549 lines
17 KiB
C#
549 lines
17 KiB
C#
using System;
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using System.Diagnostics;
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using Passer.LinearAlgebra;
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#if UNITY_5_3_OR_NEWER
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using Vector3Float = UnityEngine.Vector3;
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using Vector2Float = UnityEngine.Vector2;
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using Quaternion = UnityEngine.Quaternion;
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#endif
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public readonly struct Slice {
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public uint start { get; }
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public uint stop { get; }
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public Slice(uint start, uint stop) {
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this.start = start;
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this.stop = stop;
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}
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}
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public class Matrix2 {
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public float[,] data { get; }
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public uint nRows => (uint)data.GetLength(0);
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public uint nCols => (uint)data.GetLength(1);
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public Matrix2(uint nRows, uint nCols) {
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this.data = new float[nRows, nCols];
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}
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public Matrix2(float[,] data) {
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this.data = data;
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}
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public Matrix2 Clone() {
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float[,] data = new float[this.nRows, nCols];
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for (int rowIx = 0; rowIx < this.nRows; rowIx++) {
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for (int colIx = 0; colIx < this.nCols; colIx++)
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data[rowIx, colIx] = this.data[rowIx, colIx];
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}
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return new Matrix2(data);
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}
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public static Matrix2 Zero(uint nRows, uint nCols) {
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return new Matrix2(nRows, nCols);
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}
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public static Matrix2 FromVector3(Vector3Float v) {
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float[,] result = new float[3, 1];
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result[0, 0] = v.x;
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result[1, 0] = v.y;
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result[2, 0] = v.z;
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return new Matrix2(result);
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}
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public static Matrix2 Identity(uint size) {
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return Diagonal(1, size);
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}
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public static Matrix2 Identity(uint nRows, uint nCols) {
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Matrix2 m = Zero(nRows, nCols);
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m.FillDiagonal(1);
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return m;
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}
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public static Matrix2 Diagonal(Matrix1 v) {
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float[,] resultData = new float[v.size, v.size];
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for (int ix = 0; ix < v.size; ix++)
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resultData[ix, ix] = v.data[ix];
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return new Matrix2(resultData);
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}
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public static Matrix2 Diagonal(float f, uint size) {
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float[,] resultData = new float[size, size];
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for (int ix = 0; ix < size; ix++)
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resultData[ix, ix] = f;
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return new Matrix2(resultData);
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}
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public void FillDiagonal(Matrix1 v) {
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uint n = Math.Min(Math.Min(this.nRows, this.nCols), v.size);
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for (int ix = 0; ix < n; ix++)
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this.data[ix, ix] = v.data[ix];
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}
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public void FillDiagonal(float f) {
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uint n = Math.Min(this.nRows, this.nCols);
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for (int ix = 0; ix < n; ix++)
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this.data[ix, ix] = f;
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}
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public static Matrix2 SkewMatrix(Vector3Float v) {
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float[,] result = new float[3, 3] {
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{0, -v.z, v.y},
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{v.z, 0, -v.x},
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{-v.y, v.x, 0}
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};
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return new Matrix2(result);
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}
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#if UNITY_5_3_OR_NEWER
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public Vector3Float GetRow3(int rowIx) {
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uint cols = this.nCols;
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Vector3Float row = new() {
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x = this.data[rowIx, 0],
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y = this.data[rowIx, 1],
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z = this.data[rowIx, 2]
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};
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return row;
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}
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#endif
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public void SetRow(int rowIx, Matrix1 v) {
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for (uint ix = 0; ix < v.size; ix++)
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this.data[rowIx, ix] = v.data[ix];
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}
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public void SetRow3(int rowIx, Vector3Float v) {
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this.data[rowIx, 0] = v.x;
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this.data[rowIx, 1] = v.y;
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this.data[rowIx, 2] = v.z;
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}
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public Matrix1 GetColumn(int colIx) {
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float[] column = new float[this.nRows];
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for (int i = 0; i < this.nRows; i++) {
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column[i] = this.data[i, colIx];
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}
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return new Matrix1(column);
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}
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public static bool AllClose(Matrix2 A, Matrix2 B, float atol = 1e-08f) {
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for (int i = 0; i < A.nRows; i++) {
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for (int j = 0; j < A.nCols; j++) {
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float d = MathF.Abs(A.data[i, j] - B.data[i, j]);
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if (d > atol)
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return false;
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}
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}
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return true;
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}
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public Matrix2 Transpose() {
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float[,] resultData = new float[this.nCols, this.nRows];
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for (uint rowIx = 0; rowIx < this.nRows; rowIx++) {
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for (uint colIx = 0; colIx < this.nCols; colIx++)
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resultData[colIx, rowIx] = this.data[rowIx, colIx];
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}
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return new Matrix2(resultData);
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// double checked code
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}
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public Matrix2 transposed {
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get => Transpose();
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}
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public static Matrix2 operator -(Matrix2 m) {
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float[,] result = new float[m.nRows, m.nCols];
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for (int i = 0; i < m.nRows; i++) {
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for (int j = 0; j < m.nCols; j++)
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result[i, j] = -m.data[i, j];
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}
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return new Matrix2(result);
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}
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public static Matrix2 operator -(Matrix2 A, Matrix2 B) {
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if (A.nRows != B.nRows || A.nCols != B.nCols)
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throw new System.ArgumentException("Size of A must match size of B.");
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float[,] result = new float[A.nRows, B.nCols];
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for (int i = 0; i < A.nRows; i++) {
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for (int j = 0; j < A.nCols; j++)
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result[i, j] = A.data[i, j] - B.data[i, j];
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}
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return new Matrix2(result);
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}
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public static Matrix2 operator +(Matrix2 A, Matrix2 B) {
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if (A.nRows != B.nRows || A.nCols != B.nCols)
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throw new System.ArgumentException("Size of A must match size of B.");
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float[,] result = new float[A.nRows, B.nCols];
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for (int i = 0; i < A.nRows; i++) {
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for (int j = 0; j < A.nCols; j++)
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result[i, j] = A.data[i, j] + B.data[i, j];
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}
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return new Matrix2(result);
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}
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public static Matrix2 operator *(Matrix2 A, Matrix2 B) {
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if (A.nCols != B.nRows)
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throw new System.ArgumentException("Number of columns in A must match number of rows in B.");
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float[,] result = new float[A.nRows, B.nCols];
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for (int i = 0; i < A.nRows; i++) {
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for (int j = 0; j < B.nCols; j++) {
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float sum = 0.0f;
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for (int k = 0; k < A.nCols; k++)
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sum += A.data[i, k] * B.data[k, j];
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result[i, j] = sum;
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}
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}
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return new Matrix2(result);
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// double checked code
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}
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public static Matrix1 operator *(Matrix2 A, Matrix1 v) {
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float[] result = new float[A.nRows];
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for (int i = 0; i < A.nRows; i++) {
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for (int j = 0; j < A.nCols; j++) {
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result[i] += A.data[i, j] * v.data[j];
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}
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}
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return new Matrix1(result);
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}
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public static Vector3Float operator *(Matrix2 A, Vector3Float v) {
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return new Vector3Float(
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A.data[0, 0] * v.x + A.data[0, 1] * v.y + A.data[0, 2] * v.z,
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A.data[1, 0] * v.x + A.data[1, 1] * v.y + A.data[1, 2] * v.z,
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A.data[2, 0] * v.x + A.data[2, 1] * v.y + A.data[2, 2] * v.z
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);
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}
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public static Matrix2 operator *(Matrix2 A, float s) {
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float[,] result = new float[A.nRows, A.nCols];
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for (int i = 0; i < A.nRows; i++) {
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for (int j = 0; j < A.nCols; j++)
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result[i, j] = A.data[i, j] * s;
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}
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return new Matrix2(result);
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}
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public static Matrix2 operator *(float s, Matrix2 A) {
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return A * s;
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}
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public static Matrix2 operator /(Matrix2 A, float s) {
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float[,] result = new float[A.nRows, A.nCols];
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for (int i = 0; i < A.nRows; i++) {
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for (int j = 0; j < A.nCols; j++)
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result[i, j] = A.data[i, j] / s;
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}
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return new Matrix2(result);
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}
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public static Matrix2 operator /(float s, Matrix2 A) {
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float[,] result = new float[A.nRows, A.nCols];
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for (int i = 0; i < A.nRows; i++) {
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for (int j = 0; j < A.nCols; j++)
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result[i, j] = s / A.data[i, j];
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}
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return new Matrix2(result);
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}
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public Matrix2 Slice(Slice slice) {
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return Slice(slice.start, slice.stop);
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}
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public Matrix2 Slice(uint from, uint to) {
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if (from < 0 || to >= this.nRows)
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throw new System.ArgumentException("Slice index out of range.");
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float[,] result = new float[to - from, this.nCols];
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int resultRowIx = 0;
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for (uint rowIx = from; rowIx < to; rowIx++) {
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for (int colIx = 0; colIx < this.nCols; colIx++) {
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result[resultRowIx, colIx] = this.data[rowIx, colIx];
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}
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resultRowIx++;
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}
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return new Matrix2(result);
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}
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public Matrix2 Slice(Slice rowRange, Slice colRange) {
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return Slice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop));
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}
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public Matrix2 Slice((uint start, uint stop) rowRange, (uint start, uint stop) colRange) {
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float[,] result = new float[rowRange.stop - rowRange.start, colRange.stop - colRange.start];
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uint resultRowIx = 0;
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uint resultColIx = 0;
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for (uint i = rowRange.start; i < rowRange.stop; i++) {
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for (uint j = colRange.start; j < colRange.stop; j++)
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result[resultRowIx, resultColIx] = this.data[i, j];
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}
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return new Matrix2(result);
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}
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public void UpdateSlice(Slice slice, Matrix2 m) {
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int mRowIx = 0;
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for (uint rowIx = slice.start; rowIx < slice.stop; rowIx++, mRowIx++) {
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for (int colIx = 0; colIx < this.nCols; colIx++)
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this.data[rowIx, colIx] = m.data[mRowIx, colIx];
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}
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}
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public void UpdateSlice(Slice rowRange, Slice colRange, Matrix2 m) {
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UpdateSlice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop), m);
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}
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public void UpdateSlice((uint start, uint stop) rowRange, (uint start, uint stop) colRange, Matrix2 m) {
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for (uint i = rowRange.start; i < rowRange.stop; i++) {
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for (uint j = colRange.start; j < colRange.stop; j++)
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this.data[i, j] = m.data[i - rowRange.start, j - colRange.start];
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}
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}
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public Matrix2 Inverse() {
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Matrix2 A = this;
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// unchecked
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uint n = A.nRows;
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// Create an identity matrix of the same size as the original matrix
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float[,] augmentedMatrix = new float[n, 2 * n];
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for (int i = 0; i < n; i++) {
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for (int j = 0; j < n; j++) {
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augmentedMatrix[i, j] = A.data[i, j];
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augmentedMatrix[i, j + n] = (i == j) ? 1 : 0; // Identity matrix
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}
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}
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// Perform Gaussian elimination
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for (int i = 0; i < n; i++) {
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// Find the pivot row
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float pivot = augmentedMatrix[i, i];
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if (Math.Abs(pivot) < 1e-10) // Check for singular matrix
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throw new InvalidOperationException("Matrix is singular and cannot be inverted.");
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// Normalize the pivot row
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for (int j = 0; j < 2 * n; j++)
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augmentedMatrix[i, j] /= pivot;
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// Eliminate the column below the pivot
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for (int j = i + 1; j < n; j++) {
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float factor = augmentedMatrix[j, i];
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for (int k = 0; k < 2 * n; k++)
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augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
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}
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}
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// Back substitution
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for (uint i = n - 1; i >= 0; i--) {
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// Eliminate the column above the pivot
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for (uint j = i - 1; j >= 0; j--) {
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float factor = augmentedMatrix[j, i];
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for (int k = 0; k < 2 * n; k++)
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augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
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}
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}
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// Extract the inverse matrix from the augmented matrix
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float[,] inverse = new float[n, n];
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for (int i = 0; i < n; i++) {
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for (int j = 0; j < n; j++)
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inverse[i, j] = augmentedMatrix[i, j + n];
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}
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return new Matrix2(inverse);
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}
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public float Determinant() {
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uint n = this.nRows;
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if (n != this.nCols)
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throw new System.ArgumentException("Matrix must be square.");
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if (n == 1)
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return this.data[0, 0]; // Base case for 1x1 matrix
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if (n == 2) // Base case for 2x2 matrix
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return this.data[0, 0] * this.data[1, 1] - this.data[0, 1] * this.data[1, 0];
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float det = 0;
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for (int col = 0; col < n; col++)
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det += (col % 2 == 0 ? 1 : -1) * this.data[0, col] * this.Minor(0, col).Determinant();
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return det;
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}
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// Helper function to compute the minor of a matrix
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private Matrix2 Minor(int rowToRemove, int colToRemove) {
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uint n = this.nRows;
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float[,] minor = new float[n - 1, n - 1];
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int r = 0, c = 0;
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for (int i = 0; i < n; i++) {
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if (i == rowToRemove) continue;
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c = 0;
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for (int j = 0; j < n; j++) {
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if (j == colToRemove) continue;
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minor[r, c] = this.data[i, j];
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c++;
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}
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r++;
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}
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return new Matrix2(minor);
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}
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}
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public class Matrix1 {
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public float[] data { get; }
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public uint size => (uint)data.GetLength(0);
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public Matrix1(uint size) {
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this.data = new float[size];
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}
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public Matrix1(float[] data) {
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this.data = data;
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}
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public static Matrix1 Zero(uint size) {
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return new Matrix1(size);
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}
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public static Matrix1 FromVector2(Vector2Float v) {
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float[] result = new float[2];
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result[0] = v.x;
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result[1] = v.y;
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return new Matrix1(result);
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}
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public static Matrix1 FromVector3(Vector3Float v) {
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float[] result = new float[3];
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result[0] = v.x;
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result[1] = v.y;
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result[2] = v.z;
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return new Matrix1(result);
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}
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#if UNITY_5_3_OR_NEWER
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public static Matrix1 FromQuaternion(Quaternion q) {
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float[] result = new float[4];
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result[0] = q.x;
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result[1] = q.y;
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result[2] = q.z;
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result[3] = q.w;
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return new Matrix1(result);
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}
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#endif
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public Vector2Float vector2 {
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get {
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if (this.size != 2)
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throw new System.ArgumentException("Matrix1 must be of size 2");
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return new Vector2Float(this.data[0], this.data[1]);
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}
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}
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public Vector3Float vector3 {
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get {
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if (this.size != 3)
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throw new System.ArgumentException("Matrix1 must be of size 3");
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return new Vector3Float(this.data[0], this.data[1], this.data[2]);
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}
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}
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#if UNITY_5_3_OR_NEWER
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public Quaternion quaternion {
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get {
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if (this.size != 4)
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throw new System.ArgumentException("Matrix1 must be of size 4");
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return new Quaternion(this.data[0], this.data[1], this.data[2], this.data[3]);
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}
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}
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#endif
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public Matrix1 Clone() {
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float[] data = new float[this.size];
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for (int rowIx = 0; rowIx < this.size; rowIx++)
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data[rowIx] = this.data[rowIx];
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return new Matrix1(data);
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}
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public float magnitude {
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get {
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float sum = 0;
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foreach (var elm in data)
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sum += elm;
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return sum / data.Length;
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}
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}
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public static Matrix1 operator +(Matrix1 A, Matrix1 B) {
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if (A.size != B.size)
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throw new System.ArgumentException("Size of A must match size of B.");
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float[] result = new float[A.size];
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for (int i = 0; i < A.size; i++) {
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result[i] = A.data[i] + B.data[i];
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}
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return new Matrix1(result);
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}
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|
|
|
public Matrix2 Transpose() {
|
|
float[,] r = new float[1, this.size];
|
|
for (uint colIx = 0; colIx < this.size; colIx++)
|
|
r[1, colIx] = this.data[colIx];
|
|
|
|
return new Matrix2(r);
|
|
}
|
|
|
|
public static float Dot(Matrix1 a, Matrix1 b) {
|
|
if (a.size != b.size)
|
|
throw new System.ArgumentException("Vectors must be of the same length.");
|
|
|
|
float result = 0.0f;
|
|
for (int i = 0; i < a.size; i++) {
|
|
result += a.data[i] * b.data[i];
|
|
}
|
|
return result;
|
|
}
|
|
|
|
public static Matrix1 operator *(Matrix1 A, float f) {
|
|
float[] result = new float[A.size];
|
|
|
|
for (int i = 0; i < A.size; i++)
|
|
result[i] += A.data[i] * f;
|
|
|
|
return new Matrix1(result);
|
|
}
|
|
public static Matrix1 operator *(float f, Matrix1 A) {
|
|
return A * f;
|
|
}
|
|
|
|
public Matrix1 Slice(Slice range) {
|
|
return Slice(range.start, range.stop);
|
|
}
|
|
public Matrix1 Slice(uint from, uint to) {
|
|
if (from < 0 || to >= this.size)
|
|
throw new System.ArgumentException("Slice index out of range.");
|
|
|
|
float[] result = new float[to - from];
|
|
int resultIx = 0;
|
|
for (uint ix = from; ix < to; ix++)
|
|
result[resultIx++] = this.data[ix];
|
|
|
|
return new Matrix1(result);
|
|
}
|
|
public void UpdateSlice(Slice slice, Matrix1 v) {
|
|
int vIx = 0;
|
|
for (uint ix = slice.start; ix < slice.stop; ix++, vIx++)
|
|
this.data[ix] = v.data[vIx];
|
|
}
|
|
} |