From 02c717b5d9e6027a781c99e6973ebf8c95db860f Mon Sep 17 00:00:00 2001
From: RicardoEA <ricardo@focus.uy>
Date: Wed, 2 Nov 2022 18:48:02 -0300
Subject: [PATCH] =?UTF-8?q?Corrijo=20implementaci=C3=B3n=20de=20funciones?=
=?UTF-8?q?=20matem=C3=A1ticas?=
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---
.../math_vector_operations.c | 22 ++++++++++++-------
1 file changed, 14 insertions(+), 8 deletions(-)
diff --git a/Robotito/src/math_vector_operations/math_vector_operations.c b/Robotito/src/math_vector_operations/math_vector_operations.c
index 96600a8..afe4d94 100644
--- a/Robotito/src/math_vector_operations/math_vector_operations.c
+++ b/Robotito/src/math_vector_operations/math_vector_operations.c
@@ -54,18 +54,24 @@ float dotProduct (sF3dVector_t* v, sF3dVector_t v2){
}
void crossProduct (sF3dVector_t* v, sF3dVector_t v2){
-
- v->x = v->y*v2.z - v->z*v2.y;
- v->y = v->z*v2.x - v->x*v2.z;
- v->z = v->x*v2.y - v->y*v2.x;
+ float vx, vy, vz;
+ vx = v->x;
+ vy = v->y;
+ vz = v->z;
+ v->x = vy*v2.z - vz*v2.y;
+ v->y = vz*v2.x - vx*v2.z;
+ v->z = vx*v2.y - vy*v2.x;
}
void vector_mul (sF3dMatrix_t m, sF3dVector_t* v){
-
- v->x = m.x1*v->x + m.y1*v->y + m.z1*v->z;
- v->y = m.x2*v->x + m.y2*v->y + m.z2*v->z;
- v->z = m.x3*v->x + m.y3*v->y + m.z3*v->z;
+ float vx, vy, vz;
+ vx = v->x;
+ vy = v->y;
+ vz = v->z;
+ v->x = m.x1*vx + m.y1*vy + m.z1*vz;
+ v->y = m.x2*vx + m.y2*vy + m.z2*vz;
+ v->z = m.x3*vx + m.y3*vy + m.z3*vz;
}
--
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