public static Cross ( |
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public Vec3 Solve33(Vec3 b) { float num = Vec3.Dot(this.Col1, Vec3.Cross(this.Col2, this.Col3)); Box2DXDebug.Assert(num != 0f); num = 1f / num; return(new Vec3 { X = num * Vec3.Dot(b, Vec3.Cross(this.Col2, this.Col3)), Y = num * Vec3.Dot(this.Col1, Vec3.Cross(b, this.Col3)), Z = num * Vec3.Dot(this.Col1, Vec3.Cross(this.Col2, b)) }); }
/// <summary> /// Solve A * x = b, where b is a column vector. This is more efficient /// than computing the inverse in one-shot cases. /// </summary> public Vec3 Solve33(Vec3 b) { float det = Vec3.Dot(Col1, Vec3.Cross(Col2, Col3)); Box2DXDebug.Assert(det != 0.0f); det = 1.0f / det; Vec3 x = new Vec3(); x.X = det * Vec3.Dot(b, Vec3.Cross(Col2, Col3)); x.Y = det * Vec3.Dot(Col1, Vec3.Cross(b, Col3)); x.Z = det * Vec3.Dot(Col1, Vec3.Cross(Col2, b)); return(x); }