From 49eafc4806fbd4113038a02e65a65408ce58f418 Mon Sep 17 00:00:00 2001
From: lisyarus <lisyarus@gmail.com>
Date: Fri, 15 Mar 2024 23:26:54 +0300
Subject: [PATCH] Add geom::cross_product_matrix

---
 libs/geom/include/psemek/geom/matrix.hpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/libs/geom/include/psemek/geom/matrix.hpp b/libs/geom/include/psemek/geom/matrix.hpp
index be15fd75..03dc9ed3 100644
--- a/libs/geom/include/psemek/geom/matrix.hpp
+++ b/libs/geom/include/psemek/geom/matrix.hpp
@@ -364,6 +364,19 @@ namespace psemek::geom
 		return result;
 	}
 
+	template <typename T>
+	matrix<T, 3, 3> cross_product_matrix(vector<T, 3> const & v)
+	{
+		auto r = matrix<T, 3, 3>::zero();
+		r[0][1] = -v[2];
+		r[0][2] = v[1];
+		r[1][0] = v[2];
+		r[1][2] = -v[0];
+		r[2][0] = -v[1];
+		r[2][1] = v[0];
+		return r;
+	}
+
 	template <typename T, std::size_t R, std::size_t C>
 	std::ostream & operator << (std::ostream & os, matrix<T, R, C> const & m)
 	{