Setstruct introduction done

Can be found as:
Physics::Struct::CustomBodyState
Physics::ICustomBody::State
Is all inline thus no expensive API calls, as intended.
Will be expanded to move API call methods from Physics::ICustomBody to
it.

Code/GamePhysics/GamePhysics.vcxproj

@@ -91,9 +91,12 @@
       <Optimization>Disabled</Optimization>
       <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
+      <ModuleDefinitionFile>
+      </ModuleDefinitionFile>
     </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
@@ -102,9 +105,12 @@
       <Optimization>Disabled</Optimization>
       <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
+      <ModuleDefinitionFile>
+      </ModuleDefinitionFile>
     </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
@@ -115,11 +121,14 @@
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
+      <ModuleDefinitionFile>
+      </ModuleDefinitionFile>
     </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
@@ -130,11 +139,14 @@
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
+      <ModuleDefinitionFile>
+      </ModuleDefinitionFile>
     </Link>
   </ItemDefinitionGroup>
   <ItemGroup>
@@ -154,6 +166,8 @@
     <ClInclude Include="Implementation\SimpleRigidBody.h" />
     <ClInclude Include="Implementation\SphericalRigidBody.h" />
     <ClInclude Include="PhysicsAPI.h" />
+    <ClInclude Include="PhysicsStructs-Impl.h" />
+    <ClInclude Include="PhysicsStructs.h" />
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="Implementation\Octree.cpp" />

Code/GamePhysics/GamePhysics.vcxproj.filters

@@ -36,6 +36,12 @@
     <ClInclude Include="Implementation\Octree.h">
       <Filter>Header Files\Implementation</Filter>
     </ClInclude>
+    <ClInclude Include="PhysicsStructs.h">
+      <Filter>Header Files\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="PhysicsStructs-Impl.h">
+      <Filter>Header Files\Include</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="Implementation\PhysicsAPI_Impl.cpp">

Code/GamePhysics/Implementation/SimpleRigidBody.cpp

@@ -42,6 +42,23 @@ UniquePointer<ICustomBody> SimpleRigidBody::Clone() const
 	return new SimpleRigidBody( *this );
 }
 
+SimpleRigidBody::State SimpleRigidBody::GetState() const
+{
+	return State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz );
+}
+
+SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
+{
+	return targetMem = State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz );
+}
+
+void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
+{ /** @todo TODO: temporary solution! Need to know it's occtree */
+	this->rigid.box.boundingOffset = state.GetReach();
+	this->rigid.box.center = state.GetCenterPosition();
+	this->rigid.box.rotation = state.GetRotation();
+}
+
 void SimpleRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter )
 {
 	this->collisionAction( proto, deuter );

Code/GamePhysics/Implementation/SimpleRigidBody.h

@@ -15,6 +15,10 @@ namespace Oyster { namespace Physics
 
 		::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
 		
+		State GetState() const;
+		State & GetState( State &targetMem ) const;
+		void SetState( const State &state );
+
 		void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter );
 		bool IsAffectedByGravity() const;
 		bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;

Code/GamePhysics/Implementation/SphericalRigidBody.cpp

@@ -44,6 +44,23 @@ UniquePointer<ICustomBody> SphericalRigidBody::Clone() const
 	return new SphericalRigidBody( *this );
 }
 
+SphericalRigidBody::State SphericalRigidBody::GetState() const
+{
+	return State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz );
+}
+
+SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const
+{
+	return targetMem = State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz );
+}
+
+void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
+{ /** @todo TODO: temporary solution! Need to know it's occtree */
+	this->rigid.box.boundingOffset = state.GetReach();
+	this->rigid.box.center = state.GetCenterPosition();
+	this->rigid.box.rotation = state.GetRotation();
+}
+
 void SphericalRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter )
 {
 	this->collisionAction( proto, deuter );

Code/GamePhysics/Implementation/SphericalRigidBody.h

@@ -16,6 +16,10 @@ namespace Oyster { namespace Physics
 
 		::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
 		
+		State GetState() const;
+		State & GetState( State &targetMem = State() ) const;
+		void SetState( const State &state );
+
 		void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter );
 		bool IsAffectedByGravity() const;
 		bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;

Code/GamePhysics/PhysicsAPI.h

@@ -1,4 +1,4 @@
- #ifndef PHYSICS_API_H
+#ifndef PHYSICS_API_H
 #define PHYSICS_API_H
 
 #include "OysterCollision3D.h"
@@ -17,6 +17,13 @@ namespace Oyster
 		class API;
 		class ICustomBody;
 
+		namespace Struct
+		{
+			struct SimpleBodyDescription;
+			struct SphericalBodyDescription;
+			struct CustomBodyState;
+		}
+
 		enum UpdateState
 		{
 			UpdateState_resting,
@@ -45,8 +52,8 @@ namespace Oyster
 		class PHYSICS_DLL_USAGE API
 		{
 		public:
-			struct SimpleBodyDescription;
+			typedef Struct::SimpleBodyDescription SimpleBodyDescription;
-			struct SphericalBodyDescription;
+			typedef Struct::SphericalBodyDescription SphericalBodyDescription;
 
 			typedef void (*EventAction_Destruction)( ::Utility::DynamicMemory::UniquePointer<ICustomBody> proto );
 
@@ -237,6 +244,9 @@ namespace Oyster
 			};
 
 			typedef SubscriptMessage (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter );
+			typedef Struct::SimpleBodyDescription SimpleBodyDescription;
+			typedef Struct::SphericalBodyDescription SphericalBodyDescription;
+			typedef Struct::CustomBodyState State;
 
 			virtual ~ICustomBody() {};
 
@@ -251,6 +261,21 @@ namespace Oyster
 			 ********************************************************/
 			virtual void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) = 0;
 
+			/********************************************************
+			 * @todo TODO: need doc
+			 ********************************************************/
+			virtual State GetState() const = 0;
+
+			/********************************************************
+			 * @todo TODO: need doc
+			 ********************************************************/
+			virtual State & GetState( State &targetMem ) const = 0;
+
+			/********************************************************
+			 * @todo TODO: need doc
+			 ********************************************************/
+			virtual void SetState( const State &state ) = 0;
+
 			/********************************************************
 			 * @return true if Engine should apply gravity on this object.
 			 ********************************************************/
@@ -397,48 +422,9 @@ namespace Oyster
 			 ********************************************************/
 			virtual void SetMomentum( const ::Oyster::Math::Float3 &worldG ) = 0;
 		};
-
-		struct API::SimpleBodyDescription
-		{
-			::Oyster::Math::Float4x4 rotation;
-			::Oyster::Math::Float3 centerPosition;
-			::Oyster::Math::Float3 size;
-			::Oyster::Math::Float mass;
-			::Oyster::Math::Float4x4 inertiaTensor;
-			ICustomBody::EventAction_Collision subscription;
-			bool ignoreGravity;
-
-			SimpleBodyDescription()
-			{
-				this->rotation = ::Oyster::Math::Float4x4::identity;
-				this->centerPosition = ::Oyster::Math::Float3::null;
-				this->size = ::Oyster::Math::Float3( 1.0f );
-				this->mass = 12.0f;
-				this->inertiaTensor = ::Oyster::Math::Float4x4::identity;
-				this->subscription = NULL;
-				this->ignoreGravity = false;
-			}
-		};
-
-		struct API::SphericalBodyDescription
-		{
-			::Oyster::Math::Float4x4 rotation;
-			::Oyster::Math::Float3 centerPosition;
-			::Oyster::Math::Float radius;
-			::Oyster::Math::Float mass;
-			ICustomBody::EventAction_Collision subscription;
-			bool ignoreGravity;
-
-			SphericalBodyDescription()
-			{
-				this->rotation = ::Oyster::Math::Float4x4::identity;
-				this->centerPosition = ::Oyster::Math::Float3::null;
-				this->radius = 0.5f;
-				this->mass = 10.0f;
-				this->subscription = NULL;
-				this->ignoreGravity = false;
-			}
-		};
 	}
 }
+
+#include "PhysicsStructs.h"
+
 #endif

Code/GamePhysics/PhysicsStructs-Impl.h

@@ -0,0 +1,117 @@
+#ifndef PHYSICS_STRUCTS_IMPL_H
+#define PHYSICS_STRUCTS_IMPL_H
+
+#include "PhysicsStructs.h"
+
+namespace Oyster { namespace Physics
+{
+	namespace Struct
+	{
+		inline SimpleBodyDescription::SimpleBodyDescription()
+		{
+			this->rotation = ::Oyster::Math::Float4x4::identity;
+			this->centerPosition = ::Oyster::Math::Float3::null;
+			this->size = ::Oyster::Math::Float3( 1.0f );
+			this->mass = 12.0f;
+			this->inertiaTensor = ::Oyster::Math::Float4x4::identity;
+			this->subscription = NULL;
+			this->ignoreGravity = false;
+		}
+
+		inline SphericalBodyDescription::SphericalBodyDescription()
+		{
+			this->rotation = ::Oyster::Math::Float4x4::identity;
+			this->centerPosition = ::Oyster::Math::Float3::null;
+			this->radius = 0.5f;
+			this->mass = 10.0f;
+			this->subscription = NULL;
+			this->ignoreGravity = false;
+		}
+
+
+		inline CustomBodyState::CustomBodyState( const ::Oyster::Math::Float3 &reach, const ::Oyster::Math::Float3 &centerPos, const ::Oyster::Math::Float3 &rotation )
+		{
+			this->reach = ::Oyster::Math::Float4( reach, 0.0f );
+			this->centerPos = ::Oyster::Math::Float4( centerPos, 1.0f );
+			this->angularAxis = ::Oyster::Math::Float4( rotation, 0.0f );
+			this->isSpatiallyAltered = this->isDisturbed = false;
+		}
+
+		inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state )
+		{
+			this->reach = state.reach;
+			this->centerPos = state.centerPos;
+			this->angularAxis = state.angularAxis;
+
+			this->isSpatiallyAltered = state.isSpatiallyAltered;
+			this->isDisturbed = state.isDisturbed;
+			return *this;
+		}
+
+		inline const ::Oyster::Math::Float4 & CustomBodyState::GetReach() const
+		{
+			return this->reach;
+		}
+
+		inline ::Oyster::Math::Float4 CustomBodyState::GetSize() const
+		{
+			return 2.0f * this->GetReach();
+		}
+
+		inline const ::Oyster::Math::Float4 & CustomBodyState::GetCenterPosition() const
+		{
+			return this->centerPos;
+		}
+
+		inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularAxis() const
+		{
+			return this->angularAxis;
+		}
+
+		inline ::Oyster::Math::Float4x4 CustomBodyState::GetRotation() const
+		{
+			return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis().xyz );
+		}
+
+		inline void CustomBodyState::SetSize( const ::Oyster::Math::Float3 &size )
+		{
+			this->SetReach( 0.5f * size );
+		}
+
+		inline void CustomBodyState::SetReach( const ::Oyster::Math::Float3 &halfSize )
+		{
+			this->reach.xyz = halfSize;
+			this->reach = ::Utility::Value::Max( this->reach, ::Oyster::Math::Float4::null );
+			this->isSpatiallyAltered = this->isDisturbed = true;
+		}
+
+		inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float3 &centerPos )
+		{
+			this->centerPos.xyz = centerPos;
+			this->isSpatiallyAltered = this->isDisturbed = true;
+		}
+
+		inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float3 &angularAxis )
+		{
+			this->angularAxis.xyz = angularAxis;
+			this->isSpatiallyAltered = this->isDisturbed = true;
+		}
+
+		inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4x4 &rotation )
+		{
+			this->SetRotation( ::Oyster::Math3D::AngularAxis(rotation).xyz );
+		}
+
+		inline bool CustomBodyState::IsSpatiallyAltered() const
+		{
+			return this->isSpatiallyAltered;
+		}
+
+		inline bool CustomBodyState::IsDisturbed() const
+		{
+			return this->isDisturbed;
+		}
+	}
+} }
+
+#endif

Code/GamePhysics/PhysicsStructs.h

@@ -0,0 +1,70 @@
+#ifndef PHYSICS_STRUCTS_H
+#define PHYSICS_STRUCTS_H
+
+#include "OysterMath.h"
+#include "PhysicsAPI.h"
+
+namespace Oyster { namespace Physics
+{
+	namespace Struct
+	{
+		struct SimpleBodyDescription
+		{
+			::Oyster::Math::Float4x4 rotation;
+			::Oyster::Math::Float3 centerPosition;
+			::Oyster::Math::Float3 size;
+			::Oyster::Math::Float mass;
+			::Oyster::Math::Float4x4 inertiaTensor;
+			::Oyster::Physics::ICustomBody::EventAction_Collision subscription;
+			bool ignoreGravity;
+
+			SimpleBodyDescription();
+		};
+
+		struct SphericalBodyDescription
+		{
+			::Oyster::Math::Float4x4 rotation;
+			::Oyster::Math::Float3 centerPosition;
+			::Oyster::Math::Float radius;
+			::Oyster::Math::Float mass;
+			::Oyster::Physics::ICustomBody::EventAction_Collision subscription;
+			bool ignoreGravity;
+
+			SphericalBodyDescription();
+		};
+
+		struct CustomBodyState
+		{
+		public:
+			CustomBodyState( const ::Oyster::Math::Float3 &reach		= ::Oyster::Math::Float3::null,
+							 const ::Oyster::Math::Float3 &centerPos	= ::Oyster::Math::Float3::null,
+							 const ::Oyster::Math::Float3 &rotation		= ::Oyster::Math::Float3::null );
+
+			CustomBodyState & operator = ( const CustomBodyState &state );
+
+			const ::Oyster::Math::Float4 & GetReach() const;
+				  ::Oyster::Math::Float4   GetSize() const;
+			const ::Oyster::Math::Float4 & GetCenterPosition() const;
+			const ::Oyster::Math::Float4 & GetAngularAxis() const;
+				  ::Oyster::Math::Float4x4 GetRotation() const;
+
+			void SetSize( const ::Oyster::Math::Float3 &size );
+			void SetReach( const ::Oyster::Math::Float3 &halfSize );
+			void SetCenterPosition( const ::Oyster::Math::Float3 &centerPos );
+			void SetRotation( const ::Oyster::Math::Float3 &angularAxis );
+			void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
+
+			bool IsSpatiallyAltered() const;
+			bool IsDisturbed() const;
+
+		private:
+			::Oyster::Math::Float4 reach, centerPos, angularAxis;
+
+			bool isSpatiallyAltered, isDisturbed;
+		};
+	}
+} }
+
+#include "PhysicsStructs-Impl.h"
+
+#endif

Code/OysterMath/LinearMath.h

@@ -11,6 +11,27 @@
 #include "Quaternion.h"
 #include <math.h>
 
+namespace std
+{
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector2<ScalarType> asin( const ::LinearAlgebra::Vector2<ScalarType> &vec )
+	{
+		return ::LinearAlgebra::Vector2<ScalarType>( asin(vec.x), asin(vec.y) );
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector3<ScalarType> asin( const ::LinearAlgebra::Vector3<ScalarType> &vec )
+	{
+		return ::LinearAlgebra::Vector3<ScalarType>( asin(vec.x), asin(vec.y), asin(vec.z) );
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector4<ScalarType> asin( const ::LinearAlgebra::Vector4<ScalarType> &vec )
+	{
+		return ::LinearAlgebra::Vector4<ScalarType>( asin(vec.x), asin(vec.y), asin(vec.z), asin(vec.w) );
+	}
+}
+
 // x2
 
 template<typename ScalarType>
@@ -233,6 +254,18 @@ namespace LinearAlgebra2D
 
 namespace LinearAlgebra3D
 {
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix3x3<ScalarType> &rotationMatrix )
+	{
+		return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(rotationMatrix.v[1].z, rotationMatrix.v[2].x, rotationMatrix.v[0].y, 1) );
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix4x4<ScalarType> &rotationMatrix )
+	{
+		return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(rotationMatrix.v[1].z, rotationMatrix.v[2].x, rotationMatrix.v[0].y, 1) );
+	}
+
 	template<typename ScalarType>
 	inline ::LinearAlgebra::Matrix4x4<ScalarType> & TranslationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &position, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
 	{
@@ -286,7 +319,9 @@ namespace LinearAlgebra3D
 
 	template<typename ScalarType>
 	inline ::LinearAlgebra::Matrix3x3<ScalarType> & RotationMatrix_AxisZ( const ScalarType &radian, ::LinearAlgebra::Matrix3x3<ScalarType> &targetMem = ::LinearAlgebra::Matrix3x3<ScalarType>() )
-	{ return ::LinearAlgebra2D::RotationMatrix( radian, targetMem ); }
+	{
+		return ::LinearAlgebra2D::RotationMatrix( radian, targetMem );
+	}
 
 	template<typename ScalarType>
 	inline ::LinearAlgebra::Matrix4x4<ScalarType> & RotationMatrix_AxisZ( const ScalarType &radian, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
@@ -300,7 +335,21 @@ namespace LinearAlgebra3D
 	}
 
 	template<typename ScalarType>
-	::LinearAlgebra::Matrix4x4<ScalarType> & RotationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &normalizedAxis, const ScalarType &radian, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
+	inline ::LinearAlgebra::Matrix4x4<ScalarType> RotationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &angularAxis )
+	{
+		ScalarType radian = angularAxis.GetMagnitude();
+		if( radian != 0 )
+		{
+			return RotationMatrix( angularAxis / radian, radian );
+		}
+		else
+		{
+			return ::LinearAlgebra::Matrix4x4<ScalarType>::identity;
+		}
+	}
+
+	template<typename ScalarType>
+	::LinearAlgebra::Matrix4x4<ScalarType> & RotationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &normalizedAxis, const ScalarType &radian, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
 	{ /// TODO: not verified
 		ScalarType r = radian * 0.5f,
 				   s = std::sin( r ),

Code/OysterMath/OysterMath.cpp

@@ -81,20 +81,45 @@ namespace Oyster { namespace Math2D
 
 namespace Oyster { namespace Math3D
 {
+	Float4 AngularAxis( const Float3x3 &rotationMatrix )
+	{
+		return ::LinearAlgebra3D::AngularAxis( rotationMatrix );
+	}
+
+	Float4 AngularAxis( const Float4x4 &rotationMatrix )
+	{
+		return ::LinearAlgebra3D::AngularAxis( rotationMatrix );
+	}
+
 	Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem )
-	{ return ::LinearAlgebra3D::TranslationMatrix( position, targetMem ); }
+	{
+		return ::LinearAlgebra3D::TranslationMatrix( position, targetMem );
+	}
 
 	Float4x4 & RotationMatrix_AxisX( const Float &radian, Float4x4 &targetMem )
-	{ return ::LinearAlgebra3D::RotationMatrix_AxisX( radian, targetMem ); }
+	{
+		return ::LinearAlgebra3D::RotationMatrix_AxisX( radian, targetMem );
+	}
 
 	Float4x4 & RotationMatrix_AxisY( const Float &radian, Float4x4 &targetMem )
-	{ return ::LinearAlgebra3D::RotationMatrix_AxisY( radian, targetMem ); }
+	{
+		return ::LinearAlgebra3D::RotationMatrix_AxisY( radian, targetMem );
+	}
 
 	Float4x4 & RotationMatrix_AxisZ( const Float &radian, Float4x4 &targetMem )
-	{ return ::LinearAlgebra3D::RotationMatrix_AxisZ( radian, targetMem ); }
+	{
+		return ::LinearAlgebra3D::RotationMatrix_AxisZ( radian, targetMem );
+	}
+
+	Float4x4 & RotationMatrix( const Float3 &angularAxis, Float4x4 &targetMem )
+	{
+		return targetMem = ::LinearAlgebra3D::RotationMatrix( angularAxis );
+	}
 
 	Float4x4 & RotationMatrix( const Float &radian, const Float3 &normalizedAxis, Float4x4 &targetMem )
-	{ return ::LinearAlgebra3D::RotationMatrix( normalizedAxis, radian, targetMem ); }
+	{
+		return ::LinearAlgebra3D::RotationMatrix( normalizedAxis, radian, targetMem );
+	}
 	
 	Float3x3 & InverseRotationMatrix( const Float3x3 &rotation, Float3x3 &targetMem )
 	{

Code/OysterMath/OysterMath.h

@@ -147,6 +147,12 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized
 {
 	using namespace ::Oyster::Math; // deliberate inheritance from ::Oyster::Math namespace
 
+	//! Extracts the angularAxis from rotationMatrix
+	Float4 AngularAxis( const Float3x3 &rotationMatrix );
+
+	//! Extracts the angularAxis from rotationMatrix
+	Float4 AngularAxis( const Float4x4 &rotationMatrix );
+
 	/// Sets and returns targetMem to a translationMatrix with position as translation. 
 	Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem = Float4x4() );
 
@@ -159,6 +165,9 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized
 	/// Sets and returns targetMem as an counterclockwise rotation matrix around the global Z-axis
 	Float4x4 & RotationMatrix_AxisZ( const Float &radian, Float4x4 &targetMem = Float4x4() );
 
+	/// Sets and returns targetMem as an counterclockwise rotation matrix around the angularAxis.
+	Float4x4 & RotationMatrix( const Float3 &angularAxis, Float4x4 &targetMem = Float4x4() );
+
 	/// Sets and returns targetMem as an counterclockwise rotation matrix around the normalizedAxis.
 	/// Please make sure normalizedAxis is normalized.
 	Float4x4 & RotationMatrix( const Float &radian, const Float3 &normalizedAxis, Float4x4 &targetMem = Float4x4() );