/**
* Extracts the row from the matrix a.
* @param a Input matrix
* @param row Which row is to be extracted
* @param output output. Storage for the extracted row. If null then a new vector will be returned.
* @return The extracted row.
*/
public static DMatrix3 extractRow(DMatrix3x3 a, int row, DMatrix3 output)
{
if (output == null)
{
output = new DMatrix3();
}
switch (row)
{
case 0:
output.a1 = a.a11;
output.a2 = a.a12;
output.a3 = a.a13;
break;
case 1:
output.a1 = a.a21;
output.a2 = a.a22;
output.a3 = a.a23;
break;
case 2:
output.a1 = a.a31;
output.a2 = a.a32;
output.a3 = a.a33;
break;
default:
throw new ArgumentException("Out of bounds row. row = " + row);
}
return(output);
}
/**
* Extracts the column from the matrix a.
* @param a Input matrix
* @param column Which column is to be extracted
* @param output output. Storage for the extracted column. If null then a new vector will be returned.
* @return The extracted column.
*/
public static DMatrix3 extractColumn(DMatrix3x3 a, int column, DMatrix3 output)
{
if (output == null)
{
output = new DMatrix3();
}
switch (column)
{
case 0:
output.a1 = a.a11;
output.a2 = a.a21;
output.a3 = a.a31;
break;
case 1:
output.a1 = a.a12;
output.a2 = a.a22;
output.a3 = a.a32;
break;
case 2:
output.a1 = a.a13;
output.a2 = a.a23;
output.a3 = a.a33;
break;
default:
throw new ArgumentException("Out of bounds column. column = " + column);
}
return(output);
}
public static void main(string[] args)
{
// declare the matrix
DMatrix3x3 a = new DMatrix3x3();
DMatrix3x3 b = new DMatrix3x3();
// Can assign values the usual way
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
a.set(i, j, i + j + 1);
}
}
// Direct manipulation of each value is the fastest way to assign/read values
a.a11 = 12;
a.a23 = 64;
// can print the usual way too
a.print();
// most of the standard operations are support
CommonOps_DDF3.transpose(a, b);
b.print();
Console.WriteLine("Determinant = " + CommonOps_DDF3.det(a));
// matrix-vector operations are also supported
// Constructors for vectors and matrices can be used to initialize its value
DMatrix3 v = new DMatrix3(1, 2, 3);
DMatrix3 result = new DMatrix3();
CommonOps_DDF3.mult(a, v, result);
// Conversion into DMatrixRMaj can also be done
DMatrixRMaj dm = ConvertDMatrixStruct.convert(a, null);
dm.print();
// This can be useful if you need do more advanced operations
SimpleMatrix <DMatrixRMaj> sv = SimpleMatrix <DMatrixRMaj> .wrap(dm).svd().getV() as SimpleMatrix <DMatrixRMaj>;
// can then convert it back into a fixed matrix
DMatrix3x3 fv = ConvertDMatrixStruct.convert(sv.getDDRM(), (DMatrix3x3)null);
Console.WriteLine("Original simple matrix and converted fixed matrix");
sv.print();
fv.print();
}
public static double normF(DMatrix3 M)
{
double scale = CommonOps_DDF3.elementMaxAbs(M);
if (scale == 0.0)
{
return(0.0);
}
double a1 = M.a1 / scale, a2 = M.a2 / scale, a3 = M.a3 / scale;
double sum = a1 * a1 + a2 * a2 + a3 * a3;
return(scale * Math.Sqrt(sum));
}
/**
* <p>
* Returns the value of the element in the vector that has the largest value.<br>
* <br>
* Max{ a<sub>i</sub> } for all i<br>
* </p>
*
* @param a A vector. Not modified.
* @return The max element value of the matrix.
*/
public static double elementMax(DMatrix3 a)
{
double max = a.a1;
if (a.a2 > max)
{
max = a.a2;
}
if (a.a3 > max)
{
max = a.a3;
}
return(max);
}
/**
* <p>
* Returns the value of the element in the vector that has the minimum value.<br>
* <br>
* Min{ a<sub>i</sub> } for all<br>
* </p>
*
* @param a A matrix. Not modified.
* @return The value of element in the vector with the minimum value.
*/
public static double elementMin(DMatrix3 a)
{
double min = a.a1;
if (a.a2 < min)
{
min = a.a2;
}
if (a.a3 < min)
{
min = a.a3;
}
return(min);
}
public static bool isIdentical(DMatrix3 a, DMatrix3 b, double tol)
{
if (!MatrixFeatures_DDRM.isIdentical(a.a1, b.a1, tol))
{
return(false);
}
if (!MatrixFeatures_DDRM.isIdentical(a.a2, b.a2, tol))
{
return(false);
}
if (!MatrixFeatures_DDRM.isIdentical(a.a3, b.a3, tol))
{
return(false);
}
return(true);
}
public static bool hasUncountable(DMatrix3 a)
{
if (UtilEjml.isUncountable(a.a1))
{
return(true);
}
if (UtilEjml.isUncountable(a.a2))
{
return(true);
}
if (UtilEjml.isUncountable(a.a3))
{
return(true);
}
return(false);
}
/**
* <p>
* Returns the absolute value of the element in the vector that has the largest absolute value.<br>
* <br>
* Max{ |a<sub>i</sub>| } for all i<br>
* </p>
*
* @param a A matrix. Not modified.
* @return The max abs element value of the vector.
*/
public static double elementMaxAbs(DMatrix3 a)
{
double max = Math.Abs(a.a1);
double tmp = Math.Abs(a.a2);
if (tmp > max)
{
max = tmp;
}
tmp = Math.Abs(a.a2);
if (tmp > max)
{
max = tmp;
}
tmp = Math.Abs(a.a3);
if (tmp > max)
{
max = tmp;
}
return(max);
}
/**
* <p>
* Returns the absolute value of the element in the vector that has the smallest absolute value.<br>
* <br>
* Min{ |a<sub>i</sub>| } for all i<br>
* </p>
*
* @param a A matrix. Not modified.
* @return The max element value of the vector.
*/
public static double elementMinAbs(DMatrix3 a)
{
double min = Math.Abs(a.a1);
double tmp = Math.Abs(a.a1);
if (tmp < min)
{
min = tmp;
}
tmp = Math.Abs(a.a2);
if (tmp < min)
{
min = tmp;
}
tmp = Math.Abs(a.a3);
if (tmp < min)
{
min = tmp;
}
return(min);
}
private void UpdateModelViewMatrix() // метод вызывается при измении свойств cameraAngle и cameraDistance
{
#region Обновление объектно-видовой матрицы ---------------------------------------------------------
RenderDevice.AddScheduleTask((gl, s) =>
{
gl.MatrixMode(OpenGL.GL_MODELVIEW);
var deg2rad = Math.PI / 180; // Вращается камера, а не сам объект
double phi = deg2rad * cameraAngle.X;
double teta = deg2rad * cameraAngle.Y;
double psi = deg2rad * cameraAngle.Z;
// матрицы поворота вокруг осей
DMatrix3 RX = new DMatrix3(1, 0, 0,
0, Math.Cos(phi), -Math.Sin(phi),
0, Math.Sin(phi), Math.Cos(phi));
DMatrix3 RY = new DMatrix3(Math.Cos(teta), 0, Math.Sin(teta),
0, 1, 0,
-Math.Sin(teta), 0, Math.Cos(teta));
DMatrix3 RZ = new DMatrix3(Math.Cos(psi), -Math.Sin(psi), 0,
Math.Sin(psi), Math.Cos(psi), 0,
0, 0, 1);
var cameraTransform = (RX * RY) * RZ;
var cameraPosition = cameraTransform * new DVector3(0, 0, cameraDistance);
var cameraUpDirection = cameraTransform * new DVector3(0, 1, 0);
// Мировая матрица (преобразование локальной системы координат в мировую)
mMatrix = DMatrix4.Identity; // нет никаких преобразований над объекта
// Видовая матрица (переход из мировой системы координат к системе координат камеры)
vMatrix = LookAt(DMatrix4.Identity, cameraPosition, DVector3.Zero, cameraUpDirection);
// матрица ModelView
var mvMatrix = vMatrix * mMatrix;
gl.LoadMatrix(mvMatrix.ToArray(true));
//gl.Rotate(45, 1f, 0f, 0);
//gl.Rotate(-45, 0f, 1f, 0);
});
#endregion
}
/**
* Converts {@link DMatrixRMaj} into {@link DMatrix3}
*
* @param input Input matrix.
* @param output Output matrix. If null a new matrix will be declared.
* @return Converted matrix.
*/
public static DMatrix3 convert(DMatrixRMaj input, DMatrix3 output)
{
if (output == null)
{
output = new DMatrix3();
}
if (input.getNumRows() != 1 && input.getNumCols() != 1)
{
throw new ArgumentException("One row or column must have a length of 1 for it to be a vector");
}
int length = Math.Max(input.getNumRows(), input.getNumCols());
if (length != 3)
{
throw new ArgumentException("Length of input vector is not 3. It is " + length);
}
output.a1 = input.data[0];
output.a2 = input.data[1];
output.a3 = input.data[2];
return(output);
}
/**
* Converts {@link DMatrix3} into {@link DMatrixRMaj}.
*
* @param input Input matrix.
* @param output Output matrix. If null a new matrix will be declared.
* @return Converted matrix.
*/
public static DMatrixRMaj convert(DMatrix3 input, DMatrixRMaj output)
{
if (output == null)
{
output = new DMatrixRMaj(3, 1);
}
if (output.NumRows != 1 && output.NumCols != 1)
{
throw new ArgumentException("One row or column must have a length of 1 for it to be a vector");
}
int length = Math.Max(output.NumRows, output.NumCols);
if (length != 3)
{
throw new ArgumentException("Length of input vector is not 3. It is " + length);
}
output.data[0] = input.a1;
output.data[1] = input.a2;
output.data[2] = input.a3;
return(output);
}
/**
* <p>
* Performs an element by element scalar multiplication.<br>
* <br>
* b<sub>i</sub> = α*a<sub>i</sub>
* </p>
*
* @param alpha the amount each element is multiplied by.
* @param a The vector that is to be scaled. Not modified.
* @param b Where the scaled matrix is stored. Modified.
*/
public static void scale(double alpha, DMatrix3 a, DMatrix3 b)
{
b.a1 = a.a1 * alpha;
b.a2 = a.a2 * alpha;
b.a3 = a.a3 * alpha;
}
protected unsafe override void OnDeviceUpdate(object s, OGLDeviceUpdateArgs e)
{
var gl = e.gl;
gl.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT | OpenGL.GL_STENCIL_BUFFER_BIT);
gl.UseProgram(shaderProgram);
DMatrix4 modelMat = DMatrix4.Identity;
RotateMatrix(ref modelMat, Rotation.X, Rotation.Y, Rotation.Z);
ScaleMatrix(ref modelMat, Scale.X, Scale.Y, Scale.Z);
double H = gl.RenderContextProvider.Height;
double W = gl.RenderContextProvider.Width;
double AspectRatio = W / H;
DMatrix4 projectionlMat = OrthoNormalized(W, H);
DMatrix4 normalMat = DMatrix3.NormalVecTransf(modelMat);
LoadGlobalUniforms(gl, shaderProgram);
int modelViewMatrixUniformLocation = gl.GetUniformLocation(shaderProgram, "modelViewMatrix");
int projectionMatrixUniformLocation = gl.GetUniformLocation(shaderProgram, "projectionMatrix");
int modelViewNormalMatrixUniformLocation = gl.GetUniformLocation(shaderProgram, "modelViewNormalMatrix");
gl.UniformMatrix4(modelViewMatrixUniformLocation, 1, false, modelMat.ToArray(true).Select(d => (float)d).ToArray());
gl.UniformMatrix4(projectionMatrixUniformLocation, 1, false, projectionlMat.ToArray(true).Select(d => (float)d).ToArray());
gl.UniformMatrix4(modelViewNormalMatrixUniformLocation, 1, false, normalMat.ToArray(true).Select(d => (float)d).ToArray());
#region ендинг сцены методом VBO (Vertex Buffer Object) --------------------------------------------
gl.BindBuffer(OpenGL.GL_ARRAY_BUFFER, VertexVBOID);
unsafe
{
fixed(float *ptr = &GLVertecis[0].vx)
{
gl.BufferData(OpenGL.GL_ARRAY_BUFFER, sizeof(GLVertex) * GLVertecis.Length, new IntPtr(ptr), OpenGL.GL_STATIC_DRAW);
}
}
gl.BindBuffer(OpenGL.GL_ELEMENT_ARRAY_BUFFER, IndexVBOID);
unsafe
{
fixed(uint *ptr = &indices[0])
{
gl.BufferData(OpenGL.GL_ELEMENT_ARRAY_BUFFER, sizeof(uint) * indices.Length, new IntPtr(ptr), OpenGL.GL_STATIC_DRAW);
}
}
gl.BindBuffer(OpenGL.GL_ARRAY_BUFFER, VertexVBOID);
gl.EnableVertexAttribArray(0); // We like submitting vertices on stream 0 for no special reason
gl.VertexAttribPointer(0, 3, OpenGL.GL_FLOAT, false, sizeof(GLVertex), BUFFER_OFFSET(0)); // The starting point of the VBO, for the vertices
gl.EnableVertexAttribArray(1); // We like submitting normals on stream 1 for no special reason
gl.VertexAttribPointer(1, 3, OpenGL.GL_FLOAT, false, sizeof(GLVertex), BUFFER_OFFSET(12)); // The starting point of normals, 12 bytes away
gl.BindBuffer(OpenGL.GL_ELEMENT_ARRAY_BUFFER, IndexVBOID);
gl.DrawElements(OpenGL.GL_TRIANGLES, indices.Length, OpenGL.GL_UNSIGNED_INT, BUFFER_OFFSET(0));
gl.DisableVertexAttribArray(0);
gl.DisableVertexAttribArray(1);
gl.BindBuffer(OpenGL.GL_ARRAY_BUFFER, 0);
gl.BindBuffer(OpenGL.GL_ELEMENT_ARRAY_BUFFER, 0);
#endregion
if (Axis)
{
DrawAxis(gl);
}
}
/**
* <p>
* Performs an element by element scalar division. Scalar denominator.<br>
* <br>
* b<sub>i</sub> = a<sub>i</sub> /α
* </p>
*
* @param alpha the amount each element is divided by.
* @param a The vector whose elements are to be divided. Not modified.
* @param b Where the results are stored. Modified.
*/
public static void divide(DMatrix3 a, double alpha, DMatrix3 b)
{
b.a1 = a.a1 / alpha;
b.a2 = a.a2 / alpha;
b.a3 = a.a3 / alpha;
}
/**
* <p>
* Performs an in-place element by element scalar division. Scalar denominator.<br>
* <br>
* a<sub>i</sub> = a<sub>i</sub>/α
* </p>
*
* @param a The vector whose elements are to be divided. Modified.
* @param alpha the amount each element is divided by.
*/
public static void divide(DMatrix3 a, double alpha)
{
a.a1 /= alpha;
a.a2 /= alpha;
a.a3 /= alpha;
}
protected unsafe override void OnDeviceUpdate(object s, OGLDeviceUpdateArgs e)
{
var gl = e.gl;
// Очищаем буфер экрана и буфер глубины (иначе рисоваться все будет поверх старого)
gl.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT | OpenGL.GL_STENCIL_BUFFER_BIT);
gl.UseProgram(shaderProgram);
//Console.WriteLine(gl.GetErrorDescription(gl.GetError()));
DMatrix4 modelMat = DMatrix4.Identity;
RotateMatrix(ref modelMat, Rotation.X, Rotation.Y, Rotation.Z);
ScaleMatrix(ref modelMat, Scale.X, Scale.Y, Scale.Z);
double H = gl.RenderContextProvider.Height;
double W = gl.RenderContextProvider.Width;
double AspectRatio = W / H;
DMatrix4 projectionlMat = OrthoNormalized(W, H);
DMatrix4 normalMat = DMatrix3.NormalVecTransf(modelMat);
LoadGlobalUniforms(gl, shaderProgram);
int modelViewMatrixUniformLocation = gl.GetUniformLocation(shaderProgram, "modelViewMatrix");
int projectionMatrixUniformLocation = gl.GetUniformLocation(shaderProgram, "projectionMatrix");
int modelViewNormalMatrixUniformLocation = gl.GetUniformLocation(shaderProgram, "modelViewNormalMatrix");
gl.UniformMatrix4(modelViewMatrixUniformLocation, 1, false, modelMat.ToArray(true).Select(d => (float)d).ToArray());
gl.UniformMatrix4(projectionMatrixUniformLocation, 1, false, projectionlMat.ToArray(true).Select(d => (float)d).ToArray());
gl.UniformMatrix4(modelViewNormalMatrixUniformLocation, 1, false, normalMat.ToArray(true).Select(d => (float)d).ToArray());
// Рендинг сцены реализуется одним из двух методов - VB (Vertex Buffer) или VA (Vertex Array),
// в зависимости от выбранного пользователем режима.
#region ендинг сцены методом VBO (Vertex Buffer Object) --------------------------------------------
gl.BindBuffer(OpenGL.GL_ARRAY_BUFFER, VertexVBOID);
unsafe
{
fixed(float *ptr = &GLVertecis[0].vx)
{
gl.BufferData(OpenGL.GL_ARRAY_BUFFER, sizeof(GLVertex) * GLVertecis.Length, new IntPtr(ptr), OpenGL.GL_STATIC_DRAW);
}
}
gl.BindBuffer(OpenGL.GL_ELEMENT_ARRAY_BUFFER, IndexVBOID);
unsafe
{
fixed(uint *ptr = &indices[0])
{
gl.BufferData(OpenGL.GL_ELEMENT_ARRAY_BUFFER, sizeof(uint) * indices.Length, new IntPtr(ptr), OpenGL.GL_STATIC_DRAW);
}
}
gl.BindBuffer(OpenGL.GL_ARRAY_BUFFER, VertexVBOID);
gl.EnableVertexAttribArray(0); // We like submitting vertices on stream 0 for no special reason
gl.VertexAttribPointer(0, 3, OpenGL.GL_FLOAT, false, sizeof(GLVertex), BUFFER_OFFSET(0)); // The starting point of the VBO, for the vertices
gl.EnableVertexAttribArray(1); // We like submitting normals on stream 1 for no special reason
gl.VertexAttribPointer(1, 3, OpenGL.GL_FLOAT, false, sizeof(GLVertex), BUFFER_OFFSET(12)); // The starting point of normals, 12 bytes away
gl.BindBuffer(OpenGL.GL_ELEMENT_ARRAY_BUFFER, IndexVBOID);
gl.DrawElements(OpenGL.GL_TRIANGLES, indices.Length, OpenGL.GL_UNSIGNED_INT, BUFFER_OFFSET(0));
gl.DisableVertexAttribArray(0);
gl.DisableVertexAttribArray(1);
gl.BindBuffer(OpenGL.GL_ARRAY_BUFFER, 0);
gl.BindBuffer(OpenGL.GL_ELEMENT_ARRAY_BUFFER, 0);
/* общий код удаления буфферов */
#endregion
if (Axis)
{
DrawAxis(gl);
}
}
/**
* <p>
* Changes the sign of every element in the vector.<br>
* <br>
* a<sub>i</sub> = -a<sub>i</sub>
* </p>
*
* @param a A vector. Modified.
*/
public static void changeSign(DMatrix3 a)
{
a.a1 = -a.a1;
a.a2 = -a.a2;
a.a3 = -a.a3;
}
/**
* <p>Performs the following operation:<br>
* <br>
* a = a + b <br>
* a<sub>i</sub> = a<sub>i</sub> + b<sub>i</sub> <br>
* </p>
*
* @param a A Vector. Modified.
* @param b A Vector. Not modified.
*/
public static void addEquals(DMatrix3 a, DMatrix3 b)
{
a.a1 += b.a1;
a.a2 += b.a2;
a.a3 += b.a3;
}
/**
* <p>Performs the following operation:<br>
* <br>
* c = a + b <br>
* c<sub>i</sub> = a<sub>i</sub> + b<sub>i</sub> <br>
* </p>
*
* <p>
* Vector C can be the same instance as Vector A and/or B.
* </p>
*
* @param a A Vector. Not modified.
* @param b A Vector. Not modified.
* @param c A Vector where the results are stored. Modified.
*/
public static void add(DMatrix3 a, DMatrix3 b, DMatrix3 c)
{
c.a1 = a.a1 + b.a1;
c.a2 = a.a2 + b.a2;
c.a3 = a.a3 + b.a3;
}
/**
* <p>Performs the following operation:<br>
* <br>
* c = a - b <br>
* c<sub>i</sub> = a<sub>i</sub> - b<sub>i</sub> <br>
* </p>
*
* <p>
* Vector C can be the same instance as Vector A and/or B.
* </p>
*
* @param a A Vector. Not modified.
* @param b A Vector. Not modified.
* @param c A Vector where the results are stored. Modified.
*/
public static void subtract(DMatrix3 a, DMatrix3 b, DMatrix3 c)
{
c.a1 = a.a1 - b.a1;
c.a2 = a.a2 - b.a2;
c.a3 = a.a3 - b.a3;
}
/**
* <p>
* Sets every element in the vector to the specified value.<br>
* <br>
* a<sub>i</sub> = value
* <p>
*
* @param a A vector whose elements are about to be set. Modified.
* @param v The value each element will have.
*/
public static void fill(DMatrix3 a, double v)
{
a.a1 = v;
a.a2 = v;
a.a3 = v;
}
/**
* <p>Performs the following operation:<br>
* <br>
* a = a - b <br>
* a<sub>i</sub> = a<sub>i</sub> - b<sub>i</sub> <br>
* </p>
*
* @param a A Vector. Modified.
* @param b A Vector. Not modified.
*/
public static void subtractEquals(DMatrix3 a, DMatrix3 b)
{
a.a1 -= b.a1;
a.a2 -= b.a2;
a.a3 -= b.a3;
}
/**
* <p>Performs matrix to vector multiplication:<br>
* <br>
* c = a * b <br>
* <br>
* c<sub>i</sub> = ∑<sub>k=1:n</sub> { a<sub>ik</sub> * b<sub>k</sub>}
* </p>
*
* @param a The left matrix in the multiplication operation. Not modified.
* @param b The right vector in the multiplication operation. Not modified.
* @param c Where the results of the operation are stored. Modified.
*/
public static void mult(DMatrix3x3 a, DMatrix3 b, DMatrix3 c)
{
c.a1 = a.a11 * b.a1 + a.a12 * b.a2 + a.a13 * b.a3;
c.a2 = a.a21 * b.a1 + a.a22 * b.a2 + a.a23 * b.a3;
c.a3 = a.a31 * b.a1 + a.a32 * b.a2 + a.a33 * b.a3;
}
/**
* <p>Performs vector to matrix multiplication:<br>
* <br>
* c = a * b <br>
* <br>
* c<sub>j</sub> = ∑<sub>k=1:n</sub> { b<sub>k</sub> * a<sub>kj</sub> }
* </p>
*
* @param a The left vector in the multiplication operation. Not modified.
* @param b The right matrix in the multiplication operation. Not modified.
* @param c Where the results of the operation are stored. Modified.
*/
public static void mult(DMatrix3 a, DMatrix3x3 b, DMatrix3 c)
{
c.a1 = a.a1 * b.a11 + a.a2 * b.a21 + a.a3 * b.a31;
c.a2 = a.a1 * b.a12 + a.a2 * b.a22 + a.a3 * b.a32;
c.a3 = a.a1 * b.a13 + a.a2 * b.a23 + a.a3 * b.a33;
}
public DisplayNumericPropertyAttribute(DMatrix3 Default, double Increment, int Decimals, string Name, double Minimum = (double)long.MinValue, double Maximum = (double)long.MaxValue)
: this(Default, Name, Increment, Minimum, Maximum, Decimals)
{
}
/**
* <p>Performs an element by element multiplication operation:<br>
* <br>
* a<sub>i</sub> = a<sub>i</sub> * b<sub>i</sub> <br>
* </p>
* @param a The left vector in the multiplication operation. Modified.
* @param b The right vector in the multiplication operation. Not modified.
*/
public static void elementMult(DMatrix3 a, DMatrix3 b)
{
a.a1 *= b.a1;
a.a2 *= b.a2;
a.a3 *= b.a3;
}
/**
* <p>
* Extracts all diagonal elements from 'input' and places them inside the 'output' vector. Elements
* are in sequential order.
* </p>
*
*
* @param input Matrix. Not modified.
* @param output Vector containing diagonal elements. Modified.
*/
public static void diag(DMatrix3x3 input, DMatrix3 output)
{
output.a1 = input.a11;
output.a2 = input.a22;
output.a3 = input.a33;
}
/**
* <p>Performs the vector dot product:<br>
* <br>
* c = a * b <br>
* <br>
* c ≥ ∑<sub>k=1:n</sub> { b<sub>k</sub> * a<sub>k</sub> }
* </p>
*
* @param a The left vector in the multiplication operation. Not modified.
* @param b The right matrix in the multiplication operation. Not modified.
* @return The dot product
*/
public static double dot(DMatrix3 a, DMatrix3 b)
{
return(a.a1 * b.a1 + a.a2 * b.a2 + a.a3 * b.a3);
}
