the dot product for two 3x3 matvec3s was only used once, prior to eig…

[jvarley]

In the old pre-eigen code, when calling m1m2 actually returned m2m1 opposite of what is done by eigen and numpy.

Old pre-eigen code:

/! Returns the product of \a m1 \a m2. */

mat3

operator*(const mat3 &m1, const mat3 &m2)

{ double M[9];

M[0] = m1.mat[0] m2.mat[0] + m1.mat[3] m2.mat[1] + m1.mat[6] m2.mat[2]; M[1] = m1.mat[1] m2.mat[0] + m1.mat[4] m2.mat[1] + m1.mat[7] m2.mat[2]; M[2] = m1.mat[2] m2.mat[0] + m1.mat[5] m2.mat[1] + m1.mat[8] * m2.mat[2];

M[3] = m1.mat[0] m2.mat[3] + m1.mat[3] m2.mat[4] + m1.mat[6] m2.mat[5]; M[4] = m1.mat[1] m2.mat[3] + m1.mat[4] m2.mat[4] + m1.mat[7] m2.mat[5]; M[5] = m1.mat[2] m2.mat[3] + m1.mat[5] m2.mat[4] + m1.mat[8] * m2.mat[5];

M[6] = m1.mat[0] m2.mat[6] + m1.mat[3] m2.mat[7] + m1.mat[6] m2.mat[8]; M[7] = m1.mat[1] m2.mat[6] + m1.mat[4] m2.mat[7] + m1.mat[7] m2.mat[8]; M[8] = m1.mat[2] m2.mat[6] + m1.mat[5] m2.mat[7] + m1.mat[8] * m2.mat[8];

return mat3(M);

}

This actually returns what eigen or numpy would consider m2m1 rather than m1 m2

Solution: I found the one location it was used and reordered m1 and m2