Added some more Quaternion unit tests

src/J3ML/LinearAlgebra/Quaternion.cpp

@@ -126,7 +126,6 @@ namespace J3ML::LinearAlgebra {
 
     Quaternion::Quaternion(float X, float Y, float Z, float W) : x(X), y(Y), z(Z), w(W) {}
 
-    // TODO: implement
     float Quaternion::Dot(const Quaternion &rhs) const {
         return x * rhs.x + y * rhs.y + z * rhs.z + w * rhs.w;
     }

tests/LinearAlgebra/QuaternionTests.hpp

@@ -5,6 +5,7 @@
 #include <jtest/Unit.hpp>
 #include <J3ML/LinearAlgebra/Quaternion.hpp>
 #include <J3ML/Algorithm/RNG.hpp>
+#include <J3ML/Math.hpp>
 
 jtest::Unit QuaternionUnit {"Quaternion"};
 namespace QuaternionTests {
@@ -73,6 +74,12 @@ namespace QuaternionTests {
             }
         });
 
+        QuaternionUnit += Test("Constants", [] {
+            Quaternion id {0.f, 0.f, 0.f, 1.f};
+
+            jtest::check(id.Equals(Quaternion::Identity));
+        });
+
         QuaternionUnit += Test("From_AxisAngle", [] {
             Quaternion expected_result(0.0579133, 0.0782044, 0.1765667, 0.9794664);
             AxisAngle a({0.2872573, 0.3879036, 0.8757934}, 0.4059981);
@@ -115,7 +122,14 @@ namespace QuaternionTests {
             //Quaternion a =
         });
         QuaternionUnit += Test("DivOpQuat", [] { throw("Not Implemented"); });
-        QuaternionUnit += Test("Lerp", [] { throw("Not Implemented"); });
+        QuaternionUnit += Test("Lerp", [] {
+            Quaternion a = Quaternion::RotateX(Math::PiOverTwo);
+            Quaternion b = Quaternion::RotateX(-Math::PiOverTwo);
+
+            Quaternion expected {0,0,0,0};
+
+            Quaternion result = a.Lerp(b, 0.5f);
+        });
         QuaternionUnit += Test("RotateFromTo", [] { throw("Not Implemented"); });
         QuaternionUnit += Test("Transform", [] { throw("Not Implemented"); });
     }