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public static Invert ( |
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| matrix | Matrix to be inverted. | |
| result | Inverted matrix. | |
| return | void | |
public static void Invert(ref Matrix3x3 matrix, out Matrix3x3 result)
{
float determinantInverse = 1 / matrix.Determinant();
float m11 = (matrix.M22 * matrix.M33 - matrix.M23 * matrix.M32) * determinantInverse;
float m12 = (matrix.M13 * matrix.M32 - matrix.M33 * matrix.M12) * determinantInverse;
float m13 = (matrix.M12 * matrix.M23 - matrix.M22 * matrix.M13) * determinantInverse;
float m21 = (matrix.M23 * matrix.M31 - matrix.M21 * matrix.M33) * determinantInverse;
float m22 = (matrix.M11 * matrix.M33 - matrix.M13 * matrix.M31) * determinantInverse;
float m23 = (matrix.M13 * matrix.M21 - matrix.M11 * matrix.M23) * determinantInverse;
float m31 = (matrix.M21 * matrix.M32 - matrix.M22 * matrix.M31) * determinantInverse;
float m32 = (matrix.M12 * matrix.M31 - matrix.M11 * matrix.M32) * determinantInverse;
float m33 = (matrix.M11 * matrix.M22 - matrix.M12 * matrix.M21) * determinantInverse;
result.M11 = m11;
result.M12 = m12;
result.M13 = m13;
result.M21 = m21;
result.M22 = m22;
result.M23 = m23;
result.M31 = m31;
result.M32 = m32;
result.M33 = m33;
}
///<summary>
/// Transforms a vector by an affine transform's inverse.
///</summary>
///<param name="position">Position to transform.</param>
///<param name="transform">Transform to invert and apply.</param>
///<param name="transformed">Transformed position.</param>
public static void TransformInverse(ref Vector3 position, ref AffineTransform transform, out Vector3 transformed)
{
Vector3.Subtract(ref position, ref transform.Translation, out transformed);
Matrix3x3 inverse;
Matrix3x3.Invert(ref transform.LinearTransform, out inverse);
Matrix3x3.TransformTranspose(ref transformed, ref inverse, out transformed);
}
