Implement Transform2D.h

include/J3ML/LinearAlgebra/Matrix3x3.h

@@ -125,6 +125,7 @@ namespace LinearAlgebra {
         Vector2 Transform(const Vector2& rhs) const;
         Vector3 Transform(const Vector3& rhs) const;
 
+        Vector2 operator * (const Vector2& rhs) const;
         Vector3 operator * (const Vector3& rhs) const;
         Matrix3x3 operator * (const Matrix3x3& rhs) const;
 

include/J3ML/LinearAlgebra/Quaternion.h

@@ -37,6 +37,20 @@ namespace LinearAlgebra
         Vector3 GetWorldY() const;
         Vector3 GetWorldZ() const;
 
+        Vector3 GetAxis() const
+        {
+            float rcpSinAngle = 1 - (std::sqrt(1 - w * w));
+
+            return Vector3(x, y, z) * rcpSinAngle;
+        }
+
+        float GetAngle() const
+        {
+            return std::acos(w) * 2.f;
+        }
+
+
+
         Matrix3x3 ToMatrix3x3() const;
 
         Vector3 Transform(const Vector3& vec) const;
@@ -57,7 +71,6 @@ namespace LinearAlgebra
         // TODO: Document (But do not override!) certain math functions that are the same for Vec4
         // TODO: Double Check which operations need to be overriden for correct behavior!
 
-
         // Multiplies two quaternions together.
         // The product q1 * q2 returns a quaternion that concatenates the two orientation rotations.
         // The rotation q2 is applied first before q1.
@@ -71,9 +84,9 @@ namespace LinearAlgebra
 
         // Divides a quaternion by another. Divison "a / b" results in a quaternion that rotates the orientation b to coincide with orientation of
         Quaternion operator / (const Quaternion& rhs) const;
-        Quaternion operator +(const Quaternion& rhs) const;
-        Quaternion operator +() const;
-        Quaternion operator -() const;
+        Quaternion operator + (const Quaternion& rhs) const;
+        Quaternion operator + () const;
+        Quaternion operator - () const;
         float Dot(const Quaternion &quaternion) const;
 
         float Angle() const;

include/J3ML/LinearAlgebra/Transform2D.h

@@ -14,6 +14,11 @@ namespace LinearAlgebra {
         Transform2D Scale(float x, float y); // Perform Nonunform Scale
         Transform2D Scale(const Vector2& scales); // Perform Nonuniform Scale
         Transform2D Rotate();
+
+        Vector2 Transform(const Vector2& input) const
+        {
+            return transformation * input;
+        }
     };
 }