Unfinished Work

include/J3ML/LinearAlgebra/Matrix3x3.h

@@ -51,6 +51,10 @@ namespace J3ML::LinearAlgebra {
         Vector3 GetRow(int index) const;
         Vector3 GetColumn(int index) const;
 
+        Vector3 GetRow3(int index) const;
+
+        Vector3 GetColumn3(int index) const;
+
         float &At(int row, int col);
         float At(int x, int y) const;
 
@@ -143,6 +147,14 @@ namespace J3ML::LinearAlgebra {
         // Returns true if the row vectors of this matrix are all perpendicular to each other.
         bool IsRowOrthogonal(float epsilon = 1e-3f) const;
 
+
+
+        bool HasUniformScale(float epsilon  = 1e-3f) const;
+
+        Vector3 ExtractScale() const {
+            return {GetColumn(0).Length(), GetColumn(1).Length(), GetColumn(2).Length()};
+        }
+
     protected:
         float elems[3][3];
     };

include/J3ML/LinearAlgebra/Matrix4x4.h

@@ -232,12 +232,16 @@ namespace J3ML::LinearAlgebra {
         Matrix4x4 operator *(float scalar) const;
         Matrix4x4 operator /(float scalar) const;
 
-
+        Vector4 operator[](int row) const;
 
         Vector2 operator * (const Vector2& rhs) const;
         Vector3 operator * (const Vector3& rhs) const;
         Vector4 operator * (const Vector4& rhs) const;
 
+        Vector2 Mul(const Vector2& rhs) const;
+        Vector3 Mul(const Vector3& rhs) const;
+        Vector4 Mul(const Vector4& rhs) const;
+
         Matrix4x4 operator * (const Matrix3x3 &rhs) const;
 
         Matrix4x4 operator +() const;
@@ -248,8 +252,18 @@ namespace J3ML::LinearAlgebra {
         Matrix4x4 &operator = (const Quaternion& rhs);
         Matrix4x4 &operator = (const Matrix4x4& rhs) = default;
 
-        void IsColOrthogonal();
 
+        Vector3 ExtractScale() const;
+
+        bool HasUniformScale(float epsilon = 1e-3f) const;
+        bool IsColOrthogonal3(float epsilon = 1e-3f) const;
+        bool IsRowOrthogonal3(float epsilon = 1e-3f) const;
+
+        bool IsColOrthogonal(float epsilon = 1e-3f) const;
+        bool IsRowOrthogonal(float epsilon = 1e-3f) const;
+        /// Returns true if this matrix is seen to contain a "projective" part,
+        /// i.e. whether the last row of this matrix differs from [0 0 0 1]
+        bool ContainsProjection(float epsilon = 1e-3f) const;
     protected:
         float elems[4][4];
 

include/J3ML/LinearAlgebra/Vector3.h

@@ -71,9 +71,11 @@ public:
     static float MinElement(const Vector3& of);
 
     Vector3 Min(const Vector3& min) const;
+    static Vector3 Min(const Vector3& a, const Vector3& b, const Vector3& c);
     static Vector3 Min(const Vector3& lhs, const Vector3& rhs);
 
     Vector3 Max(const Vector3& max) const;
+    static Vector3 Max(const Vector3& a, const Vector3& b, const Vector3& c);
     static Vector3 Max(const Vector3& lhs, const Vector3& rhs);
 
     Vector3 Clamp(const Vector3& min, const Vector3& max) const;
@@ -151,7 +153,6 @@ public:
     Vector3 Div(float scalar) const;
     static Vector3 Div(const Vector3& lhs, float rhs);
 
-
     /// Divides this vector by a vector, element-wise
     /// @note Mathematically, the multiplication of two vectors is not defined in linear space structures,
     /// but this function is provided here for syntactical convenience