From 83c7a8f6c3ca80f5876adfe7e2bca2efe79cc9f2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Vladim=C3=ADr=20Vondru=C5=A1?= <mosra@centrum.cz>
Date: Thu, 7 Dec 2023 12:32:47 +0100
Subject: [PATCH] Math: simplify internals of
 Matrix[34]::rotation{,Normalized}().

It does exactly what these functions do, so delegate to them.
---
 src/Magnum/Math/Matrix3.h | 18 ++++++++----------
 src/Magnum/Math/Matrix4.h | 20 ++++++++------------
 2 files changed, 16 insertions(+), 22 deletions(-)

diff --git a/src/Magnum/Math/Matrix3.h b/src/Magnum/Math/Matrix3.h
index c37d31738..245b19229 100644
--- a/src/Magnum/Math/Matrix3.h
+++ b/src/Magnum/Math/Matrix3.h
@@ -766,19 +766,17 @@ template<class T> Matrix3<T> Matrix3<T>::projection(const Vector2<T>& bottomLeft
 }
 
 template<class T> Matrix2x2<T> Matrix3<T>::rotation() const {
-    Matrix2x2<T> rotation{(*this)[0].xy().normalized(),
-                          (*this)[1].xy().normalized()};
-    CORRADE_DEBUG_ASSERT(rotation.isOrthogonal(),
-        "Math::Matrix3::rotation(): the normalized rotation part is not orthogonal:" << Debug::newline << rotation, {});
-    return rotation;
+    Matrix2x2<T> rotationShear = this->rotationShear();
+    CORRADE_DEBUG_ASSERT(rotationShear.isOrthogonal(),
+        "Math::Matrix3::rotation(): the normalized rotation part is not orthogonal:" << Debug::newline << rotationShear, {});
+    return rotationShear;
 }
 
 template<class T> Matrix2x2<T> Matrix3<T>::rotationNormalized() const {
-    Matrix2x2<T> rotation{(*this)[0].xy(),
-                          (*this)[1].xy()};
-    CORRADE_DEBUG_ASSERT(rotation.isOrthogonal(),
-        "Math::Matrix3::rotationNormalized(): the rotation part is not orthogonal:" << Debug::newline << rotation, {});
-    return rotation;
+    Matrix2x2<T> rotationScaling = this->rotationScaling();
+    CORRADE_DEBUG_ASSERT(rotationScaling.isOrthogonal(),
+        "Math::Matrix3::rotationNormalized(): the rotation part is not orthogonal:" << Debug::newline << rotationScaling, {});
+    return rotationScaling;
 }
 
 template<class T> T Matrix3<T>::uniformScalingSquared() const {
diff --git a/src/Magnum/Math/Matrix4.h b/src/Magnum/Math/Matrix4.h
index 5cd930cb4..ca4bab468 100644
--- a/src/Magnum/Math/Matrix4.h
+++ b/src/Magnum/Math/Matrix4.h
@@ -1328,21 +1328,17 @@ template<class T> Matrix4<T> Matrix4<T>::lookAt(const Vector3<T>& eye, const Vec
 }
 
 template<class T> Matrix3x3<T> Matrix4<T>::rotation() const {
-    Matrix3x3<T> rotation{(*this)[0].xyz().normalized(),
-                          (*this)[1].xyz().normalized(),
-                          (*this)[2].xyz().normalized()};
-    CORRADE_DEBUG_ASSERT(rotation.isOrthogonal(),
-        "Math::Matrix4::rotation(): the normalized rotation part is not orthogonal:" << Debug::newline << rotation, {});
-    return rotation;
+    Matrix3x3<T> rotationShear = this->rotationShear();
+    CORRADE_DEBUG_ASSERT(rotationShear.isOrthogonal(),
+        "Math::Matrix4::rotation(): the normalized rotation part is not orthogonal:" << Debug::newline << rotationShear, {});
+    return rotationShear;
 }
 
 template<class T> Matrix3x3<T> Matrix4<T>::rotationNormalized() const {
-    Matrix3x3<T> rotation{(*this)[0].xyz(),
-                          (*this)[1].xyz(),
-                          (*this)[2].xyz()};
-    CORRADE_DEBUG_ASSERT(rotation.isOrthogonal(),
-        "Math::Matrix4::rotationNormalized(): the rotation part is not orthogonal:" << Debug::newline << rotation, {});
-    return rotation;
+    Matrix3x3<T> rotationScaling = this->rotationScaling();
+    CORRADE_DEBUG_ASSERT(rotationScaling.isOrthogonal(),
+        "Math::Matrix4::rotationNormalized(): the rotation part is not orthogonal:" << Debug::newline << rotationScaling, {});
+    return rotationScaling;
 }
 
 template<class T> T Matrix4<T>::uniformScalingSquared() const {