From dfa1c7e554fcc3ddd40780fb8555cdd6e90eaba3 Mon Sep 17 00:00:00 2001
From: Alexander Gavrilov <angavrilov@gmail.com>
Date: Sat, 21 Nov 2020 16:06:02 +0300
Subject: Split and extend unit tests for vec_roll_to_mat3_normalized.

Separate the huge test into huge logical parts and add more cases
to check. Also add a utility to check that the matrix is orthogonal,
with arbitrary epsilon values and calculations in double.

A couple of tests deliberately fail, to be fixed in following commits.

Ref D9551
---
 source/blender/blenlib/BLI_math_matrix.h    |  2 ++
 source/blender/blenlib/intern/math_matrix.c | 22 ++++++++++++++++++++++
 2 files changed, 24 insertions(+)

(limited to 'source/blender/blenlib')

diff --git a/source/blender/blenlib/BLI_math_matrix.h b/source/blender/blenlib/BLI_math_matrix.h
index 2b0c3db21ee..241acebffa3 100644
--- a/source/blender/blenlib/BLI_math_matrix.h
+++ b/source/blender/blenlib/BLI_math_matrix.h
@@ -57,6 +57,7 @@ void copy_m4_m4_db(double m1[4][4], const double m2[4][4]);
 void copy_m3_m3d(float m1[3][3], const double m2[3][3]);
 
 /* float->double */
+void copy_m3d_m3(double m1[3][3], const float m2[3][3]);
 void copy_m4d_m4(double m1[4][4], const float m2[4][4]);
 
 void swap_m3m3(float m1[3][3], float m2[3][3]);
@@ -291,6 +292,7 @@ float determinant_m3(
     float a1, float a2, float a3, float b1, float b2, float b3, float c1, float c2, float c3);
 float determinant_m3_array(const float m[3][3]);
 float determinant_m4_mat3_array(const float m[4][4]);
+double determinant_m3_array_db(const double m[3][3]);
 float determinant_m4(const float m[4][4]);
 
 #define PSEUDOINVERSE_EPSILON 1e-8f
diff --git a/source/blender/blenlib/intern/math_matrix.c b/source/blender/blenlib/intern/math_matrix.c
index 554506e90e7..b6d80d76be1 100644
--- a/source/blender/blenlib/intern/math_matrix.c
+++ b/source/blender/blenlib/intern/math_matrix.c
@@ -180,6 +180,21 @@ void copy_m4_m2(float m1[4][4], const float m2[2][2])
   m1[3][3] = 1.0f;
 }
 
+void copy_m3d_m3(double m1[3][3], const float m2[3][3])
+{
+  m1[0][0] = m2[0][0];
+  m1[0][1] = m2[0][1];
+  m1[0][2] = m2[0][2];
+
+  m1[1][0] = m2[1][0];
+  m1[1][1] = m2[1][1];
+  m1[1][2] = m2[1][2];
+
+  m1[2][0] = m2[2][0];
+  m1[2][1] = m2[2][1];
+  m1[2][2] = m2[2][2];
+}
+
 void copy_m4d_m4(double m1[4][4], const float m2[4][4])
 {
   m1[0][0] = m2[0][0];
@@ -1113,6 +1128,13 @@ float determinant_m4_mat3_array(const float m[4][4])
           m[2][0] * (m[0][1] * m[1][2] - m[0][2] * m[1][1]));
 }
 
+double determinant_m3_array_db(const double m[3][3])
+{
+  return (m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]) -
+          m[1][0] * (m[0][1] * m[2][2] - m[0][2] * m[2][1]) +
+          m[2][0] * (m[0][1] * m[1][2] - m[0][2] * m[1][1]));
+}
+
 bool invert_m3_ex(float m[3][3], const float epsilon)
 {
   float tmp[3][3];
-- 
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