From 0b2050cf687a0f698b838df781a8095a9e92939d Mon Sep 17 00:00:00 2001
From: Edouard DUPIN <yui.heero@gmail.com>
Date: Mon, 17 Dec 2012 21:07:21 +0100
Subject: [PATCH] [DEBUG] corection of the roation matrix

---
 etk/math/Matrix4.cpp | 22 ++++++++++++++++++++--
 etk/math/Matrix4.h   | 11 +++++++----
 2 files changed, 27 insertions(+), 6 deletions(-)

diff --git a/etk/math/Matrix4.cpp b/etk/math/Matrix4.cpp
index 4760c33..b5c9b40 100644
--- a/etk/math/Matrix4.cpp
+++ b/etk/math/Matrix4.cpp
@@ -11,6 +11,22 @@
 #include <etk/DebugInternal.h>
 #include <math.h>
 
+
+
+void etk::Matrix4::Rotate(etk::Vector3D<float>& vect, float angleRad)
+{
+	etk::Matrix4 tmpMat = etk::matRotate(vect, angleRad);
+	*this *= tmpMat;
+}
+
+void etk::Matrix4::Translate(etk::Vector3D<float>& vect)
+{
+	etk::Matrix4 tmpMat = etk::matScale(vect);
+	*this *= tmpMat;
+}
+
+
+
 etk::Matrix4 etk::matPerspective(float left, float right, float bottom, float top, float nearVal, float farVal)
 {
 	etk::Matrix4 tmp;
@@ -44,10 +60,13 @@ etk::Matrix4 etk::matTranslate(etk::Vector3D<float> vect)
 etk::Matrix4 etk::matScale(etk::Vector3D<float> vect)
 {
 	etk::Matrix4 tmp;
+	tmp.Scale(vect);
+	/*
 	// set scale :
 	tmp.m_mat[0] = vect.x;
 	tmp.m_mat[5] = vect.y;
 	tmp.m_mat[10] = vect.z;
+	*/
 	//TK_INFO("Scale :");
 	//etk::matrix::Display(tmp);
 	return tmp;
@@ -61,7 +80,7 @@ etk::Matrix4 etk::matRotate(etk::Vector3D<float> vect, float angleRad)
 	float invVal = 1.0-cosVal;
 	// set rotation : 
 	tmp.m_mat[0]  = vect.x * vect.x * invVal + cosVal;
-	tmp.m_mat[1]  = vect.x * vect.y * invVal - vect.z * cosVal;
+	tmp.m_mat[1]  = vect.x * vect.y * invVal - vect.z * sinVal;
 	tmp.m_mat[2]  = vect.x * vect.z * invVal + vect.y * sinVal;
 	
 	tmp.m_mat[4]  = vect.y * vect.x * invVal + vect.z * sinVal;
@@ -75,7 +94,6 @@ etk::Matrix4 etk::matRotate(etk::Vector3D<float> vect, float angleRad)
 }
 
 
-
 float etk::Matrix4::CoFactor(int32_t row, int32_t col) const
 {
 	return (   (   m_mat[((row+1)&3)*4 + ((col+1)&3)] * m_mat[((row+2)&3)*4 + ((col+2)&3)] * m_mat[((row+3)&3)*4 + ((col+3)&3)]
diff --git a/etk/math/Matrix4.h b/etk/math/Matrix4.h
index b656c60..37a5c31 100644
--- a/etk/math/Matrix4.h
+++ b/etk/math/Matrix4.h
@@ -259,15 +259,18 @@ namespace etk
 				m_mat[4] = -Sin;
 				m_mat[1] = Sin;
 			}
-
+#endif
 			/**
 			 * @brief Makes a rotation matrix about an arbitrary axis.
 			 * @param[in] vect vector to apply the angle.
 			 * @param[in] angleRad angle to apply.
 			 */
-			void Rotate(etk::Vector3D<float> vect, float angleRad=0.0);
-#endif
-
+			void Rotate(etk::Vector3D<float>& vect, float angleRad=0.0);
+			/**
+			 * @brief Makes a translation of the matrix
+			 * @param[in] vect Translation to apply.
+			 */
+			void Translate(etk::Vector3D<float>& vect);
 			/**
 			 * @brief Computes a cofactor. Used for matrix inversion.
 			 * @param[in] row Id of raw.