public static Matrix3f Transpose(Matrix3f m)
{
Vector3f[] vec = new Vector3f[3];
vec[0] = new Vector3f(m[0]);
vec[1] = new Vector3f(m[1]);
vec[2] = new Vector3f(m[2]);
for (int i = 0; i < vec.Length; i++)
{
for (int j = 0; j < vec.Length; j++)
{
m[i][j] = vec[j][i];
}
}
return(m);
//var vec0 = new Vector3f(m[0]);
//var vec1 = new Vector3f(m[1]);
//var vec2 = new Vector3f(m[2]);
//m[0][1] = vec1[0];
//m[0][2] = vec2[2];
//m[1][0] = vec0[1];
//m[1][2] = vec2[1];
//m[2][0] = vec0[2];
//m[2][1] = vec1[2];
//return m;
}
/// <summary>
/// Multiplies the <paramref name="lhs"/> matrix by the <paramref name="rhs"/> matrix.
/// </summary>
/// <param name="lhs">The LHS matrix.</param>
/// <param name="rhs">The RHS matrix.</param>
/// <returns>The product of <paramref name="lhs"/> and <paramref name="rhs"/>.</returns>
public static Matrix3f operator *(Matrix3f lhs, Matrix3f rhs)
{
Matrix3f tempM = new Matrix3f(0);
tempM[0][0] = (lhs[0][0] * rhs[0][0]) + (lhs[0][1] * rhs[1][0]) + (lhs[0][2] * rhs[2][0]);
tempM[1][0] = (lhs[1][0] * rhs[0][0]) + (lhs[1][1] * rhs[1][0]) + (lhs[1][2] * rhs[2][0]);
tempM[2][0] = (lhs[2][0] * rhs[0][0]) + (lhs[2][1] * rhs[1][0]) + (lhs[2][2] * rhs[2][0]);
tempM[0][1] = (lhs[0][0] * rhs[0][1]) + (lhs[0][1] * rhs[1][1]) + (lhs[0][2] * rhs[2][1]);
tempM[1][1] = (lhs[1][0] * rhs[0][1]) + (lhs[1][1] * rhs[1][1]) + (lhs[1][2] * rhs[2][1]);
tempM[2][1] = (lhs[2][0] * rhs[0][1]) + (lhs[2][1] * rhs[1][1]) + (lhs[2][2] * rhs[2][1]);
tempM[0][2] = (lhs[0][0] * rhs[0][2]) + (lhs[0][1] * rhs[1][2]) + (lhs[0][2] * rhs[2][2]);
tempM[1][2] = (lhs[1][0] * rhs[0][2]) + (lhs[1][1] * rhs[1][2]) + (lhs[1][2] * rhs[2][2]);
tempM[2][2] = (lhs[2][0] * rhs[0][2]) + (lhs[2][1] * rhs[1][2]) + (lhs[2][2] * rhs[2][2]);
return(tempM);
}
public static Matrix3f Inverse(Matrix3f m)
{
float OneOverDeterminant = (1f) / (
+m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])
- m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2])
+ m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2]));
Matrix3f inverse = new Matrix3f(0);
inverse[0, 0] = +(m[1][1] * m[2][2] - m[2][1] * m[1][2]) * OneOverDeterminant;
inverse[1, 0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]) * OneOverDeterminant;
inverse[2, 0] = +(m[1][0] * m[2][1] - m[2][0] * m[1][1]) * OneOverDeterminant;
inverse[0, 1] = -(m[0][1] * m[2][2] - m[2][1] * m[0][2]) * OneOverDeterminant;
inverse[1, 1] = +(m[0][0] * m[2][2] - m[2][0] * m[0][2]) * OneOverDeterminant;
inverse[2, 1] = -(m[0][0] * m[2][1] - m[2][0] * m[0][1]) * OneOverDeterminant;
inverse[0, 2] = +(m[0][1] * m[1][2] - m[1][1] * m[0][2]) * OneOverDeterminant;
inverse[1, 2] = -(m[0][0] * m[1][2] - m[1][0] * m[0][2]) * OneOverDeterminant;
inverse[2, 2] = +(m[0][0] * m[1][1] - m[1][0] * m[0][1]) * OneOverDeterminant;
return(inverse);
}