void MATRIX::Scale(VECTOR v){
MATRIX swp;
swp.Identity();
swp.m[0][0]=v.x;
swp.m[1][1]=v.y;
swp.m[2][2]=v.z;
*this=*this*swp;
}
void MATRIX::Translate(VECTOR v){
MATRIX swp;
swp.Identity();
swp.m[3][0]=v.x;
swp.m[3][1]=v.y;
swp.m[3][2]=v.z;
*this=*this*swp;
}
static MATRIX RotateZ(float a){
float cosinus=cosf(a);
float sinus=sinf(a);
MATRIX ret;
ret.Identity();
ret.m[0][0]=cosinus;
ret.m[1][1]=cosinus;
ret.m[0][1]=-sinus;
ret.m[1][0]=sinus;
return ret;
}
void MATRIX::Target(VECTOR v,VECTOR c,float a){
VECTOR u(0,1,0);
VECTOR z=v-c;z.Normalize();
VECTOR y=u-z*Dot(u,z);y.Normalize();
VECTOR x=Cross(y,z);
MATRIX swp;
swp.Identity();
swp.m[0][0]=x.x,swp.m[0][1]=y.x,swp.m[0][2]=z.x;
swp.m[1][0]=x.y,swp.m[1][1]=y.y,swp.m[1][2]=z.y;
swp.m[2][0]=x.z,swp.m[2][1]=y.z,swp.m[2][2]=z.z;
swp.m[3][0]=-Dot(c,x);
swp.m[3][1]=-Dot(c,y);
swp.m[3][2]=-Dot(c,z);
*this=RotateZ(-a)*swp;
}