using System;
using System.Collections.Generic;
using System.IO;
using System.Text;
using Microsoft.DirectX;
using Microsoft.DirectX.Direct3D;

namespace TDCG
{
    /// <summary>
    /// TMOファイルを扱います。
    /// </summary>
    public class TMOFile
    {
        /// <summary>
        /// バイナリ値として読み取ります。
        /// </summary>
        protected BinaryReader reader;

        public byte[] header;
        public int opt0;
        public int opt1;
        public TMONode[] nodes;
        public TMOFrame[] frames;
        public byte[] footer;

        internal Dictionary<string, TMONode> nodemap;

        /// <summary>
        /// 指定パスに保存します。
        /// </summary>
        /// <param name="dest_file">パス</param>
        public void Save(string dest_file)
        {
            using (Stream dest_stream = File.Create(dest_file))
                Save(dest_stream);
        }

        /// <summary>
        /// 指定ストリームに保存します。
        /// </summary>
        /// <param name="dest_stream">ストリーム</param>
        public void Save(Stream dest_stream)
        {
            BinaryWriter bw = new BinaryWriter(dest_stream);

            TMOWriter.WriteMagic(bw);
            TMOWriter.Write(bw, header);
            bw.Write(opt0);
            bw.Write(opt1);
            TMOWriter.Write(bw, nodes);
            TMOWriter.Write(bw, frames);
            TMOWriter.Write(bw, footer);
        }

        /// <summary>
        /// 指定パスから読み込みます。
        /// </summary>
        /// <param name="source_file">パス</param>
        public void Load(string source_file)
        {
            using (Stream source_stream = File.OpenRead(source_file))
                Load(source_stream);
        }

        /// <summary>
        /// 指定ストリームから読み込みます。
        /// </summary>
        /// <param name="source_stream">ストリーム</param>
        public void Load(Stream source_stream)
        {
            this.reader = new BinaryReader(source_stream, System.Text.Encoding.Default);

            byte[] magic = reader.ReadBytes(4);

            if(magic[0] != (byte)'T'
            || magic[1] != (byte)'M'
            || magic[2] != (byte)'O'
            || magic[3] != (byte)'1')
                throw new Exception("File is not TMO");

            this.header = reader.ReadBytes(8);
            this.opt0 = reader.ReadInt32();
            this.opt1 = reader.ReadInt32();

            int node_count = reader.ReadInt32();
            nodes = new TMONode[node_count];
            nodemap = new Dictionary<string, TMONode>();

            for (int i = 0; i < node_count; i++) {
                nodes[i] = new TMONode();
                nodes[i].id = i;
                nodes[i].name = ReadString();
                nodes[i].sname = nodes[i].name.Substring(nodes[i].name.LastIndexOf('|')+1);
                nodemap.Add(nodes[i].name, nodes[i]);

                //Console.WriteLine(i + ": " + nodes[i].name);
            }

            for (int i = 0; i < node_count; i++) {
                int index = nodes[i].name.LastIndexOf('|');
                if (index <= 0)
                    continue;
                string pname = nodes[i].name.Substring(0, index);
                nodes[i].parent = nodemap[pname];
                nodes[i].parent.children.Add(nodes[i]);
            }

            int frame_count = reader.ReadInt32();
            frames = new TMOFrame[frame_count];

            for (int i = 0; i < frame_count; i++) {
                frames[i] = new TMOFrame();
                frames[i].id = i;

                int matrix_count = reader.ReadInt32();
                frames[i].matrices = new TMOMat[matrix_count];

                for (int j = 0; j < matrix_count; j++)
                {
                    TMOMat m = frames[i].matrices[j] = new TMOMat();
                    ReadMatrix(ref m.m);
                    nodes[j].frame_matrices.Add(m);

                    //Console.WriteLine(m.m);
                }
            }

            this.footer = reader.ReadBytes(4);
        }

        public TMOMat GetTMOMat(string name, int frame_index)
        {
            return frames[frame_index].matrices[nodemap[name].id];
        }

        /// <summary>
        /// node idのペアを作成します。
        /// ペアのキーはnode id
        /// ペアの値はもうひとつのtmoにおいて名称（短い形式）が一致するnode idになります。
        /// </summary>
        /// <param name="motion">もうひとつのtmo</param>
        /// <returns>tmo frame indexのペア</returns>
        public int[] CreateNodeIdPair(TMOFile motion)
        {
            Dictionary<string, TMONode> source_nodes = new Dictionary<string, TMONode>();

            Dictionary<string, TMONode> motion_nodes = new Dictionary<string, TMONode>();

            foreach (TMONode node in motion.nodes)
                try {
                    motion_nodes.Add(node.ShortName, node);
                } catch (ArgumentException) {
                    Console.WriteLine("node {0} already exists.", node.ShortName);
                }
            foreach (TMONode node in nodes)
            {
                if (! motion_nodes.ContainsKey(node.ShortName))
                {
                    throw new ArgumentException("error: node not found in motion: " + node.ShortName);
                }
                try {
                    source_nodes.Add(node.ShortName, node);
                } catch (ArgumentException) {
                    Console.WriteLine("node {0} already exists.", node.ShortName);
                }
            }

            int[] index_pair = new int[nodes.Length];

            foreach (TMONode node in nodes)
                index_pair[node.ID] = motion_nodes[node.ShortName].ID;

            return index_pair;
        }

        /// <summary>
        /// 指定tmoからフレームを追加します。
        /// </summary>
        /// <param name="motion">tmo</param>
        public void AppendFrameFrom(TMOFile motion)
        {
            int[] id_pair = CreateNodeIdPair(motion);

            TMOFrame source_frame = frames[0];
            int append_length = motion.frames.Length;
            TMOFrame[] append_frames = new TMOFrame[append_length];
            for (int i = 0; i < motion.frames.Length; i++)
                append_frames[i] = TMOFrame.Select(source_frame, motion.frames[i], id_pair);
                
            int old_length = frames.Length;
            Array.Resize(ref frames, frames.Length + append_length);
            Array.Copy(append_frames, 0, frames, old_length, append_length);
            this.opt0 = frames.Length-1;
        }

        /// <summary>
        /// 指定tmoへフレームを補間します。
        /// </summary>
        /// <param name="motion">tmo</param>
        /// <param name="append_length">補間するフレーム長さ</param>
        public void SlerpFrameEndTo(TMOFile motion, int append_length)
        {
            int i0 = ( frames.Length > 1 ) ? frames.Length-1-1 : 0;
            int i1 = frames.Length-1;
            int i2 = 0;
            int i3 = ( motion.frames.Length > 1 ) ? 1 : 0;

            TMOFrame frame0 = frames[i0];
            TMOFrame frame1 = frames[i1];
            TMOFrame frame2 = motion.frames[i2];
            TMOFrame frame3 = motion.frames[i3];

            TMOFrame[] interp_frames = TMOFrame.Slerp(frame0, frame1, frame2, frame3, append_length);
            int old_length = frames.Length;
            Array.Resize(ref frames, frames.Length + append_length);
            Array.Copy(interp_frames, 0, frames, old_length, append_length);
            this.opt0 = frames.Length-1;
        }

        /// <summary>
        /// 指定tmoへフレームを補間します。
        /// </summary>
        /// <param name="motion">tmo</param>
        public void SlerpFrameEndTo(TMOFile motion)
        {
            SlerpFrameEndTo(motion, 200);
        }

        /// <summary>
        /// フレームを指定indexのみに切り詰めます。
        /// </summary>
        /// <param name="frame_index">index</param>
        public void TruncateFrame(int frame_index)
        {
            if (frame_index < 0)
                return;
            if (frame_index > frames.Length-1)
                return;
            if (frame_index > 0)
                Array.Copy(frames, frame_index, frames, 0, 1);
            Array.Resize(ref frames, 1);
            this.opt0 = 1;
        }

        /// <summary>
        /// 指定名称（短い形式）を持つnodeを検索します。
        /// </summary>
        /// <param name="sname">node名称（短い形式）</param>
        /// <returns></returns>
        public TMONode FindNodeByShortName(string sname)
        {
            foreach(TMONode node in nodes)
                if (node.ShortName == sname)
                    return node;
            return null;
        }

        /// <summary>
        /// 指定tmoのモーション（開始フレームからの変位）を複写します。
        /// </summary>
        /// <param name="motion">tmo</param>
        public void CopyMotionFrom(TMOFile motion)
        {
            int[] id_pair = CreateNodeIdPair(motion);

            TMOFrame source_frame = frames[0];
            TMOFrame motion_frame = motion.frames[0];
            int append_length = motion.frames.Length;
            TMOFrame[] interp_frames = new TMOFrame[append_length];
            for (int i = 0; i < motion.frames.Length; i++)
                interp_frames[i] = TMOFrame.AddSub(source_frame, motion.frames[i], motion_frame, id_pair);
                
            int old_length = frames.Length;
            Array.Resize(ref frames, frames.Length + append_length);
            Array.Copy(interp_frames, 0, frames, old_length, append_length);
            this.opt0 = frames.Length-1;
        }

        /// <summary>
        /// 指定tmoにある指定名称（短い形式）のnodeを同じ名称のnodeに複写します。
        /// </summary>
        /// <param name="motion">tmo</param>
        /// <param name="sname">node名称（短い形式）</param>
        public void CopyNodeFrom(TMOFile motion, string sname)
        {
            TMONode node = this.FindNodeByShortName( sname );
            if (node == null)
                return;
            TMONode motion_node = motion.FindNodeByShortName( sname );
            if (motion_node == null)
                return;
            node.CopyMatFrom(motion_node);
        }

        /// <summary>
        /// 指定tmoと同じnode treeを持つか。
        /// </summary>
        /// <param name="motion">tmo</param>
        /// <returns></returns>
        public bool IsSameNodeTree(TMOFile motion) {
            if (nodes.Length != motion.nodes.Length) {
                //Console.WriteLine("nodes length mismatch {0} {1}", nodes.Length, motion.nodes.Length);
                return false;
            }
            int i = 0;
            foreach(TMONode node in nodes) {
                TMONode motion_node = motion.nodes[i];
                //Console.WriteLine("node ShortName {0} {1}", node.ShortName, motion_node.ShortName);
                if (motion_node.ShortName != node.ShortName)
                    return false;
                i++;
            }
            return true;
        }

        /// <summary>
        /// null終端文字列を読みとります。
        /// </summary>
        /// <returns>文字列</returns>
        public string ReadString()
        {
            StringBuilder string_builder = new StringBuilder();
            while ( true ) {
                char c = reader.ReadChar();
                if (c == 0) break;
                string_builder.Append(c);
            }
            return string_builder.ToString();
        }

        /// <summary>
        /// Matrixを読みとります。
        /// </summary>
        /// <param name="m">Matrix</param>
        public void ReadMatrix(ref Matrix m)
        {
            m.M11 = reader.ReadSingle();
            m.M12 = reader.ReadSingle();
            m.M13 = reader.ReadSingle();
            m.M14 = reader.ReadSingle();
            m.M21 = reader.ReadSingle();
            m.M22 = reader.ReadSingle();
            m.M23 = reader.ReadSingle();
            m.M24 = reader.ReadSingle();
            m.M31 = reader.ReadSingle();
            m.M32 = reader.ReadSingle();
            m.M33 = reader.ReadSingle();
            m.M34 = reader.ReadSingle();
            m.M41 = reader.ReadSingle();
            m.M42 = reader.ReadSingle();
            m.M43 = reader.ReadSingle();
            m.M44 = reader.ReadSingle();
        }
    }

    /// <summary>
    /// Direct3D Matrixのラッパ
    /// </summary>
    public class TMOMat
    {
        internal Matrix m;

        /// <summary>
        /// TMOMatを作成します。
        /// </summary>
        public TMOMat()
        {
        }

        /// <summary>
        /// TMOMatを作成します。
        /// </summary>
        /// <param name="m">matrix</param>
        public TMOMat(Matrix m)
        {
            this.m = m;
        }

        /// <summary>
        /// 指定変位だけ移動します。
        /// </summary>
        /// <param name="translation">変位</param>
        public void Move(Vector3 translation)
        {
            m.M41 += translation.X;
            m.M42 += translation.Y;
            m.M43 += translation.Z;
        }

        /// <summary>
        /// 指定比率で拡大します。
        /// </summary>
        /// <param name="x">X軸拡大比率</param>
        /// <param name="y">Y軸拡大比率</param>
        /// <param name="z">Z軸拡大比率</param>
        public void Scale(float x, float y, float z)
        {
            /*
            m.M11 *= x;
            m.M22 *= y;
            m.M33 *= z;
            */
            m.Multiply(Matrix.Scaling(x, y, z));
            m.M41 /= x;
            m.M42 /= y;
            m.M43 /= z;
        }

        /// <summary>
        /// 指定行列で拡大します。
        /// </summary>
        /// <param name="scaling">scaling matrix</param>
        public void Scale(Matrix scaling)
        {
            /*
            m.M11 *= x;
            m.M22 *= y;
            m.M33 *= z;
            */
            m.Multiply(scaling);
            m.M41 /= scaling.M11;
            m.M42 /= scaling.M22;
            m.M43 /= scaling.M33;
        }

        /// <summary>
        /// 指定行列で縮小します。位置は変更しません。
        /// </summary>
        /// <param name="scaling">scaling matrix</param>
        public void Scale0(Matrix scaling)
        {
            m.M11 /= scaling.M11;
            m.M21 /= scaling.M11;
            m.M31 /= scaling.M11;
            m.M12 /= scaling.M22;
            m.M22 /= scaling.M22;
            m.M32 /= scaling.M22;
            m.M13 /= scaling.M33;
            m.M23 /= scaling.M33;
            m.M33 /= scaling.M33;
        }

        /// <summary>
        /// 指定行列で拡大します。位置は変更しません。
        /// </summary>
        /// <param name="scaling">scaling matrix</param>
        public void Scale1(Matrix scaling)
        {
            m.M11 *= scaling.M11;
            m.M12 *= scaling.M11;
            m.M13 *= scaling.M11;
            m.M21 *= scaling.M22;
            m.M22 *= scaling.M22;
            m.M23 *= scaling.M22;
            m.M31 *= scaling.M33;
            m.M32 *= scaling.M33;
            m.M33 *= scaling.M33;
        }

        /// <summary>
        /// 指定角度でX軸回転します。
        /// </summary>
        /// <param name="angle">角度（ラジアン）</param>
        public void RotateX(float angle)
        {
            Vector3 v = new Vector3(m.M11, m.M12, m.M13);
            Quaternion qt = Quaternion.RotationAxis(v, angle);
            m *= Matrix.RotationQuaternion(qt);
        }

        /// <summary>
        /// 指定角度でY軸回転します。
        /// </summary>
        /// <param name="angle">角度（ラジアン）</param>
        public void RotateY(float angle)
        {
            Vector3 v = new Vector3(m.M21, m.M22, m.M23);
            Quaternion qt = Quaternion.RotationAxis(v, angle);
            m *= Matrix.RotationQuaternion(qt);
        }

        /// <summary>
        /// 指定角度でZ軸回転します。
        /// </summary>
        /// <param name="angle">角度（ラジアン）</param>
        public void RotateZ(float angle)
        {
            Vector3 v = new Vector3(m.M31, m.M32, m.M33);
            Quaternion qt = Quaternion.RotationAxis(v, angle);
            m *= Matrix.RotationQuaternion(qt);
        }

        /// <summary>
        /// ワールド座標系において指定角度でY軸回転します。
        /// </summary>
        /// <param name="angle">角度（ラジアン）</param>
        public void RotateWorldY(float angle)
        {
            Vector3 v = new Vector3(0.0f, 1.0f, 0.0f);
            Quaternion qt = Quaternion.RotationAxis(v, angle);
            m *= Matrix.RotationQuaternion(qt);
        }

        /// <summary>
        /// 補間を行います。
        /// </summary>
        /// <param name="mat0">行列0</param>
        /// <param name="mat1">行列1</param>
        /// <param name="mat2">行列2</param>
        /// <param name="mat3">行列3</param>
        /// <param name="length">分割数</param>
        /// <returns>分割数だけTMOMatを持つ配列</returns>
        public static TMOMat[] Slerp(TMOMat mat0, TMOMat mat1, TMOMat mat2, TMOMat mat3, int length)
        {
            TMOMat[] ret = new TMOMat[length];

            Quaternion q1 = Quaternion.RotationMatrix(mat1.m);
            Quaternion q2 = Quaternion.RotationMatrix(mat2.m);

            Vector3 v0 = new Vector3(mat0.m.M41, mat0.m.M42, mat0.m.M43);
            Vector3 v1 = new Vector3(mat1.m.M41, mat1.m.M42, mat1.m.M43);
            Vector3 v2 = new Vector3(mat2.m.M41, mat2.m.M42, mat2.m.M43);
            Vector3 v3 = new Vector3(mat3.m.M41, mat3.m.M42, mat3.m.M43);

            float dt = 1.0f / length;
            for (int i = 0; i < length; i++)
                ret[i] = new TMOMat(Matrix.RotationQuaternion(Quaternion.Slerp(q1, q2, dt*i)) * Matrix.Translation(Vector3.CatmullRom(v0, v1, v2, v3, dt*i)));
            return ret;
        }

        /// <summary>
        /// 回転行列と変位行列に分割します。
        /// </summary>
        /// <param name="m">回転行列</param>
        /// <returns>変位行列</returns>
        public static Vector3 DecomposeMatrix(ref Matrix m)
        {
            Vector3 t = new Vector3(m.M41, m.M42, m.M43);
            m.M41 = 0;
            m.M42 = 0;
            m.M43 = 0;
            return t;
        }

        public static Vector3 DecomposeMatrix(ref Matrix m, out Vector3 scaling)
        {
            Vector3 vx = new Vector3(m.M11, m.M12, m.M13);
            Vector3 vy = new Vector3(m.M21, m.M22, m.M23);
            Vector3 vz = new Vector3(m.M31, m.M32, m.M33);
            Vector3 vt = new Vector3(m.M41, m.M42, m.M43);
            float scax = vx.Length();
            float scay = vy.Length();
            float scaz = vz.Length();
            scaling = new Vector3(scax, scay, scaz);
            vx.Normalize();
            vy.Normalize();
            vz.Normalize();
            m.M11 = vx.X;
            m.M12 = vx.Y;
            m.M13 = vx.Z;
            m.M21 = vy.X;
            m.M22 = vy.Y;
            m.M23 = vy.Z;
            m.M31 = vz.X;
            m.M32 = vz.Y;
            m.M33 = vz.Z;
            m.M41 = 0;
            m.M42 = 0;
            m.M43 = 0;
            return vt;
        }

        public static Vector3 DecomposeMatrix(ref Matrix m, out Vector3 scaling, out Quaternion rotation)
        {
            Vector3 translation = DecomposeMatrix(ref m, out scaling);
            rotation = Quaternion.RotationMatrix(m);
            return translation;
        }

        /// <summary>
        /// 加減算を行います。
        /// </summary>
        /// <param name="mat0">行列0</param>
        /// <param name="mat1">行列1</param>
        /// <param name="mat2">行列2</param>
        /// <returns>行列1 - 行列2 + 行列0</returns>
        public static TMOMat AddSub(TMOMat mat0, TMOMat mat1, TMOMat mat2)
        {
            Matrix m0 = mat0.m;
            Matrix m1 = mat1.m;
            Matrix m2 = mat2.m;
            Vector3 t0 = DecomposeMatrix(ref m0);
            Vector3 t1 = DecomposeMatrix(ref m1);
            Vector3 t2 = DecomposeMatrix(ref m2);
            Matrix m = m1 * Matrix.Invert(m2) * m0;
            Vector3 t = t1 - t2 + t0;
            return new TMOMat(m * Matrix.Translation(t));
        }
    }

    /// <summary>
    /// フレームを扱います。
    /// </summary>
    public class TMOFrame
    {
        internal int id;
        internal TMOMat[] matrices;

        /// <summary>
        /// フレームを補間します。
        /// </summary>
        /// <param name="frame0"></param>
        /// <param name="frame1"></param>
        /// <param name="frame2"></param>
        /// <param name="frame3"></param>
        /// <param name="length"></param>
        /// <returns></returns>
        public static TMOFrame[] Slerp(TMOFrame frame0, TMOFrame frame1, TMOFrame frame2, TMOFrame frame3, int length)
        {
            TMOFrame[] frames = new TMOFrame[length];

            for (int frame_index = 0; frame_index < length; frame_index++)
            {
                frames[frame_index] = new TMOFrame();
                frames[frame_index].matrices = new TMOMat[frame1.matrices.Length];
            }

            for (int i = 0; i < frame1.matrices.Length; i++)
            {
                TMOMat[] interpolated_matrices = TMOMat.Slerp(
                        frame0.matrices[i],
                        frame1.matrices[i],
                        frame2.matrices[i],
                        frame3.matrices[i],
                        length);

                for (int frame_index = 0; frame_index < length; frame_index++)
                    frames[frame_index].matrices[i] = interpolated_matrices[frame_index];
            }
            return frames;
        }

        /// <summary>
        /// frame1の行列で構成された新たなframeを得ます。
        /// 新たなframeはframe0と同じnode並びとなります。
        /// </summary>
        /// <param name="frame0"></param>
        /// <param name="frame1"></param>
        /// <param name="index_pair">node idのペア</param>
        /// <returns>新たなframe</returns>
        public static TMOFrame Select(TMOFrame frame0, TMOFrame frame1, int[] index_pair)
        {
            TMOFrame ret = new TMOFrame();
            ret.matrices = new TMOMat[frame0.matrices.Length];
            for (int i = 0; i < frame0.matrices.Length; i++)
            {
                ret.matrices[i] = frame1.matrices[index_pair[i]];
            }
            return ret;
        }

        /// <summary>
        /// 加減算の結果として新たなframeを得ます。
        /// 新たなframeはframe0と同じnode並びとなります。
        /// </summary>
        /// <param name="frame0">frame0</param>
        /// <param name="frame1">frame1</param>
        /// <param name="frame2">frame2</param>
        /// <param name="index_pair">node idのペア</param>
        /// <returns>新たなframe</returns>
        public static TMOFrame AddSub(TMOFrame frame0, TMOFrame frame1, TMOFrame frame2, int[] index_pair)
        {
            TMOFrame ret = new TMOFrame();
            ret.matrices = new TMOMat[frame0.matrices.Length];
            for (int i = 0; i < frame0.matrices.Length; i++)
            {
                ret.matrices[i] = TMOMat.AddSub( frame0.matrices[i], frame1.matrices[index_pair[i]], frame2.matrices[index_pair[i]] );
            }
            return ret;
        }
    }

    /// <summary>
    /// boneを扱います。
    /// </summary>
    public class TMONode
    {
        internal int id;
        internal string name;
        internal string sname;
        internal List<TMONode> children = new List<TMONode>();
        internal TMONode parent;
        internal List<TMOMat> frame_matrices = new List<TMOMat>();

        /// <summary>
        /// ID
        /// </summary>
        public int ID { get { return id; } }
        /// <summary>
        /// 名称
        /// </summary>
        public string Name { get { return name; } }
        /// <summary>
        /// 名称の短い形式。これはTMOFile中で重複する可能性があります。
        /// </summary>
        public string ShortName { get { return sname; } }

        /// <summary>
        /// 指定名称（短い形式）を持つ子nodeを検索します。
        /// </summary>
        /// <param name="sname">名称（短い形式）</param>
        /// <returns></returns>
        public TMONode FindChildByShortName(string sname)
        {
            foreach(TMONode child in children)
                if (child.sname == sname)
                    return child;
            return null;
        }

        /// <summary>
        /// 指定nodeから行列を複写します。
        /// </summary>
        /// <param name="motion">node</param>
        public void CopyMatFrom(TMONode motion)
        {
            //Console.WriteLine("copy mat {0} {1}", sname, motion.ShortName);
            int i = 0;
            foreach(TMOMat mat in frame_matrices) {
                mat.m = motion.frame_matrices[ i % motion.frame_matrices.Count ].m;
                i++;
            }
            foreach(TMONode child in children) {
                child.CopyMatFrom(motion.FindChildByShortName(child.sname));
            }
        }

        /// <summary>
        /// 指定変位だけ移動します。
        /// </summary>
        /// <param name="x">X軸変位</param>
        /// <param name="y">Y軸変位</param>
        /// <param name="z">Z軸変位</param>
        public void Move(float x, float y, float z)
        {
            Vector3 translation = new Vector3(x, y, z);

            foreach(TMOMat i in frame_matrices)
                i.Move(translation);
        }

        /// <summary>
        /// 指定変位だけ拡大します。
        /// </summary>
        /// <param name="x">X軸変位</param>
        /// <param name="y">Y軸変位</param>
        /// <param name="z">Z軸変位</param>
        public void Scale(float x, float y, float z)
        {
            Matrix scaling = Matrix.Scaling(x, y, z);

            foreach(TMOMat i in frame_matrices)
                i.Scale(scaling);
        }

        /// <summary>
        /// 指定変位だけ縮小します。
        /// </summary>
        /// <param name="x">X軸変位</param>
        /// <param name="y">Y軸変位</param>
        /// <param name="z">Z軸変位</param>
        public void Scale0(float x, float y, float z)
        {
            Matrix scaling = Matrix.Scaling(x, y, z);

            foreach(TMOMat i in frame_matrices)
                i.Scale0(scaling);
        }

        /// <summary>
        /// 指定変位だけ拡大します。さらに各子nodeを縮小します。
        /// </summary>
        /// <param name="x">X軸変位</param>
        /// <param name="y">Y軸変位</param>
        /// <param name="z">Z軸変位</param>
        public void Scale1(float x, float y, float z)
        {
            Matrix scaling = Matrix.Scaling(x, y, z);

            foreach(TMOMat i in frame_matrices)
                i.Scale1(scaling);

            foreach(TMONode child in children)
                child.Scale0(x, y, z);
        }

        /// <summary>
        /// 指定角度でX軸回転します。
        /// </summary>
        /// <param name="angle">角度（ラジアン）</param>
        public void RotateX(float angle)
        {
            foreach(TMOMat i in frame_matrices)
                i.RotateX(angle);
        }

        /// <summary>
        /// 指定角度でY軸回転します。
        /// </summary>
        /// <param name="angle">角度（ラジアン）</param>
        public void RotateY(float angle)
        {
            foreach(TMOMat i in frame_matrices)
                i.RotateY(angle);
        }

        /// <summary>
        /// ワールド座標系において指定角度でY軸回転します。
        /// </summary>
        /// <param name="angle">角度（ラジアン）</param>
        public void RotateWorldY(float angle)
        {
            foreach(TMOMat i in frame_matrices)
                i.RotateWorldY(angle);
        }
    }
}
