1/*
2 * Copyright (C) 2011 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 *      http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17// trsMatrix.cpp
18// $Id: trsMatrix.cpp,v 1.9 2011/06/17 13:35:48 mbansal Exp $
19
20#include "stdio.h"
21#include <math.h>
22#include "trsMatrix.h"
23
24void mult33d(double a[3][3], double b[3][3], double c[3][3])
25{
26    a[0][0] = b[0][0]*c[0][0] + b[0][1]*c[1][0] + b[0][2]*c[2][0];
27    a[0][1] = b[0][0]*c[0][1] + b[0][1]*c[1][1] + b[0][2]*c[2][1];
28    a[0][2] = b[0][0]*c[0][2] + b[0][1]*c[1][2] + b[0][2]*c[2][2];
29    a[1][0] = b[1][0]*c[0][0] + b[1][1]*c[1][0] + b[1][2]*c[2][0];
30    a[1][1] = b[1][0]*c[0][1] + b[1][1]*c[1][1] + b[1][2]*c[2][1];
31    a[1][2] = b[1][0]*c[0][2] + b[1][1]*c[1][2] + b[1][2]*c[2][2];
32    a[2][0] = b[2][0]*c[0][0] + b[2][1]*c[1][0] + b[2][2]*c[2][0];
33    a[2][1] = b[2][0]*c[0][1] + b[2][1]*c[1][1] + b[2][2]*c[2][1];
34    a[2][2] = b[2][0]*c[0][2] + b[2][1]*c[1][2] + b[2][2]*c[2][2];
35}
36
37
38// normProjMat33d
39// m = input matrix
40// return: result if successful
41int normProjMat33d(double m[3][3])
42{
43    double m22;
44
45    if(m[2][2] == 0.0)
46        {
47        return 0;
48}
49
50    m[0][0] /= m[2][2];
51    m[0][1] /= m[2][2];
52    m[0][2] /= m[2][2];
53    m[1][0] /= m[2][2];
54    m[1][1] /= m[2][2];
55    m[1][2] /= m[2][2];
56    m[2][0] /= m[2][2];
57    m[2][1] /= m[2][2];
58    m[2][2] = 1.0;
59
60    return 1;
61}
62
63// det33d
64// m = input matrix
65// returns: determinant
66double det33d(const double m[3][3])
67{
68    double result;
69
70    result  = m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]);
71    result += m[0][1] * (m[1][2] * m[2][0] - m[1][0] * m[2][2]);
72    result += m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
73
74    return result;
75}
76
77// inv33d
78//
79void inv33d(const double m[3][3], double out[3][3])
80{
81    double det = det33d(m);
82
83    out[0][0] = (m[1][1]*m[2][2] - m[1][2]*m[2][1]) / det;
84    out[1][0] = (m[1][2]*m[2][0] - m[1][0]*m[2][2]) / det;
85    out[2][0] = (m[1][0]*m[2][1] - m[1][1]*m[2][0]) / det;
86
87    out[0][1] = (m[0][2]*m[2][1] - m[0][1]*m[2][2]) / det;
88    out[1][1] = (m[0][0]*m[2][2] - m[0][2]*m[2][0]) / det;
89    out[2][1] = (m[0][1]*m[2][0] - m[0][0]*m[2][1]) / det;
90
91    out[0][2] = (m[0][1]*m[1][2] - m[0][2]*m[1][1]) / det;
92    out[1][2] = (m[0][2]*m[1][0] - m[0][0]*m[1][2]) / det;
93    out[2][2] = (m[0][0]*m[1][1] - m[0][1]*m[1][0]) / det;
94}
95