Math: doc++

doc/matrix-vector.dox

@@ -128,8 +128,8 @@ Color3 and Color4 name their components `rgba` instead of `xyzw`.
 
 For more involved operations with components there is the swizzle() function:
 @code
-Vector4<int> original(-1, 2, 3, 4);
+Vector<4, int> original(-1, 2, 3, 4);
-Vector4<int> bgra = swizzle<'b', 'g', 'r', 'a'>(original); // { 3, 2, -1, 4 }
+Vector<4, int> bgra = swizzle<'b', 'g', 'r', 'a'>(original); // { 3, 2, -1, 4 }
 Vector<6, int> w10xyz = swizzle<'w', '1', '0', 'x', 'y', 'z'>(original); // { 4, 1, 0, -1, 2, 3 }
 @endcode
 

src/Math/DualQuaternion.h

@@ -212,7 +212,7 @@ template<class T> class DualQuaternion: public Dual<Quaternion<T>> {
             return Math::sqrt(lengthSquared());
         }
 
-        /** @brief Normalized quaternion (of unit length) */
+        /** @brief Normalized dual quaternion (of unit length) */
         inline DualQuaternion<T> normalized() const {
             return (*this)/length();
         }
@@ -220,9 +220,9 @@ template<class T> class DualQuaternion: public Dual<Quaternion<T>> {
         /**
          * @brief Inverted dual quaternion
          *
-         * See invertedNormalized() which is faster for normalized
+         * See invertedNormalized() which is faster for normalized dual
-         * dual quaternions. @f[
+         * quaternions. @f[
-         *      \hat q^{-1} = \frac{\hat q^*}{||\hat q||^2}
+         *      \hat q^{-1} = \frac{\hat q^*}{|\hat q|^2}
          * @f]
          */
         inline DualQuaternion<T> inverted() const {
@@ -234,7 +234,7 @@ template<class T> class DualQuaternion: public Dual<Quaternion<T>> {
          *
          * Equivalent to quaternionConjugated(). Expects that the quaternion is
          * normalized. @f[
-         *      \hat q^{-1} = \frac{\hat q^*}{||\hat q||^2} = \hat q^*
+         *      \hat q^{-1} = \frac{\hat q^*}{|\hat q|^2} = \hat q^*
          * @f]
          * @see inverted()
          */
@@ -249,7 +249,7 @@ template<class T> class DualQuaternion: public Dual<Quaternion<T>> {
          *
          * See transformPointNormalized(), which is faster for normalized dual
          * quaternions. @f[
-         *      v' = qv \overline{\hat q^{-1}} = q ([\boldsymbol 0, 1] + \epsilon [\boldsymbol v, 0]) \overline{\hat q^{-1}}
+         *      v' = \hat q v \overline{\hat q^{-1}} = \hat q ([\boldsymbol 0, 1] + \epsilon [\boldsymbol v, 0]) \overline{\hat q^{-1}}
          * @f]
          * @see DualQuaternion(const Vector3&), dual(), Matrix4::transformPoint(),
          *      Quaternion::transformVector()
@@ -263,7 +263,7 @@ template<class T> class DualQuaternion: public Dual<Quaternion<T>> {
          *
          * Faster alternative to transformPoint(), expects that the dual
          * quaternion is normalized. @f[
-         *      v' = qv \overline{\hat q^{-1}} = qv \overline{\hat q^*} = q ([\boldsymbol 0, 1] + \epsilon [\boldsymbol v, 0]) \overline{\hat q^*}
+         *      v' = \hat q v \overline{\hat q^{-1}} = \hat q v \overline{\hat q^*} = \hat q ([\boldsymbol 0, 1] + \epsilon [\boldsymbol v, 0]) \overline{\hat q^*}
          * @f]
          * @see DualQuaternion(const Vector3&), dual(), Matrix4::transformPoint(),
          *      Quaternion::transformVectorNormalized()

src/Math/Matrix3.h

@@ -170,7 +170,7 @@ template<class T> class Matrix3: public Matrix<3, T> {
          * @brief Right-pointing 2D vector
          *
          * First two elements of first column.
-         * @see Vector2::xAxis()
+         * @see up(), Vector2::xAxis(), Matrix4::right()
          */
         inline Vector2<T>& right() { return (*this)[0].xy(); }
         inline constexpr Vector2<T> right() const { return (*this)[0].xy(); } /**< @overload */
@@ -179,7 +179,7 @@ template<class T> class Matrix3: public Matrix<3, T> {
          * @brief Up-pointing 2D vector
          *
          * First two elements of second column.
-         * @see Vector2::yAxis()
+         * @see right(), Vector2::yAxis(), Matrix4::up()
          */
         inline Vector2<T>& up() { return (*this)[1].xy(); }
         inline constexpr Vector2<T> up() const { return (*this)[1].xy(); } /**< @overload */
@@ -220,6 +220,7 @@ template<class T> class Matrix3: public Matrix<3, T> {
          *      \boldsymbol v' = \boldsymbol M \begin{pmatrix} v_x \\ v_y \\ 0 \end{pmatrix}
          * @f]
          * @see Complex::transformVector(), Matrix4::transformVector()
+         * @todo extract 2x2 matrix and multiply directly? (benchmark that)
          */
         inline Vector2<T> transformVector(const Vector2<T>& vector) const {
             return ((*this)*Vector3<T>(vector, T(0))).xy();

src/Math/Matrix4.h

@@ -308,7 +308,7 @@ template<class T> class Matrix4: public Matrix<4, T> {
          * @brief Right-pointing 3D vector
          *
          * First three elements of first column.
-         * @see Vector3::xAxis()
+         * @see up(), backward(), Vector3::xAxis(), Matrix3::right()
          */
         inline Vector3<T>& right() { return (*this)[0].xyz(); }
         inline constexpr Vector3<T> right() const { return (*this)[0].xyz(); } /**< @overload */
@@ -317,7 +317,7 @@ template<class T> class Matrix4: public Matrix<4, T> {
          * @brief Up-pointing 3D vector
          *
          * First three elements of second column.
-         * @see Vector3::yAxis()
+         * @see right(), backward(), Vector3::yAxis(), Matrix3::up()
          */
         inline Vector3<T>& up() { return (*this)[1].xyz(); }
         inline constexpr Vector3<T> up() const { return (*this)[1].xyz(); } /**< @overload */
@@ -326,7 +326,7 @@ template<class T> class Matrix4: public Matrix<4, T> {
          * @brief Backward-pointing 3D vector
          *
          * First three elements of third column.
-         * @see Vector3::yAxis()
+         * @see right(), up(), Vector3::yAxis()
          */
         inline Vector3<T>& backward() { return (*this)[2].xyz(); }
         inline constexpr Vector3<T> backward() const { return (*this)[2].xyz(); } /**< @overload */
@@ -367,6 +367,7 @@ template<class T> class Matrix4: public Matrix<4, T> {
          *      \boldsymbol v' = \boldsymbol M \begin{pmatrix} v_x \\ v_y \\ v_z \\ 0 \end{pmatrix}
          * @f]
          * @see Quaternion::transformVector(), Matrix3::transformVector()
+         * @todo extract 3x3 matrix and multiply directly? (benchmark that)
          */
         inline Vector3<T> transformVector(const Vector3<T>& vector) const {
             return ((*this)*Vector4<T>(vector, T(0))).xyz();

src/Math/Quaternion.h

@@ -44,7 +44,7 @@ template<class T> class Quaternion {
          * @brief Dot product
          *
          * @f[
-         * p \cdot q = \boldsymbol p_V \cdot \boldsymbol q_V + p_S q_S
+         *      p \cdot q = \boldsymbol p_V \cdot \boldsymbol q_V + p_S q_S
          * @f]
          * @see dot() const
          */