/// <summary>
/// Calculates the inverse matrix.
/// </summary>
/// <returns>Inverse Matrix3.</returns>
public Matrix3 Inverse()
{
double det = this.Determinant();
Matrix3 resultado = new Matrix3();
if (MathHelper.IsZero(det))
{
throw (new ArithmeticException("The matrix is not invertible."));
}
det = 1/det;
resultado.M11 = det*(this.mM22*this.mM33 - this.mM23*this.mM32);
resultado.M12 = det*(this.mM13*this.mM32 - this.mM12*this.mM33);
resultado.M13 = det*(this.mM12*this.mM23 - this.mM13*this.mM22);
resultado.M21 = det*(this.mM23*this.mM31 - this.mM21*this.mM33);
resultado.M22 = det*(this.mM11*this.mM33 - this.mM13*this.mM31);
resultado.M23 = det*(this.mM13*this.mM21 - this.mM11*this.mM23);
resultado.M31 = det*(this.mM21*this.mM32 - this.mM22*this.mM31);
resultado.M32 = det*(this.mM12*this.mM31 - this.mM11*this.mM32);
resultado.M33 = det*(this.mM11*this.mM22 - this.mM12*this.mM21);
return resultado;
}
/// <summary>
/// Transform a 2d point from object coordinates to world coordinates.
/// </summary>
/// <param name="point">Points to transform.</param>
/// <param name="zAxis">Object normal vector.</param>
/// <param name="elevation">Object elevation.</param>
/// <returns>Transformed point.</returns>
public static Vector3 Transform(Vector2 point, Vector3 zAxis, double elevation)
{
Matrix3 trans = ArbitraryAxis(zAxis);
return(trans * new Vector3(point.X, point.Y, elevation));
}