/// <summary>
/// Inverts the given matix.
/// </summary>
/// <param name="matrix">Matrix to be inverted.</param>
/// <param name="result">Inverted matrix.</param>
/// <returns>false if matrix is singular, true otherwise</returns>
public static bool Invert(ref Matrix3x3 matrix, out Matrix3x3 result)
{
return(Matrix3x6.Invert(ref matrix, out result));
}
public static bool Invert(ref Matrix m, out Matrix r)
{
if (Matrix == null)
{
Matrix = new Fix64[4, 8];
}
Fix64[,] M = Matrix;
M[0, 0] = m.M11;
M[0, 1] = m.M12;
M[0, 2] = m.M13;
M[0, 3] = m.M14;
M[1, 0] = m.M21;
M[1, 1] = m.M22;
M[1, 2] = m.M23;
M[1, 3] = m.M24;
M[2, 0] = m.M31;
M[2, 1] = m.M32;
M[2, 2] = m.M33;
M[2, 3] = m.M34;
M[3, 0] = m.M41;
M[3, 1] = m.M42;
M[3, 2] = m.M43;
M[3, 3] = m.M44;
M[0, 4] = Fix64.One;
M[0, 5] = Fix64.Zero;
M[0, 6] = Fix64.Zero;
M[0, 7] = Fix64.Zero;
M[1, 4] = Fix64.Zero;
M[1, 5] = Fix64.One;
M[1, 6] = Fix64.Zero;
M[1, 7] = Fix64.Zero;
M[2, 4] = Fix64.Zero;
M[2, 5] = Fix64.Zero;
M[2, 6] = Fix64.One;
M[2, 7] = Fix64.Zero;
M[3, 4] = Fix64.Zero;
M[3, 5] = Fix64.Zero;
M[3, 6] = Fix64.Zero;
M[3, 7] = Fix64.One;
if (!Matrix3x6.Gauss(M, 4, 8))
{
r = new Matrix();
return(false);
}
r = new Matrix(
// m11...m14
M[0, 4],
M[0, 5],
M[0, 6],
M[0, 7],
// m21...m24
M[1, 4],
M[1, 5],
M[1, 6],
M[1, 7],
// m31...m34
M[2, 4],
M[2, 5],
M[2, 6],
M[2, 7],
// m41...m44
M[3, 4],
M[3, 5],
M[3, 6],
M[3, 7]
);
return(true);
}