/// <summary>
/// Transforms a <see cref="M34f"/> to a <see cref="M33f"/> by deleting the
/// specified row and column. Internally the <see cref="M34f"/> is tarnsformed
/// to a <see cref="M44f"/> to delete the row and column.
/// </summary>
/// <param name="deleted_row">Row to delete.</param>
/// <param name="deleted_column">Column to delete.</param>
/// <returns>A <see cref="M33f"/>.</returns>
public M33f Minor(int deleted_row, int deleted_column)
{
M44f temp = (M44f)this;
M33f result = new M33f();
int checked_row = 0;
for (int actual_row = 0; actual_row < 4; actual_row++)
{
int checked_column = 0;
if (actual_row != deleted_row)
{
for (int actual_column = 0; actual_column < 4; actual_column++)
{
if (actual_column != deleted_column)
{
result[checked_row, checked_column] = temp[actual_row, actual_column];
checked_column++;
}
}
checked_row++;
}
}
return(result);
}
public static M33f Multiply(Rot2f rot, M33f mat)
{
float a = (float)System.Math.Cos(rot.Angle);
float b = (float)System.Math.Sin(rot.Angle);
return(new M33f(a * mat.M00 +
b * mat.M10,
a * mat.M01 +
b * mat.M11,
a * mat.M02 +
b * mat.M12,
-b * mat.M00 +
a * mat.M10,
-b * mat.M01 +
a * mat.M11,
-b * mat.M02 +
a * mat.M12,
mat.M20,
mat.M21,
mat.M22));
}
/// <summary>
/// Multiplacation of a <see cref="Scale3f"/> with a <see cref="M33f"/>.
/// </summary>
public static M33f Multiply(Scale3f scale, M33f mat)
{
return(new M33f(scale.X * mat.M00,
scale.X * mat.M01,
scale.X * mat.M02,
scale.Y * mat.M10,
scale.Y * mat.M11,
scale.Y * mat.M12,
scale.Z * mat.M20,
scale.Z * mat.M21,
scale.Z * mat.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
));
}
/// <summary>
/// A <see cref="M44f"/> is transformed to <see cref="M33f"/> by deleting specified row and column
/// </summary>
public M33f Minor(int rowToDelete, int columnToDelete)
{
M33f result = new M33f();
int checked_row = 0;
for (int actual_row = 0; actual_row < 4; actual_row++)
{
int checked_column = 0;
if (actual_row != rowToDelete)
{
for (int actual_column = 0; actual_column < 4; actual_column++)
{
if (actual_column != columnToDelete)
{
result[checked_row, checked_column] = this[actual_row, actual_column];
checked_column++;
}
}
checked_row++;
}
}
return(result);
}
/// <summary>
/// Creates a rigid transformation from a rotation matrix <paramref name="rot"/> and a (subsequent) translation <paramref name="trans"/>.
/// </summary>
public Euclidean3f(M33f rot, V3f trans, float epsilon = 1e-5f)
{
Rot = Rot3f.FromM33f(rot, epsilon);
Trans = trans;
}
public static M34f Multiply(M33f m, Euclidean3f r)
{
return(M34f.Multiply(m, (M34f)r));
}