Adding code x2

src/J3ML/LinearAlgebra/Quaternion.cpp

@@ -1,8 +1,59 @@
 #include <J3ML/LinearAlgebra/Quaternion.h>
 
+#include <J3ML/LinearAlgebra/Vector3.h>
+
+
 namespace LinearAlgebra {
     Quaternion Quaternion::operator-() const
     {
         return {-x, -y, -z, -w};
     }
+
+    Quaternion::Quaternion(const Matrix3x3 &rotationMtrx) {}
+
+    Quaternion::Quaternion(const Matrix4x4 &rotationMtrx) {}
+
+    Vector3 Quaternion::GetWorldX() const { return Transform(1.f, 0.f, 0.f); }
+
+    Vector3 Quaternion::GetWorldY() const { return Transform(0.f, 1.f, 0.f); }
+
+    Vector3 Quaternion::GetWorldZ() const { return Transform(0.f, 0.f, 1.f); }
+
+    Vector3 Quaternion::Transform(const Vector3 &vec) const {
+        Matrix3x3 mat = this->ToMatrix3x3();
+        return mat * vec;
+    }
+
+    Vector3 Quaternion::Transform(float X, float Y, float Z) const {
+        return Transform(Vector3{X, Y, Z});
+    }
+
+    Vector4 Quaternion::Transform(const Vector4 &vec) const {
+        return Vector4(Transform(vec.x, vec.y, vec.z), vec.w);
+    }
+
+    Vector4 Quaternion::Transform(float X, float Y, float Z, float W) const {
+        return Transform(Vector4(X, Y, Z, W));
+    }
+
+    Quaternion Quaternion::Lerp(const Quaternion &b, float t) const {
+        float angle = this->Dot(b);
+        if (angle >= 0.f) // Make sure we rotate the shorter arc
+            return (*this * (1.f - t) + b * t).Normalize();
+        else
+            return (*this * (t - 1.f) + b * t).Normalize();
+    }
+
+    void Quaternion::SetFromAxisAngle(const Vector3 &axis, float angle) {
+        float sinz, cosz;
+
+    }
+
+    Quaternion Quaternion::operator*(float scalar) const {
+        return Quaternion(x * scalar, y * scalar, z * scalar, w * scalar);
+    }
+
+    Quaternion Quaternion::operator+() const { return *this; }
+
+    Quaternion::Quaternion() {}
 }