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 24 void 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 41 int 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 66 double 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 // 79 void 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
