cross3

CROSS3  3D cross parallel cross product
  C = CROSS3(A,B) calculates the cross product between rows of matrices A
  and B, both of which must be Nx3. C is also Nx3 such that 
    C(i,:) = cross(A(i,:),B(i,:))
 but it is calculated faster.

0001 function c = cross3(a,b)
0002 %CROSS3  3D cross parallel cross product
0003 %  C = CROSS3(A,B) calculates the cross product between rows of matrices A
0004 %  and B, both of which must be Nx3. C is also Nx3 such that
0005 %    C(i,:) = cross(A(i,:),B(i,:))
0006 % but it is calculated faster.
0007 
0008 % (C) 2013 Bartlomiej Grychtol. License: GPL version 2 or 3.
0009 % $Id: cross3.m 4260 2013-06-24 15:17:15Z aadler $
0010 
0011 c = [a(:,2).*b(:,3)-a(:,3).*b(:,2), ...
0012      a(:,3).*b(:,1)-a(:,1).*b(:,3), ...
0013      a(:,1).*b(:,2)-a(:,2).*b(:,1)];