Полный привод в матрицах 4×4

function MulMatrixB(A, B: TMatrix4): TMatrix4;
var
  R: TMatrix4 absolute Result;

begin
  //Vec4 X
  R[0,0] := A[0,0] * B[0,0] + A[0,1] * B[1,0] + A[0,2] * B[2,0] + A[0,3] * B[3,0];
  R[0,1] := A[0,0] * B[0,1] + A[0,1] * B[1,1] + A[0,2] * B[2,1] + A[0,3] * B[3,1];
  R[0,2] := A[0,0] * B[0,2] + A[0,1] * B[1,2] + A[0,2] * B[2,2] + A[0,3] * B[3,2];
  R[0,3] := A[0,0] * B[0,3] + A[0,1] * B[1,3] + A[0,2] * B[2,3] + A[0,3] * B[3,3];

  //Vec4 Y
  R[1,0] := A[1,0] * B[0,0] + A[1,1] * B[1,0] + A[1,2] * B[2,0] + A[1,3] * B[3,0];
  R[1,1] := A[1,0] * B[0,1] + A[1,1] * B[1,1] + A[1,2] * B[2,1] + A[1,3] * B[3,1];
  R[1,2] := A[1,0] * B[0,2] + A[1,1] * B[1,2] + A[1,2] * B[2,2] + A[1,3] * B[3,2];
  R[1,3] := A[1,0] * B[0,3] + A[1,1] * B[1,3] + A[1,2] * B[2,3] + A[1,3] * B[3,3];

  //Vec4 Z
  R[2,0] := A[2,0] * B[0,0] + A[2,1] * B[1,0] + A[2,2] * B[2,0] + A[2,3] * B[3,0];
  R[2,1] := A[2,0] * B[0,1] + A[2,1] * B[1,1] + A[2,2] * B[2,1] + A[2,3] * B[3,1];
  R[2,2] := A[2,0] * B[0,2] + A[2,1] * B[1,2] + A[2,2] * B[2,2] + A[2,3] * B[3,2];
  R[2,3] := A[2,0] * B[0,3] + A[2,1] * B[1,3] + A[2,2] * B[2,3] + A[2,3] * B[3,3];

  //Vec4 W
  R[3,0] := A[3,0] * B[0,0] + A[3,1] * B[1,0] + A[3,2] * B[2,0] + A[3,3] * B[3,0];
  R[3,1] := A[3,0] * B[0,1] + A[3,1] * B[1,1] + A[3,2] * B[2,1] + A[3,3] * B[3,1];
  R[3,2] := A[3,0] * B[0,2] + A[3,1] * B[1,2] + A[3,2] * B[2,2] + A[3,3] * B[3,2];
  R[3,3] := A[3,0] * B[0,3] + A[3,1] * B[1,3] + A[3,2] * B[2,3] + A[3,3] * B[3,3];
end;

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