Implement Matrix4x4::Scale

CMakeLists.txt

@@ -57,7 +57,13 @@ add_library(J3ML SHARED ${J3ML_SRC}
         include/J3ML/Geometry/AABB2D.h
         src/J3ML/Geometry/Polygon.cpp
         include/J3ML/Geometry/Polyhedron.h
-        src/J3ML/Geometry/Polyhedron.cpp)
+        src/J3ML/Geometry/Polyhedron.cpp
+        include/J3ML/Algorithm/RNG.h
+        src/J3ML/Algorithm/RNG.cpp
+        include/J3ML/Algorithm/Spring.h
+        include/J3ML/Algorithm/DifferentialSolvers.h
+        include/J3ML/Units.h
+        src/J3ML/J3ML.cpp)
 set_target_properties(J3ML PROPERTIES LINKER_LANGUAGE CXX)
 
 install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})

include/J3ML/Algorithm/DifferentialSolvers.h

@@ -0,0 +1,42 @@
+//
+// Created by dawsh on 2/8/24.
+//
+
+namespace J3ML::Algorithm
+{
+    /// Implementations for a variety of Differential Equation Solving algorithms
+    namespace Solvers
+    {
+
+        // Consider a differential equation
+        // dy/dx = (x + y + xy)
+        float eq(float x, float y)
+        {
+            return (x + y + x*y);
+        }
+
+        // Accelleration = Velocity / Time
+        // Velocity = Position / Time
+        // Position = Vector3
+
+        //
+
+        float euler(float x0, float y, float h, float x)
+        {
+            float temp = -0.f;
+            // Iterating till the point at which we need approximation
+            while (x0 < x) {
+                temp = y;
+                y = y + h * eq(x0, y);
+                x0 = x0 + h;
+            }
+            return y;
+        }
+
+        class EulerMethodSolver {};
+        class SemiImplicitEulerMethodSolver {};
+        class GaussSeidelMethodSolver {};
+        class GradientDescentSolver {};
+        class VerletIntegrationSolver {};
+    }
+}

include/J3ML/Algorithm/RNG.h

@@ -0,0 +1,99 @@
+#pragma once
+
+
+#include "J3ML/J3ML.h"
+
+namespace J3ML::Algorithm
+{
+/** @brief A linear congruential random number generator.
+
+	Uses D.H. Lehmer's Linear Congruential Method (1949) for generating random numbers.
+	Supports both Multiplicative Congruential Method (increment==0) and
+	Mixed Congruential Method (increment!=0)
+	It is perhaps the simplest and fastest method to generate pseudo-random numbers on
+	a computer. Per default uses the values for Minimal Standard LCG.
+	http://en.wikipedia.org/wiki/Linear_congruential_generator
+	http://www.math.rutgers.edu/~greenfie/currentcourses/sem090/pdfstuff/jp.pdf
+
+	Pros:
+	<ul>
+	    <li> Easy to implement.
+	    <li> Fast.
+	</ul>
+
+	Cons:
+	<ul>
+	    <li> NOT safe for cryptography because of the easily calculatable sequential
+	        correlation between successive calls. A case study:
+	        http://www.cigital.com/papers/download/developer_gambling.php
+
+	    <li> Tends to have less random low-order bits (compared to the high-order bits)
+	         Thus, NEVER do something like this:
+
+	           u32 numBetween1And10 = 1 + LCGRand.Int() % 10;
+
+	         Instead, take into account EVERY bit of the generated number, like this:
+
+	           u32 numBetween1And10 = 1 + (int)(10.0 * (double)LCGRand.Int()
+	                                                      /(LCGRand.Max()+1.0));
+	         or simply
+
+	           u32 numBetween1And10 = LCGRand.Float(1.f, 10.f);
+	</ul> */
+
+
+    class RNG {
+    public:
+        /// Initializes the generator from the current system clock.
+        RNG();
+        RNG(u32 seed, u32 multiplier = 69621,
+            u32 increment = 0, u32 modulus = 0x7FFFFFFF) // 2^31 - 1
+        {
+            Seed(seed, multiplier, increment, modulus);
+        }
+        /// Reinitializes the generator to the new settings.
+        void Seed(u32 seed, u32 multiplier, u32 increment, u32 modulus = 0x7FFFFFFF);
+        /// Returns a random integer picked uniformly in the range [0, MaxInt()]
+        u32 Int();
+        /// Returns the biggest number the generator can yield. [modulus - 1]
+        u32 MaxInt() const { return modulus - 1;}
+        /// Returns a random integer picked uniformly in the range [0, 2^32-1].
+        /// @note The configurable modulus and increment are not used by this function, but are always increment == 0, modulus=2^32
+        u32 IntFast();
+        /// Returns a random integer picked uniformly in the range [a, b]
+        /// @param a Lower bound, inclusive.
+        /// @param b Upper bound, inclusive.
+        /// @return A random integer picked uniformly in the range [a, b]
+        int Int(int a, int b);
+
+        /// Returns a random float picked uniformly in the range [0, 1].
+        float Float();
+
+        /// Returns a random float picked uniformly in the range [0, 1].
+        /// @note this is much slower than Float()! Prefer that function if possible.
+        float Float01Incl();
+
+        /// Returns a random float picked uniformly in the range ]-1, 1[.
+        /// @note This function has one more bit of randomness compared to Float(), but has a theoretical bias
+        /// towards 0.0, since floating point has two representations for 0 (+0, and -0).
+        float FloatNeg1_1();
+
+        /// Returns a random float picked uniformly in the range [a, b[.
+        /// @param a Lower bound, inclusive.
+        /// @param b Upper bound, exclusive.
+        /// @return A random float picked uniformly in the range [a, b[
+        /// @note This function is slower than RNG::FloatIncl(). If you don't care about the open/closed interval, prefer that function.
+        float Float(float a, float b);
+
+        /// Returns a random float picked uniformly in the range [a, b].
+        /// @param a Lower bound, inclusive.
+        /// @param b Upper bound, inclusive.
+        /// @return A random float picked uniformly in the range [a, b]
+        float FloatIncl(float a, float b);
+
+        u32 multiplier;
+        u32 increment;
+        u32 modulus;
+        u32 lastNumber;
+    };
+}

include/J3ML/Algorithm/Spring.h

@@ -0,0 +1,21 @@
+//
+// Created by dawsh on 2/8/24.
+//
+
+namespace J3ML::Algorithm
+{
+    // Numerical model of a "Spring" object
+    // Simulates any oscillating system i.e. a mass suspended from a spring.
+    class Spring
+    {
+        float Dampening;
+        float Stiffness;
+        float Goal;
+        float RestLength = 1.f;
+
+        bool Overdamped() const;
+        bool Undamped() const;
+        bool Underdamped() const;
+        bool CriticallyDamped() const;
+    };
+}

include/J3ML/Geometry.h

@@ -3,9 +3,9 @@
 
 #pragma once
 
-namespace Geometry {
-    using Vector2 = LinearAlgebra::Vector2;
-    using Vector3 = LinearAlgebra::Vector3;
+namespace J3ML::Geometry {
+    using Vector2 = J3ML::LinearAlgebra::Vector2;
+    using Vector3 = J3ML::LinearAlgebra::Vector3;
 
     class LineSegment2D
     {

include/J3ML/Geometry/AABB.h

@@ -2,7 +2,7 @@
 
 #include <J3ML/LinearAlgebra/Vector3.h>
 
-#include <J3ML/LinearAlgebra.h>
+#include "J3ML/LinearAlgebra.h"
 #include <J3ML/Geometry.h>
 
 #include <J3ML/Geometry/Plane.h>
@@ -22,9 +22,8 @@
 
 
 
-namespace Geometry
+namespace J3ML::Geometry
 {
-
     using namespace LinearAlgebra;
     // A 3D axis-aligned bounding box
     // This data structure can be used to represent coarse bounds of objects, in situations where detailed triangle-level
@@ -35,89 +34,74 @@ namespace Geometry
     // be arbitrarily oriented in the space with respect to each other.
     // If you need to represent a box in 3D space with arbitrary orientation, see the class OBB. */
 
-    class AABB
-    {
+    class AABB {
     public:
         Vector3 minPoint;
         Vector3 maxPoint;
 
         static int NumFaces() { return 6; }
-        static int NumEdges() { return 12;}
-        static int NumVertices() { return 8;}
 
-        static AABB FromCenterAndSize(const Vector3& center, const Vector3& size)
-        {
-            Vector3 halfSize =  size * 0.5f;
-            return {center - halfSize, center + halfSize};
-        }
-        float MinX() const { return minPoint.x; }
-        float MinY() const { return minPoint.y; }
-        float MinZ() const { return minPoint.z; }
+        static int NumEdges() { return 12; }
 
-        float MaxX() const { return maxPoint.x; }
-        float MaxY() const { return maxPoint.y; }
-        float MaxZ() const { return maxPoint.z; }
+        static int NumVertices() { return 8; }
 
+        static AABB FromCenterAndSize(const Vector3 &center, const Vector3 &size);
+
+        float MinX() const;
+
+        float MinY() const;
+
+        float MinZ() const;
+
+        float MaxX() const;
+
+        float MaxY() const;
+
+        float MaxZ() const;
 
         /// Returns the smallest sphere that contains this AABB.
         /// This function computes the minimal volume sphere that contains all the points inside this AABB
-        Sphere MinimalEnclosingSphere() const
-        {
-            return Sphere(Centroid(), Size().Length()*0.5f);
-        }
+        Sphere MinimalEnclosingSphere() const;
 
-        Vector3 HalfSize() const {
-            return this->Size()/2.f;
-        }
+        Vector3 HalfSize() const;
+
+        /// Returns the largest sphere that can fit inside this AABB
+        /// This function computes the largest sphere that can fit inside this AABB.
+        Sphere MaximalContainedSphere() const;
+
+        bool IsFinite() const;
+
+        Vector3 Centroid() const;
+
+        Vector3 Size() const;
 
-// Returns the largest sphere that can fit inside this AABB
-        // This function computes the largest sphere that can fit inside this AABB.
-        Sphere MaximalContainedSphere() const
-        {
-            Vector3 halfSize = HalfSize();
-            return Sphere(Centroid(), std::min(halfSize.x, std::min(halfSize.y, halfSize.z)));
-        }
-        bool IsFinite() const
-        {
-            return minPoint.IsFinite() && maxPoint.IsFinite();
-        }
-        Vector3 Centroid() const
-        {
-            return (minPoint+maxPoint) * 0.5f;
-        }
-        Vector3 Size() const
-        {
-            return this->maxPoint - this->minPoint;
-        }
         // Quickly returns an arbitrary point inside this AABB
         Vector3 AnyPointFast() const;
 
-        Vector3 PointInside(float x, float y, float z) const
-        {
-            Vector3 d = maxPoint - minPoint;
-            return minPoint + d.Mul({x, y, z});
-        }
+        Vector3 PointInside(float x, float y, float z) const;
+
         // Returns an edge of this AABB
-        LineSegment Edge(int edgeIndex) const
-        {
-            switch(edgeIndex)
-            {
-                default:
-                case 0: return LineSegment(minPoint, {minPoint.x, minPoint.y, maxPoint.z});
-            }
-        }
-        Vector3 CornerPoint(int cornerIndex);
-        Vector3 ExtremePoint(const Vector3& direction) const;
-        Vector3 ExtremePoint(const Vector3& direction, float projectionDistance);
+        LineSegment Edge(int edgeIndex) const;
+
+        Vector3 CornerPoint(int cornerIndex) const;
+
+        Vector3 ExtremePoint(const Vector3 &direction) const;
+
+        Vector3 ExtremePoint(const Vector3 &direction, float &projectionDistance);
+
         Vector3 PointOnEdge(int edgeIndex, float u) const;
+
         Vector3 FaceCenterPoint(int faceIndex) const;
+
         Vector3 FacePoint(int faceIndex, float u, float v) const;
+
         Vector3 FaceNormal(int faceIndex) const;
-        Plane FacePlane(int faceIndex);
-        static AABB MinimalEnclosingAABB(const Vector3* pointArray, int numPoints);
-        Vector3 GetVolume();
-        float GetVolumeCubed();
-        float GetSurfaceArea();
+
+        Plane FacePlane(int faceIndex) const;
+
+        static AABB MinimalEnclosingAABB(const Vector3 *pointArray, int numPoints);
+        float GetVolume() const;
+        float GetSurfaceArea() const;
         Vector3 GetRandomPointInside();
         Vector3 GetRandomPointOnSurface();
         Vector3 GetRandomPointOnEdge();
@@ -149,5 +133,26 @@ namespace Geometry
         TriangleMesh Triangulate(int numFacesX, int numFacesY, int numFacesZ, bool ccwIsFrontFacing) const;
         AABB Intersection(const AABB& rhs) const;
         bool IntersectLineAABB(const Vector3& linePos, const Vector3& lineDir, float tNear, float tFar) const;
+
+
+        void SetFrom(const Vector3 *pVector3, int i);
+
+        void SetFromCenterAndSize(const Vector3 &center, const Vector3 &size);
+
+        void SetFrom(const OBB &obb);
+
+        void SetFrom(const Sphere &s);
+
+        Vector3 GetRandomPointInside() const;
+
+        void SetNegativeInfinity();
+
+        void Enclose(const Vector3 &point);
+
+        void Enclose(const Vector3 &aabbMinPt, const Vector3 &aabbMaxPt);
+
+        void Enclose(const LineSegment &lineSegment);
+
+        void Enclose(const OBB &obb);
     };
 }

include/J3ML/Geometry/AABB2D.h

@@ -2,7 +2,7 @@
 
 #include <J3ML/LinearAlgebra/Vector2.h>
 
-namespace Geometry
+namespace J3ML::Geometry
 {
     using LinearAlgebra::Vector2;
     // CaveGame AABB

include/J3ML/Geometry/Capsule.h

@@ -3,7 +3,7 @@
 #include "LineSegment.h"
 #include <J3ML/LinearAlgebra/Vector3.h>
 
-namespace Geometry
+namespace J3ML::Geometry
 {
     using namespace LinearAlgebra;
     class Capsule

include/J3ML/Geometry/Frustum.h

@@ -6,9 +6,11 @@
 #include "Plane.h"
 #include <J3ML/LinearAlgebra/CoordinateFrame.h>
 
-namespace Geometry
+namespace J3ML::Geometry
 {
 
+    using J3ML::LinearAlgebra::CoordinateFrame;
+
     enum class FrustumType
     {
         Invalid,

include/J3ML/Geometry/LineSegment.h

@@ -2,7 +2,7 @@
 
 #include <J3ML/LinearAlgebra/Vector3.h>
 
-namespace Geometry
+namespace J3ML::Geometry
 {
     using LinearAlgebra::Vector3;
     class LineSegment

include/J3ML/Geometry/OBB.h

@@ -5,7 +5,7 @@
 #include <J3ML/Geometry/LineSegment.h>
 #include <J3ML/Geometry/Polyhedron.h>
 
-namespace Geometry {
+namespace J3ML::Geometry {
     class OBB
     {
     public:

include/J3ML/Geometry/Plane.h

@@ -1,13 +1,17 @@
 #pragma once
 #include <J3ML/LinearAlgebra/Vector3.h>
 
-using namespace LinearAlgebra;
 
-class Plane
+
+namespace J3ML::Geometry
 {
-public:
-    Vector3 Position;
-    Vector3 Normal;
-    float distance = 0.f;
+    using J3ML::LinearAlgebra::Vector3;
 
-};
+    class Plane
+    {
+    public:
+        Vector3 Position;
+        Vector3 Normal;
+        float distance = 0.f;
+    };
+}

include/J3ML/Geometry/Polygon.h

@@ -1,6 +1,6 @@
 #pragma once
 
-namespace Geometry {
+namespace J3ML::Geometry {
     class Polygon {
 
     };

include/J3ML/Geometry/Polyhedron.h

@@ -1,6 +1,6 @@
 #pragma once
 
-namespace Geometry
+namespace J3ML::Geometry
 {
     class Polyhedron {
 

include/J3ML/Geometry/QuadTree.h

@@ -5,7 +5,7 @@
 #include <J3ML/LinearAlgebra/Vector2.h>
 #include "AABB2D.h"
 
-namespace Geometry {
+namespace J3ML::Geometry {
 
 
     using LinearAlgebra::Vector2;

include/J3ML/Geometry/Ray.h

@@ -6,7 +6,7 @@
 
 #include <J3ML/LinearAlgebra/Vector3.h>
 
-namespace Geometry
+namespace J3ML::Geometry
 {
     using LinearAlgebra::Vector3;
     class Ray

include/J3ML/Geometry/Sphere.h

@@ -1,15 +1,70 @@
 #pragma once
 
-#include "J3ML/Geometry.h"
+#include <J3ML/Geometry.h>
+#include <J3ML/LinearAlgebra/Matrix3x3.h>
+#include <J3ML/LinearAlgebra/Matrix4x4.h>
+#include <J3ML/Geometry/LineSegment.h>
+#include <J3ML/Geometry/TriangleMesh.h>
 
-namespace Geometry
+namespace J3ML::Geometry
 {
+    using J3ML::LinearAlgebra::Matrix3x3;
+    using J3ML::LinearAlgebra::Matrix4x4;
+
+    // A mathematical representation of a 3-dimensional sphere
     class Sphere
     {
     public:
-        Sphere(const Vector3& pos, float radius)
+        Vector3 Position;
+        float Radius;
+        Sphere() {}
+        Sphere(const Vector3& pos, float radius) : Position(pos), Radius(radius) {}
+        void Translate(const Vector3& offset)
+        {
+            Position = Position + offset;
+        }
+        void Transform(const Matrix3x3& transform)
+        {
+            Position = transform * Position;
+        }
+        void Transform(const Matrix4x4& transform)
+        {
+            Position = transform * Position;
+        }
+        inline float Cube(float inp) const
+        {
+            return inp*inp*inp;
+        }
+        float Volume() const
+        {
+            return 4.f * M_PI * Cube(Radius) / 3.f;
+        }
+        float SurfaceArea() const
+        {
+            return 4.f * M_PI * Cube(Radius) / 3.f;
+        }
+        bool IsFinite() const
+        {
+            return Position.IsFinite() && std::isfinite(Radius);
+        }
+        bool IsDegenerate()
+        {
+            return !(Radius > 0.f) || !Position.IsFinite();
+        }
+        bool Contains(const Vector3& point) const
+        {
+            return Position.DistanceSquared(point) <= Radius*Radius;
+        }
+        bool Contains(const Vector3& point, float epsilon) const
+        {
+            return Position.DistanceSquared(point) <= Radius*Radius + epsilon;
+        }
+        bool Contains(const LineSegment& lineseg)  const
         {
 
         }
+        TriangleMesh GenerateUVSphere() const {}
+        TriangleMesh GenerateIcososphere() const {}
+
     };
 }

include/J3ML/Geometry/Triangle.h

@@ -1,6 +1,6 @@
 #pragma once
 
-namespace Geometry
+namespace J3ML::Geometry
 {
     class Triangle
     {

include/J3ML/Geometry/Triangle2D.h

@@ -1,8 +1,10 @@
-//
-// Created by dawsh on 1/25/24.
-//
+#pragma once
 
-#ifndef J3ML_TRIANGLE2D_H
-#define J3ML_TRIANGLE2D_H
 
-#endif //J3ML_TRIANGLE2D_H
+namespace J3ML::Geometry
+{
+    class Shape2D {};
+    class Triangle2D {
+    public:
+    };
+}

include/J3ML/Geometry/TriangleMesh.h

@@ -1,6 +1,6 @@
 #pragma once
 
-namespace Geometry
+namespace J3ML::Geometry
 {
     class TriangleMesh
     {

include/J3ML/J3ML.h

@@ -1,17 +1,241 @@
+#pragma once
+
+
+
 //
 // Created by josh on 12/25/2023.
 //
 #include <cstdint>
+#include <cmath>
+#include <stdfloat>
+#include <string>
+#include <cassert>
 
-namespace J3ML
+namespace J3ML::SizedIntegralTypes
 {
     using u8 = uint8_t;
     using u16 = uint16_t;
     using u32 = uint32_t;
     using u64 = uint64_t;
+    using u128 = __uint128_t;
 
     using s8 = int8_t;
     using s16 = int16_t;
     using s32 = int32_t;
     using s64 = int64_t;
+    using s128 = __int128_t;
+}
+
+
+
+namespace J3ML::SizedFloatTypes
+{
+    using f32 = float;
+    using f64 = double;
+    using f128 = long double;
+
+}
+
+using namespace J3ML::SizedIntegralTypes;
+using namespace J3ML::SizedFloatTypes;
+
+namespace J3ML::Math
+{
+
+
+    // Coming soon: Units Namespace
+    // For Dimensional Analysis
+    /*
+    namespace Units
+    {
+
+        struct Unit {};
+
+        struct Meters : public Unit { };
+        struct ImperialInches : public Unit {};
+        struct Time : public Unit {};
+        struct Grams : public Unit {};
+
+
+        struct MetersPerSecond : public Unit {};
+
+
+        template <typename TUnit>
+        struct Quantity
+        {
+        public:
+
+            float Value;
+        };
+
+        struct Mass : public Quantity<Grams> {};
+        struct Length : public Quantity<Meters> { };
+
+        struct Velocity : public Quantity<MetersPerSecond>{ };
+
+        class MetrixPrefix
+        {
+        public:
+            std::string Prefix;
+            std::string Symbol;
+            int Power;
+            float InverseMultiply(float input) const
+            {
+                return std::pow(input, -Power);
+            }
+            float Multiply(float input) const
+            {
+                return std::pow(input, Power);
+            }
+
+        };
+        namespace Prefixes
+        {
+            static constexpr MetrixPrefix Tera {"tera", "T", 12};
+            static constexpr MetrixPrefix Giga {"giga", "G", 9};
+            static constexpr MetrixPrefix Mega {"mega", "M", 6};
+            static constexpr MetrixPrefix Kilo {"kilo", "k", 3};
+            static constexpr MetrixPrefix Hecto {"hecto", "h", 2};
+            static constexpr MetrixPrefix Deca {"deca", "da", 1};
+            static constexpr MetrixPrefix None {"", "", 0};
+            static constexpr MetrixPrefix Deci {"", "", 0};
+            static constexpr MetrixPrefix Centi {"", "", 0};
+            static constexpr MetrixPrefix Milli {"", "", 0};
+            static constexpr MetrixPrefix Micro {"", "", 0};
+            static constexpr MetrixPrefix Nano {"", "", 0};
+            static constexpr MetrixPrefix Pico {"", "", 0};
+        }
+
+        Length operator ""_meters(long double value)
+        {
+            return {(float)value};
+        }
+        Length operator ""_m(long double value)
+        {
+            return {(float)value};
+        }
+        constexpr Length operator ""_kilometers(long double value)
+        {
+            return Length {(float)value};
+        }
+        Length operator ""_km(long double value)
+        {
+            return {(float)value};
+        }
+        Length operator ""_centimeters(long double value)
+        {
+            return {(float)value};
+        }
+        Length operator ""_cm(long double value)
+        {
+            return {(float)value};
+        }
+
+        Length operator ""_millimeters(long double value)
+        {
+            return {(float)value};
+        }
+        Length operator ""_mm(long double value)
+        {
+            return {(float)value};
+        }
+
+        Velocity operator ""_mps(long double value)
+        {
+            return {(float)value};
+        }
+
+        Velocity operator ""_meters_per_second(long double value)
+        {
+            return {(float)value};
+        }
+
+        Velocity operator ""_kmps(long double value)
+        {
+            return {(float)value};
+        }
+    }*/
+
+
+#pragma region Constants
+    static const float Pi           = 3.1415926535897932384626433832795028841971693993751058209749445923078164062862089986280348253421170679f;
+    static const float RecipSqrt2Pi = 0.3989422804014326779399460599343818684758586311649346576659258296706579258993018385012523339073069364f;
+    static const float GoldenRatio  = 1.6180339887498948482045868343656381177203091798057628621354486227052604628189024497072072041893911375f;
+#pragma endregion
+
+#pragma region Math Functions
+
+    inline float Radians(float degrees);
+    inline float Degrees(float radians);
+
+
+    struct NumberRange
+    {
+        float LowerBound;
+        float UpperBound;
+    };
+
+
+    float NormalizeToRange(float input, float fromLower, float fromUpper, float toLower, float toUpper);
+    float NormalizeToRange(float input, const NumberRange& from, const NumberRange& to);
+    // auto rotation_normalized = NormalizeToRange(inp, {0, 360}, {-1, 1});
+
+    inline float Lerp(float a, float b, float t);
+    /// Linearly interpolates from a to b, under the modulus mod.
+    /// This function takes evaluates a and b in the range [0, mod] and takes the shorter path to reach from a to b.
+    inline float LerpMod(float a, float b, float mod, float t);
+    /// Computes the lerp factor a and b have to be Lerp()ed to get x.
+    inline float InverseLerp(float a, float b, float x);
+    /// See http://msdn.microsoft.com/en-us/library/bb509665(v=VS.85).aspx
+    inline float Step(float y, float x);
+    /// See http://msdn.microsoft.com/en-us/library/bb509658(v=vs.85).aspx
+    inline float Ramp(float min, float max, float x);
+
+    inline float PingPongMod(float x, float mod);
+
+    inline float Sqrt(float x);
+    inline float FastSqrt(float x);
+    /// Returns 1/Sqrt(x). (The reciprocal of the square root of x)
+    inline float RSqrt(float x);
+
+    inline float FastRSqrt(float x);
+
+
+#pragma endregion
+
+
+    namespace BitTwiddling
+    {
+        /// Parses a string of form "011101010" to a u32
+        u32 BinaryStringToValue(const char* s);
+
+        /// Returns the number of 1's set in the given value.
+        inline int CountBitsSet(u32 value);
+    }
+
+    namespace Interp
+    {
+        inline float SmoothStart(float t);
+    }
+
+    struct Rotation
+    {
+    public:
+        Rotation();
+        Rotation(float value);
+        float valueInRadians;
+        float ValueInRadians() const;
+        float ValueInDegrees() const;
+        Rotation operator+(const Rotation& rhs);
+    };
+
+
+    Rotation operator ""_rad(long double rads);
+
+    Rotation operator ""_radians(long double rads);
+
+    Rotation operator ""_deg(long double rads);
+
+    Rotation operator ""_degrees(long double rads);
+
 }

include/J3ML/LinearAlgebra.h

@@ -1,76 +1,30 @@
+//// Dawsh Linear Algebra Library - Everything you need for 3D math
+/// @file LinearAlgebra.h
+/// @description Includes all LinearAlgebra classes and functions
+/// @author Josh O'Leary, William Tomasine II
+/// @copyright 2024 Redacted Software
+/// @license Unlicense - Public Domain
+/// @revision 1.3
+/// @edited 2024-02-26
+
 #pragma once
-#include <cstdint>
-#include <cmath>
-#include <cstdlib>
-#include <algorithm>
-#include <functional>
-
-
-namespace Math
-{
-    const float Pi = M_PI;
-    inline float Radians(float degrees) { return degrees * (Pi/180.f); }
-    inline float Degrees(float radians) { return radians * (180.f/Pi); }
-
-
-    struct NumberRange
-    {
-        float LowerBound;
-        float UpperBound;
-    };
-
-
-    float NormalizeToRange(float input, float fromLower, float fromUpper, float toLower, float toUpper);
-    float NormalizeToRange(float input, const NumberRange& from, const NumberRange& to);
-    // auto rotation_normalized = NormalizeToRange(inp, {0, 360}, {-1, 1});
-    inline float Lerp(float a, float b, float t);
-
-}
-
-
-// Dawsh Linear Algebra Library - Everything you need for 3D math
-namespace LinearAlgebra {
-    class Vector2; // A type representing a position in a 2-dimensional coordinate space.
-    class Vector3; // A type representing a position in a 3-dimensional coordinate space.
-    class Vector4; // A type representing a position in a 4-dimensional coordinate space.
-    class Angle2D; // Uses x,y components to represent a 2D rotation.
-    class EulerAngle; // Uses pitch,yaw,roll components to represent a 3D orientation.
-    class AxisAngle; //
-    class CoordinateFrame; //
-    class Matrix2x2;
-    class Matrix3x3;
-    class Matrix4x4;
-    class Transform2D;
-    class Transform3D;
-    class Quaternion;
-
-
-    using Position = Vector3;
-}
 
 // TODO: Enforce Style Consistency (Function Names use MicroSoft Case)
-
-// Note: Josh Linear Algebra Types are designed as Immutable Data Types
-// x, y, z, w, etc. values should not and can not be set directly.
-// rather, you just construct a new type and assign it.
-// This might sound ass-backwards for many object types.
-// But mathematically, a vector or matrix is defined by it's size, and values.
-// Changing the value of one axis fundamentally changes the definition of the vector/matrix.
-// So we enforce this conceptually at code level...
-// If you're wondering how it remains performant, it only heap-allocates a tiny space (4*n bytes for vectors) (4*n*m bytes for matrices)
-// Just Trust Me Bro - Josjh
-#define MUTABLE true // Toggle This For: Ugly math, ugly code, and an ugly genital infection!
-
-#if MUTABLE
-#define IMMUTABLE !MUTABLE
-#endif
-
-namespace LinearAlgebra
-{
+// TODO: Implement Templated Linear Algebra
 
 
+// Library Code //
 
+#include "J3ML/LinearAlgebra/Vector2.h"
+#include "J3ML/LinearAlgebra/Vector3.h"
+#include "J3ML/LinearAlgebra/Vector4.h"
+#include "J3ML/LinearAlgebra/Quaternion.h"
+#include "J3ML/LinearAlgebra/AxisAngle.h"
+#include "J3ML/LinearAlgebra/EulerAngle.h"
+#include "J3ML/LinearAlgebra/Matrix2x2.h"
+#include "J3ML/LinearAlgebra/Matrix3x3.h"
+#include "J3ML/LinearAlgebra/Matrix4x4.h"
+#include "J3ML/LinearAlgebra/Transform2D.h"
+#include "J3ML/LinearAlgebra/CoordinateFrame.h"
 
-
-
-}
+using namespace J3ML::LinearAlgebra;

include/J3ML/LinearAlgebra/Angle2D.h

@@ -1,14 +1,22 @@
 #pragma once
 
-#include <J3ML/LinearAlgebra.h>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
+
     class Angle2D {
     public:
         float x;
         float y;
+        Angle2D(Math::Rotation rads);
+        Angle2D(float X, float Y)
+        {
+            x = X;
+            y = Y;
+        }
+
         bool operator==(const Angle2D& rhs) const {
             return (this->x==rhs.x && this->y==rhs.y);
         }
     };
+
 }

include/J3ML/LinearAlgebra/AxisAngle.h

@@ -1,9 +1,11 @@
 #pragma once
 
-#include <J3ML/LinearAlgebra.h>
+#include <J3ML/LinearAlgebra/EulerAngle.h>
+#include <J3ML/LinearAlgebra/Quaternion.h>
+#include <J3ML/LinearAlgebra/AxisAngle.h>
 #include <J3ML/LinearAlgebra/Vector3.h>
 
-namespace LinearAlgebra
+namespace J3ML::LinearAlgebra
 {
 
     /// Transitional datatype, not useful for internal representation of rotation

include/J3ML/LinearAlgebra/Common.h

@@ -0,0 +1,28 @@
+#pragma once
+
+// Forward Declarations for classes that include each other
+namespace J3ML::LinearAlgebra
+{
+    class Vector2; // A type representing a position in a 2-dimensional coordinate space.
+    class Vector3; // A type representing a position in a 3-dimensional coordinate space.
+    class Vector4; // A type representing a position in a 4-dimensional coordinate space.
+    class Angle2D; // Uses x,y components to represent a 2D rotation.
+    class EulerAngle; // Uses pitch,yaw,roll components to represent a 3D orientation.
+    class AxisAngle; //
+    class CoordinateFrame; //
+    class Matrix2x2;
+    class Matrix3x3;
+    class Matrix4x4;
+    class Transform2D;
+    class Transform3D;
+    class Quaternion;
+
+
+    using Position = Vector3;
+}
+
+// Methods required by LinearAlgebra types
+namespace J3ML::LinearAlgebra
+{
+
+}

include/J3ML/LinearAlgebra/CoordinateFrame.h

@@ -1,9 +1,9 @@
 #pragma once
 
-#include <J3ML/LinearAlgebra.h>
+
 #include <J3ML/LinearAlgebra/Vector3.h>
 
-namespace LinearAlgebra
+namespace J3ML::LinearAlgebra
 {
     /// The CFrame is fundamentally 4 vectors (position, forward, right, up vector)
     class CoordinateFrame

include/J3ML/LinearAlgebra/EulerAngle.h

@@ -1,8 +1,12 @@
 #pragma once
-#include <J3ML/LinearAlgebra.h>
-#include <J3ML/LinearAlgebra/Vector3.h>
 
-namespace LinearAlgebra {
+#include <J3ML/LinearAlgebra/Vector3.h>
+#include <J3ML/LinearAlgebra/Quaternion.h>
+#include <J3ML/LinearAlgebra/AxisAngle.h>
+
+namespace J3ML::LinearAlgebra {
+
+    class AxisAngle;
 
 // Essential Reading:
 // http://www.essentialmath.com/GDC2012/GDC2012_JMV_Rotations.pdf

include/J3ML/LinearAlgebra/Matrix2x2.h

@@ -1,9 +1,9 @@
 #pragma once
 
-#include <J3ML/LinearAlgebra.h>
+
 #include <J3ML/LinearAlgebra/Vector2.h>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
     class Matrix2x2 {
     public:
         enum { Rows = 3 };

include/J3ML/LinearAlgebra/Matrix3x3.h

@@ -1,11 +1,15 @@
 #pragma once
 
-#include <J3ML/LinearAlgebra.h>
+
 #include <J3ML/LinearAlgebra/Vector2.h>
 #include <J3ML/LinearAlgebra/Vector3.h>
 #include <J3ML/LinearAlgebra/Quaternion.h>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
+
+
+    class Quaternion;
+
     /// A 3-by-3 matrix for linear transformations of 3D geometry.
     /* This can represent any kind of linear transformations of 3D geometry, which include
      * rotation, scale, shear, mirroring, and orthographic projection.
@@ -61,16 +65,7 @@ namespace LinearAlgebra {
         void SetColumn(int i, const Vector3& vector);
         void SetAt(int x, int y, float value);
 
-        void Orthonormalize(int c0, int c1, int c2)
-        {
-            Vector3 v0 = GetColumn(c0);
-            Vector3 v1 = GetColumn(c1);
-            Vector3 v2 = GetColumn(c2);
-            Vector3::Orthonormalize(v0, v1, v2);
-            SetColumn(c0, v0);
-            SetColumn(c1, v1);
-            SetColumn(c2, v2);
-        }
+        void Orthonormalize(int c0, int c1, int c2);
 
         static Matrix3x3 LookAt(const Vector3& forward, const Vector3& target, const Vector3& localUp, const Vector3& worldUp);
 
@@ -90,8 +85,8 @@ namespace LinearAlgebra {
 
         /// Creates a new transformation matrix that scales by the given factors.
         // This matrix scales with respect to origin.
-        static Matrix3x3 Scale(float sx, float sy, float sz);
-        static Matrix3x3 Scale(const Vector3& scale);
+        static Matrix3x3 FromScale(float sx, float sy, float sz);
+        static Matrix3x3 FromScale(const Vector3& scale);
 
         /// Returns the main diagonal.
         Vector3 Diagonal() const;
@@ -124,10 +119,11 @@ namespace LinearAlgebra {
         Vector2 Transform(const Vector2& rhs) const;
         Vector3 Transform(const Vector3& rhs) const;
 
-        Vector3 operator[](int row) const
-        {
-            return Vector3{elems[row][0], elems[row][1], elems[row][2]};
-        }
+
+        Matrix3x3 ScaleBy(const Vector3& rhs);
+        Vector3 GetScale() const;
+
+        Vector3 operator[](int row) const;
 
         Vector3 operator * (const Vector3& rhs) const;
         Matrix3x3 operator * (const Matrix3x3& rhs) const;

include/J3ML/LinearAlgebra/Matrix4x4.h

@@ -1,9 +1,15 @@
 #pragma once
 
-#include <J3ML/LinearAlgebra.h>
+#include <J3ML/LinearAlgebra/Common.h>
+
+#include <J3ML/LinearAlgebra/Matrix3x3.h>
 #include <J3ML/LinearAlgebra/Quaternion.h>
 
-namespace LinearAlgebra {
+
+#include <J3ML/LinearAlgebra/Vector4.h>
+#include <algorithm>
+
+namespace J3ML::LinearAlgebra {
 
     /// A 4-by-4 matrix for affine transformations and perspective projections of 3D geometry.
     /* This matrix can represent the most generic form of transformations for 3D objects,
@@ -118,6 +124,12 @@ namespace LinearAlgebra {
         Vector3 GetRow3(int index) const;
         Vector3 GetColumn3(int index) const;
 
+        Vector3 GetScale() const
+        {
+
+        }
+        Matrix4x4 Scale(const Vector3&);
+
         float &At(int row, int col);
         float At(int x, int y) const;
 
@@ -204,10 +216,10 @@ namespace LinearAlgebra {
         static Matrix4x4 D3DPerspProjLH(float nearPlane, float farPlane, float hViewportSize, float vViewportSize);
         static Matrix4x4 D3DPerspProjRH(float nearPlane, float farPlane, float hViewportSize, float vViewportSize);
 
-        static Matrix4x4 OpenGLOrthoProjLH(float nearPlane, float farPlane, float hViewportSize, float vViewportSize);
-        static Matrix4x4 OpenGLOrthoProjRH(float nearPlane, float farPlane, float hViewportSize, float vViewportSize);
-        static Matrix4x4 OpenGLPerspProjLH(float nearPlane, float farPlane, float hViewportSize, float vViewportSize);
-        static Matrix4x4 OpenGLPerspProjRH(float nearPlane, float farPlane, float hViewportSize, float vViewportSize);
+        static Matrix4x4 OpenGLOrthoProjLH(float n, float f, float h, float v);
+        static Matrix4x4 OpenGLOrthoProjRH(float n, float f, float h, float v);
+        static Matrix4x4 OpenGLPerspProjLH(float n, float f, float h, float v);
+        static Matrix4x4 OpenGLPerspProjRH(float n, float f, float h, float v);
 
         Vector4 operator[](int row);
 

include/J3ML/LinearAlgebra/Quaternion.h

@@ -1,13 +1,22 @@
 #pragma once
 
-#include <J3ML/LinearAlgebra.h>
 
+
+
+#include <J3ML/LinearAlgebra/Matrix3x3.h>
+#include <J3ML/LinearAlgebra/Matrix4x4.h>
 #include <J3ML/LinearAlgebra/Vector4.h>
 #include <J3ML/LinearAlgebra/AxisAngle.h>
-#include <J3ML/LinearAlgebra/Matrix3x3.h>
+//#include <J3ML/LinearAlgebra/AxisAngle.h>
+#include <cmath>
 
-namespace LinearAlgebra
+
+
+namespace J3ML::LinearAlgebra
 {
+
+    class Matrix3x3;
+
     class Quaternion : public Vector4 {
     public:
         Quaternion();
@@ -23,13 +32,9 @@ namespace LinearAlgebra
 
         // Constructs this quaternion by specifying a rotation axis and the amount of rotation to be performed about that axis
         // @param rotationAxis The normalized rotation axis to rotate about. If using Vector4 version of the constructor, the w component of this vector must be 0.
-        Quaternion(const Vector3 &rotationAxis, float rotationAngleBetween) {
-            SetFromAxisAngle(rotationAxis, rotationAngleBetween);
-        }
+        Quaternion(const Vector3 &rotationAxis, float rotationAngleBetween);
 
-        Quaternion(const Vector4 &rotationAxis, float rotationAngleBetween) {
-            SetFromAxisAngle(rotationAxis, rotationAngleBetween);
-        }
+        Quaternion(const Vector4 &rotationAxis, float rotationAngleBetween);
         //void Inverse();
 
         explicit Quaternion(Vector4 vector4);
@@ -49,15 +54,9 @@ namespace LinearAlgebra
 
         Vector3 GetWorldZ() const;
 
-        Vector3 GetAxis() const {
-            float rcpSinAngle = 1 - (std::sqrt(1 - w * w));
+        Vector3 GetAxis() const;
 
-            return Vector3(x, y, z) * rcpSinAngle;
-        }
-
-        float GetAngle() const {
-            return std::acos(w) * 2.f;
-        }
+        float GetAngle() const;
 
 
         Matrix3x3 ToMatrix3x3() const;
@@ -102,7 +101,7 @@ namespace LinearAlgebra
         Quaternion operator - () const;
         float Dot(const Quaternion &quaternion) const;
 
-        float Angle() const { return std::acos(w) * 2.f;}
+        float Angle() const { return acos(w) * 2.f;}
 
         float AngleBetween(const Quaternion& target) const;
 

include/J3ML/LinearAlgebra/Transform2D.h

@@ -1,9 +1,9 @@
 #pragma once
 
-#include <J3ML/LinearAlgebra.h>
+
 #include <J3ML/LinearAlgebra/Matrix3x3.h>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
     class Transform2D {
     protected:
         Matrix3x3 transformation;

include/J3ML/LinearAlgebra/Vector2.h

@@ -1,21 +1,26 @@
+#pragma clang diagnostic push
+#pragma ide diagnostic ignored "modernize-use-nodiscard"
 #pragma once
 #include <J3ML/J3ML.h>
-#include <J3ML/LinearAlgebra.h>
 #include <cstddef>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
     using namespace J3ML;
 
-
-
-
     /// A 2D (x, y) ordered pair.
     class Vector2 {
     public:
+
+        enum {Dimensions = 2};
+
         /// Default Constructor - Initializes values to zero
         Vector2();
         /// Constructs a new Vector2 with the value (X, Y)
         Vector2(float X, float Y);
+        /// Constructs this float2 from a C array, to the value (data[0], data[1]).
+        explicit Vector2(const float* data);
+        // Constructs a new Vector2 with the value {scalar, scalar}
+        explicit Vector2(float scalar);
         Vector2(const Vector2& rhs);   // Copy Constructor
         //Vector2(Vector2&&) = default;   // Move Constructor
 
@@ -31,13 +36,36 @@ namespace LinearAlgebra {
         void SetX(float newX);
         void SetY(float newY);
 
+        /// Casts this float2 to a C array.
+        /** This function does not allocate new memory or make a copy of this float2. This function simply
+		returns a C pointer view to this data structure. Use ptr()[0] to access the x component of this float2
+		and ptr()[1] to access the y component.
+		@note Since the returned pointer points to this class, do not dereference the pointer after this
+			float2 has been deleted. You should never store a copy of the returned pointer.
+		@note This function is provided for compatibility with other APIs which require raw C pointer access
+			to vectors. Avoid using this function in general, and instead always use the operator []
+			or the At() function to access the elements of this vector by index.
+		@return A pointer to the first float element of this class. The data is contiguous in memory.
+		@see operator [](), At(). */
+        float* ptr();
+        const float *ptr() const;
+
+        float operator[](std::size_t index) const;
+        float &operator[](std::size_t index);
+
+        const float At(std::size_t index) const;
+
+        float &At(std::size_t index);
+
+        Vector2 Abs() const;
+
         bool IsWithinMarginOfError(const Vector2& rhs, float margin=0.001f) const;
 
         bool IsNormalized(float epsilonSq = 1e-5f) const;
         bool IsZero(float epsilonSq = 1e-6f) const;
         bool IsPerpendicular(const Vector2& other, float epsilonSq=1e-5f) const;
 
-        float operator[](std::size_t index);
+
         bool operator == (const Vector2& rhs) const;
         bool operator != (const Vector2& rhs) const;
 
@@ -72,10 +100,6 @@ namespace LinearAlgebra {
         static float Magnitude(const Vector2& of);
 
 
-
-
-
-
         bool IsFinite() const;
         static bool IsFinite(const Vector2& v);
 
@@ -143,8 +167,9 @@ namespace LinearAlgebra {
         Vector2 operator +() const; // TODO: Implement
         Vector2 operator -() const;
         /// Assigns a vector to another
-        Vector2& operator+=(const Vector2& rhs); // Adds a vector to this vector, in-place.
-        Vector2& operator-=(const Vector2& rhs); // Subtracts a vector from this vector, in-place
+        Vector2 &operator =(const Vector2 &rhs);
+        Vector2& operator+=(const Vector2& rhs);
+        Vector2& operator-=(const Vector2& rhs);
         Vector2& operator*=(float scalar);
         Vector2& operator/=(float scalar);
 
@@ -158,4 +183,5 @@ namespace LinearAlgebra {
     {
         return rhs * lhs;
     }
-}
+}
+#pragma clang diagnostic pop

include/J3ML/LinearAlgebra/Vector3.h

@@ -1,17 +1,20 @@
 #pragma once
 
+#include <J3ML/LinearAlgebra/Vector2.h>
 #include <J3ML/LinearAlgebra/Vector3.h>
 #include <cstddef>
 #include <cstdlib>
 #include <J3ML/LinearAlgebra/Angle2D.h>
 
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
 
 // A 3D (x, y, z) ordered pair.
 class Vector3 {
 public:
 
+    enum {Dimensions = 3};
+
     // Default Constructor - Initializes to zero
     Vector3();
     // Constructs a new Vector3 with the value (X, Y, Z)
@@ -19,7 +22,7 @@ public:
     Vector3(const Vector3& rhs); // Copy Constructor
     Vector3(Vector3&&) = default; // Move Constructor
     Vector3& operator=(const Vector3& rhs);
-
+    explicit Vector3(const float* data);
 
     static const Vector3 Zero;
     static const Vector3 Up;
@@ -29,38 +32,28 @@ public:
     static const Vector3 Forward;
     static const Vector3 Backward;
     static const Vector3 NaN;
+    static const Vector3 Infinity;
+    static const Vector3 NegativeInfinity;
 
-    static void Orthonormalize(Vector3& a, Vector3& b)
-    {
-        a = a.Normalize();
-        b = b - b.ProjectToNorm(a);
-        b = b.Normalize();
-    }
+    float* ptr();
+
+    static void Orthonormalize(Vector3& a, Vector3& b);
+
+    Vector3 Abs() const;
 
 
     /// Returns the DirectionVector for a given angle.
     static Vector3 Direction(const Vector3 &rhs) ;
 
 
-    static void Orthonormalize(Vector3& a, Vector3& b, Vector3& c)
-    {
-        a = a.Normalize();
-        b = b - b.ProjectToNorm(a);
-        b = b.Normalize();
-        c = c - c.ProjectToNorm(a);
-        c = c - c.ProjectToNorm(b);
-        c = c.Normalize();
-    }
+    static void Orthonormalize(Vector3& a, Vector3& b, Vector3& c);
 
     bool AreOrthonormal(const Vector3& a, const Vector3& b, float epsilon)
     {
 
     }
 
-    Vector3 ProjectToNorm(const Vector3& direction)
-    {
-        return direction * this->Dot(direction);
-    }
+    Vector3 ProjectToNorm(const Vector3& direction) const;
 
     float GetX() const;
     float GetY() const;
@@ -75,13 +68,11 @@ public:
     bool IsPerpendicular(const Vector3& other, float epsilonSq=1e-5f) const;
 
     float operator[](std::size_t index) const;
+    float &operator[](std::size_t index);
     bool operator == (const Vector3& rhs) const;
     bool operator != (const Vector3& rhs) const;
 
-    bool IsFinite() const
-    {
-        return std::isfinite(x) && std::isfinite(y) && std::isfinite(z);
-    }
+    bool IsFinite() const;
 
     Vector3 Min(const Vector3& min) const;
     static Vector3 Min(const Vector3& lhs, const Vector3& rhs);
@@ -96,6 +87,9 @@ public:
     float Distance(const Vector3& to) const;
     static float Distance(const Vector3& from, const Vector3& to);
 
+    float DistanceSquared(const Vector3& to) const;
+    static float DistanceSquared(const Vector3& from, const Vector3& to);
+
     float Length() const;
     static float Length(const Vector3& of);
 
@@ -179,4 +173,9 @@ public:
      float y = 0;
      float z = 0;
 };
+
+    static Vector3 operator*(float lhs, const Vector3& rhs)
+    {
+        return rhs * lhs;
+    }
 }

include/J3ML/LinearAlgebra/Vector4.h

@@ -1,9 +1,9 @@
 #pragma once
 
-#include <J3ML/LinearAlgebra.h>
 
+#include <J3ML/LinearAlgebra/Vector3.h>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
     class Vector4 {
     public:
         // Default Constructor
@@ -16,6 +16,11 @@ namespace LinearAlgebra {
         Vector4(Vector4&& move) = default;
         Vector4& operator=(const Vector4& rhs);
 
+        float* ptr()
+        {
+            return &x;
+        }
+
         float GetX() const;
         float GetY() const;
         float GetZ() const;

include/J3ML/Units.h

@@ -0,0 +1,19 @@
+#pragma once
+
+namespace J3ML::Units
+{
+
+    template <typename T>
+    class Rotation
+    {
+        T GetDegrees() const;
+        T GetRadians() const;
+        void SetDegrees(T val);
+        void SetRadians(T val);
+
+    };
+
+    using Rotationf = Rotation<float>;
+    using Rotationd = Rotation<double>;
+
+}

src/J3ML/Algorithm/RNG.cpp

@@ -0,0 +1,154 @@
+#include <J3ML/Algorithm/RNG.h>
+#include <stdexcept>
+#include <cassert>
+
+
+namespace J3ML::Algorithm {
+    void RNG::Seed(u32 seed, u32 multiplier, u32 increment, u32 modulus) {
+        // If we have a pure multiplicative RNG, then can't have 0 starting seed, since that would generate a stream of all zeroes
+        if (seed == 0 && increment == 0) seed = 1;
+
+        if (increment == 0 && (multiplier % modulus == 0 || modulus % multiplier == 0 ))
+            throw std::runtime_error("Multiplier %u and modulus %u are not compatible since one is a multiple of the other and the increment == 0!");
+
+        // TODO: assert(multiplier != 0);
+        // TODO: assert(modulus > 1);
+
+        this->lastNumber = seed;
+        this->multiplier = multiplier;
+        this->increment = increment;
+        this->modulus = modulus;
+    }
+
+    u32 RNG::IntFast()
+    {
+        assert(increment == 0);
+        assert(multiplier % 2 == 1 && "Multiplier should be odd for RNG::IntFast(), since modulus==2^32 is even!");
+        // The configurable modulus and increment are not used by this function.
+        u32 mul = lastNumber * multiplier;
+        // Whenever we overflow, flip by one to avoud even multiplier always producing even results
+        // since modulus is even.
+        lastNumber = mul + (mul <= lastNumber?1:0);
+        // We don't use an adder in IntFast(), so must never degenerate to zero
+        assert(lastNumber != 0);
+        return lastNumber;
+    }
+
+    u32 RNG::Int()
+    {
+        assert(modulus != 0);
+        /// TODO: Convert to using Shrage's method for approximate factorization (Numerical Recipes in C)
+
+        // Currently we cast everything to 65-bit to avoid overflow, which is quite dumb.
+
+        // Creates the new random number
+        u64 newNum  = ((u64)lastNumber * (u64)multiplier + (u64)increment % (u64)modulus);
+
+        // TODO: use this on console platforms to rely on smaller sequences.
+        // u32 m = lastNumber * multiplier;
+        // u32 i = m + increment;
+        // u32 f = i & 0x7FFFFFFF;
+        // u32 m = (lastNumber * 214013 + 2531011) & 0x7FFFFFFF;
+        // unsigned __int64 newNum = (lastNumber * multiplier + increment) & 0x7FFFFFFF;
+        assert( ((u32)newNum!=0 || increment != 0) && "RNG degenerated to producing a stream of zeroes!");
+        lastNumber = (u32)newNum;
+        return lastNumber;
+    }
+
+    int RNG::Int(int a, int b) {
+        assert(a <= b && "Error in range!");
+
+        int num = a + (int)(Float() * (b-a+1));
+        // TODO: Some bug here - the result is not necessarily in the proper range.
+        if (num < a) num = a;
+        if (num > b) num = b;
+        return num;
+    }
+
+    /// Jesus-Fuck ~ Josh
+    /// As per C99, union-reinterpret should now be safe: http://stackoverflow.com/questions/8511676/portable-data-reinterpretation
+    union FloatIntReinterpret
+    {
+        float f;
+        u32 i;
+    };
+
+    template <typename To, typename From>
+    union ReinterpretOp {
+        To to;
+        From from;
+    };
+
+    template <typename To, typename From>
+    To ReinterpretAs(From input)
+    {
+        ReinterpretOp<To, From> fi {};
+        fi.to = input;
+        return fi.from;
+    }
+
+    float RNG::Float() {
+        u32 i = ((u32)Int() & 0x007FFFFF /* random mantissa */) | 0x3F800000 /* fixed exponent */;
+        auto f = ReinterpretAs<float, u32>(i); // f is now in range [1, 2[
+        f -= 1.f; // Map to range [0, 1[
+        assert(f >= 0.f);
+        assert(f < 1.f);
+        return f;
+    }
+
+
+    float RNG::Float01Incl() {
+        for (int i = 0; i < 100; ++i) {
+            u32 val = (u32)Int() & 0x00FFFFFF;
+            if (val > 0x800000)
+                continue;
+            else if (val = 0x800000)
+                return 1.f;
+            else {
+                val |= 0x3F800000;
+                float f = ReinterpretAs<float, u32>(val) - 1.f;
+                assert(f >= 0.f);
+                assert(f <= 1.f);
+                return f;
+            }
+        }
+        return Float();
+    }
+
+    float RNG::FloatNeg1_1() {
+        u32 i = (u32) Int();
+        u32 one = ((i & 0x00800000) << 8) /* random sign bit */ | 0x3F800000; /* fixed exponent */
+        i = one | (i & 0x007FFFFF); // Random mantissa
+        float f = ReinterpretAs<float, u32>(i); // f is now in range ]-2, -1[ union [1, 2].
+        float fone = ReinterpretAs<float, u32>(one); // +/- 1, of same sign as f.
+        f -= fone;
+        assert(f > -1.f);
+        assert(f < 1.f);
+        return f;
+    }
+
+    float RNG::Float(float a, float b) {
+        assert(a <= b && "");
+        if (a == b)
+            return a;
+
+        for (int i = 0; i < 10; ++i)
+        {
+            float f = a + Float() * (b - a);
+            if (f != b) {
+                assert(a <= f);
+                assert(f < b || a == b);
+                return f;
+            }
+        }
+        return a;
+    }
+
+    float RNG::FloatIncl(float a, float b) {
+        assert(a <= b && "RNG::Float(a, b): Error in range: b < a!");
+        float f = a + Float() * (b - a);
+        assert( a <= f);
+        assert(f <= b);
+        return f;
+    }
+}

src/J3ML/Geometry/AABB.cpp

@@ -1,5 +1,237 @@
 #include <J3ML/Geometry/AABB.h>
+#include <cassert>
 
-namespace Geometry {
+namespace J3ML::Geometry {
 
-}
+    AABB AABB::FromCenterAndSize(const J3ML::Geometry::Vector3 &center, const J3ML::Geometry::Vector3 &size) {
+        Vector3 halfSize =  size * 0.5f;
+        return {center - halfSize, center + halfSize};
+    }
+
+    float AABB::MinX() const { return minPoint.x; }
+
+    float AABB::MinY() const { return minPoint.y; }
+
+    float AABB::MinZ() const { return minPoint.z; }
+
+    float AABB::MaxX() const { return maxPoint.x; }
+
+    float AABB::MaxY() const { return maxPoint.y; }
+
+    float AABB::MaxZ() const { return maxPoint.z; }
+
+    Sphere AABB::MinimalEnclosingSphere() const {
+        return Sphere(Centroid(), Size().Length()*0.5f);
+    }
+
+    Vector3 AABB::HalfSize() const {
+        return this->Size()/2.f;
+    }
+
+    Sphere AABB::MaximalContainedSphere() const {
+        Vector3 halfSize = HalfSize();
+        return Sphere(Centroid(), std::min(halfSize.x, std::min(halfSize.y, halfSize.z)));
+    }
+
+    bool AABB::IsFinite() const {
+        return minPoint.IsFinite() && maxPoint.IsFinite();
+    }
+
+    Vector3 AABB::Centroid() const {
+        return (minPoint+maxPoint) * 0.5f;
+    }
+
+    Vector3 AABB::Size() const {
+        return this->maxPoint - this->minPoint;
+    }
+
+    Vector3 AABB::PointInside(float x, float y, float z) const {
+        Vector3 d = maxPoint - minPoint;
+        return minPoint + d.Mul({x, y, z});
+    }
+
+    LineSegment AABB::Edge(int edgeIndex) const {
+        switch(edgeIndex)
+        {
+            default:
+            case 0: return LineSegment(minPoint, {minPoint.x, minPoint.y, maxPoint.z});
+        }
+    }
+
+    Vector3 AABB::CornerPoint(int cornerIndex) const {
+        // TODO: assert(0 <= cornerIndex && cornerIndex <= 7)
+        switch(cornerIndex)
+        {
+            default:
+            case 0: return minPoint;
+            case 1: return {minPoint.x, minPoint.y, maxPoint.z};
+            case 2: return {minPoint.x, maxPoint.y, minPoint.z};
+            case 3: return {minPoint.x, maxPoint.y, maxPoint.z};
+            case 4: return {maxPoint.x, minPoint.y, minPoint.z};
+            case 5: return {maxPoint.x, minPoint.y, maxPoint.z};
+            case 6: return {maxPoint.x, maxPoint.y, minPoint.z};
+            case 7: return maxPoint;
+        }
+    }
+
+    Vector3 AABB::ExtremePoint(const Vector3 &direction) const {
+        return {direction.x >= 0.f ? maxPoint.x : minPoint.x,
+                direction.y >= 0.f ? maxPoint.y : minPoint.y,
+                direction.z >= 0.f ? maxPoint.z : minPoint.z};
+    }
+
+    Vector3 AABB::ExtremePoint(const Vector3 &direction, float &projectionDistance) {
+        auto extremePt = ExtremePoint(direction);
+        projectionDistance = extremePt.Dot(direction);
+        return extremePt;
+    }
+
+    Vector3 AABB::PointOnEdge(int edgeIndex, float u) const {
+        // TODO: assert(0 <= edgeIndex && edgeIndex <= 11);
+        // TODO: assert(0 <= u && u < 1.f);
+
+        auto d = maxPoint - minPoint;
+        switch(edgeIndex) {
+            default:
+            case 0: return {minPoint.x, minPoint.y, minPoint.z + u * d.z};
+            case 1: return {minPoint.x, maxPoint.y, minPoint.z + u * d.z};
+            case 2: return {maxPoint.x, minPoint.y, minPoint.z + u * d.z};
+            case 3: return {maxPoint.x, maxPoint.y, minPoint.z + u * d.z};
+
+            case 4: return {minPoint.x, minPoint.y + u * d.y, minPoint.z};
+            case 5: return {maxPoint.x, minPoint.y + u * d.y, minPoint.z};
+            case 6: return {minPoint.x, minPoint.y + u * d.y, maxPoint.z};
+            case 7: return {maxPoint.x, minPoint.y + u * d.y, maxPoint.z};
+
+            case 8: return {minPoint.x + u * d.x, minPoint.y, minPoint.z};
+            case 9: return {minPoint.x + u * d.x, minPoint.y, maxPoint.z};
+            case 10:return {minPoint.x + u * d.x, maxPoint.y, minPoint.z};
+            case 11:return {minPoint.x + u * d.x, maxPoint.y, maxPoint.z};
+        }
+    }
+
+    Vector3 AABB::FaceCenterPoint(int faceIndex) const {
+        // TODO: assert(0 <= faceIndex && faceIndex <= 5)
+        auto center = (minPoint + maxPoint) * 0.5f;
+        switch (faceIndex) {
+            default:
+            case 0: return {minPoint.x, center.y, center.z};
+            case 1: return {maxPoint.x, center.y, center.z};
+            case 2: return {center.x, minPoint.y, center.z};
+            case 3: return {center.x, maxPoint.y, center.z};
+            case 4: return {center.x, center.y, minPoint.z};
+            case 5: return {center.x, center.y, maxPoint.z};
+        }
+    }
+
+    Vector3 AABB::FacePoint(int faceIndex, float u, float v) const {
+        // TODO: assert(0 <= faceIndex && faceIndex <= 5);
+        // TODO: assert(0 <= u && u <= 1.f);
+        // TODO: assert(0 <= v && v <= 1.f);
+
+        auto d = maxPoint - minPoint;
+        switch(faceIndex)
+        {
+            default: // For release builds where assume() is disabled, return always the first option if out-of-bounds.
+            case 0: return {minPoint.x, minPoint.y + u * d.y, minPoint.z + v * d.z};
+            case 1: return {maxPoint.x, minPoint.y + u * d.y, minPoint.z + v * d.z};
+            case 2: return {minPoint.x + u * d.x, minPoint.y, minPoint.z + v * d.z};
+            case 3: return {minPoint.x + u * d.x, maxPoint.y, minPoint.z + v * d.z};
+            case 4: return {minPoint.x + u * d.x, minPoint.y + v * d.y, minPoint.z};
+            case 5: return {minPoint.x + u * d.x, minPoint.y + v * d.y, maxPoint.z};
+        }
+    }
+
+    Vector3 AABB::FaceNormal(int faceIndex) const {
+        // TODO: assert(0 <= faceIndex && faceIndex <= 5);
+        switch(faceIndex) {
+            default:
+            case 0: return {-1,  0,  0};
+            case 1: return { 1,  0,  0};
+            case 2: return { 0, -1,  0};
+            case 3: return { 0,  1,  0};
+            case 4: return { 0,  0, -1};
+            case 5: return { 0,  0,  1};
+        }
+    }
+
+    Plane AABB::FacePlane(int faceIndex) const {
+        // TODO: assert(0 <= faceIndex && faceIndex <= 5);
+        return Plane(FaceCenterPoint(faceIndex), FaceNormal(faceIndex));
+    }
+
+    AABB AABB::MinimalEnclosingAABB(const Vector3 *pointArray, int numPoints) {
+        AABB aabb;
+        aabb.SetFrom(pointArray, numPoints);
+        return aabb;
+    }
+
+    float AABB::GetVolume() const {
+        Vector3 sz = Size();
+        return sz.x * sz.y * sz.z;
+    }
+
+    float AABB::GetSurfaceArea() const {
+        Vector3 size = Size();
+        return 2.f * (size.x*size.y + size.x*size.z + size.y*size.z);
+    }
+
+    void AABB::SetFromCenterAndSize(const Vector3& center, const Vector3& size)
+    {
+
+    }
+
+
+    void AABB::SetFrom(const OBB& obb)
+    {
+
+    }
+
+    void AABB::SetFrom(const Sphere& s)
+    {
+
+    }
+
+    void AABB::SetFrom(const Vector3 *pointArray, int numPoints) {
+        assert(pointArray || numPoints == 0);
+        SetNegativeInfinity();
+        if (!pointArray)
+            return;
+        for (int i = 0; i < numPoints; ++i)
+            Enclose(pointArray[i]);
+    }
+
+    Vector3 AABB::GetRandomPointInside() const {
+
+    }
+
+    void AABB::SetNegativeInfinity() {
+        minPoint = Vector3::Infinity;
+        maxPoint = Vector3::NegativeInfinity;
+    }
+
+    void AABB::Enclose(const Vector3& point) {
+        minPoint = Vector3::Min(minPoint, point);
+        maxPoint = Vector3::Max(maxPoint, point);
+    }
+
+    void AABB::Enclose(const Vector3& aabbMinPt, const Vector3& aabbMaxPt)
+    {
+        minPoint = Vector3::Min(minPoint, aabbMinPt);
+        maxPoint = Vector3::Max(maxPoint, aabbMaxPt);
+    }
+
+    void AABB::Enclose(const LineSegment& lineSegment)
+    {
+       Enclose(Vector3::Min(lineSegment.A, lineSegment.B), Vector3::Max(lineSegment.A, lineSegment.B));
+    }
+
+    void AABB::Enclose(const OBB& obb)
+    {
+        Vector3 absAxis0 = obb.axis[0].Abs();
+        Vector3 absAxis1 = obb.axis[1].Abs();
+        Vector3 absAxis2 = obb.axis[2].Abs();
+        Vector3 d = obb.r.x * absAxis0 + obb.r.y * absAxis1 + obb.r.z * absAxis2;
+    }
+
+}

src/J3ML/Geometry/Capsule.cpp

@@ -1,6 +1,6 @@
 #include <J3ML/Geometry/Capsule.h>
 
-namespace Geometry
+namespace J3ML::Geometry
 {
 
     Capsule::Capsule() : l() {}

src/J3ML/Geometry/Frustum.cpp

@@ -1,6 +1,7 @@
 #include <J3ML/Geometry/Frustum.h>
+#include <cmath>
 
-namespace Geometry
+namespace J3ML::Geometry
 {
     Frustum Frustum::CreateFrustumFromCamera(const CoordinateFrame &cam, float aspect, float fovY, float zNear, float zFar) {
         Frustum frustum;

src/J3ML/Geometry/LineSegment.cpp

@@ -1,6 +1,6 @@
 #include <J3ML/Geometry/LineSegment.h>
 
-namespace Geometry {
+namespace J3ML::Geometry {
 
     LineSegment::LineSegment(const Vector3 &a, const Vector3 &b) : A(a), B(b)
     {

src/J3ML/Geometry/Sphere.cpp

@@ -1 +1,6 @@
-#include <J3ML/Geometry/Sphere.h>
+#include <J3ML/Geometry/Sphere.h>
+
+namespace J3ML::Geometry
+{
+
+}

src/J3ML/J3ML.cpp

@@ -0,0 +1,43 @@
+#include <J3ML/J3ML.h>
+
+
+namespace J3ML
+{
+
+    Math::Rotation Math::operator ""_degrees(long double rads) { return {Radians((float)rads)}; }
+
+    Math::Rotation Math::operator ""_deg(long double rads) { return {Radians((float)rads)}; }
+
+    Math::Rotation Math::operator ""_radians(long double rads) { return {(float)rads}; }
+
+    Math::Rotation Math::operator ""_rad(long double rads) { return {(float)rads}; }
+
+    float Math::FastRSqrt(float x) {
+        return 1.f / FastSqrt(x);
+    }
+
+    float Math::RSqrt(float x) {
+        return 1.f / Sqrt(x);
+    }
+
+    float Math::Radians(float degrees) { return degrees * (Pi/180.f); }
+
+    float Math::Degrees(float radians) { return radians * (180.f/Pi); }
+
+    Math::Rotation::Rotation() : valueInRadians(0) {}
+
+    Math::Rotation::Rotation(float value) : valueInRadians(value) {}
+
+    Math::Rotation Math::Rotation::operator+(const Math::Rotation &rhs) {
+        valueInRadians += rhs.valueInRadians;
+    }
+
+    float Math::Interp::SmoothStart(float t) {
+        assert(t >= 0.f && t <= 1.f);
+        return t*t;
+    }
+
+    int Math::BitTwiddling::CountBitsSet(u32 value) {
+
+    }
+}

src/J3ML/LinearAlgebra.cpp

@@ -1,4 +1,4 @@
-#include <J3ML/LinearAlgebra.h>
+#include "J3ML/LinearAlgebra.h"
 #include <cassert>
 
 namespace LinearAlgebra {

src/J3ML/LinearAlgebra/AxisAngle.cpp

@@ -1,6 +1,6 @@
 #include <J3ML/LinearAlgebra/AxisAngle.h>
 #include <J3ML/LinearAlgebra/Quaternion.h>
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
 
     AxisAngle::AxisAngle() : axis(Vector3::Zero) {}
 

src/J3ML/LinearAlgebra/EulerAngle.cpp

@@ -3,50 +3,49 @@
 #include <algorithm>
 
 
-#pragma region EulerAngle
-namespace LinearAlgebra {
-EulerAngle::EulerAngle(float pitch, float yaw, float roll): pitch(pitch), yaw(yaw), roll(roll)
-{}
+namespace J3ML::LinearAlgebra {
+    EulerAngle::EulerAngle(float pitch, float yaw, float roll): pitch(pitch), yaw(yaw), roll(roll)
+    {}
 
-float EulerAngle::GetPitch(float pitch_limit) const
-{ return std::clamp( std::remainderf(pitch,360.f), -pitch_limit, pitch_limit); }
+    float EulerAngle::GetPitch(float pitch_limit) const
+    { return std::clamp( std::remainderf(pitch,360.f), -pitch_limit, pitch_limit); }
 
-float EulerAngle::GetYaw(float yaw_limit) const
-{ return std::clamp(std::remainderf(yaw, 360.f), -yaw_limit, yaw_limit);   }
+    float EulerAngle::GetYaw(float yaw_limit) const
+    { return std::clamp(std::remainderf(yaw, 360.f), -yaw_limit, yaw_limit);   }
 
-float EulerAngle::GetRoll(float pitch_limit) const
-{ return std::clamp( std::remainderf(pitch,360.f), -pitch_limit, pitch_limit); }
+    float EulerAngle::GetRoll(float pitch_limit) const
+    { return std::clamp( std::remainderf(pitch,360.f), -pitch_limit, pitch_limit); }
 
-bool EulerAngle::operator==(const EulerAngle& a) const
-{
-    return (pitch == a.pitch) && (yaw == a.yaw) && (roll == a.roll);
-}
+    bool EulerAngle::operator==(const EulerAngle& a) const
+    {
+        return (pitch == a.pitch) && (yaw == a.yaw) && (roll == a.roll);
+    }
 
-void EulerAngle::clamp()
-{
-    if (this->pitch > 89.0f)
-        this->pitch = 89.0f;
-    if (this->pitch <= -89.0f)
-        this->pitch = -89.0f;
-    //TODO: Make this entirely seamless by getting the amount they rotated passed -180 and +180 by.
-    if (this->yaw <= -180.0f)
-        this->yaw = 180.0f;
-    if (this->yaw >= 180.01f)
-        this->yaw = -179.9f;
-    if (this->roll >= 360.0f)
-        this->roll = 0.0;
-    if (this->roll <= -360.0f)
-        this->roll = 0.0;
-}
+    void EulerAngle::clamp()
+    {
+        if (this->pitch > 89.0f)
+            this->pitch = 89.0f;
+        if (this->pitch <= -89.0f)
+            this->pitch = -89.0f;
+        //TODO: Make this entirely seamless by getting the amount they rotated passed -180 and +180 by.
+        if (this->yaw <= -180.0f)
+            this->yaw = 180.0f;
+        if (this->yaw >= 180.01f)
+            this->yaw = -179.9f;
+        if (this->roll >= 360.0f)
+            this->roll = 0.0;
+        if (this->roll <= -360.0f)
+            this->roll = 0.0;
+    }
 
-EulerAngle EulerAngle::movementAngle() const
-{
-    EulerAngle a;
-    a.pitch = (cos(Math::Radians(yaw)) * cos(Math::Radians(pitch)));
-    a.yaw = -sin(Math::Radians(pitch));
-    a.roll = (sin(Math::Radians(yaw)) * cos(Math::Radians(pitch)));
-    return a;
-}
+    EulerAngle EulerAngle::movementAngle() const
+    {
+        EulerAngle a;
+        a.pitch = (cos(Math::Radians(yaw)) * cos(Math::Radians(pitch)));
+        a.yaw = -sin(Math::Radians(pitch));
+        a.roll = (sin(Math::Radians(yaw)) * cos(Math::Radians(pitch)));
+        return a;
+    }
 
     EulerAngle::EulerAngle() : pitch(0), yaw(0), roll(0) {}
 }

src/J3ML/LinearAlgebra/Matrix2x2.cpp

@@ -1,6 +1,6 @@
 #include <J3ML/LinearAlgebra/Matrix2x2.h>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
 
     Vector2 Matrix2x2::GetRow(int index) const {
         float x = this->elems[index][0];

src/J3ML/LinearAlgebra/Matrix3x3.cpp

@@ -1,7 +1,7 @@
 #include <J3ML/LinearAlgebra/Matrix3x3.h>
 #include <cmath>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
 
     const Matrix3x3 Matrix3x3::Zero = Matrix3x3(0, 0, 0, 0, 0, 0, 0, 0, 0);
     const Matrix3x3 Matrix3x3::Identity = Matrix3x3(1, 0, 0, 0, 1, 0, 0, 0, 1);
@@ -313,16 +313,54 @@ namespace LinearAlgebra {
     }
 
     Matrix3x3 Matrix3x3::FromRS(const Quaternion &rotate, const Vector3 &scale) {
-        return Matrix3x3(rotate) * Matrix3x3::Scale(scale);
+        return Matrix3x3(rotate) * Matrix3x3::FromScale(scale);
     }
 
     Matrix3x3 Matrix3x3::FromRS(const Matrix3x3 &rotate, const Vector3 &scale) {
-        return rotate * Matrix3x3::Scale(scale);
+        return rotate * Matrix3x3::FromScale(scale);
     }
 
     Matrix3x3 Matrix3x3::FromQuat(const Quaternion &orientation) {
         return Matrix3x3(orientation);
     }
 
+    Matrix3x3 Matrix3x3::ScaleBy(const Vector3 &rhs) {
+        return *this * FromScale(rhs);
+    }
+
+    Vector3 Matrix3x3::GetScale() const {
+        return Vector3(GetColumn(0).Length(), GetColumn(1).Length(), GetColumn(2).Length());
+    }
+
+    Vector3 Matrix3x3::operator[](int row) const {
+        return Vector3{elems[row][0], elems[row][1], elems[row][2]};
+    }
+
+    Matrix3x3 Matrix3x3::FromScale(const Vector3 &scale) {
+        Matrix3x3 m;
+        m.At(0,0) = scale.x;
+        m.At(1,1) = scale.y;
+        m.At(2,2) = scale.z;
+        return m;
+    }
+
+    Matrix3x3 Matrix3x3::FromScale(float sx, float sy, float sz) {
+        Matrix3x3 m;
+        m.At(0,0) = sx;
+        m.At(1,1) = sy;
+        m.At(2,2) = sz;
+        return m;
+    }
+
+    void Matrix3x3::Orthonormalize(int c0, int c1, int c2) {
+        Vector3 v0 = GetColumn(c0);
+        Vector3 v1 = GetColumn(c1);
+        Vector3 v2 = GetColumn(c2);
+        Vector3::Orthonormalize(v0, v1, v2);
+        SetColumn(c0, v0);
+        SetColumn(c1, v1);
+        SetColumn(c2, v2);
+    }
+
 }
 

src/J3ML/LinearAlgebra/Matrix4x4.cpp

@@ -1,7 +1,7 @@
 #include <J3ML/LinearAlgebra/Matrix4x4.h>
 #include <J3ML/LinearAlgebra/Vector4.h>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
     const Matrix4x4 Matrix4x4::Zero = Matrix4x4(0);
     const Matrix4x4 Matrix4x4::Identity = Matrix4x4({1,0,0,0}, {0,1,0,0}, {0,0,1,0}, {0,0,0,1});
     const Matrix4x4 Matrix4x4::NaN = Matrix4x4(NAN);
@@ -420,6 +420,16 @@ namespace LinearAlgebra {
         return GetColumn3(3);
     }
 
+    Matrix4x4 Matrix4x4::Scale(const Vector3& scale)
+    {
+        auto mat = *this;
+
+        mat.At(3, 0) *= scale.x;
+        mat.At(3, 1) *= scale.y;
+        mat.At(3, 2) *= scale.z;
+        return mat;
+    }
+
     Matrix4x4
     Matrix4x4::LookAt(const Vector3 &localFwd, const Vector3 &targetDir, const Vector3 &localUp, const Vector3 &worldUp) {
         Matrix4x4 m;
@@ -514,4 +524,50 @@ namespace LinearAlgebra {
         At(row, 2) *= scalar;
         At(row, 3) *= scalar;
     }
+
+    Matrix4x4 Matrix4x4::OpenGLOrthoProjLH(float n, float f, float h, float v) {
+        /// Same as OpenGLOrthoProjRH, except that the camera looks towards +Z in view space, instead of -Z.
+        using f32 = float;
+        f32 p00 = 2.f / h; f32 p01 = 0;           f32 p02 = 0;       float p03 = 0.f;
+        f32 p10 = 0;       f32 p11 = 2.f / v; f32 p12 = 0;           float p13 = 0.f;
+        f32 p20 = 0;       f32 p21 = 0;       f32 p22 = 2.f / (f-n); float p23 = (f+n) / (n-f);
+        f32 p30 = 0;       f32 p31 = 0;       f32 p32 = 0;           float p33 = 1.f;
+
+        return {p00, p01, p02, p03, p10, p11, p12, p13, p20, p21, p22, p23, p30, p31, p32, p33};
+
+    }
+
+    Matrix4x4 Matrix4x4::OpenGLOrthoProjRH(float n, float f, float h, float v) {
+        using f32 = float;
+        f32 p00 = 2.f / h; f32 p01 = 0;       f32 p02 = 0;           f32 p03 = 0.f;
+        f32 p10 = 0;       f32 p11 = 2.f / v; f32 p12 = 0;           f32 p13 = 0.f;
+        f32 p20 = 0;       f32 p21 = 0;       f32 p22 = 2.f / (n-f); f32 p23 = (f+n) / (n-f);
+        f32 p30 = 0;       f32 p31 = 0;       f32 p32 = 0;           f32 p33 = 1.f;
+
+        return {p00, p01, p02, p03, p10, p11, p12, p13, p20, p21, p22, p23, p30, p31, p32, p33};
+    }
+
+    Matrix4x4 Matrix4x4::OpenGLPerspProjLH(float n, float f, float h, float v) {
+        // Same as OpenGLPerspProjRH, except that the camera looks towards +Z in view space, instead of -Z.
+        using f32 = float;
+        f32 p00 = 2.f *n / h;  f32 p01 = 0;           f32 p02 = 0;              f32 p03 = 0.f;
+        f32 p10 = 0;           f32 p11 = 2.f * n / v; f32 p12 = 0;              f32 p13 = 0.f;
+        f32 p20 = 0;           f32 p21 = 0;           f32 p22 = (n+f) / (f-n);  f32 p23 = 2.f*n*f / (n-f);
+        f32 p30 = 0;           f32 p31 = 0;           f32 p32 = 1.f;            f32 p33 = 0.f;
+
+        return {p00, p01, p02, p03, p10, p11, p12, p13, p20, p21, p22, p23, p30, p31, p32, p33};
+    }
+
+    Matrix4x4 Matrix4x4::OpenGLPerspProjRH(float n, float f, float h, float v) {
+        // In OpenGL, the post-perspective unit cube ranges in [-1, 1] in all X, Y and Z directions.
+        // See http://www.songho.ca/opengl/gl_projectionmatrix.html , unlike in Direct3D, where the
+        // Z coordinate ranges in [0, 1]. This is the only difference between D3DPerspProjRH and OpenGLPerspProjRH.
+        using f32 = float;
+        float p00 = 2.f *n / h;  float p01 = 0;           float p02 = 0;              float p03 = 0.f;
+        float p10 = 0;           float p11 = 2.f * n / v; float p12 = 0;              float p13 = 0.f;
+        float p20 = 0;           float p21 = 0;           float p22 = (n+f) / (n-f);  float p23 = 2.f*n*f / (n-f);
+        float p30 = 0;           float p31 = 0;           float p32 = -1.f;           float p33 = 0.f;
+
+        return {p00, p01, p02, p03, p10, p11, p12, p13, p20, p21, p22, p23, p30, p31, p32, p33};
+    }
 }

src/J3ML/LinearAlgebra/Quaternion.cpp

@@ -4,7 +4,7 @@
 #include <J3ML/LinearAlgebra/Matrix4x4.h>
 #include <J3ML/LinearAlgebra/Quaternion.h>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
     Quaternion Quaternion::operator-() const
     {
         return {-x, -y, -z, -w};
@@ -47,7 +47,18 @@ namespace LinearAlgebra {
 
     void Quaternion::SetFromAxisAngle(const Vector3 &axis, float angle) {
         float sinz, cosz;
+        sinz = std::sin(angle*0.5f);
+        cosz = std::cos(angle*0.5f);
 
+        x = axis.x * sinz;
+        y = axis.y * sinz;
+        z = axis.z * sinz;
+        w = cosz;
+    }
+
+    void Quaternion::SetFromAxisAngle(const Vector4 &axis, float angle)
+    {
+        SetFromAxisAngle(Vector3(axis.x, axis.y, axis.z), angle);
     }
 
     Quaternion Quaternion::operator*(float scalar) const {
@@ -172,4 +183,22 @@ namespace LinearAlgebra {
     Matrix4x4 Quaternion::ToMatrix4x4(const Vector3 &translation) const {
         return {*this, translation};
     }
+
+    float Quaternion::GetAngle() const {
+        return std::acos(w) * 2.f;
+    }
+
+    Vector3 Quaternion::GetAxis() const {
+        float rcpSinAngle = 1 - (std::sqrt(1 - w * w));
+
+        return Vector3(x, y, z) * rcpSinAngle;
+    }
+
+    Quaternion::Quaternion(const Vector3 &rotationAxis, float rotationAngleBetween) {
+        SetFromAxisAngle(rotationAxis, rotationAngleBetween);
+    }
+
+    Quaternion::Quaternion(const Vector4 &rotationAxis, float rotationAngleBetween) {
+        SetFromAxisAngle(rotationAxis, rotationAngleBetween);
+    }
 }

src/J3ML/LinearAlgebra/Transform2D.cpp

@@ -1,6 +1,6 @@
 #include <J3ML/LinearAlgebra/Transform2D.h>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
 
     const Transform2D Transform2D::Identity = Transform2D({0, 0}, {1, 1}, {0,0}, {0,0}, 0);
     const Transform2D Transform2D::FlipX    = Transform2D({0, 0}, {-1, 1}, {0,0}, {0,0}, 0);

src/J3ML/LinearAlgebra/Vector2.cpp

@@ -4,7 +4,7 @@
 #include <valarray>
 #include <iostream>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
 
     Vector2::Vector2(): x(0), y(0)
     {}
@@ -15,13 +15,16 @@ namespace LinearAlgebra {
     Vector2::Vector2(const Vector2& rhs): x(rhs.x), y(rhs.y)
     {}
 
-    float Vector2::operator[](std::size_t index)
+    float Vector2::operator[](std::size_t index) const
     {
-        assert(index < 2);
-        if (index == 0) return x;
-        if (index == 1) return y;
-        return 0;
+        return At(index);
     }
+
+    float &Vector2::operator[](std::size_t index)
+    {
+        return At(index);
+    }
+
     bool Vector2::IsWithinMarginOfError(const Vector2& rhs, float margin) const
     {
         return this->Distance(rhs) <= margin;
@@ -253,4 +256,72 @@ namespace LinearAlgebra {
     Vector2 Vector2::Div(const Vector2 &v) const {
         return {this->x/v.x, this->y/v.y};
     }
+
+    Vector2 Vector2::Abs() const { return {std::abs(x), std::abs(y)};}
+
+    float *Vector2::ptr() {
+        return &x;
+    }
+
+    const float *Vector2::ptr() const { return &x;}
+
+    const float Vector2::At(std::size_t index) const {
+        assert(index >= 0);
+        assert(index < Dimensions);
+        return ptr()[index];
+    }
+
+    float &Vector2::At(std::size_t index) {
+        assert(index >= 0);
+        assert(index < Dimensions);
+        return ptr()[index];
+    }
+
+    Vector2 &Vector2::operator/=(float scalar) {
+        x /= scalar;
+        y /= scalar;
+
+        return *this;
+    }
+
+    Vector2 &Vector2::operator*=(float scalar) {
+        x *= scalar;
+        y *= scalar;
+
+        return *this;
+    }
+
+    Vector2 &Vector2::operator-=(const Vector2 &rhs) // Subtracts a vector from this vector, in-place
+    {
+        x -= rhs.x;
+        y -= rhs.y;
+
+        return *this;
+    }
+
+    Vector2 &Vector2::operator+=(const Vector2 &rhs) // Adds a vector to this vector, in-place.
+    {
+        x += rhs.x;
+        y += rhs.y;
+
+        return *this;
+    }
+
+    Vector2 &Vector2::operator=(const Vector2 &rhs) {
+        x = rhs.x;
+        y = rhs.y;
+
+        return *this;
+    }
+
+    Vector2::Vector2(const float *data) {
+        assert(data);
+        x = data[0];
+        y = data[1];
+    }
+
+    Vector2::Vector2(float scalar) {
+        x = scalar;
+        y = scalar;
+    }
 }

src/J3ML/LinearAlgebra/Vector3.cpp

@@ -3,9 +3,7 @@
 #include <cassert>
 #include <cmath>
 
-namespace LinearAlgebra {
-
-#pragma region vector3
+namespace J3ML::LinearAlgebra {
 
     const Vector3 Vector3::Zero     = {0,0,0};
     const Vector3 Vector3::Up       = {0, -1, 0};
@@ -15,6 +13,8 @@ namespace LinearAlgebra {
     const Vector3 Vector3::Forward  = {0, 0, -1};
     const Vector3 Vector3::Backward = {0, 0, 1};
     const Vector3 Vector3::NaN      = {NAN, NAN, NAN};
+    const Vector3 Vector3::Infinity = {INFINITY, INFINITY, INFINITY};
+    const Vector3 Vector3::NegativeInfinity = {-INFINITY, -INFINITY, -INFINITY};
 
     Vector3 Vector3::operator+(const Vector3& rhs) const
     {
@@ -80,6 +80,14 @@ namespace LinearAlgebra {
         return 0;
     }
 
+    float &Vector3::operator[](std::size_t index)
+    {
+        assert(index < 3);
+        if (index == 0) return x;
+        if (index == 1) return y;
+        if (index == 2) return z;
+    }
+
     bool Vector3::IsWithinMarginOfError(const Vector3& rhs, float margin) const
     {
         return this->Distance(rhs) <= margin;
@@ -308,5 +316,42 @@ namespace LinearAlgebra {
         return {x, y, z};
     }
 
-#pragma endregion
+    Vector3 Vector3::Abs() const {
+        return {std::abs(x), std::abs(y), std::abs(z)};
+    }
+
+    float *Vector3::ptr() {
+        return &x;
+    }
+
+    void Vector3::Orthonormalize(Vector3 &a, Vector3 &b) {
+        a = a.Normalize();
+        b = b - b.ProjectToNorm(a);
+        b = b.Normalize();
+    }
+
+    void Vector3::Orthonormalize(Vector3 &a, Vector3 &b, Vector3 &c) {
+        a = a.Normalize();
+        b = b - b.ProjectToNorm(a);
+        b = b.Normalize();
+        c = c - c.ProjectToNorm(a);
+        c = c - c.ProjectToNorm(b);
+        c = c.Normalize();
+    }
+
+    Vector3 Vector3::ProjectToNorm(const Vector3 &direction) const {
+        return direction * this->Dot(direction);
+    }
+
+    bool Vector3::IsFinite() const {
+        return std::isfinite(x) && std::isfinite(y) && std::isfinite(z);
+    }
+
+    Vector3::Vector3(const float *data) {
+        x = data[0];
+        y = data[1];
+        z = data[2];
+    }
+
+
 }

src/J3ML/LinearAlgebra/Vector4.cpp

@@ -7,7 +7,7 @@
 #include <cmath>
 #include <algorithm>
 
-namespace LinearAlgebra {
+namespace J3ML::LinearAlgebra {
 
     const Vector4 Vector4::Zero = {0,0,0,0};
     const Vector4 Vector4::NaN = {NAN, NAN, NAN, NAN};

tests/LinearAlgebra/Vector2Tests.cpp

@@ -1,7 +1,7 @@
 #include <gtest/gtest.h>
 #include <J3ML/LinearAlgebra/Vector2.h>
 
-using Vector2 = LinearAlgebra::Vector2;
+using J3ML::LinearAlgebra::Vector2;
 
 TEST(Vector2Test, V2_Constructor_Default)
 {

tests/LinearAlgebra/Vector3Tests.cpp

@@ -1,7 +1,7 @@
 #include <gtest/gtest.h>
 #include <J3ML/LinearAlgebra/Vector3.h>
 
-using Vector3 = LinearAlgebra::Vector3;
+using J3ML::LinearAlgebra::Vector3;
 
 void EXPECT_V3_EQ(const Vector3& lhs, const Vector3& rhs)
 {
@@ -185,11 +185,12 @@ TEST(Vector3Test, V3_Lerp)
     EXPECT_V3_EQ(Start.Lerp(Finish, Percent), ExpectedResult);
 }
 TEST(Vector3Test, V3_AngleBetween) {
+    using J3ML::LinearAlgebra::Angle2D;
     Vector3 A{ .5f, .5f, .5f};
     Vector3 B {.25f, .75f, .25f};
     A = A.Normalize();
     B = B.Normalize();
-    LinearAlgebra::Angle2D ExpectedResult {-0.69791365, -2.3561945};
+    Angle2D ExpectedResult {-0.69791365, -2.3561945};
     std::cout << A.AngleBetween(B).x << ", " << A.AngleBetween(B).y << "";
     auto angle = A.AngleBetween(B);
     EXPECT_FLOAT_EQ(angle.x, ExpectedResult.x);

tests/LinearAlgebra/Vector4Tests.cpp

@@ -1,7 +1,7 @@
 #include <gtest/gtest.h>
 #include <J3ML/LinearAlgebra/Vector4.h>
 
-using Vector4 = LinearAlgebra::Vector4;
+using Vector4 = J3ML::LinearAlgebra::Vector4;
 
 
 void EXPECT_V4_EQ(const Vector4& lhs, const Vector4& rhs)