| 150 | } |
| 151 | |
| 152 | void mulMatrix3x3(fixed16_16* mtx0, fixed16_16* mtx1, fixed16_16* mtxOut) |
| 153 | { |
| 154 | mtxOut[0] = mul16(mtx0[0], mtx1[0]) + mul16(mtx0[3], mtx1[3]) + mul16(mtx0[6], mtx1[6]); |
| 155 | mtxOut[3] = mul16(mtx0[0], mtx1[1]) + mul16(mtx0[3], mtx1[4]) + mul16(mtx0[6], mtx1[7]); |
| 156 | mtxOut[6] = mul16(mtx0[0], mtx1[2]) + mul16(mtx0[3], mtx1[5]) + mul16(mtx0[6], mtx1[8]); |
| 157 | |
| 158 | mtxOut[1] = mul16(mtx0[1], mtx1[0]) + mul16(mtx0[4], mtx1[3]) + mul16(mtx0[7], mtx1[6]); |
| 159 | mtxOut[4] = mul16(mtx0[1], mtx1[1]) + mul16(mtx0[4], mtx1[4]) + mul16(mtx0[7], mtx1[7]); |
| 160 | mtxOut[7] = mul16(mtx0[1], mtx1[2]) + mul16(mtx0[4], mtx1[5]) + mul16(mtx0[7], mtx1[8]); |
| 161 | |
| 162 | mtxOut[2] = mul16(mtx0[2], mtx1[0]) + mul16(mtx0[5], mtx1[3]) + mul16(mtx0[8], mtx1[6]); |
| 163 | mtxOut[5] = mul16(mtx0[2], mtx1[1]) + mul16(mtx0[5], mtx1[4]) + mul16(mtx0[8], mtx1[7]); |
| 164 | mtxOut[8] = mul16(mtx0[2], mtx1[2]) + mul16(mtx0[5], mtx1[5]) + mul16(mtx0[8], mtx1[8]); |
| 165 | } |
| 166 | |
| 167 | angle14_32 arcCosFixed(fixed16_16 sinAngle, angle14_32 angle) |
| 168 | { |
no test coverage detected