/// <summary>
/// Matrix-multiplication for a 3x4- and a 4x3 matrix.
/// </summary>
/// <param name="lhs">
/// Left-hand side of the multiplication.
/// </param>
/// <param name="rhs">
/// Right-hand side of the multiplication.
/// </param>
/// <returns>
/// The matrix-product of <paramref name="lhs"><c>lhs</c></paramref>
/// and <paramref name="rhs"><c>rhs</c></paramref>.
/// </returns>
public static Matrix3x3 Multiply(Matrix3x4 lhs, Matrix4x3 rhs)
{
const int m = Matrix3x4.Height; // Height of the product
const int n = Matrix4x3.Width; // Width of the product
const int o = Matrix3x4.Width; // Same as lhs.Height
var product = new Matrix3x3();
for (int i = 0; i < m; ++i)
{
for (int j = 0; j < n; ++j)
{
var sum = 0f;
for (int k = 0; k < o; ++k)
{
sum += lhs[i, k] * rhs[k, j];
}
product[i, j] = sum;
}
}
return(product);
}
/// <summary>
/// Matrix-multiplication of this and a 4x3 matrix.
/// </summary>
/// <param name="rhs">
/// Right-hand side of the multiplication.
/// </param>
/// <returns>
/// The matrix-product of this matrix and
/// <paramref name="rhs"><c>rhs</c></paramref>.
/// </returns>
public Matrix3x3 Multiply(Matrix4x3 rhs)
{
return(Multiply(this, rhs));
}