public static void getSymmetricSvd(SMat3 a, SMat3 vtav, DMat3 v, double tol, int max_sweeps)
{
vtav.setSymmetric(a);
v.set(1, 0, 0, 0, 1, 0, 0, 0, 1);
var delta = tol * MatUtils.fnorm(vtav);
for (var i = 0; i < max_sweeps && MatUtils.off(vtav) > delta; ++i)
{
rotate01(vtav, v);
rotate02(vtav, v);
rotate12(vtav, v);
}
}
public static void mmul(out DMat3 Out, DMat3 a, DMat3 b)
{
Out = new DMat3();
Out.set(a.m00 * b.m00 + a.m01 * b.m10 + a.m02 * b.m20,
a.m00 * b.m01 + a.m01 * b.m11 + a.m02 * b.m21,
a.m00 * b.m02 + a.m01 * b.m12 + a.m02 * b.m22,
a.m10 * b.m00 + a.m11 * b.m10 + a.m12 * b.m20,
a.m10 * b.m01 + a.m11 * b.m11 + a.m12 * b.m21,
a.m10 * b.m02 + a.m11 * b.m12 + a.m12 * b.m22,
a.m20 * b.m00 + a.m21 * b.m10 + a.m22 * b.m20,
a.m20 * b.m01 + a.m21 * b.m11 + a.m22 * b.m21,
a.m20 * b.m02 + a.m21 * b.m12 + a.m22 * b.m22);
}
public static void pseudoinverse(out DMat3 Out, SMat3 d, DMat3 v, double tol)
{
double d0 = pinv(d.m00, tol), d1 = pinv(d.m11, tol), d2 = pinv(d.m22, tol);
Out = new DMat3();
Out.set(v.m00 * d0 * v.m00 + v.m01 * d1 * v.m01 + v.m02 * d2 * v.m02,
v.m00 * d0 * v.m10 + v.m01 * d1 * v.m11 + v.m02 * d2 * v.m12,
v.m00 * d0 * v.m20 + v.m01 * d1 * v.m21 + v.m02 * d2 * v.m22,
v.m10 * d0 * v.m00 + v.m11 * d1 * v.m01 + v.m12 * d2 * v.m02,
v.m10 * d0 * v.m10 + v.m11 * d1 * v.m11 + v.m12 * d2 * v.m12,
v.m10 * d0 * v.m20 + v.m11 * d1 * v.m21 + v.m12 * d2 * v.m22,
v.m20 * d0 * v.m00 + v.m21 * d1 * v.m01 + v.m22 * d2 * v.m02,
v.m20 * d0 * v.m10 + v.m21 * d1 * v.m11 + v.m22 * d2 * v.m12,
v.m20 * d0 * v.m20 + v.m21 * d1 * v.m21 + v.m22 * d2 * v.m22);
}
public static void transpose(out DMat3 Out, DMat3 a)
{
Out = new DMat3();
Out.set(a.m00, a.m10, a.m20, a.m01, a.m11, a.m21, a.m02, a.m12, a.m22);
}
