public static double3x3 transpose(double3x3 v)
{
return(double3x3(
v.c0.x, v.c0.y, v.c0.z,
v.c1.x, v.c1.y, v.c1.z,
v.c2.x, v.c2.y, v.c2.z));
}
public static double3x3 quatToMatrix(quaternion_d q)
{
q = math.normalize(q);
// Precalculate coordinate products
double x = q.value.x * 2.0F;
double y = q.value.y * 2.0F;
double z = q.value.z * 2.0F;
double xx = q.value.x * x;
double yy = q.value.y * y;
double zz = q.value.z * z;
double xy = q.value.x * y;
double xz = q.value.x * z;
double yz = q.value.y * z;
double wx = q.value.w * x;
double wy = q.value.w * y;
double wz = q.value.w * z;
// Calculate 3x3 matrix from orthonormal basis
var m = new double3x3
{
m0 = new double3(1.0f - (yy + zz), xy + wz, xz - wy),
m1 = new double3(xy - wz, 1.0f - (xx + zz), yz + wx),
m2 = new double3(xz + wy, yz - wx, 1.0f - (xx + yy))
};
return(m);
}
public static double3x3 inverse(double3x3 m)
{
// naive scalar implementation using direct calculation by cofactors
double3 c0 = m.c0;
double3 c1 = m.c1;
double3 c2 = m.c2;
// calculate minors
double m00 = c1.y * c2.z - c1.z * c2.y;
double m01 = c0.y * c2.z - c0.z * c2.y;
double m02 = c0.y * c1.z - c0.z * c1.y;
double m10 = c1.x * c2.z - c1.z * c2.x;
double m11 = c0.x * c2.z - c0.z * c2.x;
double m12 = c0.x * c1.z - c0.z * c1.x;
double m20 = c1.x * c2.y - c1.y * c2.x;
double m21 = c0.x * c2.y - c0.y * c2.x;
double m22 = c0.x * c1.y - c0.y * c1.x;
double det = c0.x * m00 - c1.x * m01 + c2.x * m02;
return(double3x3(
m00, -m10, m20,
-m01, m11, -m21,
m02, -m12, m22) * (1.0 / det));
}
public static double determinant(double3x3 m)
{
double3 c0 = m.c0;
double3 c1 = m.c1;
double3 c2 = m.c2;
double m00 = c1.y * c2.z - c1.z * c2.y;
double m01 = c0.y * c2.z - c0.z * c2.y;
double m02 = c0.y * c1.z - c0.z * c1.y;
return(c0.x * m00 - c1.x * m01 + c2.x * m02);
}
/// <summary>Returns the double3x3 full inverse of a double3x3 matrix.</summary>
public static double3x3 inverse(double3x3 m)
{
double3 c0 = m.c0;
double3 c1 = m.c1;
double3 c2 = m.c2;
double3 t0 = double3(c1.x, c2.x, c0.x);
double3 t1 = double3(c1.y, c2.y, c0.y);
double3 t2 = double3(c1.z, c2.z, c0.z);
double3 m0 = t1 * t2.yzx - t1.yzx * t2;
double3 m1 = t0.yzx * t2 - t0 * t2.yzx;
double3 m2 = t0 * t1.yzx - t0.yzx * t1;
double rcpDet = 1.0 / csum(t0.zxy * m0);
return(double3x3(m0, m1, m2) * rcpDet);
}
public static float3x3 float3x3(double3x3 v)
{
return(new float3x3(v));
}
public float3x3(double3x3 v)
{
this.c0 = (float3)v.c0;
this.c1 = (float3)v.c1;
this.c2 = (float3)v.c2;
}
public int3x3(double3x3 v)
{
this.c0 = (int3)v.c0;
this.c1 = (int3)v.c1;
this.c2 = (int3)v.c2;
}
public static int3x3 int3x3(double3x3 v)
{
return(new int3x3(v));
}
public static uint3 hash_wide(double3x3 v)
{
return((fold_to_uint(v.c0) * uint3(0xB8B208C7u, 0x5D3ED947u, 0x4473BBB1u) +
fold_to_uint(v.c1) * uint3(0xCBA11D5Fu, 0x685835CFu, 0xC3D32AE1u) +
fold_to_uint(v.c2) * uint3(0xB966942Fu, 0xFE9856B3u, 0xFA3A3285u)) + 0xAD55999Du);
}
public static uint hash(double3x3 v)
{
return(csum(fold_to_uint(v.c0) * uint3(0xFAAF07DDu, 0x625C45BDu, 0xC9F27FCBu) +
fold_to_uint(v.c1) * uint3(0x6D2523B1u, 0x6E2BF6A9u, 0xCC74B3B7u) +
fold_to_uint(v.c2) * uint3(0x83B58237u, 0x833E3E29u, 0xA9D919BFu)) + 0xC3EC1D97u);
}
public static uint hash(double3x3 v)
{
return(csum(fold_to_uint(v.c0) * uint3(0xF18EEB85u, 0x9E19BFC3u, 0x8196B06Fu) +
fold_to_uint(v.c1) * uint3(0xD24EFA19u, 0x7D8048BBu, 0x713BD06Fu) +
fold_to_uint(v.c2) * uint3(0x753AD6ADu, 0xD19764C7u, 0xB5D0BF63u)) + 0xF9102C5Fu);
}
public static uint3 hashwide(double3x3 v)
{
return((fold_to_uint(v.c0) * uint3(0x91475DF7u, 0x55E84827u, 0x90A285BBu) +
fold_to_uint(v.c1) * uint3(0x5D19E1D5u, 0xFAAF07DDu, 0x625C45BDu) +
fold_to_uint(v.c2) * uint3(0xC9F27FCBu, 0x6D2523B1u, 0x6E2BF6A9u)) + 0xCC74B3B7u);
}
public static uint hash(double3x3 v)
{
return(csum(fold_to_uint(v.c0) * uint3(0xAC5DB57Bu, 0xA91A02EDu, 0xB3C49313u) +
fold_to_uint(v.c1) * uint3(0xF43A9ABBu, 0x84E7E01Bu, 0x8E055BE5u) +
fold_to_uint(v.c2) * uint3(0x6E624EB7u, 0x7383ED49u, 0xDD49C23Bu)) + 0xEBD0D005u);
}
public static uint3x3 uint3x3(double3x3 v)
{
return(new uint3x3(v));
}
public static uint3 hashwide(double3x3 v)
{
return((fold_to_uint(v.c0) * uint3(0x9C9F0823u, 0x5A9CA13Bu, 0xAFCDD5EFu) +
fold_to_uint(v.c1) * uint3(0xA88D187Du, 0xCF6EBA1Du, 0x9D88E5A1u) +
fold_to_uint(v.c2) * uint3(0xEADF0775u, 0x747A9D7Bu, 0x4111F799u)) + 0xB5F05AF1u);
}
public static uint hash(double3x3 v)
{
return(csum(fold_to_uint(v.c0) * uint3(0xB36DE767u, 0x6FCA387Du, 0xAF0F3103u) +
fold_to_uint(v.c1) * uint3(0xE4A056C7u, 0x841D8225u, 0xC9393C7Du) +
fold_to_uint(v.c2) * uint3(0xD42EAFA3u, 0xD9AFD06Du, 0x97A65421u)) + 0x7809205Fu);
}
