet,
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-c30 * invdet, c31 * invdet,
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-c32 * invdet, c33 * invdet);
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}
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}
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