Exemplo n.º 1
0
        public Matrix4d Mult(Matrix4d a)
        {
            Matrix4d B = new Matrix4d();

            for (int i = 0; i < 4; i++)
            {
                for (int j = 0; j < 4; j++)
                {
                    for (int k = 0; k < 4; k++)
                    {
                        B[i, j] = B[i, j] + this.val[i, k] * a[k, j];
                    }
                }
            }
            return(B);
        }
Exemplo n.º 2
0
        public Matrix4d Inverse()
        {
            Matrix4d B = new Matrix4d();
            double   det;

            #region calculate matrix element
            B[0, 0] = val[1, 1] * val[2, 2] * val[3, 3] -
                      val[1, 1] * val[2, 3] * val[3, 2] -
                      val[2, 1] * val[1, 2] * val[3, 3] +
                      val[2, 1] * val[1, 3] * val[3, 2] +
                      val[3, 1] * val[1, 2] * val[2, 3] -
                      val[3, 1] * val[1, 3] * val[2, 2];

            B[1, 0] = -val[1, 0] * val[2, 2] * val[3, 3] +
                      val[1, 0] * val[2, 3] * val[3, 2] +
                      val[2, 0] * val[1, 2] * val[3, 3] -
                      val[2, 0] * val[1, 3] * val[3, 2] -
                      val[3, 0] * val[1, 2] * val[2, 3] +
                      val[3, 0] * val[1, 3] * val[2, 2];

            B[2, 0] = val[1, 0] * val[2, 1] * val[3, 3] -
                      val[1, 0] * val[2, 3] * val[3, 1] -
                      val[2, 0] * val[1, 1] * val[3, 3] +
                      val[2, 0] * val[1, 3] * val[3, 1] +
                      val[3, 0] * val[1, 1] * val[2, 3] -
                      val[3, 0] * val[1, 3] * val[2, 1];

            B[3, 0] = -val[1, 0] * val[2, 1] * val[3, 2] +
                      val[1, 0] * val[2, 2] * val[3, 1] +
                      val[2, 0] * val[1, 1] * val[3, 2] -
                      val[2, 0] * val[1, 2] * val[3, 1] -
                      val[3, 0] * val[1, 1] * val[2, 2] +
                      val[3, 0] * val[1, 2] * val[2, 1];

            B[0, 1] = -val[0, 1] * val[2, 2] * val[3, 3] +
                      val[0, 1] * val[2, 3] * val[3, 2] +
                      val[2, 1] * val[0, 2] * val[3, 3] -
                      val[2, 1] * val[0, 3] * val[3, 2] -
                      val[3, 1] * val[0, 2] * val[2, 3] +
                      val[3, 1] * val[0, 3] * val[2, 2];

            B[1, 1] = val[0, 0] * val[2, 2] * val[3, 3] -
                      val[0, 0] * val[2, 3] * val[3, 2] -
                      val[2, 0] * val[0, 2] * val[3, 3] +
                      val[2, 0] * val[0, 3] * val[3, 2] +
                      val[3, 0] * val[0, 2] * val[2, 3] -
                      val[3, 0] * val[0, 3] * val[2, 2];

            B[2, 1] = -val[0, 0] * val[2, 1] * val[3, 3] +
                      val[0, 0] * val[2, 3] * val[3, 1] +
                      val[2, 0] * val[0, 1] * val[3, 3] -
                      val[2, 0] * val[0, 3] * val[3, 1] -
                      val[3, 0] * val[0, 1] * val[2, 3] +
                      val[3, 0] * val[0, 3] * val[2, 1];

            B[3, 1] = val[0, 0] * val[2, 1] * val[3, 2] -
                      val[0, 0] * val[2, 2] * val[3, 1] -
                      val[2, 0] * val[0, 1] * val[3, 2] +
                      val[2, 0] * val[0, 2] * val[3, 1] +
                      val[3, 0] * val[0, 1] * val[2, 2] -
                      val[3, 0] * val[0, 2] * val[2, 1];

            B[0, 2] = val[0, 1] * val[1, 2] * val[3, 3] -
                      val[0, 1] * val[1, 3] * val[3, 2] -
                      val[1, 1] * val[0, 2] * val[3, 3] +
                      val[1, 1] * val[0, 3] * val[3, 2] +
                      val[3, 1] * val[0, 2] * val[1, 3] -
                      val[3, 1] * val[0, 3] * val[1, 2];

            B[1, 2] = -val[0, 0] * val[1, 2] * val[3, 3] +
                      val[0, 0] * val[1, 3] * val[3, 2] +
                      val[1, 0] * val[0, 2] * val[3, 3] -
                      val[1, 0] * val[0, 3] * val[3, 2] -
                      val[3, 0] * val[0, 2] * val[1, 3] +
                      val[3, 0] * val[0, 3] * val[1, 2];

            B[2, 2] = val[0, 0] * val[1, 1] * val[3, 3] -
                      val[0, 0] * val[1, 3] * val[3, 1] -
                      val[1, 0] * val[0, 1] * val[3, 3] +
                      val[1, 0] * val[0, 3] * val[3, 1] +
                      val[3, 0] * val[0, 1] * val[1, 3] -
                      val[3, 0] * val[0, 3] * val[1, 1];

            B[3, 2] = -val[0, 0] * val[1, 1] * val[3, 2] +
                      val[0, 0] * val[1, 2] * val[3, 1] +
                      val[1, 0] * val[0, 1] * val[3, 2] -
                      val[1, 0] * val[0, 2] * val[3, 1] -
                      val[3, 0] * val[0, 1] * val[1, 2] +
                      val[3, 0] * val[0, 2] * val[1, 1];

            B[0, 3] = -val[0, 1] * val[1, 2] * val[2, 3] +
                      val[0, 1] * val[1, 3] * val[2, 2] +
                      val[1, 1] * val[0, 2] * val[2, 3] -
                      val[1, 1] * val[0, 3] * val[2, 2] -
                      val[2, 1] * val[0, 2] * val[1, 3] +
                      val[2, 1] * val[0, 3] * val[1, 2];

            B[1, 3] = val[0, 0] * val[1, 2] * val[2, 3] -
                      val[0, 0] * val[1, 3] * val[2, 2] -
                      val[1, 0] * val[0, 2] * val[2, 3] +
                      val[1, 0] * val[0, 3] * val[2, 2] +
                      val[2, 0] * val[0, 2] * val[1, 3] -
                      val[2, 0] * val[0, 3] * val[1, 2];

            B[2, 3] = -val[0, 0] * val[1, 1] * val[2, 3] +
                      val[0, 0] * val[1, 3] * val[2, 1] +
                      val[1, 0] * val[0, 1] * val[2, 3] -
                      val[1, 0] * val[0, 3] * val[2, 1] -
                      val[2, 0] * val[0, 1] * val[1, 3] +
                      val[2, 0] * val[0, 3] * val[1, 1];

            B[3, 3] = val[0, 0] * val[1, 1] * val[2, 2] -
                      val[0, 0] * val[1, 2] * val[2, 1] -
                      val[1, 0] * val[0, 1] * val[2, 2] +
                      val[1, 0] * val[0, 2] * val[2, 1] +
                      val[2, 0] * val[0, 1] * val[1, 2] -
                      val[2, 0] * val[0, 2] * val[1, 1];
            #endregion
            det = val[0, 0] * B[0, 0] + val[0, 1] * B[1, 0] + val[0, 2] * B[2, 0] + val[0, 3] * B[3, 0];

            //Console.WriteLine("Determinant : {0}", det);
            if (det == 0)
            {
                throw new Exception("Matrix is singular");
            }


            double det_ = 1.0 / det;

            for (int i = 0; i < 4; i++)
            {
                for (int j = 0; j < 4; j++)
                {
                    B[i, j] = B[i, j] * det_;
                }
            }

            return(B);
        }