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diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs
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1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Diagnostics;
31
32namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
33{
34 public class float3x3
35 {
36 public float3 x = new float3();
37 public float3 y = new float3();
38 public float3 z = new float3();
39
40 public float3x3()
41 {
42 }
43
44 public float3x3(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz)
45 {
46 x = new float3(xx, xy, xz);
47 y = new float3(yx, yy, yz);
48 z = new float3(zx, zy, zz);
49 }
50
51 public float3x3(float3 _x, float3 _y, float3 _z)
52 {
53 x = new float3(_x);
54 y = new float3(_y);
55 z = new float3(_z);
56 }
57
58 public float3 this[int i]
59 {
60 get
61 {
62 switch (i)
63 {
64 case 0: return x;
65 case 1: return y;
66 case 2: return z;
67 }
68 throw new ArgumentOutOfRangeException();
69 }
70 }
71
72 public float this[int i, int j]
73 {
74 get
75 {
76 switch (i)
77 {
78 case 0:
79 switch (j)
80 {
81 case 0: return x.x;
82 case 1: return x.y;
83 case 2: return x.z;
84 }
85 break;
86 case 1:
87 switch (j)
88 {
89 case 0: return y.x;
90 case 1: return y.y;
91 case 2: return y.z;
92 }
93 break;
94 case 2:
95 switch (j)
96 {
97 case 0: return z.x;
98 case 1: return z.y;
99 case 2: return z.z;
100 }
101 break;
102 }
103 throw new ArgumentOutOfRangeException();
104 }
105 set
106 {
107 switch (i)
108 {
109 case 0:
110 switch (j)
111 {
112 case 0: x.x = value; return;
113 case 1: x.y = value; return;
114 case 2: x.z = value; return;
115 }
116 break;
117 case 1:
118 switch (j)
119 {
120 case 0: y.x = value; return;
121 case 1: y.y = value; return;
122 case 2: y.z = value; return;
123 }
124 break;
125 case 2:
126 switch (j)
127 {
128 case 0: z.x = value; return;
129 case 1: z.y = value; return;
130 case 2: z.z = value; return;
131 }
132 break;
133 }
134 throw new ArgumentOutOfRangeException();
135 }
136 }
137
138 public static float3x3 Transpose(float3x3 m)
139 {
140 return new float3x3(new float3(m.x.x, m.y.x, m.z.x), new float3(m.x.y, m.y.y, m.z.y), new float3(m.x.z, m.y.z, m.z.z));
141 }
142
143 public static float3x3 operator *(float3x3 a, float3x3 b)
144 {
145 return new float3x3(a.x * b, a.y * b, a.z * b);
146 }
147
148 public static float3x3 operator *(float3x3 a, float s)
149 {
150 return new float3x3(a.x * s, a.y * s, a.z * s);
151 }
152
153 public static float3x3 operator /(float3x3 a, float s)
154 {
155 float t = 1f / s;
156 return new float3x3(a.x * t, a.y * t, a.z * t);
157 }
158
159 public static float3x3 operator +(float3x3 a, float3x3 b)
160 {
161 return new float3x3(a.x + b.x, a.y + b.y, a.z + b.z);
162 }
163
164 public static float3x3 operator -(float3x3 a, float3x3 b)
165 {
166 return new float3x3(a.x - b.x, a.y - b.y, a.z - b.z);
167 }
168
169 public static float Determinant(float3x3 m)
170 {
171 return m.x.x * m.y.y * m.z.z + m.y.x * m.z.y * m.x.z + m.z.x * m.x.y * m.y.z - m.x.x * m.z.y * m.y.z - m.y.x * m.x.y * m.z.z - m.z.x * m.y.y * m.x.z;
172 }
173
174 public static float3x3 Inverse(float3x3 a)
175 {
176 float3x3 b = new float3x3();
177 float d = Determinant(a);
178 Debug.Assert(d != 0);
179 for (int i = 0; i < 3; i++)
180 {
181 for (int j = 0; j < 3; j++)
182 {
183 int i1 = (i + 1) % 3;
184 int i2 = (i + 2) % 3;
185 int j1 = (j + 1) % 3;
186 int j2 = (j + 2) % 3;
187
188 // reverse indexs i&j to take transpose
189 b[i, j] = (a[i1][j1] * a[i2][j2] - a[i1][j2] * a[i2][j1]) / d;
190 }
191 }
192 return b;
193 }
194 }
195}
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