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/*
* Copyright (C) 2011 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
// trsMatrix.cpp
// $Id: trsMatrix.cpp,v 1.9 2011/06/17 13:35:48 mbansal Exp $
#include "stdio.h"
#include <math.h>
#include "trsMatrix.h"
void mult33d(double a[3][3], double b[3][3], double c[3][3])
{
a[0][0] = b[0][0]*c[0][0] + b[0][1]*c[1][0] + b[0][2]*c[2][0];
a[0][1] = b[0][0]*c[0][1] + b[0][1]*c[1][1] + b[0][2]*c[2][1];
a[0][2] = b[0][0]*c[0][2] + b[0][1]*c[1][2] + b[0][2]*c[2][2];
a[1][0] = b[1][0]*c[0][0] + b[1][1]*c[1][0] + b[1][2]*c[2][0];
a[1][1] = b[1][0]*c[0][1] + b[1][1]*c[1][1] + b[1][2]*c[2][1];
a[1][2] = b[1][0]*c[0][2] + b[1][1]*c[1][2] + b[1][2]*c[2][2];
a[2][0] = b[2][0]*c[0][0] + b[2][1]*c[1][0] + b[2][2]*c[2][0];
a[2][1] = b[2][0]*c[0][1] + b[2][1]*c[1][1] + b[2][2]*c[2][1];
a[2][2] = b[2][0]*c[0][2] + b[2][1]*c[1][2] + b[2][2]*c[2][2];
}
// normProjMat33d
// m = input matrix
// return: result if successful
int normProjMat33d(double m[3][3])
{
double m22;
if(m[2][2] == 0.0)
{
return 0;
}
m[0][0] /= m[2][2];
m[0][1] /= m[2][2];
m[0][2] /= m[2][2];
m[1][0] /= m[2][2];
m[1][1] /= m[2][2];
m[1][2] /= m[2][2];
m[2][0] /= m[2][2];
m[2][1] /= m[2][2];
m[2][2] = 1.0;
return 1;
}
// det33d
// m = input matrix
// returns: determinant
double det33d(const double m[3][3])
{
double result;
result = m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]);
result += m[0][1] * (m[1][2] * m[2][0] - m[1][0] * m[2][2]);
result += m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
return result;
}
// inv33d
//
void inv33d(const double m[3][3], double out[3][3])
{
double det = det33d(m);
out[0][0] = (m[1][1]*m[2][2] - m[1][2]*m[2][1]) / det;
out[1][0] = (m[1][2]*m[2][0] - m[1][0]*m[2][2]) / det;
out[2][0] = (m[1][0]*m[2][1] - m[1][1]*m[2][0]) / det;
out[0][1] = (m[0][2]*m[2][1] - m[0][1]*m[2][2]) / det;
out[1][1] = (m[0][0]*m[2][2] - m[0][2]*m[2][0]) / det;
out[2][1] = (m[0][1]*m[2][0] - m[0][0]*m[2][1]) / det;
out[0][2] = (m[0][1]*m[1][2] - m[0][2]*m[1][1]) / det;
out[1][2] = (m[0][2]*m[1][0] - m[0][0]*m[1][2]) / det;
out[2][2] = (m[0][0]*m[1][1] - m[0][1]*m[1][0]) / det;
}
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