t; 3; ++j) R_transpose[3*j + i] = R[3*i + j];
<a name="l00157"></a>00157     my_float_t T_inverse[3];
<a name="l00158"></a>00158     <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i) T_inverse[i] = -1.0 * T[i];
<a name="l00159"></a>00159 
<a name="l00160"></a>00160     <span class="comment">// Rotate the normals by the transpose of R</span>
<a name="l00161"></a>00161     my_float_t scratch[9];
<a name="l00162"></a>00162     std::copy(A_plane_normals, A_plane_nor