- x[0] = a[1] * b[2] - a[2] * b[1];
- x[1] = a[2] * b[0] - a[0] * b[2];
- x[2] = a[0] * b[1] - a[1] * b[0];
-
- d = x[0] * c[0] + x[1] * c[1] + x[2] * c[2];
-
- if( d < epsilon && d > -epsilon ) return 0;
-
- p[0] = (b[1] * c[2] - b[2] * c[1]) * -a[3];
- p[1] = (b[2] * c[0] - b[0] * c[2]) * -a[3];
- p[2] = (b[0] * c[1] - b[1] * c[0]) * -a[3];
-
- p[0] += (c[1] * a[2] - c[2] * a[1]) * -b[3];
- p[1] += (c[2] * a[0] - c[0] * a[2]) * -b[3];
- p[2] += (c[0] * a[1] - c[1] * a[0]) * -b[3];
-
- p[0] += (a[1] * b[2] - a[2] * b[1]) * -c[3];
- p[1] += (a[2] * b[0] - a[0] * b[2]) * -c[3];
- p[2] += (a[0] * b[1] - a[1] * b[0]) * -c[3];
-
- p[0] = -p[0] / d;
- p[1] = -p[1] / d;
- p[2] = -p[2] / d;
+ if( (d < epsilon) && (d > -epsilon) ) return 0;
+
+ v3f v0, v1, v2;
+ v3_cross( b, c, v0 );
+ v3_cross( c, a, v1 );
+ v3_cross( a, b, v2 );
+
+ v3_muls( v0, a[3], p );
+ v3_muladds( p, v1, b[3], p );
+ v3_muladds( p, v2, c[3], p );
+ v3_divs( p, d, p );