public static bool DecomposeIntoRotationAndScale(Matrix3D source, out Matrix3D rotation, out Vector3D scale)
{
source.OffsetX = 0.0;
source.OffsetY = 0.0;
source.OffsetZ = 0.0;
Matrix3D U;
Vector3D S;
Matrix3D VTranspose;
bool flag = Matrix3DOperations.SVD(source, out U, out S, out VTranspose);
Matrix3D matrix3D1 = Matrix3DOperations.Transpose(VTranspose);
Matrix3D matrix3D2 = new Matrix3D()
{
M11 = S.X,
M22 = S.Y,
M33 = S.Z,
M44 = 1.0
};
rotation = U * matrix3D1;
Matrix3D matrix3D3 = rotation;
matrix3D3.Invert();
Matrix3D matrix = source * matrix3D3;
Matrix3D matrix3D4 = matrix3D3 * source;
double tolerance = 1E-13;
scale = !Matrix3DOperations.IsDiagonal(matrix, tolerance) ? new Vector3D(matrix3D4.M11, matrix3D4.M22, matrix3D4.M33) : new Vector3D(matrix.M11, matrix.M22, matrix.M33);
return(flag);
}
public static bool DecomposeIntoRotationAndScale(Matrix source, out Matrix rotation, out Vector scale)
{
source.OffsetX = 0.0;
source.OffsetY = 0.0;
Matrix U;
Vector S;
Matrix VTranspose;
bool flag = Matrix3DOperations.SVD(source, out U, out S, out VTranspose);
Matrix matrix1 = Matrix3DOperations.Transpose(VTranspose);
Matrix matrix2 = new Matrix()
{
M11 = S.X,
M22 = S.Y
};
rotation = U * matrix1;
Matrix matrix3 = rotation;
matrix3.Invert();
Matrix matrix4 = source * matrix3;
Matrix matrix5 = matrix3 * source;
double tolerance = 1E-13;
scale = !Matrix3DOperations.IsDiagonal(matrix4, tolerance) ? new Vector(matrix5.M11, matrix5.M22) : new Vector(matrix4.M11, matrix4.M22);
return(flag);
}