Adding code x3

src/J3ML/LinearAlgebra/Quaternion.cpp

@@ -135,11 +135,34 @@ namespace LinearAlgebra {
                 y*reciprocalSinAngle,
                 z*reciprocalSinAngle
         };
-        return {axis, angle};
+        return AxisAngle(axis, angle);
     }
 
     float Quaternion::AngleBetween(const Quaternion &target) const {
         Quaternion delta = target / *this;
         return delta.Normalize().Angle();
     }
+
+    Quaternion Quaternion::operator/(const Quaternion &rhs) const {
+        return {
+                x*rhs.w - y*rhs.z + z*rhs.y - w*rhs.x,
+                x*rhs.z + y*rhs.w - z*rhs.x - w*rhs.y,
+                -x*rhs.y + y*rhs.x + z*rhs.w - w*rhs.z,
+                x*rhs.x + y*rhs.y + z*rhs.z + w*rhs.w
+        };
+    }
+
+    Matrix3x3 Quaternion::ToMatrix3x3() const {
+        return {
+                1 - 2 *(y*y) - 2*(z*z), 2*x*y - 2*z*w, 2*x*z + 2*y*w,
+                2*x*y + 2*z*w, 1-2*x*x - 2*z*z, 2*y*z - 2*x*w,
+                2*x*z - 2*y*w, 2*y*z + 2*x*w, 1-2*x*x - 2*y*y
+        };
+    }
+
+    Quaternion Quaternion::operator+(const Quaternion &rhs) const {
+        return {
+                x + rhs.x, y + rhs.y, z + rhs.z,w + rhs.w
+        };
+    }
 }