Math3d.cpp

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
//
// Copyright (C) 2013 Karlsruhe Institute of Technology (KIT).
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//
// 3. Neither the name of the KIT nor the names of its contributors may be
//    used to endorse or promote products derived from this software
//    without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE KIT AND CONTRIBUTORS “AS IS” AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE KIT OR CONTRIBUTORS BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
// THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// ****************************************************************************
// ****************************************************************************
// Filename:  Math3d.cpp
// Author:    Pedram Azad
// Date:      2004
// ****************************************************************************


// ****************************************************************************
// Includes
// ****************************************************************************

#include <new> // for explicitly using correct new/delete operators on VC DSPs

#include "Math3d.h"
#include "Helpers/BasicFileIO.h"

#include <math.h>



// ****************************************************************************
// Variables
// ****************************************************************************

const Vec3d Math3d::zero_vec = { 0, 0, 0 };
const Mat3d Math3d::unit_mat = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
const Mat3d Math3d::zero_mat = { 0, 0, 0, 0, 0, 0, 0, 0 ,0 };


// ****************************************************************************
// Functions
// ****************************************************************************

bool Math3d::LoadFromFile(Vec3d &vector, const char *pFilePath)
{
        // not using fscanf, since it is buggy on some platforms
        FILE *f = fopen(pFilePath, "r");
        if (!f)
                return false;
        
        const int nFileSize = CBasicFileIO::GetFileSize(f);
        
        if (nFileSize > 1024)
        {
                fclose(f);
                return false;
        }
        
        char *pBuffer = new char[nFileSize];
        if (fread(pBuffer, nFileSize, 1, f) != 1)
        {
                fclose(f);
                delete [] pBuffer;
                return false;
        }
        
        fclose(f);
        
        if (sscanf(pBuffer, "%f%f%f", &vector.x, &vector.y, &vector.z) != 3)
        {
                delete [] pBuffer;
                return false;
        }
        
        delete [] pBuffer;
        
        return true;
}

bool Math3d::LoadFromFile(Mat3d &matrix, const char *pFilePath)
{
        // not using fscanf, since it is buggy on some platforms
        FILE *f = fopen(pFilePath, "r");
        if (!f)
                return false;
        
        const int nFileSize = CBasicFileIO::GetFileSize(f);
        
        if (nFileSize > 1024)
        {
                fclose(f);
                return false;
        }
        
        char *pBuffer = new char[nFileSize];
        if (fread(pBuffer, nFileSize, 1, f) != 1)
        {
                fclose(f);
                delete [] pBuffer;
                return false;
        }
        
        fclose(f);
        
        if (sscanf(pBuffer, "%f%f%f%f%f%f%f%f%f",
                &matrix.r1, &matrix.r2, &matrix.r3,
                &matrix.r4, &matrix.r5, &matrix.r6,
                &matrix.r7, &matrix.r8, &matrix.r9) != 9)
        {
                delete [] pBuffer;
                return false;
        }
        
        delete [] pBuffer;
        
        return true;
}

bool Math3d::LoadFromFile(Transformation3d &transformation, const char *pFilePath)
{
        // not using fscanf, since it is buggy on some platforms
        FILE *f = fopen(pFilePath, "r");
        if (!f)
                return false;
        
        const int nFileSize = CBasicFileIO::GetFileSize(f);
        
        if (nFileSize > 1024)
        {
                fclose(f);
                return false;
        }
        
        char *pBuffer = new char[nFileSize];
        if (fread(pBuffer, nFileSize, 1, f) != 1)
        {
                fclose(f);
                delete [] pBuffer;
                return false;
        }
        
        fclose(f);
        
        if (sscanf(pBuffer, "%f%f%f%f%f%f%f%f%f%f%f%f",
                &transformation.rotation.r1, &transformation.rotation.r2, &transformation.rotation.r3,
                &transformation.rotation.r4, &transformation.rotation.r5, &transformation.rotation.r6,
                &transformation.rotation.r7, &transformation.rotation.r8, &transformation.rotation.r9,
                &transformation.translation.x, &transformation.translation.y, &transformation.translation.z) != 12)
        {
                delete [] pBuffer;
                return false;
        }
        
        delete [] pBuffer;
        
        return true;
}

bool Math3d::SaveToFile(const Vec3d &vector, const char *pFilePath)
{
        FILE *f = fopen(pFilePath, "w");
        if (!f)
                return false;
        
        if (fprintf(f, "%.10f %.10f %.10f", vector.x, vector.y, vector.z) <= 0)
        {
                fclose(f);
                return false;
        }
        
        fclose(f);
        
        return true;
}

bool Math3d::SaveToFile(const Mat3d &matrix, const char *pFilePath)
{
        FILE *f = fopen(pFilePath, "w");
        if (!f)
                return false;
        
        if (fprintf(f, "%.10f %.10f %.10f %.10f %.10f %.10f %.10f %.10f %.10f",
                matrix.r1, matrix.r2, matrix.r3,
                matrix.r4, matrix.r5, matrix.r6,
                matrix.r7, matrix.r8, matrix.r9) <= 0)
        {
                fclose(f);
                return false;
        }
        
        fclose(f);
        
        return true;
}

bool Math3d::SaveToFile(const Transformation3d &transformation, const char *pFilePath)
{
        FILE *f = fopen(pFilePath, "w");
        if (!f)
                return false;
        
        if (fprintf(f, "%.10f %.10f %.10f %.10f %.10f %.10f %.10f %.10f %.10f\n%.10f %.10f %.10f",
                transformation.rotation.r1, transformation.rotation.r2, transformation.rotation.r3,
                transformation.rotation.r4, transformation.rotation.r5, transformation.rotation.r6,
                transformation.rotation.r7, transformation.rotation.r8, transformation.rotation.r9,
                transformation.translation.x, transformation.translation.y, transformation.translation.z) <= 0)
        {
                fclose(f);
                return false;
        }
        
        fclose(f);
        
        return true;
}



void Math3d::SetVec(Vec3d &vec, float x, float y, float z)
{
        vec.x = x;
        vec.y = y;
        vec.z = z;
}

void Math3d::SetVec(Vec3d &vec, const Vec3d &sourceVector)
{
        vec.x = sourceVector.x;
        vec.y = sourceVector.y;
        vec.z = sourceVector.z;
}

void Math3d::SetMat(Mat3d &matrix, float r1, float r2, float r3, float r4, float r5, float r6, float r7, float r8, float r9)
{
        matrix.r1 = r1;
        matrix.r2 = r2;
        matrix.r3 = r3;
        matrix.r4 = r4;
        matrix.r5 = r5;
        matrix.r6 = r6;
        matrix.r7 = r7;
        matrix.r8 = r8;
        matrix.r9 = r9;
}

void Math3d::SetMat(Mat3d &matrix, const Mat3d &sourceMatrix)
{
        matrix.r1 = sourceMatrix.r1;
        matrix.r2 = sourceMatrix.r2;
        matrix.r3 = sourceMatrix.r3;
        matrix.r4 = sourceMatrix.r4;
        matrix.r5 = sourceMatrix.r5;
        matrix.r6 = sourceMatrix.r6;
        matrix.r7 = sourceMatrix.r7;
        matrix.r8 = sourceMatrix.r8;
        matrix.r9 = sourceMatrix.r9;
}

void Math3d::SetRotationMat(Mat3d &matrix, const Vec3d &rotation)
{
        const float alpha = rotation.x;
        const float beta = rotation.y;
        const float gamma = rotation.z;

        const float sinfalpha = sinf(alpha);
        const float cosfalpha = cosf(alpha);
        const float sinfbeta = sinf(beta);
        const float cosfbeta = cosf(beta);
        const float sinfgamma = sinf(gamma);
        const float cosfgamma = cosf(gamma);

        matrix.r1 = cosfbeta * cosfgamma;
        matrix.r2 = - cosfbeta * sinfgamma;
        matrix.r3 = sinfbeta;
        matrix.r4 = cosfalpha * sinfgamma + sinfalpha * sinfbeta * cosfgamma;
        matrix.r5 = cosfalpha * cosfgamma - sinfalpha * sinfbeta * sinfgamma;
        matrix.r6 = - sinfalpha * cosfbeta;
        matrix.r7 = sinfalpha * sinfgamma - cosfalpha * sinfbeta * cosfgamma;
        matrix.r8 = sinfalpha * cosfgamma + cosfalpha * sinfbeta * sinfgamma;
        matrix.r9 = cosfalpha * cosfbeta;
}

void Math3d::SetRotationMat(Mat3d &matrix, float alpha, float beta, float gamma)
{
        const float sinfalpha = sinf(alpha);
        const float cosfalpha = cosf(alpha);
        const float sinfbeta = sinf(beta);
        const float cosfbeta = cosf(beta);
        const float sinfgamma = sinf(gamma);
        const float cosfgamma = cosf(gamma);

        matrix.r1 = cosfbeta * cosfgamma;
        matrix.r2 = - cosfbeta * sinfgamma;
        matrix.r3 = sinfbeta;
        matrix.r4 = cosfalpha * sinfgamma + sinfalpha * sinfbeta * cosfgamma;
        matrix.r5 = cosfalpha * cosfgamma - sinfalpha * sinfbeta * sinfgamma;
        matrix.r6 = - sinfalpha * cosfbeta;
        matrix.r7 = sinfalpha * sinfgamma - cosfalpha * sinfbeta * cosfgamma;
        matrix.r8 = sinfalpha * cosfgamma + cosfalpha * sinfbeta * sinfgamma;
        matrix.r9 = cosfalpha * cosfbeta;
}

void Math3d::SetRotationMatYZX(Mat3d &matrix, const Vec3d &rotation)
{
        Mat3d temp;
        
        SetRotationMatY(matrix, rotation.y);
        
        SetRotationMatZ(temp, rotation.z);
        MulMatMat(temp, matrix, matrix);
        
        SetRotationMatX(temp, rotation.x);
        MulMatMat(temp, matrix, matrix);
}

void Math3d::SetRotationMatX(Mat3d &matrix, float theta)
{
        matrix.r1 = 1;
        matrix.r2 = matrix.r3 = matrix.r4 = matrix.r7 = 0;
        matrix.r5 = matrix.r9 = cosf(theta);
        matrix.r6 = matrix.r8 = sinf(theta);
        matrix.r6 = -matrix.r6;
}

void Math3d::SetRotationMatY(Mat3d &matrix, float theta)
{
        matrix.r5 = 1;
        matrix.r2 = matrix.r4 = matrix.r6 = matrix.r8 = 0;
        matrix.r1 = matrix.r9 = cosf(theta);
        matrix.r3 = matrix.r7 = sinf(theta);
        matrix.r7 = -matrix.r7;
}

void Math3d::SetRotationMatZ(Mat3d &matrix, float theta)
{
        matrix.r9 = 1;
        matrix.r3 = matrix.r6 = matrix.r7 = matrix.r8 = 0;
        matrix.r1 = matrix.r5 = cosf(theta);
        matrix.r2 = matrix.r4 = sinf(theta);
        matrix.r2 = -matrix.r2;
}

void Math3d::SetRotationMat(Mat3d &matrix, const Vec3d &axis, float theta)
{
        const float length = Length(axis);
        const float v1 = axis.x / length;
        const float v2 = axis.y / length;
        const float v3 = axis.z / length;

        const float t1 = cosf(theta);
        const float t2 = 1 - t1;
        const float t3 = v1 * v1;
        const float t6 = t2 * v1;
        const float t7 = t6 * v2;
        const float t8 = sinf(theta);
        const float t9 = t8 * v3;
        const float t11 = t6 * v3;
        const float t12 = t8 * v2;
        const float t15 = v2 * v2;
        const float t19 = t2 * v2 * v3;
        const float t20 = t8 * v1;
        const float t24 = v3 * v3;

        matrix.r1 = t1 + t2 * t3;
        matrix.r2 = t7 - t9;
        matrix.r3 = t11 + t12;
        matrix.r4 = t7 + t9;
        matrix.r5 = t1 + t2 * t15;
        matrix.r6 = t19 - t20;
        matrix.r7 = t11 - t12;
        matrix.r8 = t19 + t20;
        matrix.r9 = t1 + t2 * t24;
}

void Math3d::SetRotationMatAxis(Mat3d &matrix, const Vec3d &axis, float theta)
{
        const float length = Length(axis);
        const float x = axis.x / length;
        const float y = axis.y / length;
        const float z = axis.z / length;
        
        const float s = sinf(theta);
        const float c = cosf(theta);
        const float t = 1.0f - c;   
        
        matrix.r1 = t * x * x + c;
        matrix.r2 = t * x * y - s * z;
        matrix.r3 = t * x * z + s * y;  
        matrix.r4 = t * x * y + s * z;
        matrix.r5 = t * y * y + c;
        matrix.r6 = t * y * z - s * x;
        matrix.r7 = t * x * z - s * y;
        matrix.r8 = t * y * z + s * x;
        matrix.r9 = t * z * z + c;
}


void Math3d::MulMatVec(const Mat3d &matrix, const Vec3d &vec, Vec3d &result)
{
        const float x = vec.x;
        const float y = vec.y;
        const float z = vec.z;

        result.x = matrix.r1 * x + matrix.r2 * y + matrix.r3 * z;
        result.y = matrix.r4 * x + matrix.r5 * y + matrix.r6 * z;
        result.z = matrix.r7 * x + matrix.r8 * y + matrix.r9 * z;
}

void Math3d::MulMatVec(const Mat3d &matrix, const Vec3d &vector1, const Vec3d &vector2, Vec3d &result)
{
        const float x = vector1.x;
        const float y = vector1.y;
        const float z = vector1.z;

        result.x = matrix.r1 * x + matrix.r2 * y + matrix.r3 * z + vector2.x;
        result.y = matrix.r4 * x + matrix.r5 * y + matrix.r6 * z + vector2.y;
        result.z = matrix.r7 * x + matrix.r8 * y + matrix.r9 * z + vector2.z;
}

void Math3d::MulMatMat(const Mat3d &matrix1, const Mat3d &matrix2, Mat3d &result)
{
        const float x1 = matrix1.r1 * matrix2.r1 + matrix1.r2 * matrix2.r4 + matrix1.r3 * matrix2.r7;
        const float x2 = matrix1.r1 * matrix2.r2 + matrix1.r2 * matrix2.r5 + matrix1.r3 * matrix2.r8;
        const float x3 = matrix1.r1 * matrix2.r3 + matrix1.r2 * matrix2.r6 + matrix1.r3 * matrix2.r9;
        const float x4 = matrix1.r4 * matrix2.r1 + matrix1.r5 * matrix2.r4 + matrix1.r6 * matrix2.r7;
        const float x5 = matrix1.r4 * matrix2.r2 + matrix1.r5 * matrix2.r5 + matrix1.r6 * matrix2.r8;
        const float x6 = matrix1.r4 * matrix2.r3 + matrix1.r5 * matrix2.r6 + matrix1.r6 * matrix2.r9;
        const float x7 = matrix1.r7 * matrix2.r1 + matrix1.r8 * matrix2.r4 + matrix1.r9 * matrix2.r7;
        const float x8 = matrix1.r7 * matrix2.r2 + matrix1.r8 * matrix2.r5 + matrix1.r9 * matrix2.r8;
        const float x9 = matrix1.r7 * matrix2.r3 + matrix1.r8 * matrix2.r6 + matrix1.r9 * matrix2.r9;
        
        result.r1 = x1;
        result.r2 = x2;
        result.r3 = x3;
        result.r4 = x4;
        result.r5 = x5;
        result.r6 = x6;
        result.r7 = x7;
        result.r8 = x8;
        result.r9 = x9;
}

void Math3d::MulVecTransposedVec(const Vec3d &vector1, const Vec3d &vector2, Mat3d &result)
{
        result.r1 = vector1.x * vector2.x;
        result.r2 = vector1.x * vector2.y;
        result.r3 = vector1.x * vector2.z;
        result.r4 = vector1.y * vector2.x;
        result.r5 = vector1.y * vector2.y;
        result.r6 = vector1.y * vector2.z;
        result.r7 = vector1.z * vector2.x;
        result.r8 = vector1.z * vector2.y;
        result.r9 = vector1.z * vector2.z;
}


void Math3d::AddToVec(Vec3d &vec, const Vec3d &vectorToAdd)
{
        vec.x += vectorToAdd.x;
        vec.y += vectorToAdd.y;
        vec.z += vectorToAdd.z;
}

void Math3d::SubtractFromVec(Vec3d &vec, const Vec3d &vectorToSubtract)
{
        vec.x -= vectorToSubtract.x;
        vec.y -= vectorToSubtract.y;
        vec.z -= vectorToSubtract.z;
}

void Math3d::AddVecVec(const Vec3d &vector1, const Vec3d &vector2, Vec3d &result)
{
        result.x = vector1.x + vector2.x;
        result.y = vector1.y + vector2.y;
        result.z = vector1.z + vector2.z;
}

void Math3d::MulVecScalar(const Vec3d &vec, float scalar, Vec3d &result)
{
        result.x = scalar * vec.x;
        result.y = scalar * vec.y;
        result.z = scalar * vec.z;
}

void Math3d::MulMatScalar(const Mat3d &matrix, float scalar, Mat3d &result)
{
        result.r1 = scalar * matrix.r1;
        result.r2 = scalar * matrix.r2;
        result.r3 = scalar * matrix.r3;
        result.r4 = scalar * matrix.r4;
        result.r5 = scalar * matrix.r5;
        result.r6 = scalar * matrix.r6;
        result.r7 = scalar * matrix.r7;
        result.r8 = scalar * matrix.r8;
        result.r9 = scalar * matrix.r9;
}

void Math3d::SubtractVecVec(const Vec3d &vector1, const Vec3d &vector2, Vec3d &result)
{
        result.x = vector1.x - vector2.x;
        result.y = vector1.y - vector2.y;
        result.z = vector1.z - vector2.z;
}


void Math3d::RotateVec(const Vec3d &vec, const Vec3d &rotation, Vec3d &result)
{
    Mat3d matrix;
        SetRotationMat(matrix, rotation);
        MulMatVec(matrix, vec, result);
}

void Math3d::TransformVec(const Vec3d &vec, const Vec3d &rotation, const Vec3d &translation, Vec3d &result)
{
    Mat3d matrix;
        SetRotationMat(matrix, rotation);
        MulMatVec(matrix, vec, translation, result);
}

void Math3d::RotateVecYZX(const Vec3d &vec, const Vec3d &rotation, Vec3d &result)
{
    Mat3d matrix;
        SetRotationMatYZX(matrix, rotation);
        MulMatVec(matrix, vec, result);
}

void Math3d::TransformVecYZX(const Vec3d &vec, const Vec3d &rotation, const Vec3d &translation, Vec3d &result)
{
    Mat3d matrix;
        SetRotationMatYZX(matrix, rotation);
        MulMatVec(matrix, vec, translation, result);
}


float Math3d::ScalarProduct(const Vec3d &vector1, const Vec3d &vector2)
{
        return vector1.x * vector2.x + vector1.y * vector2.y +  vector1.z * vector2.z;
}

void Math3d::CrossProduct(const Vec3d &vector1, const Vec3d &vector2, Vec3d &result)
{
        const float x = vector1.y * vector2.z - vector1.z * vector2.y;
        const float y = vector1.z * vector2.x - vector1.x * vector2.z;
        result.z = vector1.x * vector2.y - vector1.y * vector2.x;
        result.x = x;
        result.y = y;
}

void Math3d::NormalizeVec(Vec3d &vec)
{
        const float length = sqrtf(vec.x * vec.x + vec.y * vec.y + vec.z * vec.z);
        
        if (length != 0.0f)
        {
                vec.x /= length;
                vec.y /= length;
                vec.z /= length;
        }
}

float Math3d::Length(const Vec3d &vec)
{
        return sqrtf(vec.x * vec.x + vec.y * vec.y + vec.z * vec.z);
}

float Math3d::SquaredLength(const Vec3d &vec)
{
        return vec.x * vec.x + vec.y * vec.y + vec.z * vec.z;
}

float Math3d::Distance(const Vec3d &vector1, const Vec3d &vector2)
{
        const float x1 = vector1.x - vector2.x;
        const float x2 = vector1.y - vector2.y;
        const float x3 = vector1.z - vector2.z;

        return sqrtf(x1 * x1 + x2 * x2 + x3 * x3);
}

float Math3d::SquaredDistance(const Vec3d &vector1, const Vec3d &vector2)
{
        const float x1 = vector1.x - vector2.x;
        const float x2 = vector1.y - vector2.y;
        const float x3 = vector1.z - vector2.z;

        return x1 * x1 + x2 * x2 + x3 * x3;
}

float Math3d::Angle(const Vec3d &vector1, const Vec3d &vector2)
{
        const float sp = vector1.x * vector2.x + vector1.y * vector2.y + vector1.z * vector2.z;
        const float l1 = sqrtf(vector1.x * vector1.x + vector1.y * vector1.y + vector1.z * vector1.z);
        const float l2 = sqrtf(vector2.x * vector2.x + vector2.y * vector2.y + vector2.z * vector2.z);
        
        // added this. In some cases angle was numerically unstable
        float r = sp / (l1 * l2);
        if (r > 1.0) r = 1.0;
        if (r < -1.0) r = -1.0;
        return acosf(r);
}

float Math3d::EvaluateForm(const Vec3d &matrix1, const Mat3d &matrix2)
{
        const float t0 = matrix1.x * matrix2.r1 + matrix1.y * matrix2.r4 + matrix1.z * matrix2.r7;
        const float t1 = matrix1.x * matrix2.r2 + matrix1.y * matrix2.r5 + matrix1.z * matrix2.r8;
        const float t2 = matrix1.x * matrix2.r3 + matrix1.y * matrix2.r6 + matrix1.z * matrix2.r9;

        return t0 * matrix1.x + t1 * matrix1.y + t2 * matrix1.z;
}

void Math3d::Transpose(const Mat3d &matrix, Mat3d &result)
{
        float temp;
        
        result.r1 = matrix.r1;
        result.r5 = matrix.r5;
        result.r9 = matrix.r9;
        
        temp = matrix.r4;
        result.r4 = matrix.r2;
        result.r2 = temp;
        
        temp = matrix.r3;
        result.r3 = matrix.r7;
        result.r7 = temp;
        
        temp = matrix.r6;
        result.r6 = matrix.r8;  
        result.r8 = temp;
        
}

void Math3d::Invert(const Mat3d &matrix, Mat3d &result)
{
        const float a = matrix.r1;
        const float b = matrix.r2;
        const float c = matrix.r3;
        const float d = matrix.r4;
        const float e = matrix.r5;
        const float f = matrix.r6;
        const float g = matrix.r7;
        const float h = matrix.r8;
        const float i = matrix.r9;

        float det_inverse = 1 / (-c * e * g + b * f * g + c * d * h - a * f * h - b * d * i + a * e * i);

        result.r1 = (-f * h + e * i) * det_inverse;
        result.r2 = (c * h - b * i) * det_inverse;
        result.r3 = (-c * e + b * f) * det_inverse;
        result.r4 = (f * g - d * i) * det_inverse;
        result.r5 = (-c * g + a * i) * det_inverse;
        result.r6 = (c * d - a * f) * det_inverse;
        result.r7 = (-e * g + d * h) * det_inverse;
        result.r8 = (b * g - a * h) * det_inverse;
        result.r9 = (-b * d + a * e) * det_inverse;
}

void Math3d::AddMatMat(const Mat3d &matrix1, const Mat3d &matrix2, Mat3d &matrix)
{
        matrix.r1 = matrix1.r1 + matrix2.r1;
        matrix.r2 = matrix1.r2 + matrix2.r2;
        matrix.r3 = matrix1.r3 + matrix2.r3;
        matrix.r4 = matrix1.r4 + matrix2.r4;
        matrix.r5 = matrix1.r5 + matrix2.r5;
        matrix.r6 = matrix1.r6 + matrix2.r6;
        matrix.r7 = matrix1.r7 + matrix2.r7;
        matrix.r8 = matrix1.r8 + matrix2.r8;
        matrix.r9 = matrix1.r9 + matrix2.r9;
}

void Math3d::AddToMat(Mat3d &matrix, const Mat3d &matrixToAdd)
{
        matrix.r1 += matrixToAdd.r1;
        matrix.r2 += matrixToAdd.r2;
        matrix.r3 += matrixToAdd.r3;
        matrix.r4 += matrixToAdd.r4;
        matrix.r5 += matrixToAdd.r5;
        matrix.r6 += matrixToAdd.r6;
        matrix.r7 += matrixToAdd.r7;
        matrix.r8 += matrixToAdd.r8;
        matrix.r9 += matrixToAdd.r9;
}

void Math3d::SubtractMatMat(const Mat3d &matrix1, const Mat3d &matrix2, Mat3d &result)
{
        result.r1 = matrix1.r1 - matrix2.r1;
        result.r2 = matrix1.r2 - matrix2.r2;
        result.r3 = matrix1.r3 - matrix2.r3;
        result.r4 = matrix1.r4 - matrix2.r4;
        result.r5 = matrix1.r5 - matrix2.r5;
        result.r6 = matrix1.r6 - matrix2.r6;
        result.r7 = matrix1.r7 - matrix2.r7;
        result.r8 = matrix1.r8 - matrix2.r8;
        result.r9 = matrix1.r9 - matrix2.r9;
}

float Math3d::Det(const Mat3d &matrix)
{
        return matrix.r1 * matrix.r5 * matrix.r9 
                + matrix.r2 * matrix.r6 * matrix.r7
                + matrix.r3 * matrix.r4 * matrix.r8
                - matrix.r3 * matrix.r5 * matrix.r7
                - matrix.r1 * matrix.r6 * matrix.r8
                - matrix.r2 * matrix.r4 * matrix.r9;
}


void Math3d::SetTransformation(Transformation3d &transformation, const Vec3d &rotation, const Vec3d &translation)
{
        Math3d::SetRotationMat(transformation.rotation, rotation);
        Math3d::SetVec(transformation.translation, translation);
}

void Math3d::SetTransformation(Transformation3d &transformation, const Transformation3d &sourceTransformation)
{
        Math3d::SetMat(transformation.rotation, sourceTransformation.rotation);
        Math3d::SetVec(transformation.translation, sourceTransformation.translation);
}

void Math3d::Invert(const Transformation3d &input, Transformation3d &result)
{
        Math3d::Invert(input.rotation, result.rotation);
        Math3d::MulMatVec(result.rotation, input.translation, result.translation);
        Math3d::MulVecScalar(result.translation, -1, result.translation);
}

void Math3d::MulTransTrans(const Transformation3d &transformation1, const Transformation3d &transformation2, Transformation3d &result)
{
        Math3d::MulMatVec(transformation1.rotation, transformation2.translation, transformation1.translation, result.translation);
        Math3d::MulMatMat(transformation1.rotation, transformation2.rotation, result.rotation);
}

void Math3d::MulTransVec(const Transformation3d &transformation, const Vec3d &vec, Vec3d &result)
{
        Math3d::MulMatVec(transformation.rotation, vec, transformation.translation, result);
}


void Math3d::MulQuatQuat(const Quaternion &quat1, const Quaternion &quat2, Quaternion &result)
{
        Vec3d v;
        
        CrossProduct(quat1.v, quat2.v, v);
        v.x += quat1.w * quat2.v.x + quat1.w * quat2.v.x;
        v.y += quat1.w * quat2.v.y + quat1.w * quat2.v.y;
        v.z += quat1.w * quat2.v.z + quat1.w * quat2.v.z;

        result.w = quat1.w * quat2.w - ScalarProduct(quat1.v, quat2.v);
        SetVec(result.v, v);
}


void Math3d::RotateVecQuaternion(const Vec3d &vec, const Vec3d &axis, float theta, Vec3d &result)
{
        /*const float st = sinf(theta * 0.5f);
        const float ct = cosf(theta * 0.5f);

        Quaternion a, q, r;
        Vec3d u;

        // u = normalized axis vector
        SetVec(u, axis);
        NormalizeVec(u);

        // set a
        SetVec(a.v, vec);
        a.w = 0;

        // set q
        q.v.x = st * u.x;
        q.v.y = st * u.y;
        q.v.z = st * u.z;
        q.w = ct;

        // calculate q * a
        MulQuatQuat(q, a, r);
        
        // calculate conjugate quaternion of q
        q.v.x = -q.v.x;
        q.v.y = -q.v.y;
        q.v.z = -q.v.z;

        // calculate q * a * q^
        MulQuatQuat(r, q, r);*/

        const float length = Length(axis);
        const float a = axis.x / length;
        const float b = axis.y / length;
        const float c = axis.z / length;
        const float d = theta;

        const float v1 = vec.x;
        const float v2 = vec.y;
        const float v3 = vec.z;

        const float t2 = a * b;
        const float t3 = a * c;
        const float t4 = a * d;
        const float t5 = -b * b;
        const float t6 = b * c;
        const float t7 = b * d;
        const float t8 = -c * c;
        const float t9 = c * d;
        const float t10 = -d * d;

        result.x = 2 * ((t8 + t10) * v1 + (t6 - t4) * v2 + (t3 + t7) * v3 ) + v1;
        result.y = 2 * ((t4 + t6) * v1 + (t5 + t10) * v2 + (t9 - t2) * v3 ) + v2;
        result.z = 2 * ((t7 - t3) * v1 + (t2 +  t9) * v2 + (t5 + t8) * v3 ) + v3;
}

void Math3d::RotateVecAngleAxis(const Vec3d &vec, const Vec3d &axis, float theta, Vec3d &result)
{
        Mat3d m;
        SetRotationMatAxis(m, axis, theta);
        MulMatVec(m, vec, result);
}

float Math3d::Angle(const Vec3d &vector1, const Vec3d &vector2, const Vec3d &axis)
{
        Vec3d u1, u2, n, temp;
        Mat3d testMatrix;

        Math3d::SetVec(n, axis);
        Math3d::NormalizeVec(n);

        Math3d::SetVec(u1, vector1);
        Math3d::MulVecScalar(n, Math3d::ScalarProduct(u1, n), temp);
        Math3d::SubtractFromVec(u1, temp);
        Math3d::NormalizeVec(u1);

        Math3d::SetVec(u2, vector2);
        Math3d::MulVecScalar(n, Math3d::ScalarProduct(u2, n), temp);
        Math3d::SubtractFromVec(u2, temp);
        Math3d::NormalizeVec(u2);
        
        // test which one of the two solutions is the right one
        Math3d::SetRotationMatAxis(testMatrix, n, Math3d::Angle(u1, u2));
        Math3d::MulMatVec(testMatrix, u1, temp);
        const float d1 = Math3d::Distance(temp, u2);

        Math3d::SetRotationMatAxis(testMatrix, n, -Math3d::Angle(u1, u2));
        Math3d::MulMatVec(testMatrix, u1, temp);
        const float d2 = Math3d::Distance(temp, u2);
        
        return d1 < d2 ? Math3d::Angle(u1, u2) : -Math3d::Angle(u1, u2);
}

void Math3d::GetAxisAndAngle(const Mat3d &R, Vec3d &axis, float &angle)
{
        const float x = R.r8 - R.r6;
        const float y = R.r3 - R.r7;
        const float z = R.r4 - R.r2;
        
        const float r = sqrtf(x * x + y * y + z * z);
        const float t = R.r1 + R.r5 + R.r9;
        
        angle = atan2(r, t - 1);
        
        Math3d::SetVec(axis, x, y, z);
}