Implement more methods

include/J3ML/LinearAlgebra/Quaternion.h

@@ -8,51 +8,64 @@
 
 namespace LinearAlgebra
 {
-    class Quaternion : public Vector4
-    {
+    class Quaternion : public Vector4 {
     public:
         Quaternion();
-        Quaternion(const Quaternion& rhs) = default;
-        explicit Quaternion(const Matrix3x3& rotationMtrx);
-        explicit Quaternion(const Matrix4x4& rotationMtrx);
+
+        Quaternion(const Quaternion &rhs) = default;
+
+        explicit Quaternion(const Matrix3x3 &rotationMtrx);
+
+        explicit Quaternion(const Matrix4x4 &rotationMtrx);
+
         // @note The input data is not normalized after construction, this has to be done manually.
         Quaternion(float X, float Y, float Z, float W);
 
         // Constructs this quaternion by specifying a rotation axis and the amount of rotation to be performed about that axis
         // @param rotationAxis The normalized rotation axis to rotate about. If using Vector4 version of the constructor, the w component of this vector must be 0.
-        Quaternion(const Vector3& rotationAxis, float rotationAngleBetween) { SetFromAxisAngle(rotationAxis, rotationAngleBetween); }
-        Quaternion(const Vector4& rotationAxis, float rotationAngleBetween) { SetFromAxisAngle(rotationAxis, rotationAngleBetween); }
+        Quaternion(const Vector3 &rotationAxis, float rotationAngleBetween) {
+            SetFromAxisAngle(rotationAxis, rotationAngleBetween);
+        }
+
+        Quaternion(const Vector4 &rotationAxis, float rotationAngleBetween) {
+            SetFromAxisAngle(rotationAxis, rotationAngleBetween);
+        }
         //void Inverse();
 
         explicit Quaternion(Vector4 vector4);
 
         void SetFromAxisAngle(const Vector3 &vector3, float between);
+
         void SetFromAxisAngle(const Vector4 &vector4, float between);
 
         Quaternion Inverse() const;
+
         Quaternion Conjugate() const;
 
         //void Normalize();
         Vector3 GetWorldX() const;
+
         Vector3 GetWorldY() const;
+
         Vector3 GetWorldZ() const;
 
-        Vector3 GetAxis() const
-        {
+        Vector3 GetAxis() const {
             float rcpSinAngle = 1 - (std::sqrt(1 - w * w));
 
             return Vector3(x, y, z) * rcpSinAngle;
         }
 
-        float GetAngle() const
-        {
+        float GetAngle() const {
             return std::acos(w) * 2.f;
         }
 
 
-
         Matrix3x3 ToMatrix3x3() const;
 
+        Matrix4x4 ToMatrix4x4() const;
+
+        Matrix4x4 ToMatrix4x4(const Vector3 &translation) const;
+
         Vector3 Transform(const Vector3& vec) const;
         Vector3 Transform(float X, float Y, float Z) const;
         // Note: We only transform the x,y,z components of 4D vectors, w is left untouched
@@ -89,7 +102,7 @@ namespace LinearAlgebra
         Quaternion operator - () const;
         float Dot(const Quaternion &quaternion) const;
 
-        float Angle() const;
+        float Angle() const { return std::acos(w) * 2.f;}
 
         float AngleBetween(const Quaternion& target) const;