public Matrix3d Orthonormalize()
{
Vector3d column = this.GetColumn(0);
Vector3d vector3d = this.GetColumn(1) - Vector3d.Dot(this.GetColumn(1), column) / (column * column) * column;
Vector3d vector3d2 = this.GetColumn(2) - Vector3d.Dot(this.GetColumn(2), column) / (column * column) * column - Vector3d.Dot(this.GetColumn(2), vector3d) / (vector3d * vector3d) * vector3d;
Matrix3d matrix3d = new Matrix3d();
matrix3d.SetColumn(0, 1.0 / column.Norm * column);
matrix3d.SetColumn(1, 1.0 / vector3d.Norm * vector3d);
matrix3d.SetColumn(2, 1.0 / vector3d2.Norm * vector3d2);
return(matrix3d);
}
public Matrix3d Normalize()
{
Matrix3d matrix3d = new Matrix3d();
Vector3d column = this.GetColumn(0);
Vector3d column2 = this.GetColumn(1);
Vector3d column3 = this.GetColumn(2);
double norm = column.Norm;
double norm2 = column2.Norm;
double norm3 = column3.Norm;
if (norm < 4.94065645841247E-324 | norm2 < 4.94065645841247E-324 | norm3 < 4.94065645841247E-324)
{
throw new ArithmeticException("Matrix is not normalizable!");
}
matrix3d.SetColumn(0, 1.0 / norm * column);
matrix3d.SetColumn(1, 1.0 / norm2 * column2);
matrix3d.SetColumn(2, 1.0 / norm3 * column3);
return(matrix3d);
}