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vecmat3 added explicit linear solver

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Jiri Pittner
2023-12-20 18:00:15 +01:00
parent 731b2a128d
commit eafcfbdd00
3 changed files with 43 additions and 3 deletions
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24
vecmat3.cc
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@@ -207,7 +207,7 @@ void Mat3<T>::transposeme()
{T t; t=q[0][1]; q[0][1]=q[1][0]; q[1][0]=t; t=q[0][2]; q[0][2]=q[2][0]; q[2][0]=t; t=q[1][2]; q[1][2]=q[2][1]; q[2][1]=t;};
template<typename T>
const Mat3<T> Mat3<T>::inverse() const
const Mat3<T> Mat3<T>::inverse(T *det) const
{
Mat3<T> r;
r[0][0]= q[2][2]*q[1][1]-q[2][1]*q[1][2];
@@ -219,7 +219,27 @@ const Mat3<T> Mat3<T>::inverse() const
r[2][0]= q[2][1]*q[1][0]-q[2][0]*q[1][1];
r[2][1]= -q[2][1]*q[0][0]+q[2][0]*q[0][1];
r[2][2]= q[1][1]*q[0][0]-q[1][0]*q[0][1];
return r/determinant();
T d=determinant();
if(det) *det=d;
return r/d;
}
template<typename T>
const Vec3<T> Mat3<T>::linear_solve(const Vec3<T> &rhs, T *det) const
{
Vec3<T> r;
r[0]= ( q[2][2]*q[1][1]-q[2][1]*q[1][2]) * rhs[0]
+( -q[2][2]*q[0][1]+q[2][1]*q[0][2]) * rhs[1]
+( +q[1][2]*q[0][1]-q[1][1]*q[0][2]) * rhs[2];
r[1]= (-q[2][2]*q[1][0]+q[2][0]*q[1][2]) * rhs[0]
+( +q[2][2]*q[0][0]-q[2][0]*q[0][2]) * rhs[1]
+( -q[1][2]*q[0][0]+q[1][0]*q[0][2]) * rhs[2];
r[2]= ( q[2][1]*q[1][0]-q[2][0]*q[1][1]) * rhs[0]
+( -q[2][1]*q[0][0]+q[2][0]*q[0][1]) *rhs[1]
+( q[1][1]*q[0][0]-q[1][0]*q[0][1]) * rhs[2];
T d=determinant();
if(det) *det=d;
return r/d;
}
template<typename T>