finally got the ortho projection and some other stuff working

src/core/include/pw/core/math.hpp

@@ -25,6 +25,8 @@
 
 #include <cmath>
 #include <algorithm>
+//#include <pw/core/matrix.hpp>
+//#include <pw/core/quaternion.hpp>
 
 namespace pw {
 
@@ -58,6 +60,12 @@ inline T ping_pong(const T& t,const T& length) {
 }
 
 
+//void extractRotation(const matrix &A, Quaterniond &q,const unsigned int maxIter)
+//{
+//	for (auto iter = 0; iter < maxIter; iter++){
+//		auto R = q.matrix();
+//		Vector3d omega = (R.col(0).cross(A.col(0)) + R.col(1).cross(A.col(1)) + R.col(2).cross(A.col(2)))*(1.0 / fabs(R.col(0).dot(A.col(0)) + R.col(1).dot(A.col(1)) + R.col(2).dot(A.col(2))) +1.0e-9);double w = omega.norm();if (w < 1.0e-9)break;q = Quaterniond(AngleAxisd(w, (1.0 / w)*omega))*q;q.normalize();}}
+
 }
 
 #endif

src/core/include/pw/core/matrix_transform.hpp

@@ -97,10 +97,10 @@ struct matrix_transform {
     }
 
 	inline static
-	matrix_<4,4,T>	orthographic_projection(T size,T z_near, T z_far)
+	matrix_<4,4,T>	orthographic_projection(T width,T height,T z_near, T z_far)
 	{
-		return orthographic_frustum(-size / 2, size / 2,
-									-size / 2, size / 2,
+		return orthographic_frustum(-width / 2, width / 2,
+									-height / 2, height / 2,
 									 z_near,z_far);
 	}