Fix code formatting & grammar mistakes

libs/main/math/pimathmatrix.h

@@ -511,78 +511,9 @@ public:
      	* @brief Rotation the matrix by an "angle". Works only with 2x2 matrix,
      	* else return default construction of PIMathMatrixT
 	*
-     	* @param angle is the angle of rotation of the matrix
-     	* @return rotated matrix
-     	*/
-	static _CMatrix rotation(double angle) {return _CMatrix();}
-
-    	/**
-     	* @brief Rotation of the matrix by an "angle" along the X axis. Works only with 3x3 matrix,
-     	* else return default construction of PIMathMatrixT
-     	*
-     	* @param angle is the angle of rotation of the matrix along the X axis
-     	* @return rotated matrix
-     	*/
-	static _CMatrix rotationX(double angle) {return _CMatrix();}
-
-    	/**
-     	* @brief Rotation of the matrix by an "angle" along the Y axis. Works only with 3x3 matrix,
-     	* else return default construction of PIMathMatrixT
-     	*
-     	* @param angle is the angle of rotation of the matrix along the Y axis
-     	* @return rotated matrix
-     	*/
-	static _CMatrix rotationY(double angle) {return _CMatrix();}
-
-    	/**
-     	* @brief Rotation of the matrix by an "angle" along the Z axis. Works only with 3x3 matrix,
-     	* else return default construction of PIMathMatrixT
-     	*
-     	* @param angle is the angle of rotation of the matrix along the Z axis
-     	* @return rotated matrix
-     	*/
-	static _CMatrix rotationZ(double angle) {return _CMatrix();}
-
-    	/**
-     	* @brief Scaling the matrix along the X axis by the value "factor". Works only with 3x3 and 2x2 matrix,
-     	* else return default construction of PIMathMatrixT
-     	*
-     	* @param factor is the value of scaling by X axis
-     	* @return rotated matrix
-     	*/
-	static _CMatrix scaleX(double factor) {return _CMatrix();}
-
-    	/**
-     	* @brief Scaling the matrix along the Y axis by the value "factor". Works only with 3x3 and 2x2 matrix,
-     	* else return default construction of PIMathMatrixT
-     	*
-     	* @param factor is the value of scaling by Y axis
-     	* @return rotated matrix
-     	*/
-	static _CMatrix scaleY(double factor) {return _CMatrix();}
-
-    	/**
-     	* @brief Scaling the matrix along the Z axis by the value "factor". Works only with 3x3 matrix,
-     	* else return default construction of PIMathMatrixT
-     	*
-     	* @param factor is the value of scaling by Z axis
-     	* @return rotated matrix
-     	*/
-	static _CMatrix scaleZ(double factor) {return _CMatrix();}
-
-    	/**
-     	* @brief Method which returns number of columns in matrix
-     	*
-     	* @return type uint shows number of columns
-     	*/
-	uint cols() const {return Cols;}
-
-    	/**
-    	* @brief Method which returns number of rows in matrix
-    	*
 	* @return type uint shows number of rows
 	*/
-	uint rows() const {return Rows;}
+	uint rows() const { return Rows; }
 
 	/**
 	 * @brief Method which returns the selected column in PIMathVectorT format
@@ -590,7 +521,11 @@ public:
 	 * @param index is the number of the selected column
 	 * @return column in PIMathVectorT format
 	 */
-	_CMCol col(uint index) {_CMCol tv; PIMM_FOR_R(i) tv[i] = m[i][index]; return tv;}
+	_CMCol col(uint index) {
+		_CMCol tv;
+		PIMM_FOR_R(i) tv[i] = m[i][index];
+		return tv;
+	}
 
 	/**
 	 * @brief Method which returns the selected row in PIMathVectorT format
@@ -598,7 +533,11 @@ public:
 	 * @param index is the number of the selected row
 	 * @return row in PIMathVectorT format
 	 */
-	_CMRow row(uint index) {_CMRow tv; PIMM_FOR_C(i) tv[i] = m[index][i]; return tv;}
+	_CMRow row(uint index) {
+		_CMRow tv;
+		PIMM_FOR_C(i) tv[i] = m[index][i];
+		return tv;
+	}
 
 	/**
 	 * @brief Set the selected column in matrix
@@ -607,7 +546,10 @@ public:
 	 * @param v is a vector of the type _CMCol that needs to fill the column
 	 * @return matrix type _CMatrix
 	 */
-	_CMatrix & setCol(uint index, const _CMCol & v) {PIMM_FOR_R(i) m[i][index] = v[i]; return *this;}
+	_CMatrix &setCol(uint index, const _CMCol &v) {
+		PIMM_FOR_R(i) m[i][index] = v[i];
+		return *this;
+	}
 
 	/**
 	 * @brief Set the selected row in matrix
@@ -616,7 +558,10 @@ public:
 	 * @param v is a vector of the type _CMCol that needs to fill the row
 	 * @return matrix type _CMatrix
 	 */
-	_CMatrix & setRow(uint index, const _CMRow & v) {PIMM_FOR_C(i) m[index][i] = v[i]; return *this;}
+	_CMatrix &setRow(uint index, const _CMRow &v) {
+		PIMM_FOR_C(i) m[index][i] = v[i];
+		return *this;
+	}
 
 	/**
 	 * @brief Method which changes selected rows in a matrix
@@ -625,7 +570,15 @@ public:
 	 * @param r1 is the number of the second selected row
 	 * @return matrix type _CMatrix
 	 */
-	_CMatrix & swapRows(uint r0, uint r1) {Type t; PIMM_FOR_C(i) {t = m[r0][i]; m[r0][i] = m[r1][i]; m[r1][i] = t;} return *this;}
+	_CMatrix &swapRows(uint r0, uint r1) {
+		Type t;
+		PIMM_FOR_C(i) {
+			t = m[r0][i];
+			m[r0][i] = m[r1][i];
+			m[r1][i] = t;
+		}
+		return *this;
+	}
 
 	/**
 	 * @brief Method which changes selected columns in a matrix
@@ -634,7 +587,15 @@ public:
 	 * @param c1 is the number of the second selected column
 	 * @return matrix type _CMatrix
 	 */
-	_CMatrix & swapCols(uint c0, uint c1) {Type t; PIMM_FOR_R(i) {t = m[i][c0]; m[i][c0] = m[i][c1]; m[i][c1] = t;} return *this;}
+	_CMatrix &swapCols(uint c0, uint c1) {
+		Type t;
+		PIMM_FOR_R(i) {
+			t = m[i][c0];
+			m[i][c0] = m[i][c1];
+			m[i][c1] = t;
+		}
+		return *this;
+	}
 
 	/**
 	 * @brief Method which fills the matrix with selected value
@@ -642,28 +603,37 @@ public:
 	 * @param v is a parameter the type and value of which is selected and later filled into the matrix
 	 * @return filled matrix type _CMatrix
 	 */
-	_CMatrix & fill(const Type & v) {PIMM_FOR_WB(r, c) m[r][c] = v; return *this;}
+	_CMatrix &fill(const Type &v) {
+		PIMM_FOR_WB(r, c) m[r][c] = v;
+		return *this;
+	}
 
 	/**
 	 * @brief Method which checks if matrix is square
 	 *
 	 * @return true if matrix is square, else false
 	 */
-	bool isSquare() const {return cols() == rows();}
+	bool isSquare() const { return cols() == rows(); }
 
 	/**
 	 * @brief Method which checks if main diagonal of matrix consists of ones and another elements are zeros
 	 *
 	 * @return true if matrix is identitied, else false
 	 */
-	bool isIdentity() const {PIMM_FOR_WB(r, c) if ((c == r) ? m[r][c] != Type(1) : m[r][c] != Type(0)) return false; return true;}
+	bool isIdentity() const {
+		PIMM_FOR_WB(r, c) if ((c == r) ? m[r][c] != Type(1) : m[r][c] != Type(0)) return false;
+		return true;
+	}
 
 	/**
 	 * @brief Method which checks if every elements of matrix are zeros
 	 *
 	 * @return true if matrix is null, else false
 	 */
-	bool isNull() const {PIMM_FOR_WB(r, c) if (m[r][c] != Type(0)) return false; return true;}
+	bool isNull() const {
+		PIMM_FOR_WB(r, c) if (m[r][c] != Type(0)) return false;
+		return true;
+	}
 
 	/**
 	 * @brief Full access to elements reference by row "row" and col "col"
@@ -672,7 +642,7 @@ public:
 	 * @param col is a parameter that shows the column number of the matrix of the selected element
 	 * @return reference to element of matrix by row "row" and col "col"
 	 */
-	Type & at(uint row, uint col) {return m[row][col];}
+	Type &at(uint row, uint col) { return m[row][col]; }
 
 	/**
 	 * @brief Full access to element by row "row" and col "col"
@@ -681,7 +651,7 @@ public:
 	 * @param col is a parameter that shows the column number of the matrix of the selected element
 	 * @return element of matrix by row "row" and col "col"
 	 */
-	Type at(uint row, uint col) const {return m[row][col];}
+	Type at(uint row, uint col) const { return m[row][col]; }
 
 	/**
 	 * @brief Full access to the matrix row pointer
@@ -689,7 +659,7 @@ public:
 	 * @param row is a row of necessary matrix
 	 * @return matrix row pointer
 	 */
-	Type * operator [](uint row) {return m[row];}
+	Type *operator[](uint row) { return m[row]; }
 
 	/**
 	 * @brief Read-only access to the matrix row pointer
@@ -697,7 +667,7 @@ public:
 	 * @param row is a row of necessary matrix
 	 * @return matrix row pointer
 	 */
-	const Type * operator [](uint row) const {return m[row];}
+	const Type *operator[](uint row) const { return m[row]; }
 
 	/**
 	 * @brief Matrix assignment to matrix "sm"
@@ -705,7 +675,10 @@ public:
 	 * @param sm matrix for the assigment
 	 * @return matrix equal with sm
 	 */
-	_CMatrix & operator =(const _CMatrix & sm) {memcpy(m, sm.m, sizeof(Type) * Cols * Rows); return *this;}
+	_CMatrix &operator=(const _CMatrix &sm) {
+		memcpy(m, sm.m, sizeof(Type) * Cols * Rows);
+		return *this;
+	}
 
 	/**
 	 * @brief Compare with matrix "sm"
@@ -713,7 +686,10 @@ public:
 	 * @param sm matrix for the compare
 	 * @return if matrices are equal true, else false
 	 */
-	bool operator ==(const _CMatrix & sm) const {PIMM_FOR_WB(r, c) if (m[r][c] != sm.m[r][c]) return false; return true;}
+	bool operator==(const _CMatrix &sm) const {
+		PIMM_FOR_WB(r, c) if (m[r][c] != sm.m[r][c]) return false;
+		return true;
+	}
 
 	/**
 	 * @brief Compare with matrix "sm"
@@ -721,42 +697,46 @@ public:
 	 * @param sm matrix for the compare
 	 * @return if matrices are not equal true, else false
 	 */
-	bool operator !=(const _CMatrix & sm) const {return !(*this == sm);}
+	bool operator!=(const _CMatrix &sm) const { return !(*this == sm); }
 
 	/**
 	 * @brief Addition assignment with matrix "sm"
 	 *
 	 * @param sm matrix for the addition assigment
 	 */
-	void operator +=(const _CMatrix & sm) {PIMM_FOR_WB(r, c) m[r][c] += sm.m[r][c];}
+	void operator+=(const _CMatrix &sm) { PIMM_FOR_WB(r, c) m[r][c] += sm.m[r][c]; }
 
 	/**
 	 * @brief Subtraction assignment with matrix "sm"
 	 *
 	 * @param sm matrix for the subtraction assigment
 	 */
-	void operator -=(const _CMatrix & sm) {PIMM_FOR_WB(r, c) m[r][c] -= sm.m[r][c];}
+	void operator-=(const _CMatrix &sm) { PIMM_FOR_WB(r, c) m[r][c] -= sm.m[r][c]; }
 
 	/**
 	 * @brief Multiplication assignment with value "v"
 	 *
 	 * @param v value for the multiplication assigment
 	 */
-	void operator *=(const Type & v) {PIMM_FOR_WB(r, c) m[r][c] *= v;}
+	void operator*=(const Type &v) { PIMM_FOR_WB(r, c) m[r][c] *= v; }
 
 	/**
 	 * @brief Division assignment with value "v"
 	 *
 	 * @param v value for the division assigment
 	 */
-	void operator /=(const Type & v) {PIMM_FOR_WB(r, c) m[r][c] /= v;}
+	void operator/=(const Type &v) { PIMM_FOR_WB(r, c) m[r][c] /= v; }
 
 	/**
 	 * @brief Matrix substraction
 	 *
 	 * @return the result of matrix substraction
 	 */
-	_CMatrix operator -() const {_CMatrix tm; PIMM_FOR_WB(r, c) tm.m[r][c] = -m[r][c]; return tm;}
+	_CMatrix operator-() const {
+		_CMatrix tm;
+		PIMM_FOR_WB(r, c) tm.m[r][c] = -m[r][c];
+		return tm;
+	}
 
 	/**
 	 * @brief Matrix addition
@@ -764,7 +744,11 @@ public:
 	 * @param sm is matrix term
 	 * @return the result of matrix addition
 	 */
-	_CMatrix operator +(const _CMatrix & sm) const {_CMatrix tm = _CMatrix(*this); PIMM_FOR_WB(r, c) tm.m[r][c] += sm.m[r][c]; return tm;}
+	_CMatrix operator+(const _CMatrix &sm) const {
+		_CMatrix tm = _CMatrix(*this);
+		PIMM_FOR_WB(r, c) tm.m[r][c] += sm.m[r][c];
+		return tm;
+	}
 
 	/**
 	 * @brief Matrix substraction
@@ -772,7 +756,11 @@ public:
 	 * @param sm is matrix subtractor
 	 * @return the result of matrix substraction
 	 */
-	_CMatrix operator -(const _CMatrix & sm) const {_CMatrix tm = _CMatrix(*this); PIMM_FOR_WB(r, c) tm.m[r][c] -= sm.m[r][c]; return tm;}
+	_CMatrix operator-(const _CMatrix &sm) const {
+		_CMatrix tm = _CMatrix(*this);
+		PIMM_FOR_WB(r, c) tm.m[r][c] -= sm.m[r][c];
+		return tm;
+	}
 
 	/**
 	 * @brief Matrix multiplication
@@ -780,7 +768,11 @@ public:
 	 * @param v is value factor
 	 * @return the result of matrix multiplication
 	 */
-	_CMatrix operator *(const Type & v) const {_CMatrix tm = _CMatrix(*this); PIMM_FOR_WB(r, c) tm.m[r][c] *= v; return tm;}
+	_CMatrix operator*(const Type &v) const {
+		_CMatrix tm = _CMatrix(*this);
+		PIMM_FOR_WB(r, c) tm.m[r][c] *= v;
+		return tm;
+	}
 
 	/**
 	 * @brief Matrix division
@@ -788,14 +780,18 @@ public:
 	 * @param v is value divider
 	 * @return the result of matrix division
 	 */
-	_CMatrix operator /(const Type & v) const {_CMatrix tm = _CMatrix(*this); PIMM_FOR_WB(r, c) tm.m[r][c] /= v; return tm;}
+	_CMatrix operator/(const Type &v) const {
+		_CMatrix tm = _CMatrix(*this);
+		PIMM_FOR_WB(r, c) tm.m[r][c] /= v;
+		return tm;
+	}
 
 	/**
 	 * @brief Determinant of the matrix is ​​calculated
 	 *
 	 * @return matrix determinant
 	 */
-	Type determinant(bool * ok = 0) const {
+	Type determinant(bool *ok = 0) const {
 		_CMatrix m(*this);
 		bool k;
 		Type ret = Type(0);