/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGMatrix33.cpp
-Author: Originally by Tony Peden [formatted here (and broken??) by JSB]
+Author: Tony Peden, Jon Berndt, Mathias Frolich
Date started: 1998
Purpose: FGMatrix33 class
Called by: Various
#include "FGMatrix33.h"
#include "FGColumnVector3.h"
+namespace JSBSim {
+
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_MATRIX33;
FGMatrix33::FGMatrix33(void)
{
- InitMatrix();
- rowCtr = colCtr = 1;
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ data[0] = data[1] = data[2] = data[3] = data[4] = data[5] =
+ data[6] = data[7] = data[8] = 0.0;
-FGMatrix33::FGMatrix33(int r, int c)
-{
- InitMatrix();
- rowCtr = colCtr = 1;
-
Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGMatrix33::FGMatrix33(const FGMatrix33& M)
-{
- rowCtr = colCtr = 1;
-
- data[1][1] = M.data[1][1];
- data[1][2] = M.data[1][2];
- data[1][3] = M.data[1][3];
- data[2][1] = M.data[2][1];
- data[2][2] = M.data[2][2];
- data[2][3] = M.data[2][3];
- data[3][1] = M.data[3][1];
- data[3][2] = M.data[3][2];
- data[3][3] = M.data[3][3];
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGMatrix33::~FGMatrix33(void)
-{
- rowCtr = colCtr = 1;
-
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
ostream& operator<<(ostream& os, const FGMatrix33& M)
{
for (unsigned int i=1; i<=M.Rows(); i++) {
for (unsigned int j=1; j<=M.Cols(); j++) {
if (i == M.Rows() && j == M.Cols())
- os << M.data[i][j];
+ os << M(i,j);
else
- os << M.data[i][j] << ", ";
+ os << M(i,j) << ", ";
}
}
return os;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGMatrix33& FGMatrix33::operator<<(const double ff)
-{
- data[rowCtr][colCtr] = ff;
- if (++colCtr > Cols()) {
- colCtr = 1;
- if (++rowCtr > Rows())
- rowCtr = 1;
- }
- return *this;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
istream& operator>>(istream& is, FGMatrix33& M)
{
for (unsigned int i=1; i<=M.Rows(); i++) {
for (unsigned int j=1; j<=M.Cols(); j++) {
- is >> M.data[i][j];
+ is >> M(i,j);
}
}
return is;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGMatrix33& FGMatrix33::operator=(const FGMatrix33& M)
-{
- if (&M != this) {
- data[1][1] = M.data[1][1];
- data[1][2] = M.data[1][2];
- data[1][3] = M.data[1][3];
- data[2][1] = M.data[2][1];
- data[2][2] = M.data[2][2];
- data[2][3] = M.data[2][3];
- data[3][1] = M.data[3][1];
- data[3][2] = M.data[3][2];
- data[3][3] = M.data[3][3];
- }
- return *this;
+double FGMatrix33::Determinant(void) const {
+ return Entry(1,1)*Entry(2,2)*Entry(3,3) + Entry(1,2)*Entry(2,3)*Entry(3,1)
+ + Entry(1,3)*Entry(2,1)*Entry(3,2) - Entry(1,3)*Entry(2,2)*Entry(3,1)
+ - Entry(1,2)*Entry(2,1)*Entry(3,3) - Entry(2,3)*Entry(3,2)*Entry(1,1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGMatrix33::InitMatrix(double value)
-{
- if (data) {
- data[1][1] = value;
- data[1][2] = value;
- data[1][3] = value;
- data[2][1] = value;
- data[2][2] = value;
- data[2][3] = value;
- data[3][1] = value;
- data[3][2] = value;
- data[3][3] = value;
- }
+FGMatrix33 FGMatrix33::Inverse(void) const {
+ // Compute the inverse of a general matrix using Cramers rule.
+ // I guess googling for cramers rule gives tons of references
+ // for this. :)
+ double rdet = 1.0/Determinant();
+
+ double i11 = rdet*(Entry(2,2)*Entry(3,3)-Entry(2,3)*Entry(3,2));
+ double i21 = rdet*(Entry(2,3)*Entry(3,1)-Entry(2,1)*Entry(3,3));
+ double i31 = rdet*(Entry(2,1)*Entry(3,2)-Entry(2,2)*Entry(3,1));
+ double i12 = rdet*(Entry(1,3)*Entry(3,2)-Entry(1,2)*Entry(3,3));
+ double i22 = rdet*(Entry(1,1)*Entry(3,3)-Entry(1,3)*Entry(3,1));
+ double i32 = rdet*(Entry(1,2)*Entry(3,1)-Entry(1,1)*Entry(3,2));
+ double i13 = rdet*(Entry(1,2)*Entry(2,3)-Entry(1,3)*Entry(2,2));
+ double i23 = rdet*(Entry(1,3)*Entry(2,1)-Entry(1,1)*Entry(2,3));
+ double i33 = rdet*(Entry(1,1)*Entry(2,2)-Entry(1,2)*Entry(2,1));
+
+ return FGMatrix33( i11, i12, i13,
+ i21, i22, i23,
+ i31, i32, i33 );
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGMatrix33::InitMatrix(void)
{
- this->InitMatrix(0);
+ data[0] = data[1] = data[2] = data[3] = data[4] = data[5] =
+ data[6] = data[7] = data[8] = 0.0;
}
// *****************************************************************************
// binary operators ************************************************************
// *****************************************************************************
-FGMatrix33 FGMatrix33::operator-(const FGMatrix33& M)
+FGMatrix33 FGMatrix33::operator-(const FGMatrix33& M) const
{
- FGMatrix33 Diff;
-
- Diff(1,1) = data[1][1] - M(1,1);
- Diff(1,2) = data[1][2] - M(1,2);
- Diff(1,3) = data[1][3] - M(1,3);
- Diff(2,1) = data[2][1] - M(2,1);
- Diff(2,2) = data[2][2] - M(2,2);
- Diff(2,3) = data[2][3] - M(2,3);
- Diff(3,1) = data[3][1] - M(3,1);
- Diff(3,2) = data[3][2] - M(3,2);
- Diff(3,3) = data[3][3] - M(3,3);
-
- return Diff;
+ return FGMatrix33( Entry(1,1) - M(1,1),
+ Entry(1,2) - M(1,2),
+ Entry(1,3) - M(1,3),
+ Entry(2,1) - M(2,1),
+ Entry(2,2) - M(2,2),
+ Entry(2,3) - M(2,3),
+ Entry(3,1) - M(3,1),
+ Entry(3,2) - M(3,2),
+ Entry(3,3) - M(3,3) );
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGMatrix33::operator-=(const FGMatrix33 &M)
+FGMatrix33& FGMatrix33::operator-=(const FGMatrix33 &M)
{
- data[1][1] -= M(1,1);
- data[1][2] -= M(1,2);
- data[1][3] -= M(1,3);
- data[2][1] -= M(2,1);
- data[2][2] -= M(2,2);
- data[2][3] -= M(2,3);
- data[3][1] -= M(3,1);
- data[3][2] -= M(3,2);
- data[3][3] -= M(3,3);
+ data[0] -= M.data[0];
+ data[1] -= M.data[1];
+ data[2] -= M.data[2];
+ data[3] -= M.data[3];
+ data[4] -= M.data[4];
+ data[5] -= M.data[5];
+ data[6] -= M.data[6];
+ data[7] -= M.data[7];
+ data[8] -= M.data[8];
+
+ return *this;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGMatrix33 FGMatrix33::operator+(const FGMatrix33& M)
+FGMatrix33 FGMatrix33::operator+(const FGMatrix33& M) const
{
- FGMatrix33 Sum;
-
- Sum(1,1) = data[1][1] + M(1,1);
- Sum(1,2) = data[1][2] + M(1,2);
- Sum(1,3) = data[1][3] + M(1,3);
- Sum(2,1) = data[2][1] + M(2,1);
- Sum(2,2) = data[2][2] + M(2,2);
- Sum(2,3) = data[2][3] + M(2,3);
- Sum(3,1) = data[3][1] + M(3,1);
- Sum(3,2) = data[3][2] + M(3,2);
- Sum(3,3) = data[3][3] + M(3,3);
-
- return Sum;
+ return FGMatrix33( Entry(1,1) + M(1,1),
+ Entry(1,2) + M(1,2),
+ Entry(1,3) + M(1,3),
+ Entry(2,1) + M(2,1),
+ Entry(2,2) + M(2,2),
+ Entry(2,3) + M(2,3),
+ Entry(3,1) + M(3,1),
+ Entry(3,2) + M(3,2),
+ Entry(3,3) + M(3,3) );
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGMatrix33::operator+=(const FGMatrix33 &M)
+FGMatrix33& FGMatrix33::operator+=(const FGMatrix33 &M)
{
- data[1][1] += M(1,1);
- data[1][2] += M(1,2);
- data[1][3] += M(1,3);
- data[2][1] += M(2,1);
- data[2][2] += M(2,2);
- data[2][3] += M(2,3);
- data[3][1] += M(3,1);
- data[3][2] += M(3,2);
- data[3][3] += M(3,3);
+ Entry(1,1) += M(1,1);
+ Entry(1,2) += M(1,2);
+ Entry(1,3) += M(1,3);
+ Entry(2,1) += M(2,1);
+ Entry(2,2) += M(2,2);
+ Entry(2,3) += M(2,3);
+ Entry(3,1) += M(3,1);
+ Entry(3,2) += M(3,2);
+ Entry(3,3) += M(3,3);
+
+ return *this;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGMatrix33 FGMatrix33::operator*(const double scalar)
+FGMatrix33 FGMatrix33::operator*(const double scalar) const
{
- FGMatrix33 Product;
-
- Product(1,1) = data[1][1] * scalar;
- Product(1,2) = data[1][2] * scalar;
- Product(1,3) = data[1][3] * scalar;
- Product(2,1) = data[2][1] * scalar;
- Product(2,2) = data[2][2] * scalar;
- Product(2,3) = data[2][3] * scalar;
- Product(3,1) = data[3][1] * scalar;
- Product(3,2) = data[3][2] * scalar;
- Product(3,3) = data[3][3] * scalar;
-
- return Product;
+ return FGMatrix33( scalar * Entry(1,1),
+ scalar * Entry(1,2),
+ scalar * Entry(1,3),
+ scalar * Entry(2,1),
+ scalar * Entry(2,2),
+ scalar * Entry(2,3),
+ scalar * Entry(3,1),
+ scalar * Entry(3,2),
+ scalar * Entry(3,3) );
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGMatrix33 operator*(double scalar, FGMatrix33 &M)
{
- FGMatrix33 Product;
-
- Product(1,1) = M(1,1) * scalar;
- Product(1,2) = M(1,2) * scalar;
- Product(1,3) = M(1,3) * scalar;
- Product(2,1) = M(2,1) * scalar;
- Product(2,2) = M(2,2) * scalar;
- Product(2,3) = M(2,3) * scalar;
- Product(3,1) = M(3,1) * scalar;
- Product(3,2) = M(3,2) * scalar;
- Product(3,3) = M(3,3) * scalar;
-
- return Product;
+ return FGMatrix33( scalar * M(1,1),
+ scalar * M(1,2),
+ scalar * M(1,3),
+ scalar * M(2,1),
+ scalar * M(2,2),
+ scalar * M(2,3),
+ scalar * M(3,1),
+ scalar * M(3,2),
+ scalar * M(3,3) );
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGMatrix33::operator*=(const double scalar)
+FGMatrix33& FGMatrix33::operator*=(const double scalar)
{
- data[1][1] *= scalar;
- data[1][2] *= scalar;
- data[1][3] *= scalar;
- data[2][1] *= scalar;
- data[2][2] *= scalar;
- data[2][3] *= scalar;
- data[3][1] *= scalar;
- data[3][2] *= scalar;
- data[3][3] *= scalar;
+ Entry(1,1) *= scalar;
+ Entry(1,2) *= scalar;
+ Entry(1,3) *= scalar;
+ Entry(2,1) *= scalar;
+ Entry(2,2) *= scalar;
+ Entry(2,3) *= scalar;
+ Entry(3,1) *= scalar;
+ Entry(3,2) *= scalar;
+ Entry(3,3) *= scalar;
+
+ return *this;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGMatrix33 FGMatrix33::operator*(const FGMatrix33& M)
+FGMatrix33 FGMatrix33::operator*(const FGMatrix33& M) const
{
+ // FIXME: Make compiler friendlier
FGMatrix33 Product;
-
- Product(1,1) = data[1][1]*M(1,1) + data[1][2]*M(2,1) + data[1][3]*M(3,1);
- Product(1,2) = data[1][1]*M(1,2) + data[1][2]*M(2,2) + data[1][3]*M(3,2);
- Product(1,3) = data[1][1]*M(1,3) + data[1][2]*M(2,3) + data[1][3]*M(3,3);
- Product(2,1) = data[2][1]*M(1,1) + data[2][2]*M(2,1) + data[2][3]*M(3,1);
- Product(2,2) = data[2][1]*M(1,2) + data[2][2]*M(2,2) + data[2][3]*M(3,2);
- Product(2,3) = data[2][1]*M(1,3) + data[2][2]*M(2,3) + data[2][3]*M(3,3);
- Product(3,1) = data[3][1]*M(1,1) + data[3][2]*M(2,1) + data[3][3]*M(3,1);
- Product(3,2) = data[3][1]*M(1,2) + data[3][2]*M(2,2) + data[3][3]*M(3,2);
- Product(3,3) = data[3][1]*M(1,3) + data[3][2]*M(2,3) + data[3][3]*M(3,3);
-
+
+ Product(1,1) = Entry(1,1)*M(1,1) + Entry(1,2)*M(2,1) + Entry(1,3)*M(3,1);
+ Product(1,2) = Entry(1,1)*M(1,2) + Entry(1,2)*M(2,2) + Entry(1,3)*M(3,2);
+ Product(1,3) = Entry(1,1)*M(1,3) + Entry(1,2)*M(2,3) + Entry(1,3)*M(3,3);
+ Product(2,1) = Entry(2,1)*M(1,1) + Entry(2,2)*M(2,1) + Entry(2,3)*M(3,1);
+ Product(2,2) = Entry(2,1)*M(1,2) + Entry(2,2)*M(2,2) + Entry(2,3)*M(3,2);
+ Product(2,3) = Entry(2,1)*M(1,3) + Entry(2,2)*M(2,3) + Entry(2,3)*M(3,3);
+ Product(3,1) = Entry(3,1)*M(1,1) + Entry(3,2)*M(2,1) + Entry(3,3)*M(3,1);
+ Product(3,2) = Entry(3,1)*M(1,2) + Entry(3,2)*M(2,2) + Entry(3,3)*M(3,2);
+ Product(3,3) = Entry(3,1)*M(1,3) + Entry(3,2)*M(2,3) + Entry(3,3)*M(3,3);
+
return Product;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGMatrix33::operator*=(const FGMatrix33& M)
+FGMatrix33& FGMatrix33::operator*=(const FGMatrix33& M)
{
+ // FIXME: Make compiler friendlier
double a,b,c;
-
- a = data[1][1]; b=data[1][2]; c=data[1][3];
- data[1][1] = a*M(1,1) + b*M(2,1) + c*M(3,1);
- data[1][2] = a*M(1,2) + b*M(2,2) + c*M(3,2);
- data[1][3] = a*M(1,3) + b*M(2,3) + c*M(3,3);
-
- a = data[2][1]; b=data[2][2]; c=data[2][3];
- data[2][1] = a*M(1,1) + b*M(2,1) + c*M(3,1);
- data[2][2] = a*M(1,2) + b*M(2,2) + c*M(3,2);
- data[2][3] = a*M(1,3) + b*M(2,3) + c*M(3,3);
-
- a = data[3][1]; b=data[3][2]; c=data[3][3];
- data[3][1] = a*M(1,1) + b*M(2,1) + c*M(3,1);
- data[3][2] = a*M(1,2) + b*M(2,2) + c*M(3,2);
- data[3][3] = a*M(1,3) + b*M(2,3) + c*M(3,3);
+
+ a = Entry(1,1); b=Entry(1,2); c=Entry(1,3);
+ Entry(1,1) = a*M(1,1) + b*M(2,1) + c*M(3,1);
+ Entry(1,2) = a*M(1,2) + b*M(2,2) + c*M(3,2);
+ Entry(1,3) = a*M(1,3) + b*M(2,3) + c*M(3,3);
+
+ a = Entry(2,1); b=Entry(2,2); c=Entry(2,3);
+ Entry(2,1) = a*M(1,1) + b*M(2,1) + c*M(3,1);
+ Entry(2,2) = a*M(1,2) + b*M(2,2) + c*M(3,2);
+ Entry(2,3) = a*M(1,3) + b*M(2,3) + c*M(3,3);
+
+ a = Entry(3,1); b=Entry(3,2); c=Entry(3,3);
+ Entry(3,1) = a*M(1,1) + b*M(2,1) + c*M(3,1);
+ Entry(3,2) = a*M(1,2) + b*M(2,2) + c*M(3,2);
+ Entry(3,3) = a*M(1,3) + b*M(2,3) + c*M(3,3);
+
+ return *this;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGMatrix33 FGMatrix33::operator/(const double scalar)
+FGMatrix33 FGMatrix33::operator/(const double scalar) const
{
FGMatrix33 Quot;
-
+
if ( scalar != 0 ) {
- double tmp = 1.0/scalar;
- Quot(1,1) = data[1][1] * tmp;
- Quot(1,2) = data[1][2] * tmp;
- Quot(1,3) = data[1][3] * tmp;
- Quot(2,1) = data[2][1] * tmp;
- Quot(2,2) = data[2][2] * tmp;
- Quot(2,3) = data[2][3] * tmp;
- Quot(3,1) = data[3][1] * tmp;
- Quot(3,2) = data[3][2] * tmp;
- Quot(3,3) = data[3][3] * tmp;
+ double tmp = 1.0/scalar;
+ Quot(1,1) = Entry(1,1) * tmp;
+ Quot(1,2) = Entry(1,2) * tmp;
+ Quot(1,3) = Entry(1,3) * tmp;
+ Quot(2,1) = Entry(2,1) * tmp;
+ Quot(2,2) = Entry(2,2) * tmp;
+ Quot(2,3) = Entry(2,3) * tmp;
+ Quot(3,1) = Entry(3,1) * tmp;
+ Quot(3,2) = Entry(3,2) * tmp;
+ Quot(3,3) = Entry(3,3) * tmp;
} else {
MatrixException mE;
mE.Message = "Attempt to divide by zero in method FGMatrix33::operator/(const double scalar)";
throw mE;
}
- return Quot;
+ return Quot;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGMatrix33::operator/=(const double scalar)
+FGMatrix33& FGMatrix33::operator/=(const double scalar)
{
if ( scalar != 0 ) {
double tmp = 1.0/scalar;
- data[1][1] *= tmp;
- data[1][2] *= tmp;
- data[1][3] *= tmp;
- data[2][1] *= tmp;
- data[2][2] *= tmp;
- data[2][3] *= tmp;
- data[3][1] *= tmp;
- data[3][2] *= tmp;
- data[3][3] *= tmp;
+ Entry(1,1) *= tmp;
+ Entry(1,2) *= tmp;
+ Entry(1,3) *= tmp;
+ Entry(2,1) *= tmp;
+ Entry(2,2) *= tmp;
+ Entry(2,3) *= tmp;
+ Entry(3,1) *= tmp;
+ Entry(3,2) *= tmp;
+ Entry(3,3) *= tmp;
} else {
MatrixException mE;
mE.Message = "Attempt to divide by zero in method FGMatrix33::operator/=(const double scalar)";
throw mE;
}
+ return *this;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
{
for (unsigned int i=1; i<=3; i++) {
for (unsigned int j=i+1; j<=3; j++) {
- double tmp = data[i][j];
- data[i][j] = data[j][i];
- data[j][i] = tmp;
+ double tmp = Entry(i,j);
+ Entry(i,j) = Entry(j,i);
+ Entry(j,i) = tmp;
}
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGColumnVector3 FGMatrix33::operator*(const FGColumnVector3& Col)
-{
- FGColumnVector3 Product;
+FGColumnVector3 FGMatrix33::operator*(const FGColumnVector3& v) const {
+ double tmp1 = v(1)*Entry(1,1);
+ double tmp2 = v(1)*Entry(2,1);
+ double tmp3 = v(1)*Entry(3,1);
- Product(1) = data[1][1]*Col(1) + data[1][2]*Col(2) + data[1][3]*Col(3);
- Product(2) = data[2][1]*Col(1) + data[2][2]*Col(2) + data[2][3]*Col(3);
- Product(3) = data[3][1]*Col(1) + data[3][2]*Col(2) + data[3][3]*Col(3);
+ tmp1 += v(2)*Entry(1,2);
+ tmp2 += v(2)*Entry(2,2);
+ tmp3 += v(2)*Entry(3,2);
- return Product;
+ tmp1 += v(3)*Entry(1,3);
+ tmp2 += v(3)*Entry(2,3);
+ tmp3 += v(3)*Entry(3,3);
+
+ return FGColumnVector3( tmp1, tmp2, tmp3 );
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
}
}
}
-
+}
projects / flightgear.git / blobdiff