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/**************************************************/
//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!).
void Matrix_Multiply(float a[3][3], float b[3][3],float mat[3][3])
{
  float op[3];
  for(int x=0; x<3; x++)
  {
    for(int y=0; y<3; y++)
    {
      for(int w=0; w<3; w++)
      {
       op[w]=a[x][w]*b[w][y];
      }
      mat[x][y]=0;
      mat[x][y]=op[0]+op[1]+op[2];
      
      //float test=mat[x][y];
    }
  }
}
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