public Vector3D Axis()
{
Vector3D axis = new Vector3D(0, 0, 0);
float d0 = this[0, 0], d1 = this[1, 1], d2 = this[2, 2];
// The trace determines the method of decomposition
float rr = 1.0f + d0 + d1 + d2;
if (rr > 0)
{
axis.SetX(this[2, 1] - this[1, 2]);
axis.SetY(this[0, 2] - this[2, 0]);
axis.SetZ(this[1, 0] - this[0, 1]);
}
else
{
// Trace is less than zero, so need to determine which
// major diagonal is largest
if ((d0 > d1) && (d0 > d2))
{
axis.SetX(0.5f);
axis.SetY(this[0, 1] + this[1, 0]);
axis.SetZ(this[0, 2] + this[2, 0]);
}
else
if (d1 > d2)
{
axis.SetX(this[0, 1] + this[1, 0]);
axis.SetY(0.5f);
axis.SetZ(this[1, 2] + this[2, 1]);
}
else
{
axis.SetX(this[0, 2] + this[2, 0]);
axis.SetY(this[1, 2] + this[2, 1]);
axis.SetZ(0.5f);
}
}
axis.Normalise();
return(axis);
}
public Vector3D Axis()
{
Vector3D axis = new Vector3D(0,0,0);
float d0 = this[0,0], d1 = this[1,1], d2 = this[2,2];
// The trace determines the method of decomposition
float rr = 1.0f + d0 + d1 + d2;
if (rr > 0)
{
axis.SetX( this[2,1] - this[1,2] );
axis.SetY( this[0,2] - this[2,0] );
axis.SetZ( this[1,0] - this[0,1] );
}
else
{
// Trace is less than zero, so need to determine which
// major diagonal is largest
if ((d0 > d1) && (d0 > d2))
{
axis.SetX( 0.5f );
axis.SetY( this[0,1] + this[1,0] );
axis.SetZ( this[0,2] + this[2,0] );
}
else
if (d1 > d2)
{
axis.SetX( this[0,1] + this[1,0] );
axis.SetY( 0.5f );
axis.SetZ( this[1,2] + this[2,1] );
}
else
{
axis.SetX( this[0,2] + this[2,0] );
axis.SetY( this[1,2] + this[2,1] );
axis.SetZ( 0.5f );
}
}
axis.Normalise();
return (axis);
}