void OpMatrixMatrix (TomVM& vm) {
// Matrix * Matrix
// Left matrix at reg2, right matrix at reg1
if (!ReadMatrix (vm, vm.Reg2 ().IntVal (), m1)
|| !ReadMatrix (vm, vm.Reg ().IntVal (), m2))
return;
// Multiply them out
vmReal result [16];
MatrixTimesMatrix (m1, m2, result);
// Return as temporary matrix
vm.Reg ().IntVal () = FillTempRealArray2D (vm.Data (), vm.DataTypes (), 4, 4, result);
}
/*-------------------------------------------------------------------------------------
* this function is rotation: vector v1 rotate to vector v0 needs the matrix
*
* [v1x,v1y,v1z]^T = M * [v0x,v0y,v0z]^T
v0 is the target vector, v1 is the vector to be rotated.
* ----------------------------------------------------------------------------------*/
void
VectorRotation (double v0[3], double v1[3], double matrix[9])
{
int i, j;
double matrix0[3][3], matrix1[3][3], tmp0[9], tmp1[9], tmp[9];
RotateMatrix_z (v0[0], v0[1], v0[2], matrix0);
RotateMatrix_z (v1[0], v1[1], v1[2], matrix1);
for (i = 0; i < 3; i++)
{
for (j = 0; j < 3; j++)
{
tmp0[i * 3 + j] = matrix0[i][j];
tmp1[i * 3 + j] = matrix1[i][j];
}
}
i = 0;
GaussInverse3 (tmp1, 10e-14, &i);
/* if (i==0)
{
printf("the matrix is singular\n");
exit(0);
}
*/
MatrixTimesMatrix (tmp0, tmp1, tmp, 3, 3, 3);
for (i = 0; i < 3; i++)
{
for (j = 0; j < 3; j++)
{
matrix[i * 3 + j] = tmp[j * 3 + i];
}
}
}
