Fill out Matrix3x3 Documentation, implement several missing functions.

src/J3ML/LinearAlgebra/Matrix3x3.cpp

@@ -87,18 +87,22 @@ namespace J3ML::LinearAlgebra {
 
     }
 
-    Matrix3x3::Matrix3x3(const Vector3 &r1, const Vector3 &r2, const Vector3 &r3) {
-        this->elems[0][0] = r1.x;
-        this->elems[0][1] = r1.y;
-        this->elems[0][2] = r1.z;
+    Matrix3x3::Matrix3x3(const Vector3 &col0, const Vector3 &col1, const Vector3 &col2) {
+        SetColumn(0, col0);
+        SetColumn(1, col1);
+        SetColumn(2, col2);
 
-        this->elems[1][0] = r2.x;
-        this->elems[1][1] = r2.y;
-        this->elems[1][2] = r2.z;
+        //this->elems[0][0] = r1.x;
+        //this->elems[0][1] = r1.y;
+        //this->elems[0][2] = r1.z;
 
-        this->elems[2][0] = r3.x;
-        this->elems[2][1] = r3.y;
-        this->elems[2][2] = r3.z;
+        //this->elems[1][0] = r2.x;
+        //this->elems[1][1] = r2.y;
+        //this->elems[1][2] = r2.z;
+
+        //this->elems[2][0] = r3.x;
+        //this->elems[2][1] = r3.y;
+        //this->elems[2][2] = r3.z;
     }
 
     Matrix3x3::Matrix3x3(const Quaternion &orientation) {
@@ -456,5 +460,74 @@ namespace J3ML::LinearAlgebra {
         return Transform(rhs);
     }
 
+    Matrix3x3 Matrix3x3::RotateX(float radians) {
+        Matrix3x3 r;
+        r.SetRotatePartX(radians);
+        return r;
+    }
+
+    Matrix3x3 Matrix3x3::RotateY(float radians) {
+        Matrix3x3 r;
+        r.SetRotatePartY(radians);
+        return r;
+    }
+
+    Matrix3x3 Matrix3x3::RotateZ(float radians) {
+        Matrix3x3 r;
+        r.SetRotatePartZ(radians);
+        return r;
+    }
+
+    void Matrix3x3::SetRotatePartX(float angle) {
+        Set3x3PartRotateX(*this, angle);
+    }
+
+    void Matrix3x3::SetRotatePartY(float angle) {
+        Set3x3PartRotateY(*this, angle);
+    }
+
+    void Matrix3x3::SetRotatePartZ(float angle) {
+        Set3x3RotatePartZ(*this, angle);
+    }
+
+    Vector3 Matrix3x3::ExtractScale() const {
+        return {GetColumn(0).Length(), GetColumn(1).Length(), GetColumn(2).Length()};
+    }
+
+    // TODO: Finish implementation
+    Matrix3x3 Matrix3x3::RotateFromTo(const Vector3 &source, const Vector3 &direction) {
+        assert(source.IsNormalized());
+        assert(source.IsNormalized());
+
+        // http://cs.brown.edu/research/pubs/pdfs/1999/Moller-1999-EBA.pdf
+        Matrix3x3 r;
+        float dot = source.Dot(direction);
+        if (std::abs(dot) > 0.999f)
+        {
+            Vector3 s = source.Abs();
+            Vector3 unit = s.x < s.y && s.x < s.z ? Vector3::UnitX : (s.y < s.z ? Vector3::UnitY : Vector3::UnitZ);
+        }
+    }
+
+    Vector3 &Matrix3x3::Row(int row) {
+        assert(row >= 0);
+        assert(row < Rows);
+        return reinterpret_cast<Vector3 &> (elems[row]);
+    }
+
+    Vector3 Matrix3x3::Column(int index) const { return GetColumn(index);}
+
+    Vector3 Matrix3x3::Col(int index) const { return Column(index);}
+
+    Vector3 &Matrix3x3::Row3(int index) {
+        return reinterpret_cast<Vector3 &>(elems[index]);
+    }
+
+    Vector3 Matrix3x3::Row3(int index) const { return GetRow3(index);}
+
+    void Matrix3x3::Set(const Matrix3x3 &x3) {
+
+    }
+
 }