A couple more maths functions

andykorth · Feb 23, 2013 · b20b21d · b20b21d
1 parent 11114ca
commit b20b21d
Show file tree

Hide file tree

Showing 2 changed files with 25 additions and 2 deletions.
diff --git a/Source/OpenTK/Math/Matrix4.cs b/Source/OpenTK/Math/Matrix4.cs
@@ -280,6 +280,17 @@ public void Normalize()
             Row2.Xyz = Row2.Xyz.Normalized();
         }
 
+        /// <summary>
+        /// Returns an inverted copy of this instance.
+        /// </summary>
+        public Matrix4 Inverted()
+        {
+            Matrix4 m = this;
+            if (m.Determinant != 0)
+                m.Invert();
+            return m;
+        }
+
         /// <summary>
         /// Gets the translation component of this instance.
         /// </summary>
@@ -343,7 +354,8 @@ public Quaternion RotationPart
                     q.Y = (float)((Row2[1] + Row1[2]) * sq);
                 }
 
-                return q.Normalized();
+                q.Normalize();
+				return q;
             }
         }
 

diff --git a/Source/OpenTK/Math/Quaternion.cs b/Source/OpenTK/Math/Quaternion.cs
@@ -192,14 +192,25 @@ public float LengthSquared
         /// <summary>
         /// Returns a copy of the Quaternion scaled to unit length.
         /// </summary>
-        /// <returns></returns>
         public Quaternion Normalized()
         {
             Quaternion q = this;
             q.Normalize();
             return q;
         }
 
+        public void Invert()
+        {
+            W = -W;
+        }
+
+        public Quaternion Inverted()
+        {
+            var q = this;
+            q.Invert();
+            return q;
+        }
+
         #region public void Normalize()
 
         /// <summary>