/* The MIT License * * Copyright (c) 2010 Intel Corporation. * All rights reserved. * * Based on the convexdecomposition library from * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax. * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ using System; using System.Collections.Generic; using System.Diagnostics; namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet { public class float3x3 { public float3 x = new float3(); public float3 y = new float3(); public float3 z = new float3(); public float3x3() { } public float3x3(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz) { x = new float3(xx, xy, xz); y = new float3(yx, yy, yz); z = new float3(zx, zy, zz); } public float3x3(float3 _x, float3 _y, float3 _z) { x = new float3(_x); y = new float3(_y); z = new float3(_z); } public float3 this[int i] { get { switch (i) { case 0: return x; case 1: return y; case 2: return z; } throw new ArgumentOutOfRangeException(); } } public float this[int i, int j] { get { switch (i) { case 0: switch (j) { case 0: return x.x; case 1: return x.y; case 2: return x.z; } break; case 1: switch (j) { case 0: return y.x; case 1: return y.y; case 2: return y.z; } break; case 2: switch (j) { case 0: return z.x; case 1: return z.y; case 2: return z.z; } break; } throw new ArgumentOutOfRangeException(); } set { switch (i) { case 0: switch (j) { case 0: x.x = value; return; case 1: x.y = value; return; case 2: x.z = value; return; } break; case 1: switch (j) { case 0: y.x = value; return; case 1: y.y = value; return; case 2: y.z = value; return; } break; case 2: switch (j) { case 0: z.x = value; return; case 1: z.y = value; return; case 2: z.z = value; return; } break; } throw new ArgumentOutOfRangeException(); } } public static float3x3 Transpose(float3x3 m) { 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)); } public static float3x3 operator *(float3x3 a, float3x3 b) { return new float3x3(a.x * b, a.y * b, a.z * b); } public static float3x3 operator *(float3x3 a, float s) { return new float3x3(a.x * s, a.y * s, a.z * s); } public static float3x3 operator /(float3x3 a, float s) { float t = 1f / s; return new float3x3(a.x * t, a.y * t, a.z * t); } public static float3x3 operator +(float3x3 a, float3x3 b) { return new float3x3(a.x + b.x, a.y + b.y, a.z + b.z); } public static float3x3 operator -(float3x3 a, float3x3 b) { return new float3x3(a.x - b.x, a.y - b.y, a.z - b.z); } public static float Determinant(float3x3 m) { 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; } public static float3x3 Inverse(float3x3 a) { float3x3 b = new float3x3(); float d = Determinant(a); Debug.Assert(d != 0); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { int i1 = (i + 1) % 3; int i2 = (i + 2) % 3; int j1 = (j + 1) % 3; int j2 = (j + 2) % 3; // reverse indexs i&j to take transpose b[i, j] = (a[i1][j1] * a[i2][j2] - a[i1][j2] * a[i2][j1]) / d; } } return b; } } }