Large Restructure and Organization

include/J3ML/LinearAlgebra/Quaternion.h

@@ -1,13 +1,22 @@
 #pragma once
 
-#include <J3ML/LinearAlgebra.h>
 
+
+
+#include <J3ML/LinearAlgebra/Matrix3x3.h>
+#include <J3ML/LinearAlgebra/Matrix4x4.h>
 #include <J3ML/LinearAlgebra/Vector4.h>
 #include <J3ML/LinearAlgebra/AxisAngle.h>
-#include <J3ML/LinearAlgebra/Matrix3x3.h>
+//#include <J3ML/LinearAlgebra/AxisAngle.h>
+#include <cmath>
+
+
 
 namespace J3ML::LinearAlgebra
 {
+
+    class Matrix3x3;
+
     class Quaternion : public Vector4 {
     public:
         Quaternion();
@@ -23,13 +32,9 @@ namespace J3ML::LinearAlgebra
 
         // 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 Vector3 &rotationAxis, float rotationAngleBetween);
 
-        Quaternion(const Vector4 &rotationAxis, float rotationAngleBetween) {
-            SetFromAxisAngle(rotationAxis, rotationAngleBetween);
-        }
+        Quaternion(const Vector4 &rotationAxis, float rotationAngleBetween);
         //void Inverse();
 
         explicit Quaternion(Vector4 vector4);
@@ -49,15 +54,9 @@ namespace J3ML::LinearAlgebra
 
         Vector3 GetWorldZ() const;
 
-        Vector3 GetAxis() const {
-            float rcpSinAngle = 1 - (std::sqrt(1 - w * w));
+        Vector3 GetAxis() const;
 
-            return Vector3(x, y, z) * rcpSinAngle;
-        }
-
-        float GetAngle() const {
-            return std::acos(w) * 2.f;
-        }
+        float GetAngle() const;
 
 
         Matrix3x3 ToMatrix3x3() const;
@@ -102,7 +101,7 @@ namespace J3ML::LinearAlgebra
         Quaternion operator - () const;
         float Dot(const Quaternion &quaternion) const;
 
-        float Angle() const { return std::acos(w) * 2.f;}
+        float Angle() const { return acos(w) * 2.f;}
 
         float AngleBetween(const Quaternion& target) const;