xsmatrix3x3.c

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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  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 names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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 COPYRIGHT HOLDERS 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.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
 
//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  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 names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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 COPYRIGHT HOLDERS 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.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
#include "xsmatrix3x3.h"
#include <string.h>
 
void XsMatrix3x3_construct(XsMatrix3x3* thisPtr)
{
        XsMatrix_ref(&thisPtr->m_matrix, 3, 3, 3, (XsReal*) thisPtr->m_fixedData, XSDF_FixedSize);
}
 
void XsMatrix3x3_assign(XsMatrix3x3* thisPtr, const XsReal* src, XsSize srcStride)
{
        XsSize r, c;
 
        if (src)
        {
                if (srcStride == 0 || srcStride == 3)
                        memcpy(thisPtr->m_matrix.m_data, src, 3 * 3 * sizeof(XsReal));
                else
                {
                        for (r = 0; r < 3; ++r)
                                for (c = 0; c < 3; ++c)
                                        thisPtr->m_matrix.m_data[r * 3 + c] = src[r * srcStride + c];
                }
        }
}
 
void XsMatrix3x3_destruct(XsMatrix3x3* thisPtr)
{
        // don't do anything, no memory needs to be freed, which is what  XsMatrix_destruct will figure out
        assert(thisPtr->m_matrix.m_flags & XSDF_FixedSize);
        (void) thisPtr;
        //XsMatrix_destruct(&thisPtr->m_matrix);
}
 
void XsMatrix3x3_copy(XsMatrix* copy, XsMatrix3x3 const* src)
{
        XsMatrix_copy(copy, &src->m_matrix);
}