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madrocketsci
2026-04-10 13:18:31 -04:00
parent 33198f9f45
commit 81fdbd2ef3
4 changed files with 31 additions and 27 deletions
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build_linux64/libamsculib2.linux64.a
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build_linux64/objstore/cuvect3f.o
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build_linux64/test
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src/amsculib2/cuvect3f.cu
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@ -348,15 +348,16 @@ __host__ __device__ cumat3f cumat3f::operator*(const float &rhs)
__host__ __device__ cumat3f cumat3f::operator/(const float &rhs) __host__ __device__ cumat3f cumat3f::operator/(const float &rhs)
{ {
cumat3f ret; cumat3f ret;
ret.m00 = m00 / rhs; float irhs = 1.0f/rhs;
ret.m10 = m10 / rhs; ret.m00 = m00 * irhs;
ret.m20 = m20 / rhs; ret.m10 = m10 * irhs;
ret.m01 = m01 / rhs; ret.m20 = m20 * irhs;
ret.m11 = m11 / rhs; ret.m01 = m01 * irhs;
ret.m21 = m21 / rhs; ret.m11 = m11 * irhs;
ret.m02 = m02 / rhs; ret.m21 = m21 * irhs;
ret.m12 = m12 / rhs; ret.m02 = m02 * irhs;
ret.m22 = m22 / rhs; ret.m12 = m12 * irhs;
ret.m22 = m22 * irhs;
return ret; return ret;
} }
@ -423,17 +424,19 @@ __host__ __device__ cumat3f cumat3f::inverse()
{ {
cumat3f q; cumat3f q;
float dt = det(); float dt = det();
float idt;
if(dt!=0.0) if(dt!=0.0)
{ {
q(0,0) = (at(1,1)*at(2,2)-at(1,2)*at(2,1))/dt; idt = 1.0f/dt;
q(1,0) = -(at(1,0)*at(2,2)-at(1,2)*at(2,0))/dt; q(0,0) = (at(1,1)*at(2,2)-at(1,2)*at(2,1))*idt;
q(2,0) = (at(1,0)*at(2,1)-at(1,1)*at(2,0))/dt; q(1,0) = -(at(1,0)*at(2,2)-at(1,2)*at(2,0))*idt;
q(0,1) = -(at(0,1)*at(2,2)-at(0,2)*at(2,1))/dt; q(2,0) = (at(1,0)*at(2,1)-at(1,1)*at(2,0))*idt;
q(1,1) = (at(0,0)*at(2,2)-at(0,2)*at(2,0))/dt; q(0,1) = -(at(0,1)*at(2,2)-at(0,2)*at(2,1))*idt;
q(2,1) = -(at(0,0)*at(2,1)-at(0,1)*at(2,0))/dt; q(1,1) = (at(0,0)*at(2,2)-at(0,2)*at(2,0))*idt;
q(0,2) = (at(0,1)*at(1,2)-at(0,2)*at(1,1))/dt; q(2,1) = -(at(0,0)*at(2,1)-at(0,1)*at(2,0))*idt;
q(1,2) = -(at(0,0)*at(1,2)-at(0,2)*at(1,0))/dt; q(0,2) = (at(0,1)*at(1,2)-at(0,2)*at(1,1))*idt;
q(2,2) = (at(0,0)*at(1,1)-at(0,1)*at(1,0))/dt; q(1,2) = -(at(0,0)*at(1,2)-at(0,2)*at(1,0))*idt;
q(2,2) = (at(0,0)*at(1,1)-at(0,1)*at(1,0))*idt;
// q(0,0) = (at(1,1)*at(2,2)-at(1,2)*at(2,1))/dt; // q(0,0) = (at(1,1)*at(2,2)-at(1,2)*at(2,1))/dt;
// q(0,1) = -(at(1,0)*at(2,2)-at(1,2)*at(2,0))/dt; // q(0,1) = -(at(1,0)*at(2,2)-at(1,2)*at(2,0))/dt;
// q(0,2) = (at(1,0)*at(2,1)-at(1,1)*at(2,0))/dt; // q(0,2) = (at(1,0)*at(2,1)-at(1,1)*at(2,0))/dt;
@ -511,15 +514,16 @@ __host__ __device__ cumat3f& cumat3f::operator-=(const cumat3f &rhs)
__host__ __device__ cumat3f& cumat3f::operator/=(const float &rhs) __host__ __device__ cumat3f& cumat3f::operator/=(const float &rhs)
{ {
m00 /= rhs; float irhs = 1.0f/rhs;
m10 /= rhs; m00 *= irhs;
m20 /= rhs; m10 *= irhs;
m01 /= rhs; m20 *= irhs;
m11 /= rhs; m01 *= irhs;
m21 /= rhs; m11 *= irhs;
m02 /= rhs; m21 *= irhs;
m12 /= rhs; m02 *= irhs;
m22 /= rhs; m12 *= irhs;
m22 *= irhs;
return *this; return *this;
} }