public Matrix3 MulEqual(Matrix3 m)
{
if (m == null)
{
m = new Matrix3();
}
Matrix3 result = new Matrix3(this.val);
result.Mul(m);
return(result);
}
public static Matrix3 Avg(ICollection <Matrix3> Set)
{
Matrix3 average = new Matrix3();
average.Set(0f, 0f, 0f, 0f, 0f, 0f, 0f, 0f, 0f);
float hist = 0;
foreach (Matrix3 matrix3d in Set)
{
if (matrix3d.IsFloatValid())
{
average.Add(matrix3d);
hist++;
}
}
average.Mul(1f / hist);
return(average);
}
public static Matrix3 GetRotationMatrixExact(float ax, float ay, float az)
{
float cosax = MathUtils.Cos(MathUtils.ToRadians(ax));
float sinax = MathUtils.Sin(MathUtils.ToRadians(ax));
float cosay = MathUtils.Cos(MathUtils.ToRadians(ay));
float sinay = MathUtils.Sin(MathUtils.ToRadians(ay));
float cosaz = MathUtils.Cos(MathUtils.ToRadians(az));
float sinaz = MathUtils.Sin(MathUtils.ToRadians(az));
float[] tx = { 1, 0, 0, 0, cosax, -sinax, 0, sinax, cosax };
float[] ty = { cosay, 0, sinay, 0, 1f, 0f, -sinay, 0, cosay };
float[] tz = { cosaz, -sinaz, 0, sinaz, cosaz, 0, 0, 0, 1 };
Matrix3 Rx = new Matrix3(tx);
Matrix3 Ry = new Matrix3(ty);
Matrix3 Rz = new Matrix3(tz);
Matrix3 result = new Matrix3();
Matrix3 tmpresult = new Matrix3();
Matrix3.Mul(tmpresult, Rx, Ry);
Matrix3.Mul(result, tmpresult, Rz);
return(result);
}
