/// <summary> Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.</summary>
/// <param name="m1">The matrix that will be the new upper 3x3
/// </param>
public void setRotationScale(Matrix3d m1)
{
m00 = m1.m00; m01 = m1.m01; m02 = m1.m02;
m10 = m1.m10; m11 = m1.m11; m12 = m1.m12;
m20 = m1.m20; m21 = m1.m21; m22 = m1.m22;
}
/// <summary> Sets the value of this matrix to the sum of itself and matrix m1. </summary>
/// <param name="m1">the other matrix
/// </param>
public void add(Matrix3d m1)
{
this.m00 += m1.m00;
this.m01 += m1.m01;
this.m02 += m1.m02;
this.m10 += m1.m10;
this.m11 += m1.m11;
this.m12 += m1.m12;
this.m20 += m1.m20;
this.m21 += m1.m21;
this.m22 += m1.m22;
}
/// <summary> Sets the value of this matrix to the matrix difference of itself and
/// matrix m1 (this = this - m1).
/// </summary>
/// <param name="m1">the other matrix
/// </param>
public void sub(Matrix3d m1)
{
this.m00 -= m1.m00;
this.m01 -= m1.m01;
this.m02 -= m1.m02;
this.m10 -= m1.m10;
this.m11 -= m1.m11;
this.m12 -= m1.m12;
this.m20 -= m1.m20;
this.m21 -= m1.m21;
this.m22 -= m1.m22;
}
/// <summary> Returns true if the L-infinite distance between this matrix
/// and matrix m1 is less than or equal to the epsilon parameter,
/// otherwise returns false. The L-infinite
/// distance is equal to
/// MAX[i=0,1,2 ; j=0,1,2 ; abs(this.m(i,j) - m1.m(i,j)]
/// </summary>
/// <param name="m1"> the matrix to be compared to this matrix
/// </param>
/// <param name="epsilon"> the threshold value
/// </param>
public virtual bool epsilonEquals(Matrix3d m1, double epsilon)
{
double diff;
diff = m00 - m1.m00;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = m01 - m1.m01;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = m02 - m1.m02;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = m10 - m1.m10;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = m11 - m1.m11;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = m12 - m1.m12;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = m20 - m1.m20;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = m21 - m1.m21;
if ((diff < 0?- diff:diff) > epsilon)
return false;
diff = m22 - m1.m22;
if ((diff < 0?- diff:diff) > epsilon)
return false;
return true;
}
/// <summary> Adds a scalar to each component of the matrix m1 and places
/// the result into this. Matrix m1 is not modified.
/// </summary>
/// <param name="scalar"> the scalar adder
/// </param>
/// <param name="m1"> the original matrix values
/// </param>
public void add(double scalar, Matrix3d m1)
{
this.m00 = m1.m00 + scalar;
this.m01 = m1.m01 + scalar;
this.m02 = m1.m02 + scalar;
this.m10 = m1.m10 + scalar;
this.m11 = m1.m11 + scalar;
this.m12 = m1.m12 + scalar;
this.m20 = m1.m20 + scalar;
this.m21 = m1.m21 + scalar;
this.m22 = m1.m22 + scalar;
}
/// <summary> Multiplies the transpose of matrix m1 times matrix m2, and
/// places the result into this.
/// </summary>
/// <param name="m1"> the matrix on the left hand side of the multiplication
/// </param>
/// <param name="m2"> the matrix on the right hand side of the multiplication
/// </param>
public void mulTransposeLeft(Matrix3d m1, Matrix3d m2)
{
if (this != m1 && this != m2)
{
this.m00 = m1.m00 * m2.m00 + m1.m10 * m2.m10 + m1.m20 * m2.m20;
this.m01 = m1.m00 * m2.m01 + m1.m10 * m2.m11 + m1.m20 * m2.m21;
this.m02 = m1.m00 * m2.m02 + m1.m10 * m2.m12 + m1.m20 * m2.m22;
this.m10 = m1.m01 * m2.m00 + m1.m11 * m2.m10 + m1.m21 * m2.m20;
this.m11 = m1.m01 * m2.m01 + m1.m11 * m2.m11 + m1.m21 * m2.m21;
this.m12 = m1.m01 * m2.m02 + m1.m11 * m2.m12 + m1.m21 * m2.m22;
this.m20 = m1.m02 * m2.m00 + m1.m12 * m2.m10 + m1.m22 * m2.m20;
this.m21 = m1.m02 * m2.m01 + m1.m12 * m2.m11 + m1.m22 * m2.m21;
this.m22 = m1.m02 * m2.m02 + m1.m12 * m2.m12 + m1.m22 * m2.m22;
}
else
{
double m00, m01, m02, m10, m11, m12, m20, m21, m22; // vars for temp result matrix
m00 = m1.m00 * m2.m00 + m1.m10 * m2.m10 + m1.m20 * m2.m20;
m01 = m1.m00 * m2.m01 + m1.m10 * m2.m11 + m1.m20 * m2.m21;
m02 = m1.m00 * m2.m02 + m1.m10 * m2.m12 + m1.m20 * m2.m22;
m10 = m1.m01 * m2.m00 + m1.m11 * m2.m10 + m1.m21 * m2.m20;
m11 = m1.m01 * m2.m01 + m1.m11 * m2.m11 + m1.m21 * m2.m21;
m12 = m1.m01 * m2.m02 + m1.m11 * m2.m12 + m1.m21 * m2.m22;
m20 = m1.m02 * m2.m00 + m1.m12 * m2.m10 + m1.m22 * m2.m20;
m21 = m1.m02 * m2.m01 + m1.m12 * m2.m11 + m1.m22 * m2.m21;
m22 = m1.m02 * m2.m02 + m1.m12 * m2.m12 + m1.m22 * m2.m22;
this.m00 = m00; this.m01 = m01; this.m02 = m02;
this.m10 = m10; this.m11 = m11; this.m12 = m12;
this.m20 = m20; this.m21 = m21; this.m22 = m22;
}
}
/// <summary> Perform cross product normalization of matrix m1 and place the
/// normalized values into this.
/// </summary>
/// <param name="m1"> Provides the matrix values to be normalized
/// </param>
public void normalizeCP(Matrix3d m1)
{
double mag = 1.0 / System.Math.Sqrt(m1.m00 * m1.m00 + m1.m10 * m1.m10 + m1.m20 * m1.m20);
m00 = m1.m00 * mag;
m10 = m1.m10 * mag;
m20 = m1.m20 * mag;
mag = 1.0 / System.Math.Sqrt(m1.m01 * m1.m01 + m1.m11 * m1.m11 + m1.m21 * m1.m21);
m01 = m1.m01 * mag;
m11 = m1.m11 * mag;
m21 = m1.m21 * mag;
m02 = m10 * m21 - m11 * m20;
m12 = m01 * m20 - m00 * m21;
m22 = m00 * m11 - m01 * m10;
}
/// <summary> Replaces the upper 3x3 matrix values of this matrix with the values in the matrix m1.</summary>
/// <param name="m1">The matrix that will be the new upper 3x3
/// </param>
private void setRotationScale(Matrix3d m1)
{
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m00 = (float) m1.m00;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m01 = (float) m1.m01;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m02 = (float) m1.m02;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m10 = (float) m1.m10;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m11 = (float) m1.m11;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m12 = (float) m1.m12;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m20 = (float) m1.m20;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m21 = (float) m1.m21;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m22 = (float) m1.m22;
}
/// <summary> Gets the upper 3x3 values of this matrix and places them into the matrix m1.</summary>
/// <param name="m1">The matrix that will hold the values
/// </param>
private void getRotationScale(Matrix3d m1)
{
m1.m00 = m00; m1.m01 = m01; m1.m02 = m02;
m1.m10 = m10; m1.m11 = m11; m1.m12 = m12;
m1.m20 = m20; m1.m21 = m21; m1.m22 = m22;
}
/// <summary> Sets the rotational component (upper 3x3) of this matrix to the matrix
/// values in the single precision Matrix3f argument; the other elements of
/// this matrix are unchanged; a singular value decomposition is performed
/// on this object's upper 3x3 matrix to factor out the scale, then this
/// object's upper 3x3 matrix components are replaced by the passed rotation
/// components, and then the scale is reapplied to the rotational
/// components.
/// </summary>
/// <param name="m1">single precision 3x3 matrix
/// </param>
public void setRotation(Matrix3d m1)
{
float scale = SVD(null);
setRotationScale(m1);
mulRotationScale(scale);
}
/// <summary> Performs SVD on this matrix and gets the scale and the pure rotation.
/// The pure rotation is placed into rot.
/// </summary>
/// <param name="rot">the rotation factor.
/// </param>
/// <returns> scale factor
/// </returns>
private float SVD(Matrix3d rot)
{
// this is a simple svd.
// Not complete but fast and reasonable.
// See comment in Matrix3d.
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
float s = (float) System.Math.Sqrt((m00 * m00 + m10 * m10 + m20 * m20 + m01 * m01 + m11 * m11 + m21 * m21 + m02 * m02 + m12 * m12 + m22 * m22) / 3.0);
// zero-div may occur.
float t = (s == 0.0f?0.0f:1.0f / s);
if (rot != null)
{
this.getRotationScale(rot);
rot.mul(t);
}
return s;
}
/// <summary> Sets the value of this matrix from the rotation expressed by the
/// rotation matrix m1, the translation t1, and the scale s. The translation
/// is not modified by the scale.
/// </summary>
/// <param name="m1">The rotation component
/// </param>
/// <param name="t1">The translation component
/// </param>
/// <param name="scale">The scale component
/// </param>
public void set_Renamed(Matrix3d m1, Vector3d t1, double scale)
{
setRotationScale(m1);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
mulRotationScale((float) scale);
setTranslation(t1);
m33 = 1.0f;
}
/// <summary> Sets the rotational component (upper 3x3) of this matrix to the matrix
/// values in the double precision Matrix3d argument; the other elements of
/// this matrix are initialized as if this were an identity matrix
/// (ie, affine matrix with no translational component).
/// </summary>
/// <param name="m1">the 3x3 matrix
/// </param>
public void set_Renamed(Matrix3d m1)
{
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m00 = (float) m1.m00;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m01 = (float) m1.m01;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m02 = (float) m1.m02;
m03 = 0.0f;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m10 = (float) m1.m10;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m11 = (float) m1.m11;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m12 = (float) m1.m12;
m13 = 0.0f;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m20 = (float) m1.m20;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m21 = (float) m1.m21;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
m22 = (float) m1.m22;
m23 = 0.0f;
m30 = 0.0f; m31 = 0.0f; m32 = 0.0f; m33 = 1.0f;
}
/// <summary> Sets the value of this quaternion to the rotational component of
/// the passed matrix.
/// </summary>
/// <param name="m1">the matrix3d
/// </param>
public void set_Renamed(Matrix3d m1)
{
double ww = 0.25 * (m1.m00 + m1.m11 + m1.m22 + 1.0);
if (ww >= 0)
{
if (ww >= EPS2)
{
this.w = System.Math.Sqrt(ww);
ww = 0.25 / this.w;
this.x = (m1.m21 - m1.m12) * ww;
this.y = (m1.m02 - m1.m20) * ww;
this.z = (m1.m10 - m1.m01) * ww;
return ;
}
}
else
{
this.w = 0;
this.x = 0;
this.y = 0;
this.z = 1;
return ;
}
this.w = 0;
ww = (- 0.5) * (m1.m11 + m1.m22);
if (ww >= 0)
{
if (ww >= EPS2)
{
this.x = System.Math.Sqrt(ww);
ww = 0.5 / this.x;
this.y = m1.m10 * ww;
this.z = m1.m20 * ww;
return ;
}
}
else
{
this.x = 0;
this.y = 0;
this.z = 1;
return ;
}
this.x = 0;
ww = 0.5 * (1.0 - m1.m22);
if (ww >= EPS2)
{
this.y = System.Math.Sqrt(ww);
this.z = m1.m21 / (2.0 * this.y);
return ;
}
this.y = 0;
this.z = 1;
}
/// <summary> Multiplies matrix m1 by matrix m2, does an SVD normalization
/// of the result, and places the result into this matrix
/// this = SVDnorm(m1*m2).
/// </summary>
/// <param name="m1"> the matrix on the left hand side of the multiplication
/// </param>
/// <param name="m2"> the matrix on the right hand side of the multiplication
/// </param>
public void mulNormalize(Matrix3d m1, Matrix3d m2)
{
double[] tmp = new double[9]; // scratch matrix
double[] tmp_rot = new double[9]; // scratch matrix
double[] tmp_scale = new double[3]; // scratch matrix
tmp[0] = m1.m00 * m2.m00 + m1.m01 * m2.m10 + m1.m02 * m2.m20;
tmp[1] = m1.m00 * m2.m01 + m1.m01 * m2.m11 + m1.m02 * m2.m21;
tmp[2] = m1.m00 * m2.m02 + m1.m01 * m2.m12 + m1.m02 * m2.m22;
tmp[3] = m1.m10 * m2.m00 + m1.m11 * m2.m10 + m1.m12 * m2.m20;
tmp[4] = m1.m10 * m2.m01 + m1.m11 * m2.m11 + m1.m12 * m2.m21;
tmp[5] = m1.m10 * m2.m02 + m1.m11 * m2.m12 + m1.m12 * m2.m22;
tmp[6] = m1.m20 * m2.m00 + m1.m21 * m2.m10 + m1.m22 * m2.m20;
tmp[7] = m1.m20 * m2.m01 + m1.m21 * m2.m11 + m1.m22 * m2.m21;
tmp[8] = m1.m20 * m2.m02 + m1.m21 * m2.m12 + m1.m22 * m2.m22;
compute_svd(tmp, tmp_scale, tmp_rot);
this.m00 = tmp_rot[0];
this.m01 = tmp_rot[1];
this.m02 = tmp_rot[2];
this.m10 = tmp_rot[3];
this.m11 = tmp_rot[4];
this.m12 = tmp_rot[5];
this.m20 = tmp_rot[6];
this.m21 = tmp_rot[7];
this.m22 = tmp_rot[8];
}
/// <summary> Performs an SVD normalization of this matrix in order to acquire the
/// normalized rotational component; the values are placed into the Matrix3d parameter.
/// </summary>
/// <param name="m1">matrix into which the rotational component is placed
/// </param>
public void get_Renamed(Matrix3d m1)
{
SVD(m1);
}
/// <summary> Constructs a new matrix with the same values as the
/// Matrix3d parameter.
/// </summary>
/// <param name="m1"> the source matrix
/// </param>
public Matrix3d(Matrix3d m1)
{
this.m00 = m1.m00;
this.m01 = m1.m01;
this.m02 = m1.m02;
this.m10 = m1.m10;
this.m11 = m1.m11;
this.m12 = m1.m12;
this.m20 = m1.m20;
this.m21 = m1.m21;
this.m22 = m1.m22;
}
/// <summary> Sets the value of this axis-angle to the rotational component of
/// the passed matrix.
/// If the specified matrix has no rotational component, the value
/// of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
/// </summary>
/// <param name="m1">the matrix3d
/// </param>
public void set_Renamed(Matrix3d m1)
{
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
x = (float) (m1.m21 - m1.m12);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
y = (float) (m1.m02 - m1.m20);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
z = (float) (m1.m10 - m1.m01);
double mag = x * x + y * y + z * z;
if (mag > EPS)
{
mag = System.Math.Sqrt(mag);
double sin = 0.5 * mag;
double cos = 0.5 * (m1.m00 + m1.m11 + m1.m22 - 1.0);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
angle = (float) System.Math.Atan2(sin, cos);
double invMag = 1.0 / mag;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
x = (float) (x * invMag);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
y = (float) (y * invMag);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
z = (float) (z * invMag);
}
else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/// <summary> Perform singular value decomposition normalization of matrix m1 and
/// place the normalized values into this.
/// </summary>
/// <param name="m1"> Provides the matrix values to be normalized
/// </param>
public void normalize(Matrix3d m1)
{
double[] tmp = new double[9]; // scratch matrix
double[] tmp_rot = new double[9]; // scratch matrix
double[] tmp_scale = new double[3]; // scratch matrix
tmp[0] = m1.m00;
tmp[1] = m1.m01;
tmp[2] = m1.m02;
tmp[3] = m1.m10;
tmp[4] = m1.m11;
tmp[5] = m1.m12;
tmp[6] = m1.m20;
tmp[7] = m1.m21;
tmp[8] = m1.m22;
compute_svd(tmp, tmp_scale, tmp_rot);
this.m00 = tmp_rot[0];
this.m01 = tmp_rot[1];
this.m02 = tmp_rot[2];
this.m10 = tmp_rot[3];
this.m11 = tmp_rot[4];
this.m12 = tmp_rot[5];
this.m20 = tmp_rot[6];
this.m21 = tmp_rot[7];
this.m22 = tmp_rot[8];
}
/// <summary> Sets the value of this matrix to the value of the Matrix3d
/// argument.
/// </summary>
/// <param name="m1">the source matrix3d
/// </param>
public void set_Renamed(Matrix3d m1)
{
this.m00 = m1.m00;
this.m01 = m1.m01;
this.m02 = m1.m02;
this.m10 = m1.m10;
this.m11 = m1.m11;
this.m12 = m1.m12;
this.m20 = m1.m20;
this.m21 = m1.m21;
this.m22 = m1.m22;
}
/// <summary> Returns true if all of the data members of Matrix3d m1 are
/// equal to the corresponding data members in this Matrix3d.
/// </summary>
/// <param name="m1"> the matrix with which the comparison is made
/// </param>
/// <returns> true or false
/// </returns>
public bool equals(Matrix3d m1)
{
try
{
return (this.m00 == m1.m00 && this.m01 == m1.m01 && this.m02 == m1.m02 && this.m10 == m1.m10 && this.m11 == m1.m11 && this.m12 == m1.m12 && this.m20 == m1.m20 && this.m21 == m1.m21 && this.m22 == m1.m22);
}
catch (System.NullReferenceException e2)
{
return false;
}
}
/// <summary> Sets the value of this matrix to the matrix inverse
/// of the passed matrix m1.
/// </summary>
/// <param name="m1">the matrix to be inverted
/// </param>
public void invert(Matrix3d m1)
{
invertGeneral(m1);
}
/// <summary> Sets the value of this matrix equal to the negation of
/// of the Matrix3d parameter.
/// </summary>
/// <param name="m1"> the source matrix
/// </param>
public void negate(Matrix3d m1)
{
this.m00 = - m1.m00;
this.m01 = - m1.m01;
this.m02 = - m1.m02;
this.m10 = - m1.m10;
this.m11 = - m1.m11;
this.m12 = - m1.m12;
this.m20 = - m1.m20;
this.m21 = - m1.m21;
this.m22 = - m1.m22;
}
/// <summary> General invert routine. Inverts m1 and places the result in "this".
/// Note that this routine handles both the "this" version and the
/// non-"this" version.
///
/// Also note that since this routine is slow anyway, we won't worry
/// about allocating a little bit of garbage.
/// </summary>
private void invertGeneral(Matrix3d m1)
{
double[] result = new double[9];
int[] row_perm = new int[3];
int i, r, c;
double[] tmp = new double[9]; // scratch matrix
// Use LU decomposition and backsubstitution code specifically
// for floating-point 3x3 matrices.
// Copy source matrix to t1tmp
tmp[0] = m1.m00;
tmp[1] = m1.m01;
tmp[2] = m1.m02;
tmp[3] = m1.m10;
tmp[4] = m1.m11;
tmp[5] = m1.m12;
tmp[6] = m1.m20;
tmp[7] = m1.m21;
tmp[8] = m1.m22;
// Calculate LU decomposition: Is the matrix singular?
if (!luDecomposition(tmp, row_perm))
{
// Matrix has no inverse
throw new Exception();// SingularMatrixException(VecMathI18N.getString("Matrix3d12"));
}
// Perform back substitution on the identity matrix
for (i = 0; i < 9; i++)
result[i] = 0.0;
result[0] = 1.0; result[4] = 1.0; result[8] = 1.0;
luBacksubstitution(tmp, row_perm, result);
this.m00 = result[0];
this.m01 = result[1];
this.m02 = result[2];
this.m10 = result[3];
this.m11 = result[4];
this.m12 = result[5];
this.m20 = result[6];
this.m21 = result[7];
this.m22 = result[8];
}
/// <summary> Sets the value of this matrix to the matrix sum of matrices m1 and m2.</summary>
/// <param name="m1">the first matrix
/// </param>
/// <param name="m2">the second matrix
/// </param>
public void add(Matrix3d m1, Matrix3d m2)
{
this.m00 = m1.m00 + m2.m00;
this.m01 = m1.m01 + m2.m01;
this.m02 = m1.m02 + m2.m02;
this.m10 = m1.m10 + m2.m10;
this.m11 = m1.m11 + m2.m11;
this.m12 = m1.m12 + m2.m12;
this.m20 = m1.m20 + m2.m20;
this.m21 = m1.m21 + m2.m21;
this.m22 = m1.m22 + m2.m22;
}
/// <summary> Multiplies each element of matrix m1 by a scalar and places
/// the result into this. Matrix m1 is not modified.
/// </summary>
/// <param name="scalar"> the scalar multiplier
/// </param>
/// <param name="m1"> the original matrix
/// </param>
public void mul(double scalar, Matrix3d m1)
{
this.m00 = scalar * m1.m00;
this.m01 = scalar * m1.m01;
this.m02 = scalar * m1.m02;
this.m10 = scalar * m1.m10;
this.m11 = scalar * m1.m11;
this.m12 = scalar * m1.m12;
this.m20 = scalar * m1.m20;
this.m21 = scalar * m1.m21;
this.m22 = scalar * m1.m22;
}
/// <summary> Sets the value of this matrix to the matrix difference
/// of matrices m1 and m2.
/// </summary>
/// <param name="m1">the first matrix
/// </param>
/// <param name="m2">the second matrix
/// </param>
public void sub(Matrix3d m1, Matrix3d m2)
{
this.m00 = m1.m00 - m2.m00;
this.m01 = m1.m01 - m2.m01;
this.m02 = m1.m02 - m2.m02;
this.m10 = m1.m10 - m2.m10;
this.m11 = m1.m11 - m2.m11;
this.m12 = m1.m12 - m2.m12;
this.m20 = m1.m20 - m2.m20;
this.m21 = m1.m21 - m2.m21;
this.m22 = m1.m22 - m2.m22;
}
/// <summary> Sets the value of this matrix to the result of multiplying itself
/// with matrix m1.
/// </summary>
/// <param name="m1">the other matrix
/// </param>
public void mul(Matrix3d m1)
{
double m00, m01, m02, m10, m11, m12, m20, m21, m22;
m00 = this.m00 * m1.m00 + this.m01 * m1.m10 + this.m02 * m1.m20;
m01 = this.m00 * m1.m01 + this.m01 * m1.m11 + this.m02 * m1.m21;
m02 = this.m00 * m1.m02 + this.m01 * m1.m12 + this.m02 * m1.m22;
m10 = this.m10 * m1.m00 + this.m11 * m1.m10 + this.m12 * m1.m20;
m11 = this.m10 * m1.m01 + this.m11 * m1.m11 + this.m12 * m1.m21;
m12 = this.m10 * m1.m02 + this.m11 * m1.m12 + this.m12 * m1.m22;
m20 = this.m20 * m1.m00 + this.m21 * m1.m10 + this.m22 * m1.m20;
m21 = this.m20 * m1.m01 + this.m21 * m1.m11 + this.m22 * m1.m21;
m22 = this.m20 * m1.m02 + this.m21 * m1.m12 + this.m22 * m1.m22;
this.m00 = m00; this.m01 = m01; this.m02 = m02;
this.m10 = m10; this.m11 = m11; this.m12 = m12;
this.m20 = m20; this.m21 = m21; this.m22 = m22;
}
/// <summary> Sets the value of this matrix to the transpose of the argument matrix.</summary>
/// <param name="m1">the matrix to be transposed
/// </param>
public void transpose(Matrix3d m1)
{
if (this != m1)
{
this.m00 = m1.m00;
this.m01 = m1.m10;
this.m02 = m1.m20;
this.m10 = m1.m01;
this.m11 = m1.m11;
this.m12 = m1.m21;
this.m20 = m1.m02;
this.m21 = m1.m12;
this.m22 = m1.m22;
}
else
this.transpose();
}
/// <summary> Performs an SVD normalization of this matrix to calculate the rotation
/// as a 3x3 matrix, the translation, and the scale. None of the matrix values are modified.
/// </summary>
/// <param name="m1">The normalized matrix representing the rotation
/// </param>
/// <param name="t1">The translation component
/// </param>
/// <returns> The scale component of this transform
/// </returns>
public double get_Renamed(Matrix3d m1, Vector3d t1)
{
get_Renamed(t1);
return SVD(m1, null);
}
