fixed inverse and submatrix, now testing identical to gmath

[gph-cmath] / src / cgmmat.inl

diff --git a/src/cgmmat.inl b/src/cgmmat.inl
index c1b44fa..f64b259 100644 (file)
--- a/src/cgmmat.inl
+++ b/src/cgmmat.inl
@@ -41,11 +41,11 @@ static inline void cgm_msubmatrix(float *m, int row, int col)
 
        subi = 0;
        for(i=0; i<4; i++) {
-               if(i == col) continue;
+               if(i == row) continue;
 
                subj = 0;
                for(j=0; j<4; j++) {
-                       if(j == row) continue;
+                       if(j == col) continue;
 
                        m[subi * 4 + subj++] = orig[i * 4 + j];
                }
@@ -61,19 +61,28 @@ static inline void cgm_mupper3(float *m)
        m[15] = 1.0f;
 }
 
-static inline float cgm_msubdet(float *m, int row, int col)
+static inline float cgm_msubdet(const float *m, int row, int col)
 {
-       cgm_msubmatrix(m, row, col);
-       return cgm_mdet(m);
+       float tmp[16];
+       float subdet00, subdet01, subdet02;
+
+       cgm_mcopy(tmp, m);
+       cgm_msubmatrix(tmp, row, col);
+
+       subdet00 = tmp[5] * tmp[10] - tmp[6] * tmp[9];
+       subdet01 = tmp[4] * tmp[10] - tmp[6] * tmp[8];
+       subdet02 = tmp[4] * tmp[9] - tmp[5] * tmp[8];
+
+       return tmp[0] * subdet00 - tmp[1] * subdet01 + tmp[2] * subdet02;
 }
 
-static inline float cgm_mcofactor(float *m, int row, int col)
+static inline float cgm_mcofactor(const float *m, int row, int col)
 {
        float min = cgm_msubdet(m, row, col);
        return (row + col) & 1 ? -min : min;
 }
 
-static inline float cgm_mdet(float *m)
+static inline float cgm_mdet(const float *m)
 {
        return m[0] * cgm_msubdet(m, 0, 0) - m[1] * cgm_msubdet(m, 0, 1) +
                m[2] * cgm_msubdet(m, 0, 2) - m[3] * cgm_msubdet(m, 0, 3);
@@ -123,6 +132,7 @@ static inline int cgm_minverse(float *m)
                        m[i * 4 + j] = cgm_mcofactor(tmp, j, i) * inv_det;      /* transposed */
                }
        }
+       return 0;
 }
 
 static inline void cgm_mtranslation(float *m, float x, float y, float z)