/// <summary>True if 'm' is orthonormal</summary>
public static bool IsOrthonormal(m2x2 m)
{
return
(FEql(m.x.LengthSq, 1f) &&
FEql(m.y.LengthSq, 1f) &&
FEql(Dot(m.x, m.y), 0f));
}
// Permute the rotation vectors in a matrix by 'n'
public static m2x2 PermuteRotation(m2x2 mat, int n)
{
switch (n % 2)
{
default: return(mat);
case 1: return(new m2x2(mat.y, mat.x));
}
}
/// <summary>Return the inverse of 'm'</summary>
public static m2x2 Invert(m2x2 m)
{
Debug.Assert(IsInvertible(m), "Matrix has no inverse");
var det = Determinant(m);
var tmp = new m2x2(
new v2(m.y.y, -m.x.y) / det,
new v2(-m.y.x, m.x.x) / det);
return(tmp);
}
public static bool FEqlRelative(m2x2 a, m2x2 b, float tol)
{
var max_a = MaxElement(Abs(a));
var max_b = MaxElement(Abs(b));
if (max_b == 0)
{
return(max_a < tol);
}
if (max_a == 0)
{
return(max_b < tol);
}
var abs_max_element = Max(max_a, max_b);
return(FEqlAbsolute(a, b, tol * abs_max_element));
}
/// <summary>True if 'm' can be inverted</summary>
public static bool IsInvertible(m2x2 m)
{
return(Determinant(m) != 0);
}
/// <summary>Return the inverse of 'm' assuming m is orthonormal</summary>
public static m2x2 InvertFast(m2x2 m)
{
InvertFast(ref m);
return(m);
}
/// <summary>Invert 'm' in place assuming m is orthonormal</summary>
public static void InvertFast(ref m2x2 m)
{
Debug.Assert(IsOrthonormal(m), "Matrix is not orthonormal");
Transpose(ref m);
}
/// <summary>Return the transpose of 'm'</summary>
public static m2x2 Transpose(m2x2 m)
{
Transpose(ref m);
return(m);
}
/// <summary>Return true if any components of 'm' are NaN</summary>
public static bool IsNaN(m2x2 m)
{
return
(IsNaN(m.x) ||
IsNaN(m.y));
}
/// <summary>Finite test of matrix elements</summary>
public static bool IsFinite(m2x2 m)
{
return
(IsFinite(m.x) &&
IsFinite(m.y));
}
/// <summary>Return the minimum element value in 'm'</summary>
public static float MinElement(m2x2 m)
{
return(Min(
MinElement(m.x),
MinElement(m.y)));
}
/// <summary>Return the maximum element value in 'mm'</summary>
public static float MaxElement(m2x2 m)
{
return(Max(
MaxElement(m.x),
MaxElement(m.y)));
}
/// <summary>Absolute value of 'x'</summary>
public static m2x2 Abs(m2x2 x)
{
return(new m2x2(
Abs(x.x),
Abs(x.y)));
}
public static bool FEql(m2x2 a, m2x2 b)
{
return(FEqlRelative(a, b, TinyF));
}
/// <summary>Orthonormalise 'm' in-place</summary>
public static void Orthonormalise(ref m2x2 m)
{
m.x = Normalise(m.x);
m.y = Normalise(m.y - Dot(m.x, m.y) * m.x);
}
/// <summary>Return an orthonormalised version of 'm'</summary>
public static m2x2 Orthonormalise(m2x2 m)
{
Orthonormalise(ref m);
return(m);
}
/// <summary>Return the determinant of 'm'</summary>
public static float Determinant(m2x2 m)
{
return((float)((double)m.x.x * m.y.y - (double)m.x.y * m.y.x));
}
/// <summary>Transpose 'm' in-place</summary>
public static void Transpose(ref m2x2 m)
{
Swap(ref m.x.y, ref m.y.x);
}
/// <summary>Approximate equal</summary>
public static bool FEqlAbsolute(m2x2 a, m2x2 b, float tol)
{
return
(FEqlAbsolute(a.x, b.x, tol) &&
FEqlAbsolute(a.y, b.y, tol));
}
