From eb7eb30814c7269e71c416b0349636a135e61405 Mon Sep 17 00:00:00 2001
From: Quaternions <krakow20@gmail.com>
Date: Mon, 9 Sep 2024 18:02:05 -0700
Subject: [PATCH] impl det + adjugate with trait bounds

---
 fixed_wide_vectors/src/macros/matrix.rs    | 26 ++++++++++++++++++++++
 fixed_wide_vectors/src/tests/fixed_wide.rs |  4 ++--
 2 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/fixed_wide_vectors/src/macros/matrix.rs b/fixed_wide_vectors/src/macros/matrix.rs
index ecd0d85..da7f209 100644
--- a/fixed_wide_vectors/src/macros/matrix.rs
+++ b/fixed_wide_vectors/src/macros/matrix.rs
@@ -191,6 +191,32 @@ macro_rules! impl_matrix_named_fields {
 #[macro_export(local_inner_macros)]
 macro_rules! impl_matrix_3x3 {
 	()=>{
+		impl<T,T2,T3> Matrix<3,3,T>
+		where
+			//cross
+			T:core::ops::Mul<T,Output=T2>+Copy,
+			T2:core::ops::Sub,
+			//dot
+			T:core::ops::Mul<<T2 as core::ops::Sub>::Output,Output=T3>,
+			T3:core::iter::Sum,
+		{
+			pub fn det(self)->T3{
+				self.x_axis.dot(self.y_axis.cross(self.z_axis))
+			}
+		}
+		impl<T,T2> Matrix<3,3,T>
+		where
+			T:core::ops::Mul<T,Output=T2>+Copy,
+			T2:core::ops::Sub,
+		{
+			pub fn adjugate(self)->Matrix<3,3,<T2 as core::ops::Sub>::Output>{
+				Matrix::new([
+					[self.y_axis.y*self.z_axis.z-self.y_axis.z*self.z_axis.y,self.x_axis.z*self.z_axis.y-self.x_axis.y*self.z_axis.z,self.x_axis.y*self.y_axis.z-self.x_axis.z*self.y_axis.y],
+					[self.y_axis.z*self.z_axis.x-self.y_axis.x*self.z_axis.z,self.x_axis.x*self.z_axis.z-self.x_axis.z*self.z_axis.x,self.x_axis.z*self.y_axis.x-self.x_axis.x*self.y_axis.z],
+					[self.y_axis.x*self.z_axis.y-self.y_axis.y*self.z_axis.x,self.x_axis.y*self.z_axis.x-self.x_axis.x*self.z_axis.y,self.x_axis.x*self.y_axis.y-self.x_axis.y*self.y_axis.x],
+				])
+			}
+		}
 		#[cfg(feature="fixed_wide")]
 		$crate::impl_matrix_wide_3x3!();
 	}
diff --git a/fixed_wide_vectors/src/tests/fixed_wide.rs b/fixed_wide_vectors/src/tests/fixed_wide.rs
index 5701f8e..9b363bb 100644
--- a/fixed_wide_vectors/src/tests/fixed_wide.rs
+++ b/fixed_wide_vectors/src/tests/fixed_wide.rs
@@ -71,7 +71,7 @@ fn wide_matrix_det(){
 	]);
 	// In[2]:= Det[{{1, 2, 3}, {4, 5, 7}, {6, 8, 9}}]
 	// Out[2]= 7
-	assert_eq!(m.wide_det_3x3_1(),fixed_wide::fixed::Fixed::<3,96>::from(7));
+	assert_eq!(m.det(),fixed_wide::fixed::Fixed::<3,96>::from(7));
 }
 
 #[test]
@@ -84,7 +84,7 @@ fn wide_matrix_adjugate(){
 	// In[6]:= Adjugate[{{1, 2, 3}, {4, 5, 7}, {6, 8, 9}}]
 	// Out[6]= {{-11, 6, -1}, {6, -9, 5}, {2, 4, -3}}
 	assert_eq!(
-		m.wide_adjugate_3x3_1().array,
+		m.adjugate().array,
 		Matrix3::new([
 			[Planar64Wide1::from(-11),Planar64Wide1::from(6),Planar64Wide1::from(-1)],
 			[Planar64Wide1::from(6),Planar64Wide1::from(-9),Planar64Wide1::from(5)],