From f33e6769f43d8e0e38c8cb1f4f19b5db7489d98e Mon Sep 17 00:00:00 2001
From: Hartmut Seichter <hartmut@technotecture.com>
Date: Fri, 18 Jan 2019 22:04:14 +0100
Subject: [PATCH] still not yet there

---
 src/core/CMakeLists.txt                  |  2 +-
 src/core/include/pw/core/axisangle.hpp   |  4 ++--
 src/core/include/pw/core/quaternion.hpp  | 10 +++++-----
 src/core/include/pw/core/serialize.hpp   |  6 +++---
 src/core/include/pw/core/vector.hpp      | 17 ++++++++++++++++-
 src/core/tests/CMakeLists.txt            | 10 +++++-----
 src/core/tests/pwcore_test_axisangle.cpp |  2 +-
 7 files changed, 33 insertions(+), 18 deletions(-)

diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt
index e5cd101..2c4bdef 100644
--- a/src/core/CMakeLists.txt
+++ b/src/core/CMakeLists.txt
@@ -1,7 +1,7 @@
 
 set(hdrs
     include/pw/core/debug.hpp
-#    include/pw/core/axisangle.hpp
+	include/pw/core/axisangle.hpp
     include/pw/core/core.hpp
     include/pw/core/math.hpp
     include/pw/core/matrixbase.hpp
diff --git a/src/core/include/pw/core/axisangle.hpp b/src/core/include/pw/core/axisangle.hpp
index 36144ff..48bfa1c 100644
--- a/src/core/include/pw/core/axisangle.hpp
+++ b/src/core/include/pw/core/axisangle.hpp
@@ -62,8 +62,8 @@ public:
 
         const T _fCos = cos(_angle);
 
-        matrix_<3,1,T> _vCos(_axis * (1 - _fCos));
-        matrix_<3,1,T> _vSin(_axis * sin(_angle));
+		vector3_<T> _vCos(_axis * (1 - _fCos));
+		vector3_<T> _vSin(_axis * sin(_angle));
 
 //        R.at(0) = (_axis(0,0) * _vCos(0,0)) + _fCos;
         //        R.at(4) = (T) ((vec(0,0) * _vCos(1,0)) - _vSin(2,0));
diff --git a/src/core/include/pw/core/quaternion.hpp b/src/core/include/pw/core/quaternion.hpp
index b0e6767..22e7a9a 100644
--- a/src/core/include/pw/core/quaternion.hpp
+++ b/src/core/include/pw/core/quaternion.hpp
@@ -123,10 +123,10 @@ public:
 	inline void normalize() { *this = this->normalized(); }
 
 	//! conversion from a matrix
-	inline static const quaternion_ from_matrix(const matrix_<4,4,T> &m);
+	inline static const quaternion_ from_matrix(const matrix_<T,4,4> &m);
 
 	//! conversion to a matrix
-	const matrix_<4,4,T> to_matrix() const;
+	const matrix_<T,4,4> to_matrix() const;
 
 	//! return identiy quaternion
 	static const quaternion_<T> identity();
@@ -170,7 +170,7 @@ const T quaternion_<T>::_sqrt90 = std::sqrt(0.5);
 
 
 template <typename T>
-const quaternion_<T> quaternion_<T>::from_matrix(const matrix_<4,4,T> &m) {
+const quaternion_<T> quaternion_<T>::from_matrix(const matrix_<T,4,4> &m) {
 
 	using std::sqrt;
 
@@ -185,9 +185,9 @@ const quaternion_<T> quaternion_<T>::from_matrix(const matrix_<4,4,T> &m) {
 }
 
 template <typename T>
-const matrix_<4,4,T> quaternion_<T>::to_matrix() const {
+const matrix_<T,4,4> quaternion_<T>::to_matrix() const {
 
-	matrix_<4,4,T> m; m.set_identity();
+	matrix_<T,4,4> m; m.set_identity();
 
 	T xx      = x() * x();
 	T xy      = x() * y();
diff --git a/src/core/include/pw/core/serialize.hpp b/src/core/include/pw/core/serialize.hpp
index e63bfef..dd61b22 100644
--- a/src/core/include/pw/core/serialize.hpp
+++ b/src/core/include/pw/core/serialize.hpp
@@ -23,7 +23,7 @@
 #ifndef PW_CORE_SERIALIZE_HPP
 #define PW_CORE_SERIALIZE_HPP
 
-#include <pw/core/matrixbase.hpp>
+#include <pw/core/matrix.hpp>
 
 
 #include <string>
@@ -33,8 +33,8 @@ namespace pw {
 
 struct serialize {
 
-    template <typename T>
-    inline static std::string matrix(const matrixbase<T>& m) {
+	template <typename T,size_t R,size_t C>
+	inline static std::string matrix(const matrix_<T,R,C>& m) {
         std::stringstream ss;
 
         for (int r = 0; r < m.rows();r++) {
diff --git a/src/core/include/pw/core/vector.hpp b/src/core/include/pw/core/vector.hpp
index cb9e07c..cfac3f8 100644
--- a/src/core/include/pw/core/vector.hpp
+++ b/src/core/include/pw/core/vector.hpp
@@ -64,12 +64,27 @@ auto dot(const vector_<T, N, RowMajor>& a, const vector_<U, N, RowMajor>& b)
 }
 
 
+template <typename T>
+struct vector3_ : vector_<T,3> {
+
+	using vector_<T,3>::vector_;
+
+	inline static vector3_<T> forward() { return vector3_<T> (  T(0), T(0),-T(1)  ); }
+	inline static vector3_<T> backward() { return vector3_<T>(  T(0), T(0), T(1)  ); }
+	inline static vector3_<T> right() { return vector3_<T>   (  T(1), T(0), T(0)  ); }
+	inline static vector3_<T> left() { return vector3_<T>    ( -T(1), T(0), T(0)  ); }
+	inline static vector3_<T> up() { return vector3_<T>      (  T(0), T(1), T(0)  ); }
+	inline static vector3_<T> down() { return vector3_<T>    (  T(0),-T(1), T(0)  ); }
+
+};
+
+
 //
 //
 //
 
 template <typename T> using vector2_ = vector_<T, 2>;
-template <typename T> using vector3_ = vector_<T, 3>;
+//template <typename T> using vector3_ = vector_<T, 3>;
 template <typename T> using vector4_ = vector_<T, 4>;
 
 using vector2f = vector2_<float>;
diff --git a/src/core/tests/CMakeLists.txt b/src/core/tests/CMakeLists.txt
index 517f07a..b414871 100644
--- a/src/core/tests/CMakeLists.txt
+++ b/src/core/tests/CMakeLists.txt
@@ -21,9 +21,9 @@ target_link_libraries(pwcore_test_matrix
 #	pwcore)
 
 
-#add_executable(pwcore_test_axisangle
-#	pwcore_test_axisangle.cpp
-#	)
+add_executable(pwcore_test_axisangle
+	pwcore_test_axisangle.cpp
+	)
 
-#target_link_libraries(pwcore_test_axisangle
-#	pwcore)
+target_link_libraries(pwcore_test_axisangle
+	pwcore)
diff --git a/src/core/tests/pwcore_test_axisangle.cpp b/src/core/tests/pwcore_test_axisangle.cpp
index da495be..648d3b8 100644
--- a/src/core/tests/pwcore_test_axisangle.cpp
+++ b/src/core/tests/pwcore_test_axisangle.cpp
@@ -10,7 +10,7 @@ int main(int argc,char **argv) {
 
     pw::quaternionf qf = pw::quaternionf::from_axisangle(aa);
 
-    std::cout << "aa as quaternion as vector = " << pw::serialize::matrix(qf.as_vector()) << std::endl;
+//    std::cout << "aa as quaternion as vector = " << pw::serialize::matrix(qf.as_vector()) << std::endl;
 
 //    std::cout << "aa.matrix() = " << pw::serialize::matrix(qf.to_matrix()) << std::endl;