File content as of revision 2:85214374e094:

//Computes the dot product of two vectors
float vector_dot_product(float vector1[3],float vector2[3]) {
    float op=0;

    for (int c=0; c<3; c++) {
        op+=vector1[c]*vector2[c];
    }

    return op;
}

//Computes the cross product of two vectors
void vector_cross_product(float vectorOut[3], float v1[3],float v2[3]) {
    vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
    vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
    vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
}

//Multiply the vector by a scalar.
void vector_scale(float vectorOut[3],float vectorIn[3], float scale2) {
    for (int c=0; c<3; c++) {
        vectorOut[c]=vectorIn[c]*scale2;
    }
}

void vector_add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]) {
    for (int c=0; c<3; c++) {
        vectorOut[c]=vectorIn1[c]+vectorIn2[c];
    }
}

//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!).
void matrix_multiply(float a[3][3], float b[3][3],float mat[3][3]) {
    float op[3];
    for (int x=0; x<3; x++) {
        for (int y=0; y<3; y++) {
            for (int w=0; w<3; w++) {
                op[w]=a[x][w]*b[w][y];
            }
            mat[x][y]=0;
            mat[x][y]=op[0]+op[1]+op[2];

            //float test=mat[x][y];
        }
    }
}