Implement Matrix4x4::RotateX() RotateY() RotateZ()

include/J3ML/LinearAlgebra/Matrix4x4.h

@@ -221,8 +221,7 @@ namespace J3ML::LinearAlgebra {
         /** Calling RotateX, RotateY, or RotateZ is slightly faster than calling the more generic RotateAxisAngle function.
             @param radians The angle to rotate by, in radians. For example, Pi/4.f equals 45 degrees.
             @param pointOnAxis If specified, the rotation is performed about an axis that passes through this point,
-            and not through the origin. The returned matrix will not be a pure rotation matrix, but will also contain translation.
-         */
+            and not through the origin. The returned matrix will not be a pure rotation matrix, but will also contain translation. */
         static Matrix4x4 RotateX(float radians, const Vector3 &pointOnAxis);
         /// [similarOverload: RotateX] [hideIndex]
         static Matrix4x4 RotateX(float radians);
@@ -379,6 +378,8 @@ namespace J3ML::LinearAlgebra {
         void SetCol(int col, const Vector4& colVector);
         void SetCol(int col, float m_c0, float m_c1, float m_c2, float m_c3);
 
+        void SetCol3(int col, float x, float y, float z);
+
         /// Returns the given row.
         /** @param The zero-based index [0, 3] of the row to get */
         Vector4 GetRow(int row) const;

src/J3ML/LinearAlgebra/Matrix4x4.cpp

@@ -889,6 +889,49 @@ namespace J3ML::LinearAlgebra {
         return Matrix4x4::Translate(translate) * Matrix4x4(rotate) * Matrix4x4::Scale(scale);
     }
 
+    void Matrix4x4::SetCol3(int col, float x, float y, float z) {
+        // TODO: implement assertations
+        At(0, col) = x;
+        At(1, col) = y;
+        At(2, col) = z;
+    }
+
+    Matrix4x4 Matrix4x4::RotateZ(float radians) {
+        Matrix4x4 r;
+        r.SetRotatePartZ(radians);
+        r.SetRow(3, 0, 0, 0, 1);
+        r.SetCol3(3, 0, 0, 0);
+        return r;
+    }
+
+    Matrix4x4 Matrix4x4::RotateZ(float radians, const Vector3 &pointOnAxis) {
+        return Matrix4x4::Translate(pointOnAxis) * RotateY(radians) * Matrix4x4::Translate(-pointOnAxis);
+    }
+
+    Matrix4x4 Matrix4x4::RotateY(float radians) {
+        Matrix4x4 r;
+        r.SetRotatePartY(radians);
+        r.SetRow(3, 0, 0, 0, 1);
+        r.SetCol3(3, 0, 0, 0);
+        return r;
+    }
+
+    Matrix4x4 Matrix4x4::RotateY(float radians, const Vector3 &pointOnAxis) {
+        return Matrix4x4::Translate(pointOnAxis) * RotateY(radians) * Matrix4x4::Translate(-pointOnAxis);
+    }
+
+    Matrix4x4 Matrix4x4::RotateX(float radians) {
+        Matrix4x4 r;
+        r.SetRotatePartX(radians);
+        r.SetRow(3, 0, 0, 0, 1);
+        r.SetCol3(3, 0, 0, 0);
+        return r;
+    }
+
+    Matrix4x4 Matrix4x4::RotateX(float radians, const Vector3 &pointOnAxis) {
+        return Matrix4x4::Translate(pointOnAxis) * RotateX(radians) * Matrix4x4::Translate(-pointOnAxis);
+    }
+
     Matrix4x4 Matrix4x4::Scale(const Vector3 &scale) {
         Matrix4x4 m;
         m.SetRow(0, scale.x, 0, 0, 0);