/***************************************************/
/**** Public Methods ****/
/***************************************************/
public static bool IsRigidTransformation(this TransformMatrix transform, double tolerance = Tolerance.Distance)
{
if (!transform.IsValid())
{
BH.Engine.Reflection.Compute.RecordError("The given TransformMatrix is not valid.");
return(false);
}
double[,] rotation = new double[3, 3];
for (int m = 0; m < 3; m++)
{
for (int n = 0; n < 3; n++)
{
rotation[m, n] = transform.Matrix[m, n];
}
}
double[,] transposed = rotation.Transpose();
double[,] multiplied = new double[3, 3];
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
for (int k = 0; k < 3; k++)
{
multiplied[i, j] += rotation[i, k] * transposed[k, j];
}
}
}
double[,] identity = new double[, ]
{
{ 1, 0, 0 },
{ 0, 1, 0 },
{ 0, 0, 1 }
};
return(multiplied.IsEqual(identity, tolerance) && Math.Abs(1 - rotation.Determinant()) <= tolerance);
}