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SUBROUTINE CROSS(B,C,A)
C =======================
C
C
DIMENSION A(3),B(3),C(3)
A(1)=B(2)*C(3)-C(2)*B(3)
A(2)=B(3)*C(1)-C(3)*B(1)
A(3)=B(1)*C(2)-C(1)*B(2)
RETURN
END
C
FUNCTION DOT(A,B)
C ================
C
C DOT PRODUCT OF TWO VECTORS
C
DIMENSION A(3),B(3)
DOT=A(1)*B(1)+A(2)*B(2)+A(3)*B(3)
RETURN
END
SUBROUTINE MATMUL(A,B,C)
C ========================
C
C MULTIPLY 2 3X3 MATRICES
C
C A=BC
C
REAL A(3,3),B(3,3),C(3,3)
DO 1 I=1,3
DO 2 J=1,3
S=0
DO 3 K=1,3
3 S=S+B(I,K)*C(K,J)
2 A(I,J)=S
1 CONTINUE
RETURN
END
SUBROUTINE MATVEC(V,A,B)
C ========================
C
C POST-MULTIPLY A 3X3 MATRIX BY A VECTOR
C
C V=AB
C
REAL A(3,3),B(3),V(3)
DO 1 I=1,3
S=0
DO 2 J=1,3
2 S=S+A(I,J)*B(J)
1 V(I)=S
RETURN
END
SUBROUTINE MINV(A,B,D)
C ======================
C
C INVERT A GENERAL 3X3 MATRIX AND RETURN DETERMINANT IN D
C
C A=(B)-1
C
REAL A(3,3),B(3,3),C(3,3)
CALL CROSS(B(1,2),B(1,3),C(1,1))
CALL CROSS(B(1,3),B(1,1),C(1,2))
CALL CROSS(B(1,1),B(1,2),C(1,3))
D=DOT(B(1,1),C(1,1))
C
C TEST DETERMINANT
C
IF(ABS(D).GT.1.E-30)GO TO 10
D=0.0
RETURN
C
C DETERMINANT IS NON-ZERO
C
10 DO 20 I=1,3
DO 20 J=1,3
20 A(I,J)=C(J,I)/D
RETURN
END
C
SUBROUTINE SCALEV(A,X,B)
C ========================
C
C SCALE A VECTOR B WITH SCALAR X AND PUT RESULT IN A
C
DIMENSION A(3),B(3)
DO 10 I=1,3
A(I)=B(I)*X
10 CONTINUE
RETURN
END
SUBROUTINE TRANSP(A,B)
C ======================
C
C TRANSPOSE A 3X3 MATRIX
C
C A=BT
C
REAL A(3,3),B(3,3)
DO 1 I=1,3
DO 1 J=1,3
1 A(I,J)=B(J,I)
RETURN
END
SUBROUTINE UNIT(V)
C =================
C
C
REAL V(3)
C****VECTOR V REDUCED TO UNIT VECTOR
VMOD=V(1)**2+V(2)**2+V(3)**2
VMOD=SQRT(VMOD)
DO 1 I=1,3
1 V(I)=V(I)/VMOD
RETURN
END
SUBROUTINE VDIF(A,B,C)
C =====================
C
C
C SUBTRACT TWO VECTORS
C
DIMENSION A(3),B(3),C(3)
DO 10 I=1,3
A(I)=B(I)-C(I)
10 CONTINUE
RETURN
END
SUBROUTINE VSET(A,B)
C ====================
C
C
C MOVE A VECTOR FROM B TO A
C
DIMENSION A(3),B(3)
DO 10 I=1,3
10 A(I)=B(I)
RETURN
END
SUBROUTINE VSUM(A,B,C)
C ======================
C
C
C ADD TWO VECTORS
C
DIMENSION A(3),B(3),C(3)
DO 10 I=1,3
A(I)=B(I)+C(I)
10 CONTINUE
RETURN
END
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