From 392b51898a5c8dcc7c59d9394504929e509d5eb0 Mon Sep 17 00:00:00 2001
From: Diren D Bharwani <diren.bharwani@gmail.com>
Date: Thu, 8 Sep 2022 22:46:51 +0800
Subject: [PATCH] Added more implementations for Quaternions

---
 SHADE_Engine/src/Math/SHQuaternion.cpp | 63 ++++++++++++++++++++++++--
 SHADE_Engine/src/Math/SHQuaternion.h   |  4 +-
 2 files changed, 62 insertions(+), 5 deletions(-)

diff --git a/SHADE_Engine/src/Math/SHQuaternion.cpp b/SHADE_Engine/src/Math/SHQuaternion.cpp
index 2b1ac173..6164dcb3 100644
--- a/SHADE_Engine/src/Math/SHQuaternion.cpp
+++ b/SHADE_Engine/src/Math/SHQuaternion.cpp
@@ -212,14 +212,16 @@ namespace SHADE
 
   SHQuaternion SHQuaternion::RotateTowards(const SHQuaternion&, float) const noexcept
   {
-    // TODO(Diren): Figure this out.
+    SHQuaternion result;
 
-    return Identity;
+    // TODO (Diren)
+
+    return result;
   }
 
   SHVec3 SHQuaternion::ToEuler() const noexcept
   {
-    // TODO(Diren): Figure this out.
+    // TODO (Diren)
 
     return SHVec3::Zero;
   }
@@ -236,5 +238,60 @@ namespace SHADE
   /* Static Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
+  SHQuaternion SHQuaternion::Normalise(const SHQuaternion& q) noexcept
+  {
+    SHQuaternion result;
+
+    const XMVECTOR Q = XMLoadFloat4(&q);
+    
+    XMStoreFloat4(&result, XMQuaternionNormalize(Q));
+    return result;
+  }
+
+  SHQuaternion SHQuaternion::Conjugate(const SHQuaternion& q) noexcept
+  {
+    SHQuaternion result;
+
+    const XMVECTOR Q = XMLoadFloat4(&q);
+    
+    XMStoreFloat4(&result, XMQuaternionConjugate(Q));
+    return result;
+  }
+
+  float SHQuaternion::Angle(const SHQuaternion&, const SHQuaternion&) noexcept
+  {
+    // TODO (Diren)
+
+    return 0.0f;
+  }
+
+  SHQuaternion SHQuaternion::Lerp(const SHQuaternion&, const SHQuaternion&, float) noexcept
+  {
+    SHQuaternion result;
+
+    // TODO (Diren)
+
+    return result;
+  }
+
+  SHQuaternion SHQuaternion::Slerp(const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept
+  {
+    SHQuaternion result;
+
+    const XMVECTOR Q1 = XMLoadFloat4(&q1);
+    const XMVECTOR Q2 = XMLoadFloat4(&q2);
+
+    XMStoreFloat4(&result, XMQuaternionSlerp(Q1, Q2, t));
+    return result;
+  }
+
+  SHQuaternion SHQuaternion::Rotate(const SHVec3& , const SHVec3&) noexcept
+  {
+    SHQuaternion result;
+
+    // TODO (Diren)
+
+    return result;
+  }
 
 } // namespace SHADE
\ No newline at end of file
diff --git a/SHADE_Engine/src/Math/SHQuaternion.h b/SHADE_Engine/src/Math/SHQuaternion.h
index 103019ae..27088284 100644
--- a/SHADE_Engine/src/Math/SHQuaternion.h
+++ b/SHADE_Engine/src/Math/SHQuaternion.h
@@ -92,12 +92,12 @@ namespace SHADE
 
     [[nodiscard]] static SHQuaternion Normalise     (const SHQuaternion& q)                                       noexcept;
     [[nodiscard]] static SHQuaternion Conjugate     (const SHQuaternion& q)                                       noexcept;
-    [[nodiscard]] static SHQuaternion Angle         (const SHQuaternion& q1, const SHQuaternion& q2)              noexcept;
+    [[nodiscard]] static SHQuaternion Inverse       (const SHQuaternion& q)                                       noexcept;
+    [[nodiscard]] static float        Angle         (const SHQuaternion& q1, const SHQuaternion& q2)              noexcept;
 
     [[nodiscard]] static SHQuaternion Lerp          (const SHQuaternion& q1, const SHQuaternion& q2, float t)     noexcept;
     [[nodiscard]] static SHQuaternion Slerp         (const SHQuaternion& q1, const SHQuaternion& q2, float t)     noexcept;
 
-    [[nodiscard]] static SHQuaternion Concat        (const SHQuaternion& q1, const SHQuaternion& q2)              noexcept;
     [[nodiscard]] static SHQuaternion Rotate        (const SHVec3& from, const SHVec3& to)                        noexcept;
   };