From d2de6d410fb8974632d178e6cddc524fe6f8c803 Mon Sep 17 00:00:00 2001
From: Hartmut Seichter <hartmut@technotecture.com>
Date: Tue, 19 Feb 2019 22:30:17 +0100
Subject: [PATCH] more fixes for matrix transforms ... projections should be
 working now

---
 src/core/include/pw/core/axisangle.hpp        |  6 ++---
 src/core/include/pw/core/matrix_transform.hpp | 22 +++++++--------
 src/core/include/pw/core/quaternion.hpp       | 27 +++++++++----------
 src/visual/src/pipeline.cpp                   | 11 +++++---
 4 files changed, 34 insertions(+), 32 deletions(-)

diff --git a/src/core/include/pw/core/axisangle.hpp b/src/core/include/pw/core/axisangle.hpp
index fcc5fdb..211aade 100644
--- a/src/core/include/pw/core/axisangle.hpp
+++ b/src/core/include/pw/core/axisangle.hpp
@@ -104,9 +104,9 @@ struct axisangle_ {
 };
 
 
-typedef axisangle_<real_t> axisangle;
-typedef axisangle_<double> axisangled;
-typedef axisangle_<float> axisanglef;
+using axisangle = axisangle_<real_t> ;
+using axisanglef = axisangle_<float> ;
+using axisangled = axisangle_<double> ;
 
 }
 
diff --git a/src/core/include/pw/core/matrix_transform.hpp b/src/core/include/pw/core/matrix_transform.hpp
index cf8e7c2..a3a6520 100644
--- a/src/core/include/pw/core/matrix_transform.hpp
+++ b/src/core/include/pw/core/matrix_transform.hpp
@@ -38,12 +38,12 @@ struct matrix_transform {
         return scale;
     }
 
-    inline static
+	inline static
 	matrix_<4,4,T> perspective_frustum(const T &left,const T &right,
-										   const T &bottom,const T &top,
-										   const T &z_near,const T &z_far)
-    {
-        matrix_<4,4,T> frustum; frustum.zero();
+									   const T &bottom,const T &top,
+									   const T &z_near,const T &z_far)
+	{
+		matrix_<4,4,T> frustum; frustum.zero();
 
 		frustum(0,0) =  T(2) * z_near / (right - left);
 		frustum(1,1) =  T(2) * z_near / (top - bottom);
@@ -55,8 +55,8 @@ struct matrix_transform {
 
 		frustum(3,2) = -T(1);
 
-        return frustum;
-    }
+		return frustum;
+	}
 
 	inline static
 	matrix_<4,4,T> perspective_projection(const T &field_of_view,
@@ -64,14 +64,14 @@ struct matrix_transform {
 										  const T &z_near,const T &z_far)
 	{
 		const auto tan_half = tan(field_of_view / T(2));
-		const auto right = aspect_ratio * tan_half * z_near;
+		const auto right = tan_half * z_near / aspect_ratio;
 		const auto left = -right;
-		const auto top = aspect_ratio * tan_half;
+		const auto top = right / aspect_ratio;
 		const auto bottom = -top;
 
 		return perspective_frustum(left,right,
-									   bottom,top,
-									   z_near,z_far);
+								   bottom,top,
+								   z_near,z_far);
 	}
 
 
diff --git a/src/core/include/pw/core/quaternion.hpp b/src/core/include/pw/core/quaternion.hpp
index 08c4fbc..7252a23 100644
--- a/src/core/include/pw/core/quaternion.hpp
+++ b/src/core/include/pw/core/quaternion.hpp
@@ -59,19 +59,19 @@ struct quaternion_ : vector4_<T> {
 					);
 	}
 
-	inline const quaternion_ operator / (const T& rhs) const {
+	inline auto operator / (const T& rhs) const {
 		return quaternion_( { x() / rhs, y() / rhs, z() / rhs, w() / rhs, } );
 	}
 
 	//! conjugate
-	inline quaternion_ conjugate() const { return quaternion_( { -x(),-y(),-z(),w() } ); }
+	inline auto conjugate() const { return quaternion_( { -x(),-y(),-z(),w() } ); }
 
 	//! compute inverse
-	inline quaternion_ inverse() const {
+	inline auto inverse() const {
 		return conjugate() / this->norm();
 	}
 
-	inline static quaternion_ identity() {
+	inline static auto identity() {
 		return quaternion_({0,0,0,1});
 	}
 
@@ -106,10 +106,10 @@ struct quaternion_ : vector4_<T> {
 		return m;
 	}
 
-    static quaternion_<T> from_matrix(const matrix_<4,4,T> &m) {
+	static auto from_matrix(const matrix_<4,4,T> &m) {
 		using std::sqrt;
-		const T wtemp = sqrt(T(1) + m(0,0) + m(1,1) + m(2,2)) / T(2);
-		const T w4 = T(4.0) * wtemp;
+		auto wtemp = sqrt(T(1) + m(0,0) + m(1,1) + m(2,2)) / T(2);
+		auto w4 = T(4.0) * wtemp;
 		return quaternion_<T>(
 					(m(2,1) - m(1,2)) / w4,
 					(m(0,2) - m(2,0)) / w4,
@@ -117,11 +117,11 @@ struct quaternion_ : vector4_<T> {
 					wtemp);
 	}
 
-	static const quaternion_ normalized_lerp(const quaternion_ &a,const quaternion_ &b,const T &t) {
+	static auto normalized_lerp(const quaternion_ &a,const quaternion_ &b,const T &t) {
 		return quaternion_(lerp(a,b,t).normalized());
 	}
 
-	const quaternion_ slerp(const quaternion_& qa,const quaternion_& qb,const T& t)
+	static auto slerp(const quaternion_& qa,const quaternion_& qb,const T& t)
 	{
 		using std::abs;
 		using std::sqrt;
@@ -160,8 +160,7 @@ struct quaternion_ : vector4_<T> {
 	}
 
 
-	static const quaternion_<T> from_axisangle(const axisangle_<T> &aa) {
-
+	static auto from_axisangle(const axisangle_<T> &aa) {
 		using std::sin;
 		using std::cos;
 
@@ -180,9 +179,9 @@ struct quaternion_ : vector4_<T> {
 //
 //
 //
-typedef quaternion_<real_t> quaternion;
-typedef quaternion_<float> quaternionf;
-typedef quaternion_<double> quaterniond;
+using quaternion = quaternion_<real_t>;
+using quaternionf = quaternion_<float>;
+using quaterniond = quaternion_<double>;
 
 
 
diff --git a/src/visual/src/pipeline.cpp b/src/visual/src/pipeline.cpp
index 22ab49d..522e663 100644
--- a/src/visual/src/pipeline.cpp
+++ b/src/visual/src/pipeline.cpp
@@ -147,15 +147,18 @@ struct triangle_renderer
 		glFrontFace(GL_CCW);
 #endif
 
+
+#if 0
 		auto proj_mat = matrix_transform<float>::orthographic_projection(1.3,1.0,
 																		 0.2f,100.f);
 
 
+#else
+		auto proj_mat = matrix_transform<float>::perspective_projection(deg_to_rad(60.f),
+																			  1.3f,
+																			   0.2f,1000.f);
 
-//		matrix4x4f proj_mat = matrix_transform<float>::perspective_projection(deg_to_rad(33.0f),
-//																			  1.3f,
-//																			   0.2f,1000.f);
-
+#endif
 		// highly inefficient - should be cached -
 		shader_p.set("input_color",col);
 		shader_p.set("model",model_mat);