math/Vector: Add Vector3 rotation

lib/sead/include/math/seadVector.h

@@ -131,10 +131,14 @@ struct Vector3 : public Policies<T>::Vec3Base
     bool equals(const Vector3& rhs, T epsilon = 0) const;
 
     void add(const Vector3& a);
-    /// Multiply m by this vector (self = m * self).
+    /// Apply a rotation `m` to this vector.
     void mul(const Mtx33& m);
-    /// Apply a transformation `m` (rotation + translation) to this vector.
+    /// Apply a transformation `m` (rotation then translation) to this vector.
     void mul(const Mtx34& m);
+    /// Apply a rotation `m` to this vector.
+    void rotate(const Mtx33& m);
+    /// Apply a rotation `m` to this vector.
+    void rotate(const Mtx34& m);
     void multScalar(T t);
 
     T normalize();
@@ -144,6 +148,8 @@ struct Vector3 : public Policies<T>::Vec3Base
     void setScaleAdd(T t, const Vector3<T>& a, const Vector3<T>& b);
     void setMul(const Mtx33& m, const Vector3& a);
     void setMul(const Mtx34& m, const Vector3& a);
+    void setRotated(const Mtx33& m, const Vector3& a);
+    void setRotated(const Mtx34& m, const Vector3& a);
 
     static const Vector3 zero;
     static const Vector3 ex;

lib/sead/include/math/seadVector.hpp

@@ -173,6 +173,18 @@ inline void Vector3<T>::mul(const Mtx34& m)
     setMul(m, *this);
 }
 
+template <typename T>
+inline void Vector3<T>::rotate(const Mtx33& m)
+{
+    setRotated(m, *this);
+}
+
+template <typename T>
+inline void Vector3<T>::rotate(const Mtx34& m)
+{
+    setRotated(m, *this);
+}
+
 template <typename T>
 inline void Vector3<T>::multScalar(T t)
 {
@@ -221,6 +233,18 @@ inline void Vector3<T>::setMul(const Mtx34& m, const Vector3<T>& a)
     Vector3CalcCommon<T>::mul(*this, m, a);
 }
 
+template <typename T>
+inline void Vector3<T>::setRotated(const Mtx33& m, const Vector3<T>& a)
+{
+    Vector3CalcCommon<T>::rotate(*this, m, a);
+}
+
+template <typename T>
+inline void Vector3<T>::setRotated(const Mtx34& m, const Vector3<T>& a)
+{
+    Vector3CalcCommon<T>::rotate(*this, m, a);
+}
+
 template <typename T>
 inline Vector4<T>::Vector4(T x_, T y_, T z_, T w_)
 {

lib/sead/include/math/seadVectorCalcCommon.h

@@ -28,10 +28,16 @@ public:
 
     static void add(Base& o, const Base& a, const Base& b);
     static void sub(Base& o, const Base& a, const Base& b);
+    /// Apply a rotation `m` to the vector `a`.
     static void mul(Base& o, const Mtx33& m, const Base& a);
-    /// Apply a transformation `m` (rotation + translation) to the vector `a`.
+    /// Apply a transformation `m` (rotation then translation) to the vector `a`.
     static void mul(Base& o, const Mtx34& m, const Base& a);
 
+    /// Apply a rotation `m` to the vector `a`.
+    static void rotate(Base& o, const Mtx33& m, const Base& a);
+    /// Apply a rotation `m` to the vector `a`.
+    static void rotate(Base& o, const Mtx34& m, const Base& a);
+
     static void cross(Base& o, const Base& a, const Base& b);
     static T dot(const Base& a, const Base& b);
     static T squaredLength(const Base& v);

lib/sead/include/math/seadVectorCalcCommon.hpp

@@ -95,6 +95,21 @@ inline void Vector3CalcCommon<T>::mul(Base& o, const Mtx34& m, const Base& a)
     o.z = m.m[2][0] * tmp.x + m.m[2][1] * tmp.y + m.m[2][2] * tmp.z + m.m[2][3];
 }
 
+template <typename T>
+inline void Vector3CalcCommon<T>::rotate(Base& o, const Mtx33& m, const Base& a)
+{
+    mul(o, m, a);
+}
+
+template <typename T>
+inline void Vector3CalcCommon<T>::rotate(Base& o, const Mtx34& m, const Base& a)
+{
+    const Base tmp = a;
+    o.x = m.m[0][0] * tmp.x + m.m[0][1] * tmp.y + m.m[0][2] * tmp.z;
+    o.y = m.m[1][0] * tmp.x + m.m[1][1] * tmp.y + m.m[1][2] * tmp.z;
+    o.z = m.m[2][0] * tmp.x + m.m[2][1] * tmp.y + m.m[2][2] * tmp.z;
+}
+
 template <typename T>
 inline void Vector3CalcCommon<T>::cross(Base& o, const Base& a, const Base& b)
 {