From e0dd432e69c73d8b62e2221095086f5610368410 Mon Sep 17 00:00:00 2001
From: Orange <orange-cpp@yandex.ru>
Date: Wed, 4 Dec 2024 12:09:23 +0300
Subject: [PATCH] switched to 4x4

---
 include/omath/Mat.hpp                     | 31 +++++++++++++----------
 include/omath/engines/Source/Formulas.hpp |  8 +++---
 2 files changed, 21 insertions(+), 18 deletions(-)

diff --git a/include/omath/Mat.hpp b/include/omath/Mat.hpp
index 7f6aae5..84628da 100644
--- a/include/omath/Mat.hpp
+++ b/include/omath/Mat.hpp
@@ -349,44 +349,47 @@ namespace omath
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
     [[nodiscard]]
-    Mat<3, 3, Type, St> RotationMatAxisX(const Angle& roll) noexcept
+    Mat<4, 4, Type, St> RotationMatAxisX(const Angle& angle) noexcept
     {
         return
         {
-            {1, 0,          0},
-            {0, roll.Cos(), -roll.Sin()},
-            {0, roll.Sin(), roll.Cos()},
+            {1, 0,          0, 0},
+            {0, angle.Cos(), -angle.Sin(), 0},
+            {0, angle.Sin(), angle.Cos(), 0},
+            {0, 0, 0, 1}
         };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
     [[nodiscard]]
-    Mat<3, 3, Type, St> RotationMatAxisY(const Angle& pitch) noexcept
+    Mat<4, 4, Type, St> RotationMatAxisY(const Angle& angle) noexcept
     {
         return
         {
-            {pitch.Cos(),  0, pitch.Sin()},
-            {0           , 1, 0},
-            {-pitch.Sin(), 0, pitch.Cos()},
+            {angle.Cos(),  0, angle.Sin(), 0},
+            {0           , 1,           0, 0},
+            {-angle.Sin(), 0, angle.Cos(), 0},
+            {0           , 0,           0, 1}
         };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
     [[nodiscard]]
-    Mat<3, 3, Type, St> RotationMatAxisZ(const Angle& Yaw) noexcept
+    Mat<4, 4, Type, St> RotationMatAxisZ(const Angle& angle) noexcept
     {
         return
         {
-            {Yaw.Cos(), -Yaw.Sin(), 0},
-            {Yaw.Sin(), Yaw.Cos(),  0},
-            {0,         0,          1},
+            {angle.Cos(), -angle.Sin(), 0, 0},
+            {angle.Sin(), angle.Cos(),  0, 0},
+            {0,         0,          1, 0},
+            {0,         0,          0, 1},
         };
     }
 
     template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class ViewAngles>
     [[nodiscard]]
-    Mat<3, 3, Type, St> RotationMat(const ViewAngles& angles) noexcept
+    Mat<4, 4, Type, St> RotationMat(const ViewAngles& angles) noexcept
     {
-        return RotationMatAxisY(angles.pitch) * RotationMatAxisZ(angles.yaw) * RotationMatAxisX(angles.roll);
+        return RotationMatAxisZ(angles.yaw) * RotationMatAxisY(angles.pitch) * RotationMatAxisX(angles.roll);
     }
 } // namespace omath
diff --git a/include/omath/engines/Source/Formulas.hpp b/include/omath/engines/Source/Formulas.hpp
index 0721d96..28a37c6 100644
--- a/include/omath/engines/Source/Formulas.hpp
+++ b/include/omath/engines/Source/Formulas.hpp
@@ -10,7 +10,7 @@ namespace omath::source
     [[nodiscard]]
     inline Vector3 ForwardVector(const ViewAngles& angles)
     {
-        const auto vec = RotationMat(angles) * Mat<3, 1>({{kAbsForward.x}, {kAbsForward.y}, {kAbsForward.z}});
+        const auto vec = RotationMat(angles) * MatColumnFromVector(kAbsForward);
 
         return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
     }
@@ -18,7 +18,7 @@ namespace omath::source
     [[nodiscard]]
     inline Vector3 RightVector(const ViewAngles& angles)
     {
-        const auto vec = RotationMat(angles) * Mat<3, 1>({{kAbsRight.x}, {kAbsRight.y}, {kAbsRight.z}});
+        const auto vec = RotationMat(angles) * MatColumnFromVector(kAbsRight);
 
         return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
     }
@@ -26,7 +26,7 @@ namespace omath::source
     [[nodiscard]]
     inline Vector3 UpVector(const ViewAngles& angles)
     {
-        const auto vec = RotationMat(angles) * Mat<3, 1>({{kAbsUp.x}, {kAbsUp.y}, {kAbsUp.z}});
+        const auto vec = RotationMat(angles) * MatColumnFromVector(kAbsUp);
 
         return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
     }
@@ -58,7 +58,7 @@ namespace omath::source
         const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f) * kMultiplyFactor;
 
         return {
-                        {-1.f / (aspectRatio * fovHalfTan), 0, 0, 0},
+                        {1.f / (aspectRatio * fovHalfTan), 0, 0, 0},
                         {0, -1.f / (fovHalfTan), 0, 0},
                         {0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
                         {0, 0, 1, 0},