Fix Matrix3x3::Matrix3x3(Quaternion)

include/J3ML/LinearAlgebra/Matrix4x4.h

@@ -297,16 +297,7 @@ namespace J3ML::LinearAlgebra {
         /// Identical to D3DXMatrixPerspectiveRH, except transposed to account for Matrix * vector convention used in J3ML.
         /// See http://msdn.microsoft.com/en-us/library/windows/desktop/bb205355(v=vs.85).aspx
         /// @note Use the M*v multiplication order to project points with this matrix.
-        static Matrix4x4 D3DPerspProjRH(float n, float f, float h, float v)
+        static Matrix4x4 D3DPerspProjRH(float n, float f, float h, float v);
-        {
-            Matrix4x4 p;
-            p[0][0] = 2.f * n / h; p[0][1] = 0;           p[0][2] = 0;           p[0][3] = 0.f;
-            p[1][0] = 0;           p[1][1] = 2.f * n / v; p[1][2] = 0;           p[1][3] = 0.f;
-            p[2][0] = 0;           p[2][1] = 0;           p[2][2] = f / (f-n);   p[2][3] = n * f / (n-f);
-            p[3][0] = 0;           p[3][1] = 0;           p[3][2] = 1.f;         p[3][3] = 0.f;
-
-            return p;
-        }
 
         /// Computes a left-handled orthographic projection matrix for OpenGL.
         /// @note Use the M*v multiplication order to project points with this matrix.
@@ -519,8 +510,15 @@ namespace J3ML::LinearAlgebra {
 
         Vector3 ExtractScale() const;
 
+        /// Returns true if this matrix only contains uniform scaling, compared to the given epsilon.
+        /// @note If the matrix does not really do any scaling, this function returns true (scaling uniformly by a factor of 1).
+        /// @note This function only examines the upper 3-by-3 part of this matrix.
+        /// @note This function assumes that this matrix does not contain projection (the fourth row of this matrix is [0 0 0 1]).
         bool HasUniformScale(float epsilon = 1e-3f) const;
+
+        /// Returns true if the row vectors of 3x3-top-left submatrix are all perpendicular to each other.
         bool IsColOrthogonal3(float epsilon = 1e-3f) const;
+        /// Returns true if the column vector of 3x3-top-left submatrix are all perpendicular to each other.
         bool IsRowOrthogonal3(float epsilon = 1e-3f) const;
 
         bool IsColOrthogonal(float epsilon = 1e-3f) const;
@@ -552,7 +550,7 @@ namespace J3ML::LinearAlgebra {
         /// Computes the Cholesky decomposition of this matrix.
         /// The returned matrix L satisfies L * transpose(L) = this;
         /// Returns true on success.
-        bool ColeskyDecompose(Matrix4x4 &outL) const;
+        bool CholeskyDecompose(Matrix4x4 &outL) const;
 
         /// Computes the LU decomposition of this matrix.
         /// This decomposition has the form 'this = L * U'
@@ -561,10 +559,7 @@ namespace J3ML::LinearAlgebra {
 
         /// Inverts this matrix using the generic Gauss's method.
         /// @return Returns true on success, false otherwise.
-        bool Inverse(float epsilon = 1e-6f)
+        bool Inverse(float epsilon = 1e-6f);
-        {
-            return InverseMatrix(*this, epsilon);
-        }
 
         /// Returns an inverted copy of this matrix.
         /// If this matrix does not have an inverse, returns the matrix that was the result of running
@@ -614,13 +609,7 @@ namespace J3ML::LinearAlgebra {
         bool InverseTranspose();
         /// Returns the inverse transpose of this matrix.
         /// Use that matrix to transform covariant vectors (normal vectors).
-        Matrix4x4 InverseTransposed() const
+        Matrix4x4 InverseTransposed() const;
-        {
-            Matrix4x4 copy = *this;
-            copy.Transpose();
-            copy.Inverse();
-            return copy;
-        }
         /// Returns the sum of the diagonal elements of this matrix.
         float Trace() const;
 

src/J3ML/LinearAlgebra/Matrix3x3.cpp

@@ -106,7 +106,7 @@ namespace J3ML::LinearAlgebra {
     }
 
     Matrix3x3::Matrix3x3(const Quaternion &orientation) {
-
+        SetRotatePart(orientation);
     }
 
     float Matrix3x3::Determinant() const {

src/J3ML/LinearAlgebra/Matrix4x4.cpp

@@ -816,4 +816,33 @@ namespace J3ML::LinearAlgebra {
         p[3][0] = 0;           p[3][1] = 0;           p[3][2] = 1.f;       p[3][3] = 0.f;
     }
 
+    Matrix4x4 Matrix4x4::D3DPerspProjRH(float n, float f, float h, float v) {
+        Matrix4x4 p;
+        p[0][0] = 2.f * n / h; p[0][1] = 0;           p[0][2] = 0;           p[0][3] = 0.f;
+        p[1][0] = 0;           p[1][1] = 2.f * n / v; p[1][2] = 0;           p[1][3] = 0.f;
+        p[2][0] = 0;           p[2][1] = 0;           p[2][2] = f / (f-n);   p[2][3] = n * f / (n-f);
+        p[3][0] = 0;           p[3][1] = 0;           p[3][2] = 1.f;         p[3][3] = 0.f;
+
+        return p;
+    }
+
+    bool Matrix4x4::Inverse(float epsilon) {
+        return InverseMatrix(*this, epsilon);
+    }
+
+    bool Matrix4x4::LUDecompose(Matrix4x4 &outLower, Matrix4x4 &outUpper) const {
+        return LUDecomposeMatrix(*this, outLower, outUpper);
+    }
+
+    bool Matrix4x4::CholeskyDecompose(Matrix4x4 &outL) const {
+        return CholeskyDecomposeMatrix(*this, outL);
+    }
+
+    Matrix4x4 Matrix4x4::InverseTransposed() const {
+        Matrix4x4 copy = *this;
+        copy.Transpose();
+        copy.Inverse();
+        return copy;
+    }
+
 }