public Mat3 Transpose()
{
Mat3 m = new Mat3();
m.Set(m00, m10, m20, m01, m11, m21, m02, m12, m22);
return(m);
}
public static void GetSymmetricSvd(ref SMat3 a, ref SMat3 vtav, ref Mat3 v, float tol, int max_sweeps)
{
vtav.SetSymmetric(a);
v.Set(1, 0, 0, 0, 1, 0, 0, 0, 1);
float delta = tol * vtav.Fnorm();
for (int i = 0; i < max_sweeps && vtav.Off() > delta; i++)
{
Rotate01(ref vtav, ref v);
Rotate02(ref vtav, ref v);
Rotate12(ref vtav, ref v);
}
}
public static Mat3 operator *(Mat3 a, Mat3 b)
{
Mat3 m = new Mat3();
m.Set(a.m00 * b.m00 + a.m01 * b.m10 + a.m02 * b.m20,
a.m00 * b.m01 + a.m01 * b.m11 + a.m02 * b.m21,
a.m00 * b.m02 + a.m01 * b.m12 + a.m02 * b.m22,
a.m10 * b.m00 + a.m11 * b.m10 + a.m12 * b.m20,
a.m10 * b.m01 + a.m11 * b.m11 + a.m12 * b.m21,
a.m10 * b.m02 + a.m11 * b.m12 + a.m12 * b.m22,
a.m20 * b.m00 + a.m21 * b.m10 + a.m22 * b.m20,
a.m20 * b.m01 + a.m21 * b.m11 + a.m22 * b.m21,
a.m20 * b.m02 + a.m21 * b.m12 + a.m22 * b.m22);
return(m);
}
public static Mat3 PseudoInverse(SMat3 d, Mat3 v, float tol)
{
Mat3 m = new Mat3();
float d0 = Pinv(d.m00, tol), d1 = Pinv(d.m11, tol), d2 = Pinv(d.m22,
tol);
m.Set(v.m00 * d0 * v.m00 + v.m01 * d1 * v.m01 + v.m02 * d2 * v.m02,
v.m00 * d0 * v.m10 + v.m01 * d1 * v.m11 + v.m02 * d2 * v.m12,
v.m00 * d0 * v.m20 + v.m01 * d1 * v.m21 + v.m02 * d2 * v.m22,
v.m10 * d0 * v.m00 + v.m11 * d1 * v.m01 + v.m12 * d2 * v.m02,
v.m10 * d0 * v.m10 + v.m11 * d1 * v.m11 + v.m12 * d2 * v.m12,
v.m10 * d0 * v.m20 + v.m11 * d1 * v.m21 + v.m12 * d2 * v.m22,
v.m20 * d0 * v.m00 + v.m21 * d1 * v.m01 + v.m22 * d2 * v.m02,
v.m20 * d0 * v.m10 + v.m21 * d1 * v.m11 + v.m22 * d2 * v.m12,
v.m20 * d0 * v.m20 + v.m21 * d1 * v.m21 + v.m22 * d2 * v.m22);
return(m);
}