SceneGraph: support rotating directly via Complex/Quaternion.

A decade late, but finally.

doc/changelog.dox

@@ -110,6 +110,17 @@ See also:
     bootstrap project for using Magnum together with gtkmm (see
     [mosra/magnum-bootstrap#24](https://github.com/mosra/magnum-bootstrap/pull/24))
 
+@subsubsection changelog-latest-new-scenegraph SceneGraph library
+
+-   All 2D transformation implementations that support rotation now have a
+    @ref SceneGraph::AbstractBasicTranslationRotation2D::rotate(const Math::Complex<T>&) "rotate()"
+    and @ref SceneGraph::AbstractBasicTranslationRotation2D::rotateLocal(const Math::Complex<T>&) "rotateLocal()"
+    overloads taking a @ref Math::Complex
+-   All 3D transformation implementations that support rotation now have a
+    @ref SceneGraph::AbstractBasicTranslationRotation3D::rotate(const Math::Quaternion<T>&) "rotate()"
+    and @ref SceneGraph::AbstractBasicTranslationRotation3D::rotateLocal(const Math::Quaternion<T>&) "rotateLocal()"
+    overloads taking a @ref Math::Quaternion
+
 @subsubsection changelog-latest-new-vk Vk library
 
 -   Updated Vulkan headers for version 1.2

src/Magnum/SceneGraph/AbstractTranslationRotation2D.h

@@ -46,12 +46,39 @@ template<class T> class AbstractBasicTranslationRotation2D: public AbstractBasic
     public:
         explicit AbstractBasicTranslationRotation2D() = default;
 
+        /**
+         * @brief Rotate the object using a complex number
+         * @param complex       Normalized complex number
+         * @return Reference to self (for method chaining)
+         * @m_since_latest
+         *
+         * Expects that the complex number is normalized.
+         * @see @ref rotate(Math::Rad<T>),
+         *      @ref rotateLocal(const Math::Complex<T>&)
+         */
+        AbstractBasicTranslationRotation2D<T>& rotate(const Math::Complex<T>& complex) {
+            doRotate(complex);
+            return *this;
+        }
+
+        /**
+         * @brief Rotate the object using a complex number as a local transformation
+         * @m_since_latest
+         *
+         * Similar to the above, except that the transformation is applied
+         * before all others.
+         */
+        AbstractBasicTranslationRotation2D<T>& rotateLocal(const Math::Complex<T>& complex) {
+            doRotateLocal(complex);
+            return *this;
+        }
+
         /**
          * @brief Rotate the object
          * @param angle     Angle (counterclockwise)
          * @return Reference to self (for method chaining)
          *
-         * @see @ref rotateLocal()
+         * @see @ref rotate(const Math::Complex<T>&), @ref rotateLocal()
          */
         AbstractBasicTranslationRotation2D<T>& rotate(Math::Rad<T> angle) {
             doRotate(angle);
@@ -89,10 +116,22 @@ template<class T> class AbstractBasicTranslationRotation2D: public AbstractBasic
         ~AbstractBasicTranslationRotation2D() = default;
 
     private:
-        /** @brief Polymorphic implementation for @ref rotate() */
+        /**
+         * @brief Polymorphic implementation for @ref rotate(const Math::Complex<T>&)
+         * @m_since_latest
+         */
+        virtual void doRotate(const Math::Complex<T>&) = 0;
+
+        /**
+         * @brief Polymorphic implementation for @ref rotateLocal(const Math::Complex<T>&)
+         * @m_since_latest
+         */
+        virtual void doRotateLocal(const Math::Complex<T>&) = 0;
+
+        /** @brief Polymorphic implementation for @ref rotate(Math::Rad<T>) */
         virtual void doRotate(Math::Rad<T> angle) = 0;
 
-        /** @brief Polymorphic implementation for @ref rotateLocal() */
+        /** @brief Polymorphic implementation for @ref rotateLocal(Math::Rad<T>) */
         virtual void doRotateLocal(Math::Rad<T> angle) = 0;
 };
 

src/Magnum/SceneGraph/AbstractTranslationRotation3D.h

@@ -47,15 +47,44 @@ template<class T> class AbstractBasicTranslationRotation3D: public AbstractBasic
     public:
         explicit AbstractBasicTranslationRotation3D() = default;
 
+        /**
+         * @brief Rotate the object using a quaternion
+         * @param quaternion    Normalized quaternion
+         * @return Reference to self (for method chaining)
+         * @m_since_latest
+         *
+         * Expects that the quaternion is normalized.
+         * @see @ref rotate(Math::Rad<T>, const Math::Vector3<T>&),
+         *      @ref rotateLocal(const Math::Quaternion<T>&), @ref rotateX(),
+         *      @ref rotateY(), @ref rotateZ()
+         */
+        AbstractBasicTranslationRotation3D<T>& rotate(const Math::Quaternion<T>& quaternion) {
+            doRotate(quaternion);
+            return *this;
+        }
+
+        /**
+         * @brief Rotate the object using a quaternion as a local transformation
+         * @m_since_latest
+         *
+         * Similar to the above, except that the transformation is applied
+         * before all others.
+         */
+        AbstractBasicTranslationRotation3D<T>& rotateLocal(const Math::Quaternion<T>& quaternion) {
+            doRotateLocal(quaternion);
+            return *this;
+        }
+
         /**
          * @brief Rotate the object
          * @param angle             Angle (counterclockwise)
          * @param normalizedAxis    Normalized rotation axis
          * @return Reference to self (for method chaining)
          *
-         * @see @ref rotateLocal(), @ref rotateX(), @ref rotateY(),
-         *      @ref rotateZ(), @ref Math::Vector3::xAxis(),
-         *      @ref Math::Vector3::yAxis(), @ref Math::Vector3::zAxis()
+         * @see @ref rotate(const Math::Quaternion<T>&), @ref rotateLocal(),
+         *      @ref rotateX(), @ref rotateY(), @ref rotateZ(),
+         *      @ref Math::Vector3::xAxis(), @ref Math::Vector3::yAxis(),
+         *      @ref Math::Vector3::zAxis()
          */
         AbstractBasicTranslationRotation3D<T>& rotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) {
             doRotate(angle, normalizedAxis);
@@ -177,10 +206,22 @@ template<class T> class AbstractBasicTranslationRotation3D: public AbstractBasic
         ~AbstractBasicTranslationRotation3D() = default;
 
     private:
-        /** @brief Polymorphic implementation for @ref rotate() */
+        /**
+         * @brief Polymorphic implementation for @ref rotate(const Math::Quaternion<T>&)
+         * @m_since_latest
+         */
+        virtual void doRotate(const Math::Quaternion<T>&) = 0;
+
+        /**
+         * @brief Polymorphic implementation for @ref rotateLocal(const Math::Quaternion<T>&)
+         * @m_since_latest
+         */
+        virtual void doRotateLocal(const Math::Quaternion<T>&) = 0;
+
+        /** @brief Polymorphic implementation for @ref rotate(Math::Rad<T>, const Math::Vector3<T>&) */
         virtual void doRotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) = 0;
 
-        /** @brief Polymorphic implementation for @ref rotateLocal() */
+        /** @brief Polymorphic implementation for @ref rotateLocal(Math::Rad<T>, const Math::Vector3<T>&) */
         virtual void doRotateLocal(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) = 0;
 
         /**

src/Magnum/SceneGraph/AbstractTranslationRotationScaling2D.h

@@ -83,6 +83,14 @@ template<class T> class AbstractBasicTranslationRotationScaling2D: public Abstra
             AbstractBasicTranslationRotation2D<T>::translateLocal(vector);
             return *this;
         }
+        AbstractBasicTranslationRotationScaling2D<T>& rotate(const Math::Complex<T>& complex) {
+            AbstractBasicTranslationRotation2D<T>::rotate(complex);
+            return *this;
+        }
+        AbstractBasicTranslationRotationScaling2D<T>& rotateLocal(const Math::Complex<T>& complex) {
+            AbstractBasicTranslationRotation2D<T>::rotateLocal(complex);
+            return *this;
+        }
         AbstractBasicTranslationRotationScaling2D<T>& rotate(Math::Rad<T> angle) {
             AbstractBasicTranslationRotation2D<T>::rotate(angle);
             return *this;

src/Magnum/SceneGraph/AbstractTranslationRotationScaling3D.h

@@ -83,6 +83,14 @@ template<class T> class AbstractBasicTranslationRotationScaling3D: public Abstra
             AbstractBasicTranslationRotation3D<T>::translateLocal(vector);
             return *this;
         }
+        AbstractBasicTranslationRotationScaling3D<T>& rotate(const Math::Quaternion<T>& quaternion) {
+            AbstractBasicTranslationRotation3D<T>::rotate(quaternion);
+            return *this;
+        }
+        AbstractBasicTranslationRotationScaling3D<T>& rotateLocal(const Math::Quaternion<T>& quaternion) {
+            AbstractBasicTranslationRotation3D<T>::rotateLocal(quaternion);
+            return *this;
+        }
         AbstractBasicTranslationRotationScaling3D<T>& rotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) {
             AbstractBasicTranslationRotation3D<T>::rotate(angle, normalizedAxis);
             return *this;

src/Magnum/SceneGraph/CMakeLists.txt

@@ -52,11 +52,15 @@ set(MagnumSceneGraph_HEADERS
     DualComplexTransformation.h
     DualQuaternionTransformation.h
     RigidMatrixTransformation2D.h
+    RigidMatrixTransformation2D.hpp
     RigidMatrixTransformation3D.h
+    RigidMatrixTransformation3D.hpp
     FeatureGroup.h
     FeatureGroup.hpp
     MatrixTransformation2D.h
+    MatrixTransformation2D.hpp
     MatrixTransformation3D.h
+    MatrixTransformation3D.hpp
     Object.h
     Object.hpp
     Scene.h

src/Magnum/SceneGraph/DualComplexTransformation.h

@@ -132,13 +132,40 @@ template<class T> class BasicDualComplexTransformation: public AbstractBasicTran
             return transformLocalInternal(Math::DualComplex<T>::translation(vector));
         }
 
+        /**
+         * @brief Rotate the object using a complex number
+         * @param complex       Normalized complex number
+         * @return Reference to self (for method chaining)
+         * @m_since_latest
+         *
+         * Same as calling @ref transform() with @p complex. Expects that the
+         * complex number is normalized.
+         * @see @ref rotate(Math::Rad<T>),
+         *      @ref rotateLocal(const Math::Complex<T>&)
+         */
+        Object<BasicDualComplexTransformation<T>>& rotate(const Math::Complex<T>& complex) {
+            return transformInternal(complex);
+        }
+
+        /**
+         * @brief Rotate the object using a complex number as a local transformation
+         * @m_since_latest
+         *
+         * Similar to the above, except that the transformation is applied
+         * before all others.
+         */
+        Object<BasicDualComplexTransformation<T>>& rotateLocal(const Math::Complex<T>& complex) {
+            return transformLocalInternal(complex);
+        }
+
         /**
          * @brief Rotate the object
          * @param angle     Angle (counterclockwise)
          * @return Reference to self (for method chaining)
          *
          * Same as calling @ref transform() with @ref Math::DualComplex::rotation().
-         * @see @ref rotateLocal(), @ref normalizeRotation()
+         * @see @ref rotate(const Math::Complex<T>&), @ref rotateLocal(),
+         *      @ref normalizeRotation()
          */
         Object<BasicDualComplexTransformation<T>>& rotate(Math::Rad<T> angle) {
             return transformInternal(Math::DualComplex<T>::rotation(angle));
@@ -168,6 +195,13 @@ template<class T> class BasicDualComplexTransformation: public AbstractBasicTran
             translateLocal(vector);
         }
 
+        void doRotate(const Math::Complex<T>& complex) override final {
+            rotate(complex);
+        }
+        void doRotateLocal(const Math::Complex<T>& complex) override final {
+            rotateLocal(complex);
+        }
+
         void doRotate(Math::Rad<T> angle) override final { rotate(angle); }
         void doRotateLocal(Math::Rad<T> angle) override final { rotateLocal(angle); }
 

src/Magnum/SceneGraph/DualQuaternionTransformation.h

@@ -131,6 +131,33 @@ template<class T> class BasicDualQuaternionTransformation: public AbstractBasicT
             return transformLocalInternal(Math::DualQuaternion<T>::translation(vector));
         }
 
+        /**
+         * @brief Rotate the object using a quaternion
+         * @param quaternion    Normalized quaternion
+         * @return Reference to self (for method chaining)
+         * @m_since_latest
+         *
+         * Same as calling @ref transform() with @p quaternion. Expects that
+         * the quaternion is normalized.
+         * @see @ref rotate(Math::Rad<T>, const Math::Vector3<T>&),
+         *      @ref rotateLocal(const Math::Quaternion<T>&), @ref rotateX(),
+         *      @ref rotateY(), @ref rotateZ()
+         */
+        Object<BasicDualQuaternionTransformation<T>>& rotate(const Math::Quaternion<T>& quaternion) {
+            return transformInternal(quaternion);
+        }
+
+        /**
+         * @brief Rotate the object using a quaternion as a local transformation
+         * @m_since_latest
+         *
+         * Similar to the above, except that the transformation is applied
+         * before all others.
+         */
+        Object<BasicDualQuaternionTransformation<T>>& rotateLocal(const Math::Quaternion<T>& quaternion) {
+            return transformLocalInternal(quaternion);
+        }
+
         /**
          * @brief Rotate the object
          * @param angle             Angle (counterclockwise)
@@ -138,9 +165,9 @@ template<class T> class BasicDualQuaternionTransformation: public AbstractBasicT
          * @return Reference to self (for method chaining)
          *
          * Same as calling @ref transform() with @ref Math::DualQuaternion::rotation().
-         * @see @ref rotateLocal(), @ref Math::Vector3::xAxis(),
-         *      @ref Math::Vector3::yAxis(), @ref Math::Vector3::zAxis(),
-         *      @ref normalizeRotation()
+         * @see @ref rotate(const Math::Quaternion<T>&), @ref rotateLocal(),
+         *      @ref Math::Vector3::xAxis(), @ref Math::Vector3::yAxis(),
+         *      @ref Math::Vector3::zAxis(), @ref normalizeRotation()
          */
         Object<BasicDualQuaternionTransformation<T>>& rotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) {
             return transformInternal(Math::DualQuaternion<T>::rotation(angle, normalizedAxis));
@@ -192,6 +219,13 @@ template<class T> class BasicDualQuaternionTransformation: public AbstractBasicT
             translateLocal(vector);
         }
 
+        void doRotate(const Math::Quaternion<T>& quaternion) override final {
+            rotate(quaternion);
+        }
+        void doRotateLocal(const Math::Quaternion<T>& quaternion) override final {
+            rotateLocal(quaternion);
+        }
+
         void doRotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) override final {
             rotate(angle, normalizedAxis);
         }

src/Magnum/SceneGraph/MatrixTransformation2D.h

@@ -114,6 +114,27 @@ template<class T> class BasicMatrixTransformation2D: public AbstractBasicTransla
             return transformLocal(Math::Matrix3<T>::translation(vector));
         }
 
+        /**
+         * @brief Rotate the object using a complex number
+         * @param complex       Normalized complex number
+         * @return Reference to self (for method chaining)
+         * @m_since_latest
+         *
+         * Expects that the complex number is normalized.
+         * @see @ref rotate(Math::Rad<T>),
+         *      @ref rotateLocal(const Math::Complex<T>&)
+         */
+        Object<BasicMatrixTransformation2D<T>>& rotate(const Math::Complex<T>& complex);
+
+        /**
+         * @brief Rotate the object using a complex number as a local transformation
+         * @m_since_latest
+         *
+         * Similar to the above, except that the transformation is applied
+         * before all others.
+         */
+        Object<BasicMatrixTransformation2D<T>>& rotateLocal(const Math::Complex<T>& complex);
+
         /**
          * @brief Rotate the object
          * @param angle     Angle (counterclockwise)
@@ -195,6 +216,13 @@ template<class T> class BasicMatrixTransformation2D: public AbstractBasicTransla
         void doTranslate(const Math::Vector2<T>& vector) override final { translate(vector); }
         void doTranslateLocal(const Math::Vector2<T>& vector) override final { translateLocal(vector); }
 
+        void doRotate(const Math::Complex<T>& complex) override final {
+            rotate(complex);
+        }
+        void doRotateLocal(const Math::Complex<T>& complex) override final {
+            rotateLocal(complex);
+        }
+
         void doRotate(Math::Rad<T> angle) override final { rotate(angle); }
         void doRotateLocal(Math::Rad<T> angle) override final { rotateLocal(angle); }
 
@@ -234,6 +262,7 @@ template<class T> struct Transformation<BasicMatrixTransformation2D<T>> {
 }
 
 #if defined(CORRADE_TARGET_WINDOWS) && !defined(__MINGW32__)
+extern template class MAGNUM_SCENEGRAPH_EXPORT BasicMatrixTransformation2D<Float>;
 extern template class MAGNUM_SCENEGRAPH_EXPORT Object<BasicMatrixTransformation2D<Float>>;
 #endif
 

src/Magnum/SceneGraph/MatrixTransformation2D.hpp

@@ -0,0 +1,51 @@
+#ifndef Magnum_SceneGraph_MatrixTransformation2D_hpp
+#define Magnum_SceneGraph_MatrixTransformation2D_hpp
+/*
+    This file is part of Magnum.
+
+    Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019
+              Vladimír Vondruš <mosra@centrum.cz>
+
+    Permission is hereby granted, free of charge, to any person obtaining a
+    copy of this software and associated documentation files (the "Software"),
+    to deal in the Software without restriction, including without limitation
+    the rights to use, copy, modify, merge, publish, distribute, sublicense,
+    and/or sell copies of the Software, and to permit persons to whom the
+    Software is furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included
+    in all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+    DEALINGS IN THE SOFTWARE.
+*/
+
+/** @file
+ * @brief @ref compilation-speedup-hpp "Template implementation" for @ref MatrixTransformation2D.h
+ * @m_since_latest
+ */
+
+#include "MatrixTransformation2D.h"
+
+#include "Magnum/Math/Complex.h"
+
+namespace Magnum { namespace SceneGraph {
+
+/* These are here to avoid including Complex in MatrixTransformation2D.h */
+
+template<class T> Object<BasicMatrixTransformation2D<T>>& BasicMatrixTransformation2D<T>::rotate(const Math::Complex<T>& complex) {
+    return transform(Matrix3::from(complex.toMatrix(), {}));
+}
+
+template<class T> Object<BasicMatrixTransformation2D<T>>& BasicMatrixTransformation2D<T>::rotateLocal(const Math::Complex<T>& complex) {
+    return transformLocal(Matrix3::from(complex.toMatrix(), {}));
+}
+
+}}
+
+#endif

src/Magnum/SceneGraph/MatrixTransformation3D.h

@@ -114,6 +114,28 @@ template<class T> class BasicMatrixTransformation3D: public AbstractBasicTransla
             return transformLocal(Math::Matrix4<T>::translation(vector));
         }
 
+        /**
+         * @brief Rotate the object using a quaternion
+         * @param quaternion    Normalized quaternion
+         * @return Reference to self (for method chaining)
+         * @m_since_latest
+         *
+         * Expects that the quaternion is normalized.
+         * @see @ref rotate(Math::Rad<T>, const Math::Vector3<T>&),
+         *      @ref rotateLocal(const Math::Quaternion<T>&), @ref rotateX(),
+         *      @ref rotateY(), @ref rotateZ()
+         */
+        Object<BasicMatrixTransformation3D<T>>& rotate(const Math::Quaternion<T>& quaternion);
+
+        /**
+         * @brief Rotate the object using a quaternion as a local transformation
+         * @m_since_latest
+         *
+         * Similar to the above, except that the transformation is applied
+         * before all others.
+         */
+        Object<BasicMatrixTransformation3D<T>>& rotateLocal(const Math::Quaternion<T>& quaternion);
+
         /**
          * @brief Rotate the object
          * @param angle             Angle (counterclockwise)
@@ -121,9 +143,10 @@ template<class T> class BasicMatrixTransformation3D: public AbstractBasicTransla
          * @return Reference to self (for method chaining)
          *
          * Same as calling @ref transform() with @ref Math::Matrix4::rotation().
-         * @see @ref rotateLocal(), @ref rotateX(), @ref rotateY(),
-         *      @ref rotateZ(), @ref Math::Vector3::xAxis(),
-         *      @ref Math::Vector3::yAxis(), @ref Math::Vector3::zAxis()
+         * @see @ref rotate(const Math::Quaternion<T>&), @ref rotateLocal(),
+         *      @ref rotateX(), @ref rotateY(), @ref rotateZ(),
+         *      @ref Math::Vector3::xAxis(), @ref Math::Vector3::yAxis(),
+         *      @ref Math::Vector3::zAxis()
          */
         Object<BasicMatrixTransformation3D<T>>& rotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) {
             return transform(Math::Matrix4<T>::rotation(angle, normalizedAxis));
@@ -266,6 +289,13 @@ template<class T> class BasicMatrixTransformation3D: public AbstractBasicTransla
         void doTranslate(const Math::Vector3<T>& vector) override final { translate(vector); }
         void doTranslateLocal(const Math::Vector3<T>& vector) override final { translateLocal(vector); }
 
+        void doRotate(const Math::Quaternion<T>& quaternion) override final {
+            rotate(quaternion);
+        }
+        void doRotateLocal(const Math::Quaternion<T>& quaternion) override final {
+            rotateLocal(quaternion);
+        }
+
         void doRotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) override final {
             rotate(angle, normalizedAxis);
         }
@@ -318,6 +348,7 @@ template<class T> struct Transformation<BasicMatrixTransformation3D<T>> {
 }
 
 #if defined(CORRADE_TARGET_WINDOWS) && !defined(__MINGW32__)
+extern template class MAGNUM_SCENEGRAPH_EXPORT BasicMatrixTransformation3D<Float>;
 extern template class MAGNUM_SCENEGRAPH_EXPORT Object<BasicMatrixTransformation3D<Float>>;
 #endif
 

src/Magnum/SceneGraph/MatrixTransformation3D.hpp

@@ -0,0 +1,51 @@
+#ifndef Magnum_SceneGraph_MatrixTransformation3D_hpp
+#define Magnum_SceneGraph_MatrixTransformation3D_hpp
+/*
+    This file is part of Magnum.
+
+    Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019
+              Vladimír Vondruš <mosra@centrum.cz>
+
+    Permission is hereby granted, free of charge, to any person obtaining a
+    copy of this software and associated documentation files (the "Software"),
+    to deal in the Software without restriction, including without limitation
+    the rights to use, copy, modify, merge, publish, distribute, sublicense,
+    and/or sell copies of the Software, and to permit persons to whom the
+    Software is furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included
+    in all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+    DEALINGS IN THE SOFTWARE.
+*/
+
+/** @file
+ * @brief @ref compilation-speedup-hpp "Template implementation" for @ref MatrixTransformation3D.h
+ * @m_since_latest
+ */
+
+#include "MatrixTransformation3D.h"
+
+#include "Magnum/Math/Quaternion.h"
+
+namespace Magnum { namespace SceneGraph {
+
+/* These are here to avoid including Quaternion in MatrixTransformation3D.h */
+
+template<class T> Object<BasicMatrixTransformation3D<T>>& BasicMatrixTransformation3D<T>::rotate(const Math::Quaternion<T>& quaternion) {
+    return transform(Matrix4::from(quaternion.toMatrix(), {}));
+}
+
+template<class T> Object<BasicMatrixTransformation3D<T>>& BasicMatrixTransformation3D<T>::rotateLocal(const Math::Quaternion<T>& quaternion) {
+    return transformLocal(Matrix4::from(quaternion.toMatrix(), {}));
+}
+
+}}
+
+#endif

src/Magnum/SceneGraph/Object.h

@@ -76,20 +76,24 @@ and @ref previousSibling().
 
 @section SceneGraph-Object-explicit-specializations Explicit template specializations
 
-The following specializations are explicitly compiled into @ref SceneGraph
+The following specializations are explicitly compiled into the @ref SceneGraph
 library. For other specializations (e.g. using @ref Magnum::Double "Double"
-type or special transformation class) you have to use @ref Object.hpp
-implementation file to avoid linker errors. See also relevant sections in
-@ref SceneGraph-AbstractObject-explicit-specializations "AbstractObject" and
+type or special transformation class) you have to use the @ref Object.hpp
+implementation file (and possibly others) to avoid linker errors. See also
+relevant sections in the @ref SceneGraph-AbstractObject-explicit-specializations "AbstractObject" and
 @ref SceneGraph-AbstractTransformation-explicit-specializations "AbstractTransformation"
 class documentation or @ref compilation-speedup-hpp for more information.
 
 -   @ref DualComplexTransformation "Object<DualComplexTransformation>"
 -   @ref DualQuaternionTransformation "Object<DualQuaternionTransformation>"
--   @ref MatrixTransformation2D "Object<MatrixTransformation2D>"
--   @ref MatrixTransformation3D "Object<MatrixTransformation3D>"
+-   @ref MatrixTransformation2D "Object<MatrixTransformation2D>" (custom
+    specializations need also @ref MatrixTransformation2D.hpp)
+-   @ref MatrixTransformation3D "Object<MatrixTransformation3D>" (custom
+    specializations need also @ref MatrixTransformation3D.hpp)
 -   @ref RigidMatrixTransformation2D "Object<RigidMatrixTransformation2D>"
+    (custom specializations need also @ref RigidMatrixTransformation2D.hpp)
 -   @ref RigidMatrixTransformation3D "Object<RigidMatrixTransformation3D>"
+    (custom specializations need also @ref RigidMatrixTransformation3D.hpp)
 -   @ref TranslationTransformation2D "Object<TranslationTransformation2D>"
 -   @ref TranslationTransformation3D "Object<TranslationTransformation3D>"
 

src/Magnum/SceneGraph/RigidMatrixTransformation2D.h

@@ -137,6 +137,27 @@ template<class T> class BasicRigidMatrixTransformation2D: public AbstractBasicTr
             return transformLocalInternal(Math::Matrix3<T>::translation(vector));
         }
 
+        /**
+         * @brief Rotate the object using a complex number
+         * @param complex       Normalized complex number
+         * @return Reference to self (for method chaining)
+         * @m_since_latest
+         *
+         * Expects that the complex number is normalized.
+         * @see @ref rotate(Math::Rad<T>),
+         *      @ref rotateLocal(const Math::Complex<T>&)
+         */
+        Object<BasicRigidMatrixTransformation2D<T>>& rotate(const Math::Complex<T>& complex);
+
+        /**
+         * @brief Rotate the object using a complex number as a local transformation
+         * @m_since_latest
+         *
+         * Similar to the above, except that the transformation is applied
+         * before all others.
+         */
+        Object<BasicRigidMatrixTransformation2D<T>>& rotateLocal(const Math::Complex<T>& complex);
+
         /**
          * @brief Rotate the object
          * @param angle     Angle (counterclockwise)
@@ -195,6 +216,13 @@ template<class T> class BasicRigidMatrixTransformation2D: public AbstractBasicTr
         void doTranslate(const Math::Vector2<T>& vector) override final { translate(vector); }
         void doTranslateLocal(const Math::Vector2<T>& vector) override final { translateLocal(vector); }
 
+        void doRotate(const Math::Complex<T>& complex) override final {
+            rotate(complex);
+        }
+        void doRotateLocal(const Math::Complex<T>& complex) override final {
+            rotateLocal(complex);
+        }
+
         void doRotate(Math::Rad<T> angle) override final { rotate(angle); }
         void doRotateLocal(Math::Rad<T> angle) override final { rotateLocal(angle); }
 
@@ -254,6 +282,7 @@ template<class T> struct Transformation<BasicRigidMatrixTransformation2D<T>> {
 }
 
 #if defined(CORRADE_TARGET_WINDOWS) && !defined(__MINGW32__)
+extern template class MAGNUM_SCENEGRAPH_EXPORT BasicRigidMatrixTransformation2D<Float>;
 extern template class MAGNUM_SCENEGRAPH_EXPORT Object<BasicRigidMatrixTransformation2D<Float>>;
 #endif
 

src/Magnum/SceneGraph/RigidMatrixTransformation2D.hpp

@@ -0,0 +1,51 @@
+#ifndef Magnum_SceneGraph_RigidMatrixTransformation2D_hpp
+#define Magnum_SceneGraph_RigidMatrixTransformation2D_hpp
+/*
+    This file is part of Magnum.
+
+    Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019
+              Vladimír Vondruš <mosra@centrum.cz>
+
+    Permission is hereby granted, free of charge, to any person obtaining a
+    copy of this software and associated documentation files (the "Software"),
+    to deal in the Software without restriction, including without limitation
+    the rights to use, copy, modify, merge, publish, distribute, sublicense,
+    and/or sell copies of the Software, and to permit persons to whom the
+    Software is furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included
+    in all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+    DEALINGS IN THE SOFTWARE.
+*/
+
+/** @file
+ * @brief @ref compilation-speedup-hpp "Template implementation" for @ref RigidMatrixTransformation2D.h
+ * @m_since_latest
+ */
+
+#include "RigidMatrixTransformation2D.h"
+
+#include "Magnum/Math/Complex.h"
+
+namespace Magnum { namespace SceneGraph {
+
+/* These are here to avoid including Complex in RigidMatrixTransformation2D.h */
+
+template<class T> Object<BasicRigidMatrixTransformation2D<T>>& BasicRigidMatrixTransformation2D<T>::rotate(const Math::Complex<T>& complex) {
+    return transform(Matrix3::from(complex.toMatrix(), {}));
+}
+
+template<class T> Object<BasicRigidMatrixTransformation2D<T>>& BasicRigidMatrixTransformation2D<T>::rotateLocal(const Math::Complex<T>& complex) {
+    return transformLocal(Matrix3::from(complex.toMatrix(), {}));
+}
+
+}}
+
+#endif

src/Magnum/SceneGraph/RigidMatrixTransformation3D.h

@@ -136,6 +136,28 @@ template<class T> class BasicRigidMatrixTransformation3D: public AbstractBasicTr
             return transformLocalInternal(Math::Matrix4<T>::translation(vector));
         }
 
+        /**
+         * @brief Rotate the object using a quaternion
+         * @param quaternion    Normalized quaternion
+         * @return Reference to self (for method chaining)
+         * @m_since_latest
+         *
+         * Expects that the quaternion is normalized.
+         * @see @ref rotate(Math::Rad<T>, const Math::Vector3<T>&),
+         *      @ref rotateLocal(const Math::Quaternion<T>&), @ref rotateX(),
+         *      @ref rotateY(), @ref rotateZ()
+         */
+        Object<BasicRigidMatrixTransformation3D<T>>& rotate(const Math::Quaternion<T>& quaternion);
+
+        /**
+         * @brief Rotate the object using a quaternion as a local transformation
+         * @m_since_latest
+         *
+         * Similar to the above, except that the transformation is applied
+         * before all others.
+         */
+        Object<BasicRigidMatrixTransformation3D<T>>& rotateLocal(const Math::Quaternion<T>& quaternion);
+
         /**
          * @brief Rotate the object
          * @param angle             Angle (counterclockwise)
@@ -143,10 +165,10 @@ template<class T> class BasicRigidMatrixTransformation3D: public AbstractBasicTr
          * @return Reference to self (for method chaining)
          *
          * Same as calling @ref transform() with @ref Math::Matrix4::rotation().
-         * @see @ref rotateLocal(), @ref rotateX(), @ref rotateY(),
-         *      @ref rotateZ(), @ref normalizeRotation(),
-         *      @ref Math::Vector3::xAxis(), @ref Math::Vector3::yAxis(),
-         *      @ref Math::Vector3::zAxis()
+         * @see @ref rotate(const Math::Quaternion<T>&), @ref rotateLocal(),
+         *      @ref rotateX(), @ref rotateY(), @ref rotateZ(),
+         *      @ref normalizeRotation(), @ref Math::Vector3::xAxis(),
+         *      @ref Math::Vector3::yAxis(), @ref Math::Vector3::zAxis()
          */
         Object<BasicRigidMatrixTransformation3D<T>>& rotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) {
             return transformInternal(Math::Matrix4<T>::rotation(angle, normalizedAxis));
@@ -266,6 +288,13 @@ template<class T> class BasicRigidMatrixTransformation3D: public AbstractBasicTr
         void doTranslate(const Math::Vector3<T>& vector) override final { translate(vector); }
         void doTranslateLocal(const Math::Vector3<T>& vector) override final { translateLocal(vector); }
 
+        void doRotate(const Math::Quaternion<T>& quaternion) override final {
+            rotate(quaternion);
+        }
+        void doRotateLocal(const Math::Quaternion<T>& quaternion) override final {
+            rotateLocal(quaternion);
+        }
+
         void doRotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) override final {
             rotate(angle, normalizedAxis);
         }
@@ -338,6 +367,7 @@ template<class T> struct Transformation<BasicRigidMatrixTransformation3D<T>> {
 }
 
 #if defined(CORRADE_TARGET_WINDOWS) && !defined(__MINGW32__)
+extern template class MAGNUM_SCENEGRAPH_EXPORT BasicRigidMatrixTransformation3D<Float>;
 extern template class MAGNUM_SCENEGRAPH_EXPORT Object<BasicRigidMatrixTransformation3D<Float>>;
 #endif
 

src/Magnum/SceneGraph/RigidMatrixTransformation3D.hpp

@@ -0,0 +1,51 @@
+#ifndef Magnum_SceneGraph_RigidMatrixTransformation3D_hpp
+#define Magnum_SceneGraph_RigidMatrixTransformation3D_hpp
+/*
+    This file is part of Magnum.
+
+    Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019
+              Vladimír Vondruš <mosra@centrum.cz>
+
+    Permission is hereby granted, free of charge, to any person obtaining a
+    copy of this software and associated documentation files (the "Software"),
+    to deal in the Software without restriction, including without limitation
+    the rights to use, copy, modify, merge, publish, distribute, sublicense,
+    and/or sell copies of the Software, and to permit persons to whom the
+    Software is furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included
+    in all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+    DEALINGS IN THE SOFTWARE.
+*/
+
+/** @file
+ * @brief @ref compilation-speedup-hpp "Template implementation" for @ref RigidMatrixTransformation3D.hpp
+ * @m_since_latest
+ */
+
+#include "RigidMatrixTransformation3D.h"
+
+#include "Magnum/Math/Quaternion.h"
+
+namespace Magnum { namespace SceneGraph {
+
+/* These are here to avoid including Quaternion in the header */
+
+template<class T> Object<BasicRigidMatrixTransformation3D<T>>& BasicRigidMatrixTransformation3D<T>::rotate(const Math::Quaternion<T>& quaternion) {
+    return transform(Matrix4::from(quaternion.toMatrix(), {}));
+}
+
+template<class T> Object<BasicRigidMatrixTransformation3D<T>>& BasicRigidMatrixTransformation3D<T>::rotateLocal(const Math::Quaternion<T>& quaternion) {
+    return transformLocal(Matrix4::from(quaternion.toMatrix(), {}));
+}
+
+}}
+
+#endif

src/Magnum/SceneGraph/Test/DualComplexTransformationTest.cpp

@@ -65,6 +65,8 @@ DualComplexTransformationTest::DualComplexTransformationTest() {
               &DualComplexTransformationTest::normalizeRotation});
 }
 
+using namespace Math::Literals;
+
 void DualComplexTransformationTest::fromMatrix() {
     Matrix3 m = Matrix3::rotation(Deg(17.0f))*Matrix3::translation({1.0f, -0.3f});
     DualComplex c = DualComplex::rotation(Deg(17.0f))*DualComplex::translation({1.0f, -0.3f});
@@ -158,13 +160,15 @@ void DualComplexTransformationTest::translate() {
 void DualComplexTransformationTest::rotate() {
     {
         Object2D o;
-        o.setTransformation(DualComplex::translation({1.0f, -0.3f}));
-        o.rotate(Deg(17.0f));
+        o.setTransformation(DualComplex::translation({1.0f, -0.3f}))
+         .rotate(Complex::rotation(7.0_degf))
+         .rotate(10.0_degf);
         CORRADE_COMPARE(o.transformationMatrix(), Matrix3::rotation(Deg(17.0f))*Matrix3::translation({1.0f, -0.3f}));
     } {
         Object2D o;
-        o.setTransformation(DualComplex::translation({1.0f, -0.3f}));
-        o.rotateLocal(Deg(17.0f));
+        o.setTransformation(DualComplex::translation({1.0f, -0.3f}))
+         .rotateLocal(Complex::rotation(7.0_degf))
+         .rotateLocal(10.0_degf);
         CORRADE_COMPARE(o.transformationMatrix(), Matrix3::translation({1.0f, -0.3f})*Matrix3::rotation(Deg(17.0f)));
     }
 }

src/Magnum/SceneGraph/Test/DualQuaternionTransformationTest.cpp

@@ -65,6 +65,8 @@ DualQuaternionTransformationTest::DualQuaternionTransformationTest() {
               &DualQuaternionTransformationTest::normalizeRotation});
 }
 
+using namespace Math::Literals;
+
 void DualQuaternionTransformationTest::fromMatrix() {
     std::ostringstream o;
     Error redirectError{&o};
@@ -164,11 +166,12 @@ void DualQuaternionTransformationTest::translate() {
 void DualQuaternionTransformationTest::rotate() {
     {
         Object3D o;
-        o.transform(DualQuaternion::translation({1.0f, -0.3f, 2.3f}));
-        o.rotateX(Deg(17.0f))
-            .rotateY(Deg(25.0f))
-            .rotateZ(Deg(-23.0f))
-            .rotate(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()));
+        o.transform(DualQuaternion::translation({1.0f, -0.3f, 2.3f}))
+         .rotateX(17.0_degf)
+         .rotateY(25.0_degf)
+         .rotateZ(-23.0_degf)
+         .rotate(Quaternion::rotation(36.0_degf, Vector3{1.0f/Constants::sqrt3()}))
+         .rotate(60.0_degf, Vector3{1.0f/Constants::sqrt3()});
         CORRADE_COMPARE(o.transformationMatrix(),
             Matrix4::rotation(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()))*
             Matrix4::rotationZ(Deg(-23.0f))*
@@ -177,11 +180,12 @@ void DualQuaternionTransformationTest::rotate() {
             Matrix4::translation({1.0f, -0.3f, 2.3f}));
     } {
         Object3D o;
-        o.transform(DualQuaternion::translation({1.0f, -0.3f, 2.3f}));
-        o.rotateXLocal(Deg(17.0f))
-            .rotateYLocal(Deg(25.0f))
-            .rotateZLocal(Deg(-23.0f))
-            .rotateLocal(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()));
+        o.transform(DualQuaternion::translation({1.0f, -0.3f, 2.3f}))
+         .rotateXLocal(17.0_degf)
+         .rotateYLocal(25.0_degf)
+         .rotateZLocal(-23.0_degf)
+         .rotateLocal(Quaternion::rotation(36.0_degf, Vector3{1.0f/Constants::sqrt3()}))
+         .rotateLocal(60.0_degf, Vector3{1.0f/Constants::sqrt3()});
         CORRADE_COMPARE(o.transformationMatrix(),
             Matrix4::translation({1.0f, -0.3f, 2.3f})*
             Matrix4::rotationX(Deg(17.0f))*

src/Magnum/SceneGraph/Test/MatrixTransformation2DTest.cpp

@@ -25,6 +25,7 @@
 
 #include <Corrade/TestSuite/Tester.h>
 
+#include "Magnum/Math/Complex.h"
 #include "Magnum/SceneGraph/MatrixTransformation2D.h"
 #include "Magnum/SceneGraph/Scene.h"
 
@@ -65,6 +66,8 @@ MatrixTransformation2DTest::MatrixTransformation2DTest() {
               &MatrixTransformation2DTest::reflect});
 }
 
+using namespace Math::Literals;
+
 void MatrixTransformation2DTest::fromMatrix() {
     Matrix3 m = Matrix3::rotation(Deg(17.0f))*Matrix3::translation({1.0f, -0.3f});
     CORRADE_COMPARE(Implementation::Transformation<MatrixTransformation2D>::fromMatrix(m), m);
@@ -143,13 +146,15 @@ void MatrixTransformation2DTest::translate() {
 void MatrixTransformation2DTest::rotate() {
     {
         Object2D o;
-        o.setTransformation(Matrix3::translation({1.0f, -0.3f}));
-        o.rotate(Deg(17.0f));
+        o.setTransformation(Matrix3::translation({1.0f, -0.3f}))
+         .rotate(Complex::rotation(7.0_degf))
+         .rotate(10.0_degf);
         CORRADE_COMPARE(o.transformationMatrix(), Matrix3::rotation(Deg(17.0f))*Matrix3::translation({1.0f, -0.3f}));
     } {
         Object2D o;
-        o.setTransformation(Matrix3::translation({1.0f, -0.3f}));
-        o.rotateLocal(Deg(17.0f));
+        o.setTransformation(Matrix3::translation({1.0f, -0.3f}))
+         .rotateLocal(Complex::rotation(7.0_degf))
+         .rotateLocal(10.0_degf);
         CORRADE_COMPARE(o.transformationMatrix(), Matrix3::translation({1.0f, -0.3f})*Matrix3::rotation(Deg(17.0f)));
     }
 }

src/Magnum/SceneGraph/Test/MatrixTransformation3DTest.cpp

@@ -25,6 +25,7 @@
 
 #include <Corrade/TestSuite/Tester.h>
 
+#include "Magnum/Math/Quaternion.h"
 #include "Magnum/SceneGraph/MatrixTransformation3D.h"
 #include "Magnum/SceneGraph/Scene.h"
 
@@ -65,6 +66,8 @@ MatrixTransformation3DTest::MatrixTransformation3DTest() {
               &MatrixTransformation3DTest::reflect});
 }
 
+using namespace Math::Literals;
+
 void MatrixTransformation3DTest::fromMatrix() {
     Matrix4 m = Matrix4::rotationX(Deg(17.0f))*Matrix4::translation({1.0f, -0.3f, 2.3f})*Matrix4::scaling({2.0f, 1.4f, -2.1f});
     CORRADE_COMPARE(Implementation::Transformation<MatrixTransformation3D>::fromMatrix(m), m);
@@ -143,11 +146,12 @@ void MatrixTransformation3DTest::translate() {
 void MatrixTransformation3DTest::rotate() {
     {
         Object3D o;
-        o.setTransformation(Matrix4::translation({1.0f, -0.3f, 2.3f}));
-        o.rotateX(Deg(17.0f))
-            .rotateY(Deg(25.0f))
-            .rotateZ(Deg(-23.0f))
-            .rotate(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()));
+        o.setTransformation(Matrix4::translation({1.0f, -0.3f, 2.3f}))
+         .rotateX(17.0_degf)
+         .rotateY(25.0_degf)
+         .rotateZ(-23.0_degf)
+         .rotate(Quaternion::rotation(36.0_degf, Vector3{1.0f/Constants::sqrt3()}))
+         .rotate(60.0_degf, Vector3{1.0f/Constants::sqrt3()});
         CORRADE_COMPARE(o.transformationMatrix(),
             Matrix4::rotation(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()))*
             Matrix4::rotationZ(Deg(-23.0f))*
@@ -156,11 +160,12 @@ void MatrixTransformation3DTest::rotate() {
             Matrix4::translation({1.0f, -0.3f, 2.3f}));
     } {
         Object3D o;
-        o.setTransformation(Matrix4::translation({1.0f, -0.3f, 2.3f}));
-        o.rotateXLocal(Deg(17.0f))
-            .rotateYLocal(Deg(25.0f))
-            .rotateZLocal(Deg(-23.0f))
-            .rotateLocal(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()));
+        o.setTransformation(Matrix4::translation({1.0f, -0.3f, 2.3f}))
+         .rotateXLocal(17.0_degf)
+         .rotateYLocal(25.0_degf)
+         .rotateZLocal(-23.0_degf)
+         .rotateLocal(Quaternion::rotation(36.0_degf, Vector3{1.0f/Constants::sqrt3()}))
+         .rotateLocal(60.0_degf, Vector3{1.0f/Constants::sqrt3()});
         CORRADE_COMPARE(o.transformationMatrix(),
             Matrix4::translation({1.0f, -0.3f, 2.3f})*
             Matrix4::rotationX(Deg(17.0f))*

src/Magnum/SceneGraph/Test/RigidMatrixTransformation2DTest.cpp

@@ -27,6 +27,7 @@
 #include <Corrade/TestSuite/Tester.h>
 #include <Corrade/Utility/DebugStl.h>
 
+#include "Magnum/Math/Complex.h"
 #include "Magnum/SceneGraph/RigidMatrixTransformation2D.h"
 #include "Magnum/SceneGraph/Scene.h"
 
@@ -67,6 +68,8 @@ RigidMatrixTransformation2DTest::RigidMatrixTransformation2DTest() {
               &RigidMatrixTransformation2DTest::normalizeRotation});
 }
 
+using namespace Math::Literals;
+
 void RigidMatrixTransformation2DTest::fromMatrix() {
     std::ostringstream o;
     Error redirectError{&o};
@@ -163,13 +166,15 @@ void RigidMatrixTransformation2DTest::translate() {
 void RigidMatrixTransformation2DTest::rotate() {
     {
         Object2D o;
-        o.setTransformation(Matrix3::translation({1.0f, -0.3f}));
-        o.rotate(Deg(17.0f));
+        o.setTransformation(Matrix3::translation({1.0f, -0.3f}))
+         .rotate(Complex::rotation(7.0_degf))
+         .rotate(10.0_degf);
         CORRADE_COMPARE(o.transformationMatrix(), Matrix3::rotation(Deg(17.0f))*Matrix3::translation({1.0f, -0.3f}));
     } {
         Object2D o;
-        o.setTransformation(Matrix3::translation({1.0f, -0.3f}));
-        o.rotateLocal(Deg(17.0f));
+        o.setTransformation(Matrix3::translation({1.0f, -0.3f}))
+         .rotateLocal(Complex::rotation(7.0_degf))
+         .rotateLocal(10.0_degf);
         CORRADE_COMPARE(o.transformationMatrix(), Matrix3::translation({1.0f, -0.3f})*Matrix3::rotation(Deg(17.0f)));
     }
 }

src/Magnum/SceneGraph/Test/RigidMatrixTransformation3DTest.cpp

@@ -27,6 +27,7 @@
 #include <Corrade/TestSuite/Tester.h>
 #include <Corrade/Utility/DebugStl.h>
 
+#include "Magnum/Math/Quaternion.h"
 #include "Magnum/SceneGraph/RigidMatrixTransformation3D.h"
 #include "Magnum/SceneGraph/Scene.h"
 
@@ -67,6 +68,8 @@ RigidMatrixTransformation3DTest::RigidMatrixTransformation3DTest() {
               &RigidMatrixTransformation3DTest::normalizeRotation});
 }
 
+using namespace Math::Literals;
+
 void RigidMatrixTransformation3DTest::fromMatrix() {
     std::ostringstream o;
     Error redirectError{&o};
@@ -164,11 +167,12 @@ void RigidMatrixTransformation3DTest::translate() {
 void RigidMatrixTransformation3DTest::rotate() {
     {
         Object3D o;
-        o.setTransformation(Matrix4::translation({1.0f, -0.3f, 2.3f}));
-        o.rotateX(Deg(17.0f))
-            .rotateY(Deg(25.0f))
-            .rotateZ(Deg(-23.0f))
-            .rotate(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()));
+        o.setTransformation(Matrix4::translation({1.0f, -0.3f, 2.3f}))
+         .rotateX(17.0_degf)
+         .rotateY(25.0_degf)
+         .rotateZ(-23.0_degf)
+         .rotate(Quaternion::rotation(36.0_degf, Vector3{1.0f/Constants::sqrt3()}))
+         .rotate(60.0_degf, Vector3{1.0f/Constants::sqrt3()});
         CORRADE_COMPARE(o.transformationMatrix(),
             Matrix4::rotation(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()))*
             Matrix4::rotationZ(Deg(-23.0f))*
@@ -177,11 +181,12 @@ void RigidMatrixTransformation3DTest::rotate() {
             Matrix4::translation({1.0f, -0.3f, 2.3f}));
     } {
         Object3D o;
-        o.setTransformation(Matrix4::translation({1.0f, -0.3f, 2.3f}));
-        o.rotateXLocal(Deg(17.0f))
-            .rotateYLocal(Deg(25.0f))
-            .rotateZLocal(Deg(-23.0f))
-            .rotateLocal(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()));
+        o.setTransformation(Matrix4::translation({1.0f, -0.3f, 2.3f}))
+         .rotateXLocal(17.0_degf)
+         .rotateYLocal(25.0_degf)
+         .rotateZLocal(-23.0_degf)
+         .rotateLocal(Quaternion::rotation(36.0_degf, Vector3{1.0f/Constants::sqrt3()}))
+         .rotateLocal(60.0_degf, Vector3{1.0f/Constants::sqrt3()});
         CORRADE_COMPARE(o.transformationMatrix(),
             Matrix4::translation({1.0f, -0.3f, 2.3f})*
             Matrix4::rotationX(Deg(17.0f))*

src/Magnum/SceneGraph/Test/TranslationRotationScalingTransformation2DTest.cpp

@@ -166,7 +166,7 @@ void TranslationRotationScalingTransformation2DTest::rotate() {
     {
         Object2D o;
         o.setTransformation(Matrix3::translation({1.0f, -0.3f}));
-        o.rotate(17.0_degf)
+        o.rotate(Complex::rotation(17.0_degf))
          .rotate(-96.0_degf);
         CORRADE_COMPARE(o.translation(), (Vector2{1.0f, -0.3f}));
         CORRADE_COMPARE(o.rotation(), Complex::rotation(-79.0_degf));
@@ -178,7 +178,7 @@ void TranslationRotationScalingTransformation2DTest::rotate() {
     } {
         Object2D o;
         o.setTransformation(Matrix3::translation({1.0f, -0.3f}));
-        o.rotateLocal(17.0_degf)
+        o.rotateLocal(Complex::rotation(17.0_degf))
          .rotateLocal(-96.0_degf);
         CORRADE_COMPARE(o.translation(), (Vector2{1.0f, -0.3f}));
         CORRADE_COMPARE(o.rotation(), Complex::rotation(-79.0_degf));

src/Magnum/SceneGraph/TranslationRotationScalingTransformation2D.h

@@ -212,6 +212,13 @@ template<class T> class BasicTranslationRotationScalingTransformation2D: public
         void doTranslate(const Math::Vector2<T>& vector) override final { translate(vector); }
         void doTranslateLocal(const Math::Vector2<T>& vector) override final { translateLocal(vector); }
 
+        void doRotate(const Math::Complex<T>& complex) override final {
+            rotate(complex);
+        }
+        void doRotateLocal(const Math::Complex<T>& complex) override final {
+            rotateLocal(complex);
+        }
+
         void doRotate(Math::Rad<T> angle) override final {
             rotate(angle);
         }

src/Magnum/SceneGraph/TranslationRotationScalingTransformation3D.h

@@ -292,6 +292,13 @@ template<class T> class BasicTranslationRotationScalingTransformation3D: public
         void doTranslate(const Math::Vector3<T>& vector) override final { translate(vector); }
         void doTranslateLocal(const Math::Vector3<T>& vector) override final { translateLocal(vector); }
 
+        void doRotate(const Math::Quaternion<T>& quaternion) override final {
+            rotate(quaternion);
+        }
+        void doRotateLocal(const Math::Quaternion<T>& quaternion) override final {
+            rotateLocal(quaternion);
+        }
+
         void doRotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) override final {
             rotate(angle, normalizedAxis);
         }

src/Magnum/SceneGraph/instantiation.cpp

@@ -30,11 +30,11 @@
 #include "Magnum/SceneGraph/DualComplexTransformation.h"
 #include "Magnum/SceneGraph/DualQuaternionTransformation.h"
 #include "Magnum/SceneGraph/FeatureGroup.hpp"
-#include "Magnum/SceneGraph/MatrixTransformation2D.h"
-#include "Magnum/SceneGraph/MatrixTransformation3D.h"
+#include "Magnum/SceneGraph/MatrixTransformation2D.hpp"
+#include "Magnum/SceneGraph/MatrixTransformation3D.hpp"
 #include "Magnum/SceneGraph/Object.hpp"
-#include "Magnum/SceneGraph/RigidMatrixTransformation2D.h"
-#include "Magnum/SceneGraph/RigidMatrixTransformation3D.h"
+#include "Magnum/SceneGraph/RigidMatrixTransformation2D.hpp"
+#include "Magnum/SceneGraph/RigidMatrixTransformation3D.hpp"
 #include "Magnum/SceneGraph/TranslationTransformation.h"
 #include "Magnum/SceneGraph/TranslationRotationScalingTransformation2D.h"
 #include "Magnum/SceneGraph/TranslationRotationScalingTransformation3D.h"
@@ -72,6 +72,13 @@ template class MAGNUM_SCENEGRAPH_EXPORT_HPP Camera<3, Float>;
 template class MAGNUM_SCENEGRAPH_EXPORT_HPP Drawable<2, Float>;
 template class MAGNUM_SCENEGRAPH_EXPORT_HPP Drawable<3, Float>;
 
+/* These have rotation(const Complex&) and rotation(const Quaternion&) defined
+   in a hpp to avoid dragging in Complex / Quaternion for every user */
+template class MAGNUM_SCENEGRAPH_EXPORT_HPP BasicMatrixTransformation2D<Float>;
+template class MAGNUM_SCENEGRAPH_EXPORT_HPP BasicMatrixTransformation3D<Float>;
+template class MAGNUM_SCENEGRAPH_EXPORT_HPP BasicRigidMatrixTransformation2D<Float>;
+template class MAGNUM_SCENEGRAPH_EXPORT_HPP BasicRigidMatrixTransformation3D<Float>;
+
 template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicDualComplexTransformation<Float>>;
 template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicDualQuaternionTransformation<Float>>;
 template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicMatrixTransformation2D<Float>>;