fixed inverse and submatrix, now testing identical to gmath

diff --git a/src/cgmath.h b/src/cgmath.h
index e6648ec..675daba 100644 (file)
--- a/src/cgmath.h
+++ b/src/cgmath.h
@@ -134,9 +134,9 @@ static inline void cgm_mmul(float *a, const float *b);
 
 static inline void cgm_msubmatrix(float *m, int row, int col);
 static inline void cgm_mupper3(float *m);
-static inline float cgm_msubdet(float *m, int row, int col);
-static inline float cgm_mcofactor(float *m, int row, int col);
-static inline float cgm_mdet(float *m);
+static inline float cgm_msubdet(const float *m, int row, int col);
+static inline float cgm_mcofactor(const float *m, int row, int col);
+static inline float cgm_mdet(const float *m);
 static inline void cgm_mtranspose(float *m);
 static inline void cgm_mcofmatrix(float *m);
 static inline int cgm_minverse(float *m);      /* returns 0 on success, -1 for singular */

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)

diff --git a/test/Makefile b/test/Makefile
index c23e3f1..4c8e22a 100644 (file)
--- a/test/Makefile
+++ b/test/Makefile
@@ -1,4 +1,5 @@
 obj = test.o
+dep = $(obj:.o=.d)
 bin = test
 
 CXXFLAGS = -pedantic -Wall -g -I../src
@@ -7,6 +8,15 @@ LDFLAGS = -lgmath -lm
 $(bin): $(obj)
        $(CXX) -o $@ $(obj) $(LDFLAGS)
 
+-include $(dep)
+
+%.d: %.cc
+       @$(CXX) $(CXXFLAGS) $< -MM -MT $(@:.d=.o) >$@
+
 .PHONY: clean
 clean:
        rm -f $(obj) $(bin)
+
+.PHONY: cleandep
+cleandep:
+       rm -f $(dep)

diff --git a/test/test.cc b/test/test.cc
index 640cd18..162c82d 100644 (file)
--- a/test/test.cc
+++ b/test/test.cc
@@ -80,6 +80,30 @@ bool test_mat()
        a.pre_rotate_y(trans.x);
        ASSERT_EQ(a, ca);
 
+       cgm_mcopy(cb, ca);
+       cgm_mtranspose(cb);
+       b = a;
+       b.transpose();
+       ASSERT_EQ(b, cb);
+
+       for(int i=0; i<4; i++) {
+               for(int j=0; j<4; j++) {
+                       cgm_mcopy(cb, ca);
+                       b = a;
+
+                       cgm_msubmatrix(cb, i, j);
+                       Mat3 sub = b.submatrix(i, j);
+                       b = Mat4::identity;
+                       float *bp = b[0];
+                       float *sp = sub[0];
+                       bp[0] = sp[0]; bp[1] = sp[1]; bp[2] = sp[2];
+                       bp[4] = sp[3]; bp[5] = sp[4]; bp[6] = sp[5];
+                       bp[8] = sp[6]; bp[9] = sp[7]; bp[10] = sp[8];
+
+                       ASSERT_EQ(b, cb);
+               }
+       }
+
        cgm_minverse(ca);
        a.inverse();
        ASSERT_EQ(a, ca);