public static Matrix3 operator *(Matrix3 matrixA, float scale) {
Matrix3 result = new Matrix3();
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
result[i, j] = matrixA[i, j] * scale;
}
}
return result;
}
//Matrix multiplication
public static Matrix3 operator *(Matrix3 matrixA,Matrix3 matrixB) {
Matrix3 result = new Matrix3();
result[0, 0] = matrixA[0, 0] * matrixB[0, 0] + matrixA[0, 1] * matrixB[1, 0] + matrixA[0, 2] * matrixB[2, 0];
result[0, 1] = matrixA[0, 0] * matrixB[0, 1] + matrixA[0, 1] * matrixB[1, 1] + matrixA[0, 2] * matrixB[2, 1];
result[0, 2] = matrixA[0, 0] * matrixB[0, 2] + matrixA[0, 1] * matrixB[1, 2] + matrixA[0, 2] * matrixB[2, 2];
result[1, 0] = matrixA[1, 0] * matrixB[0, 0] + matrixA[1, 1] * matrixB[1, 0] + matrixA[1, 2] * matrixB[2, 0];
result[1, 1] = matrixA[1, 0] * matrixB[0, 1] + matrixA[1, 1] * matrixB[1, 1] + matrixA[1, 2] * matrixB[2, 1];
result[1, 2] = matrixA[1, 0] * matrixB[0, 2] + matrixA[1, 1] * matrixB[1, 2] + matrixA[1, 2] * matrixB[2, 2];
result[2, 0] = matrixA[2, 0] * matrixB[0, 0] + matrixA[2, 1] * matrixB[1, 0] + matrixA[2, 2] * matrixB[2, 0];
result[2, 1] = matrixA[2, 0] * matrixB[0, 1] + matrixA[2, 1] * matrixB[1, 1] + matrixA[2, 2] * matrixB[2, 1];
result[2, 2] = matrixA[2, 0] * matrixB[0, 2] + matrixA[2, 1] * matrixB[1, 2] + matrixA[2, 2] * matrixB[2, 2];
return result;
}
public static Matrix3 ZRotation(float theta) {
theta = theta * (float)(Math.PI / 180);
Matrix3 result = new Matrix3((float)Math.Cos(theta), -(float)Math.Sin(theta), 0,
(float)Math.Sin(theta), (float)Math.Cos(theta), 0,
0, 0, 1);
return result;
}
//Inverse
public static Matrix3 Inverse(Matrix3 matrix) {
Matrix3 result = Adjugate(matrix);
float determinant = Determinant(matrix);
result *= 1.0f/determinant;
return result;
}
public static Matrix3 XRotation(float theta) {
theta = theta * (float)(Math.PI / 180); //convert to rads
Matrix3 result = new Matrix3(1, 0, 0,
0, (float)Math.Cos(theta), -(float)Math.Sin(theta),
0, (float)Math.Sin(theta), (float)Math.Cos(theta));
return result;
}
//adjugate
public static Matrix3 Adjugate(Matrix3 matrix) {
Matrix3 result = new Matrix3();
result = Matrix3.Transpose(CoFactor(matrix));
return result;
}
//cofactor
public static Matrix3 CoFactor(Matrix3 matrix) {
Matrix3 result = new Matrix3();
result[0, 0] = (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1]) * 1;
result[0, 1] = (matrix[1, 0] * matrix[2, 2] - matrix[1, 2] * matrix[2, 0]) * -1;
result[0, 2] = (matrix[1, 0] * matrix[2, 1] - matrix[1, 1] * matrix[2, 0]) * 1;
result[1, 0] = (matrix[0, 1] * matrix[2, 2] - matrix[0, 2] * matrix[2, 1]) * -1;
result[1, 1] = (matrix[0, 0] * matrix[2, 2] - matrix[0, 2] * matrix[2, 0]) * 1;
result[1, 2] = (matrix[0, 0] * matrix[2, 1] - matrix[0, 1] * matrix[2, 0]) * -1;
result[2, 0] = (matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1]) * 1;
result[2, 1] = (matrix[0, 0] * matrix[1, 2] - matrix[0, 2] * matrix[1, 0]) * -1;
result[2, 2] = (matrix[0, 0] * matrix[1, 1] - matrix[0, 1] * matrix[1, 0]) * 1;
return result;
}
//Minor
public static Matrix3 Minor(Matrix3 matrix) {
Matrix3 result = new Matrix3();
result[0, 0] = matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1];
result[0, 1] = matrix[1, 0] * matrix[2, 2] - matrix[1, 2] * matrix[2, 0];
result[0, 2] = matrix[1, 0] * matrix[2, 1] - matrix[1, 1] * matrix[2, 0];
result[1, 0] = matrix[0, 1] * matrix[2, 2] - matrix[0, 2] * matrix[2, 1];
result[1, 1] = matrix[0, 0] * matrix[2, 2] - matrix[0, 2] * matrix[2, 0];
result[1, 2] = matrix[0, 0] * matrix[2, 1] - matrix[0, 1] * matrix[2, 0];
result[2, 0] = matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1];
result[2, 1] = matrix[0, 0] * matrix[1, 2] - matrix[0, 2] * matrix[1, 0];
result[2, 2] = matrix[0, 0] * matrix[1, 1] - matrix[0, 1] * matrix[1, 0];
return result;
}
//Determinant
public static float Determinant(Matrix3 matrix) {
return (matrix[0, 0] * (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1]))
- (matrix[0, 1] * (matrix[1, 0] * matrix[2, 2] - matrix[1, 2] * matrix[2, 0]))
+ (matrix[0, 2] * (matrix[1, 0] * matrix[2, 1] - matrix[1, 1] * matrix[2, 0]));
}
//Transpose, row = col, col = row
public static Matrix3 Transpose(Matrix3 matrix) {
Matrix3 result = new Matrix3();
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
result[i, j] = matrix[j, i];
}
}
return result;
}
