public static void getSymmetricSvd(SMat3 a, SMat3 vtav, DMat3 v, double tol, int max_sweeps) { vtav.setSymmetric(a); v.set(1, 0, 0, 0, 1, 0, 0, 0, 1); var delta = tol * MatUtils.fnorm(vtav); for (var i = 0; i < max_sweeps && MatUtils.off(vtav) > delta; ++i) { rotate01(vtav, v); rotate02(vtav, v); rotate12(vtav, v); } }
public static void mmul(out DMat3 Out, DMat3 a, DMat3 b) { Out = new DMat3(); Out.set(a.m00 * b.m00 + a.m01 * b.m10 + a.m02 * b.m20, a.m00 * b.m01 + a.m01 * b.m11 + a.m02 * b.m21, a.m00 * b.m02 + a.m01 * b.m12 + a.m02 * b.m22, a.m10 * b.m00 + a.m11 * b.m10 + a.m12 * b.m20, a.m10 * b.m01 + a.m11 * b.m11 + a.m12 * b.m21, a.m10 * b.m02 + a.m11 * b.m12 + a.m12 * b.m22, a.m20 * b.m00 + a.m21 * b.m10 + a.m22 * b.m20, a.m20 * b.m01 + a.m21 * b.m11 + a.m22 * b.m21, a.m20 * b.m02 + a.m21 * b.m12 + a.m22 * b.m22); }
public static void pseudoinverse(out DMat3 Out, SMat3 d, DMat3 v, double tol) { double d0 = pinv(d.m00, tol), d1 = pinv(d.m11, tol), d2 = pinv(d.m22, tol); Out = new DMat3(); Out.set(v.m00 * d0 * v.m00 + v.m01 * d1 * v.m01 + v.m02 * d2 * v.m02, v.m00 * d0 * v.m10 + v.m01 * d1 * v.m11 + v.m02 * d2 * v.m12, v.m00 * d0 * v.m20 + v.m01 * d1 * v.m21 + v.m02 * d2 * v.m22, v.m10 * d0 * v.m00 + v.m11 * d1 * v.m01 + v.m12 * d2 * v.m02, v.m10 * d0 * v.m10 + v.m11 * d1 * v.m11 + v.m12 * d2 * v.m12, v.m10 * d0 * v.m20 + v.m11 * d1 * v.m21 + v.m12 * d2 * v.m22, v.m20 * d0 * v.m00 + v.m21 * d1 * v.m01 + v.m22 * d2 * v.m02, v.m20 * d0 * v.m10 + v.m21 * d1 * v.m11 + v.m22 * d2 * v.m12, v.m20 * d0 * v.m20 + v.m21 * d1 * v.m21 + v.m22 * d2 * v.m22); }
public static void transpose(out DMat3 Out, DMat3 a) { Out = new DMat3(); Out.set(a.m00, a.m10, a.m20, a.m01, a.m11, a.m21, a.m02, a.m12, a.m22); }