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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<title>Kazmath: /ich/Programmieren/KazadeEngine/NeHeKazmath/kazmath/src/mat3.c Source File</title>
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<h1>/ich/Programmieren/KazadeEngine/NeHeKazmath/kazmath/src/mat3.c</h1><a href="mat3_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">Copyright (c) 2008, Luke Benstead.</span>
<a name="l00003"></a>00003 <span class="comment">All rights reserved.</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment">Redistribution and use in source and binary forms, with or without modification,</span>
<a name="l00006"></a>00006 <span class="comment">are permitted provided that the following conditions are met:</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment"> * Redistributions of source code must retain the above copyright notice,</span>
<a name="l00009"></a>00009 <span class="comment"> this list of conditions and the following disclaimer.</span>
<a name="l00010"></a>00010 <span class="comment"> * Redistributions in binary form must reproduce the above copyright notice,</span>
<a name="l00011"></a>00011 <span class="comment"> this list of conditions and the following disclaimer in the documentation</span>
<a name="l00012"></a>00012 <span class="comment"> and/or other materials provided with the distribution.</span>
<a name="l00013"></a>00013 <span class="comment"></span>
<a name="l00014"></a>00014 <span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span>
<a name="l00015"></a>00015 <span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span>
<a name="l00016"></a>00016 <span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span>
<a name="l00017"></a>00017 <span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR</span>
<a name="l00018"></a>00018 <span class="comment">ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span>
<a name="l00019"></a>00019 <span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00020"></a>00020 <span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON</span>
<a name="l00021"></a>00021 <span class="comment">ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00022"></a>00022 <span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span>
<a name="l00023"></a>00023 <span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00024"></a>00024 <span class="comment">*/</span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="preprocessor">#include <stdlib.h></span>
<a name="l00027"></a>00027 <span class="preprocessor">#include <memory.h></span>
<a name="l00028"></a>00028 <span class="preprocessor">#include <assert.h></span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030 <span class="preprocessor">#include "<a class="code" href="utility_8h.html">utility.h</a>"</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include "<a class="code" href="vec3_8h.html">vec3.h</a>"</span>
<a name="l00032"></a>00032 <span class="preprocessor">#include "<a class="code" href="mat3_8h.html">mat3.h</a>"</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="quaternion_8h.html">quaternion.h</a>"</span>
<a name="l00034"></a>00034
<a name="l00035"></a><a class="code" href="mat3_8h.html#80fe4d0f0c80d6f0c06996347e1aeade">00035</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#80fe4d0f0c80d6f0c06996347e1aeade">kmMat3Fill</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut, <span class="keyword">const</span> <a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a>* pMat)
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 memcpy(pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>, pMat, <span class="keyword">sizeof</span>(<a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a>) * 9);
<a name="l00038"></a>00038 <span class="keywordflow">return</span> pOut;
<a name="l00039"></a>00039 }
<a name="l00040"></a>00040
<a name="l00042"></a><a class="code" href="mat3_8h.html#f2cc41d1fdd6c5d9d73d82589d7a367e">00042</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#f2cc41d1fdd6c5d9d73d82589d7a367e">kmMat3Identity</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut)
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 memset(pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>, 0, <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>) * 9);
<a name="l00045"></a>00045 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[0] = pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[4] = pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8] = 1.0f;
<a name="l00046"></a>00046 <span class="keywordflow">return</span> pOut;
<a name="l00047"></a>00047 }
<a name="l00048"></a>00048
<a name="l00049"></a><a class="code" href="mat3_8h.html#e5bce40603adc33c7e0bb98956b34d84">00049</a> <a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a> <a class="code" href="mat3_8c.html#e5bce40603adc33c7e0bb98956b34d84">kmMat3Determinant</a>(<span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pIn)
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 <a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a> output;
<a name="l00052"></a>00052 <span class="comment">/*</span>
<a name="l00053"></a>00053 <span class="comment"> calculating the determinant following the rule of sarus,</span>
<a name="l00054"></a>00054 <span class="comment"> | 0 3 6 | 0 3 |</span>
<a name="l00055"></a>00055 <span class="comment"> m = | 1 4 7 | 1 4 |</span>
<a name="l00056"></a>00056 <span class="comment"> | 2 5 8 | 2 5 |</span>
<a name="l00057"></a>00057 <span class="comment"> now sum up the products of the diagonals going to the right (i.e. 0,4,8)</span>
<a name="l00058"></a>00058 <span class="comment"> and substract the products of the other diagonals (i.e. 2,4,6)</span>
<a name="l00059"></a>00059 <span class="comment"> */</span>
<a name="l00060"></a>00060
<a name="l00061"></a>00061 output = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[0] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[4] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8] + pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[1] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[5] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[6] + pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[2] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[3] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[7];
<a name="l00062"></a>00062 output -= pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[2] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[4] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[6] + pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[0] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[5] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[7] + pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[1] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[3] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8];
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="keywordflow">return</span> output;
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066
<a name="l00067"></a>00067
<a name="l00068"></a><a class="code" href="mat3_8h.html#397214f356201d2740111001a648ae6d">00068</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#397214f356201d2740111001a648ae6d">kmMat3Adjugate</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut, <span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pIn)
<a name="l00069"></a>00069 {
<a name="l00070"></a>00070 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[0] = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[4] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8] - pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[5] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[7];
<a name="l00071"></a>00071 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[1] = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[2] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[7] - pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[1] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8];
<a name="l00072"></a>00072 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[2] = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[1] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[5] - pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[2] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[4];
<a name="l00073"></a>00073 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[3] = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[5] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[6] - pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[3] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8];
<a name="l00074"></a>00074 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[4] = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[0] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8] - pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[2] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[6];
<a name="l00075"></a>00075 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[5] = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[2] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[3] - pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[0] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[5];
<a name="l00076"></a>00076 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[6] = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[3] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[7] - pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[4] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[6];
<a name="l00077"></a>00077 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[7] = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[1] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[6] - pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[9] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[7];
<a name="l00078"></a>00078 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8] = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[0] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[4] - pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[1] * pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[3];
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="keywordflow">return</span> pOut;
<a name="l00081"></a>00081 }
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="mat3_8h.html#654a4d7f41bdba069a6006a30870140c">00083</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#654a4d7f41bdba069a6006a30870140c">kmMat3Inverse</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut, <span class="keyword">const</span> <a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a> pDeterminate, <span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pM)
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 <a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a> detInv;
<a name="l00086"></a>00086 <a class="code" href="structkm_mat3.html">kmMat3</a> adjugate;
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="keywordflow">if</span>(pDeterminate == 0.0)
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 <span class="keywordflow">return</span> NULL;
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092
<a name="l00093"></a>00093 detInv = 1.0 / pDeterminate;
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <a class="code" href="mat3_8c.html#397214f356201d2740111001a648ae6d">kmMat3Adjugate</a>(&adjugate, pM);
<a name="l00096"></a>00096 <a class="code" href="mat3_8c.html#2dedf0cc06e6467a616af511fa9a5d14">kmMat3ScalarMultiply</a>(pOut, &adjugate, detInv);
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="keywordflow">return</span> pOut;
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100
<a name="l00102"></a><a class="code" href="mat3_8h.html#30ac88fc20a72cc95b9c40f0139ac13b">00102</a> <span class="keywordtype">int</span> <a class="code" href="mat3_8c.html#30ac88fc20a72cc95b9c40f0139ac13b">kmMat3IsIdentity</a>(<span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pIn)
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> identity [] = { 1.0f, 0.0f, 0.0f,
<a name="l00105"></a>00105 0.0f, 1.0f, 0.0f,
<a name="l00106"></a>00106 0.0f, 0.0f, 1.0f};
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="keywordflow">return</span> (memcmp(identity, pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>, <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>) * 9) == 0);
<a name="l00109"></a>00109 }
<a name="l00110"></a>00110
<a name="l00112"></a><a class="code" href="mat3_8h.html#4233f248004c9f47f7dfbe6c7774db81">00112</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#4233f248004c9f47f7dfbe6c7774db81">kmMat3Transpose</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut, <span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pIn)
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114 <span class="keywordtype">int</span> z, x;
<a name="l00115"></a>00115 <span class="keywordflow">for</span> (z = 0; z < 3; ++z) {
<a name="l00116"></a>00116 <span class="keywordflow">for</span> (x = 0; x < 3; ++x) {
<a name="l00117"></a>00117 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[(z * 3) + x] = pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[(x * 3) + z];
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="keywordflow">return</span> pOut;
<a name="l00122"></a>00122 }
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment">/* Multiplies pM1 with pM2, stores the result in pOut, returns pOut */</span>
<a name="l00125"></a><a class="code" href="mat3_8h.html#f8e900e4be0ff70149232388f739f914">00125</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#f8e900e4be0ff70149232388f739f914">kmMat3Multiply</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut, <span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pM1, <span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pM2)
<a name="l00126"></a>00126 {
<a name="l00127"></a>00127 <span class="keywordtype">float</span> mat[9];
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="keyword">const</span> <span class="keywordtype">float</span> *m1 = pM1-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>, *m2 = pM2-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>;
<a name="l00130"></a>00130
<a name="l00131"></a>00131 mat[0] = m1[0] * m2[0] + m1[3] * m2[1] + m1[6] * m2[2];
<a name="l00132"></a>00132 mat[1] = m1[1] * m2[0] + m1[4] * m2[1] + m1[7] * m2[2];
<a name="l00133"></a>00133 mat[2] = m1[2] * m2[0] + m1[5] * m2[1] + m1[8] * m2[2];
<a name="l00134"></a>00134
<a name="l00135"></a>00135 mat[3] = m1[0] * m2[3] + m1[3] * m2[4] + m1[6] * m2[5];
<a name="l00136"></a>00136 mat[4] = m1[1] * m2[3] + m1[4] * m2[4] + m1[7] * m2[5];
<a name="l00137"></a>00137 mat[5] = m1[2] * m2[3] + m1[5] * m2[4] + m1[8] * m2[5];
<a name="l00138"></a>00138
<a name="l00139"></a>00139 mat[6] = m1[0] * m2[6] + m1[3] * m2[7] + m1[6] * m2[8];
<a name="l00140"></a>00140 mat[7] = m1[1] * m2[6] + m1[4] * m2[7] + m1[7] * m2[8];
<a name="l00141"></a>00141 mat[8] = m1[2] * m2[6] + m1[5] * m2[7] + m1[8] * m2[8];
<a name="l00142"></a>00142
<a name="l00143"></a>00143 memcpy(pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>, mat, <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>)*9);
<a name="l00144"></a>00144
<a name="l00145"></a>00145 <span class="keywordflow">return</span> pOut;
<a name="l00146"></a>00146 }
<a name="l00147"></a>00147
<a name="l00148"></a><a class="code" href="mat3_8h.html#2dedf0cc06e6467a616af511fa9a5d14">00148</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#2dedf0cc06e6467a616af511fa9a5d14">kmMat3ScalarMultiply</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut, <span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pM, <span class="keyword">const</span> <a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a> pFactor)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 <span class="keywordtype">float</span> mat[9];
<a name="l00151"></a>00151 <span class="keywordtype">int</span> i;
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keywordflow">for</span>(i = 0; i < 9; i++)
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155 mat[i] = pM-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[i] * pFactor;
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157
<a name="l00158"></a>00158 memcpy(pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>, mat, <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>)*9);
<a name="l00159"></a>00159
<a name="l00160"></a>00160 <span class="keywordflow">return</span> pOut;
<a name="l00161"></a>00161 }
<a name="l00162"></a>00162
<a name="l00164"></a><a class="code" href="mat3_8h.html#1c4be26f1b1836d33e96bc13bb9827d7">00164</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#1c4be26f1b1836d33e96bc13bb9827d7">kmMat3Assign</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut, <span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pIn)
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166 assert(pOut != pIn); <span class="comment">//You have tried to self-assign!!</span>
<a name="l00167"></a>00167
<a name="l00168"></a>00168 memcpy(pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>, pIn-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>, <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>)*9);
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <span class="keywordflow">return</span> pOut;
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172
<a name="l00174"></a><a class="code" href="mat3_8h.html#5d836d842e5dc09e53f5ff5d969e9baf">00174</a> <span class="keywordtype">int</span> <a class="code" href="mat3_8c.html#84eb27066f8cc5d77fff8f604bf5e092">kmMat3AreEqual</a>(<span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pMat1, <span class="keyword">const</span> <a class="code" href="structkm_mat3.html">kmMat3</a>* pMat2)
<a name="l00175"></a>00175 {
<a name="l00176"></a>00176 <span class="keywordtype">int</span> i;
<a name="l00177"></a>00177 assert(pMat1 != pMat2); <span class="comment">//You are comparing the same thing!</span>
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="keywordflow">for</span> (i = 0; i < 9; ++i) {
<a name="l00180"></a>00180 <span class="keywordflow">if</span> (!(pMat1-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[i] + <a class="code" href="utility_8h.html#1e85e20764f0770ea221a5f2b423d669">kmEpsilon</a> > pMat2-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[i] &&
<a name="l00181"></a>00181 pMat1-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[i] - kmEpsilon < pMat2->mat[i])) {
<a name="l00182"></a>00182 <span class="keywordflow">return</span> <a class="code" href="utility_8h.html#fb378d8daf55a5b8c210667b029746fd">KM_FALSE</a>;
<a name="l00183"></a>00183 }
<a name="l00184"></a>00184 }
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="keywordflow">return</span> <a class="code" href="utility_8h.html#fb378d8daf55a5b8c210667b029746fd">KM_FALSE</a>;
<a name="l00187"></a>00187 }
<a name="l00188"></a>00188
<a name="l00189"></a>00189 <span class="comment">/* Rotation around the z axis so everything stays planar in XY */</span>
<a name="l00190"></a><a class="code" href="mat3_8c.html#13ca6ca4a2832968555369e7a83336ba">00190</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#13ca6ca4a2832968555369e7a83336ba">kmMat3Rotation</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut, <span class="keyword">const</span> <span class="keywordtype">float</span> radians)
<a name="l00191"></a>00191 {
<a name="l00192"></a>00192 <span class="comment">/*</span>
<a name="l00193"></a>00193 <span class="comment"> | cos(A) -sin(A) 0 |</span>
<a name="l00194"></a>00194 <span class="comment"> M = | sin(A) cos(A) 0 |</span>
<a name="l00195"></a>00195 <span class="comment"> | 0 0 1 |</span>
<a name="l00196"></a>00196 <span class="comment"> */</span>
<a name="l00197"></a>00197
<a name="l00198"></a>00198 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[0] = cosf(radians);
<a name="l00199"></a>00199 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[1] = sinf(radians);
<a name="l00200"></a>00200 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[2] = 0.0f;
<a name="l00201"></a>00201
<a name="l00202"></a>00202 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[3] = -sinf(radians);
<a name="l00203"></a>00203 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[4] = cosf(radians);
<a name="l00204"></a>00204 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[5] = 0.0f;
<a name="l00205"></a>00205
<a name="l00206"></a>00206 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[6] = 0.0f;
<a name="l00207"></a>00207 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[7] = 0.0f;
<a name="l00208"></a>00208 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8] = 1.0f;
<a name="l00209"></a>00209
<a name="l00210"></a>00210 <span class="keywordflow">return</span> pOut;
<a name="l00211"></a>00211 }
<a name="l00212"></a>00212
<a name="l00214"></a><a class="code" href="mat3_8h.html#19e071cfce0372408a70eae8a420e33f">00214</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#19e071cfce0372408a70eae8a420e33f">kmMat3Scaling</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut, <span class="keyword">const</span> <a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a> x, <span class="keyword">const</span> <a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a> y)
<a name="l00215"></a>00215 {
<a name="l00216"></a>00216 memset(pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>, 0, <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>) * 9);
<a name="l00217"></a>00217 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[0] = x;
<a name="l00218"></a>00218 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[4] = y;
<a name="l00219"></a>00219 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8] = 1.0;
<a name="l00220"></a>00220
<a name="l00221"></a>00221 <span class="keywordflow">return</span> pOut;
<a name="l00222"></a>00222 }
<a name="l00223"></a>00223
<a name="l00224"></a><a class="code" href="mat3_8h.html#80cd61b08c83d93f92756175ba14e045">00224</a> <a class="code" href="structkm_mat3.html">kmMat3</a>* <a class="code" href="mat3_8c.html#80cd61b08c83d93f92756175ba14e045">kmMat3Translation</a>(<a class="code" href="structkm_mat3.html">kmMat3</a>* pOut, <span class="keyword">const</span> <a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a> x, <span class="keyword">const</span> <a class="code" href="utility_8h.html#13c982467de32cab64560329cae90bdd">kmScalar</a> y)
<a name="l00225"></a>00225 {
<a name="l00226"></a>00226 memset(pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>, 0, <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>) * 9);
<a name="l00227"></a>00227 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[6] = x;
<a name="l00228"></a>00228 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[7] = y;
<a name="l00229"></a>00229 pOut-><a class="code" href="structkm_mat3.html#e62896cf1c8f7a94e7a18dede8480125">mat</a>[8] = 1.0;
<a name="l00230"></a>00230
<a name="l00231"></a>00231 <span class="keywordflow">return</span> pOut;
<a name="l00232"></a>00232 }
<a name="l00233"></a>00233
<a name="l00234"></a>00234
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