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Using B. Zotter’s formalism, we present here a novel, efficient and exact matrix method for the field matching determination of the electromagnetic field components created by an offset point charge travelling at any speed in an infinitely long circular multilayer beam pipe. This method improves by a factor of more than one hundred the computational time with three layers and allows the computation for more layers than three. We also generalize our analysis to any azimuthal mode and finally perform the summation on all such modes in the impedance formulae. In particular the exact multimode direct space-charge impedances (both longitudinal and transverse) are given, as well as the wall impedances to any order of precision.