Fix for #128 (#129)

tzaeschke · Oct 5, 2023 · fd5fe08 · fd5fe08
1 parent 54088d4
commit fd5fe08
Show file tree

Hide file tree

Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -25,6 +25,9 @@
 
 --> See TODO.txt
 
+## unreleased
+- Fix DVector3.cross() returning always 0. [#128](https://github.com/tzaeschke/ode4j/issues/128)
+
 ## 0.5.1 - 2023-09-17
 - Support for HiDPI screens / Apple Silicon/Retina. Contribution by valb3r,
   [#126]https://github.com/tzaeschke/ode4j/issues/126

diff --git a/core/src/main/java/org/ode4j/math/DVector3.java b/core/src/main/java/org/ode4j/math/DVector3.java
@@ -683,9 +683,9 @@ public final DVector3 eqCross(DVector3C b, DVector3C c) {
 	@Override
 	public final DVector3 cross(DVector3C b) {
 		DVector3 a = new DVector3();
-		set0( a.get1()*b.get2() - a.get2()*b.get1() );
-		set1( a.get2()*b.get0() - a.get0()*b.get2() );
-		set2( a.get0()*b.get1() - a.get1()*b.get0() );
+		a.set0( get1()*b.get2() - get2()*b.get1() );
+		a.set1( get2()*b.get0() - get0()*b.get2() );
+		a.set2( get0()*b.get1() - get1()*b.get0() );
 		return a;
 	}
 

diff --git a/core/src/test/java/org/ode4j/math/DVector3Test.java b/core/src/test/java/org/ode4j/math/DVector3Test.java
@@ -223,9 +223,9 @@ public void testAddScale(){
     @Test
     public void testCross1(){
         DVector3C x = new DVector3(1, 2, 3);
-        DVector3 y = new DVector3(1.5, 3, 4.5);
+        DVector3 y = new DVector3(1.5, 3, 2);
 
-        DVector3 t = x.cross(y);
+        DVector3 t = new DVector3(x).cross(y);
         DVector3 t2 = new DVector3();
         OdeMath.dCalcVectorCross3(t2, x, y);
         assertTrue(t2.isEq(t, 0));
@@ -234,7 +234,7 @@ public void testCross1(){
     @Test
     public void testCross2(){
         DVector3 x = new DVector3(1, 2, 3);
-        DVector3 y = new DVector3(1.5, 3, 4.5);
+        DVector3 y = new DVector3(1.5, 3, 2);
         DVector3 t = new DVector3();
         assertFalse(x.isEq(y, 0));