//WARNING: untested
public static Rot2f FromM22f(M22f m)
{
// cos(a) sin(a)
//-sin(a) cos(a)
if (m.M00 >= -1.0 && m.M00 <= 1.0)
{
return(new Rot2f((float)System.Math.Acos(m.M00)));
}
else
{
throw new ArgumentException("Given M22f is not a Rotation-Matrix");
}
}
/// <summary>
/// Multiplacation of a <see cref="Scale3f"/> with a <see cref="M22f"/>.
/// </summary>
public static M33f Multiply(Scale3f scale, M22f mat)
{
return(new M33f(scale.X * mat.M00,
scale.X * mat.M01,
0,
scale.Y * mat.M10,
scale.Y * mat.M11,
0,
0,
0,
scale.Z));
}
/// <summary>
/// </summary>
public static M3__s3f__ operator *(__e3t__ r3, Rot2f r2)
{
M3__s3f__ m33 = (M3__s3f__)r3;
M22f m22 = (M22f)r2;
return(new M3__s3f__(
m33.M00 * m22.M00 + m33.M01 * m22.M10,
m33.M00 * m22.M01 + m33.M01 * m22.M11,
m33.M02,
m33.M10 * m22.M00 + m33.M11 * m22.M10,
m33.M10 * m22.M01 + m33.M11 * m22.M11,
m33.M12,
m33.M20 * m22.M00 + m33.M21 * m22.M10,
m33.M20 * m22.M01 + m33.M21 * m22.M11,
m33.M22
));
}
/// <summary>
/// </summary>
public static M33f operator *(Euclidean3f r3, Rot2f r2)
{
M33f m33 = (M33f)r3;
M22f m22 = (M22f)r2;
return(new M33f(
m33.M00 * m22.M00 + m33.M01 * m22.M10,
m33.M00 * m22.M01 + m33.M01 * m22.M11,
m33.M02,
m33.M10 * m22.M00 + m33.M11 * m22.M10,
m33.M10 * m22.M01 + m33.M11 * m22.M11,
m33.M12,
m33.M20 * m22.M00 + m33.M21 * m22.M10,
m33.M20 * m22.M01 + m33.M21 * m22.M11,
m33.M22
));
}
public static M23f Multiply(M22f m, Euclidean2f r)
{
return(M23f.Multiply(m, (M23f)r));
}
/// <summary>
/// Creates a rigid transformation from a rotation matrix <paramref name="rot"/> and a (subsequent) translation <paramref name="trans"/>.
/// </summary>
public Euclidean2f(M22f rot, V2f trans)
{
Rot = Rot2f.FromM22f(rot);
Trans = trans;
}
public static M22f Multiply(Rot2f rot, M22f mat)
{
return((M22f)rot * mat);
}