You need to use the outer product: v * transpose(v)bendaowei wrote: how -(r1.y i, r1.x j) * -(r1.y i, r1.x j)
[-r1.x*r1.y r1.x*r1.x] )
In 2D skew(r) becomes a 2D column vector (the first 2 rows of the 3rd column in the 3D skew matrix).
Code: Select all
[ r1.y] * [r1.y, -r1.x] [-r1.x]