Merge branch 'main' into Fix-RenderableDeleteCrash

SHADE_Managed/Quaternion.hxx

@@ -1,17 +0,0 @@
-/************************************************************************************//*!
-\file           Quaternion.hxx
-\author         Diren D Bharwani, diren.dbharwani, 390002520
-\par            email: diren.dbharwani\@digipen.edu
-\date           Oct 23, 2022
-\brief          Contains the definitions of Quaternion struct.
- 
-                Note: This file is written in C++17/CLI.
-
-Copyright (C) 2021 DigiPen Institute of Technology.
-Reproduction or disclosure of this file or its contents without the prior written consent 
-of DigiPen Institute of Technology is prohibited.
-*//*************************************************************************************/
-
-#pragma once
-
-// TODO(Diren)

SHADE_Managed/src/Components/Transform.cxx

@@ -29,13 +29,21 @@ namespace SHADE
     {
         GetNativeComponent()->SetLocalPosition(Convert::ToNative(val));
     }
-    Vector3 Transform::LocalRotation::get()
+    Quaternion Transform::LocalRotation::get()
     {
-        return Convert::ToCLI(GetNativeComponent()->GetLocalRotation());
+        return Convert::ToCLI(GetNativeComponent()->GetLocalOrientation());
     }
-    void Transform::LocalRotation::set(Vector3 val)
+    void Transform::LocalRotation::set(Quaternion val)
     {
-        GetNativeComponent()->SetLocalRotation(Convert::ToNative(val));
+        GetNativeComponent()->SetLocalOrientation(Convert::ToNative(val));
+    }
+    Vector3 Transform::LocalEulerAngles::get()
+    {
+      return Convert::ToCLI(GetNativeComponent()->GetLocalRotation());
+    }
+    void Transform::LocalEulerAngles::set(Vector3 val)
+    {
+      GetNativeComponent()->SetLocalRotation(Convert::ToNative(val));
     }
     Vector3 Transform::LocalScale::get()
     {
@@ -54,13 +62,21 @@ namespace SHADE
     {
         GetNativeComponent()->SetWorldPosition(Convert::ToNative(val));
     }
-    Vector3 Transform::GlobalRotation::get()
+    Quaternion Transform::GlobalRotation::get()
     {
-        return Convert::ToCLI(GetNativeComponent()->GetWorldRotation());
+        return Convert::ToCLI(GetNativeComponent()->GetLocalOrientation());
     }
-    void Transform::GlobalRotation::set(Vector3 val)
+    void Transform::GlobalRotation::set(Quaternion val)
     {
-        GetNativeComponent()->SetWorldRotation(Convert::ToNative(val));
+        GetNativeComponent()->SetWorldOrientation(Convert::ToNative(val));
+    }
+    Vector3 Transform::GlobalEulerAngles::get()
+    {
+      return Convert::ToCLI(GetNativeComponent()->GetWorldRotation());
+    }
+    void Transform::GlobalEulerAngles::set(Vector3 val)
+    {
+      GetNativeComponent()->SetWorldRotation(Convert::ToNative(val));
     }
     Vector3 Transform::GlobalScale::get()
     {

SHADE_Managed/src/Components/Transform.hxx

@@ -17,14 +17,14 @@ of DigiPen Institute of Technology is prohibited.
 // Project Includes
 #include "Components/Component.hxx"
 #include "Math/Vector3.hxx"
-#include "Utility/Convert.hxx"
+#include "Math/Quaternion.hxx"
 // External Dependencies
 #include "Math/Transform/SHTransformComponent.h"
 
 namespace SHADE
 {
     /// <summary>
-    /// CLR version of the the SHADE Engine's TransformComponent.
+    /// CLR version of the SHADE Engine's TransformComponent.
     /// </summary>
     public ref class Transform : public Component<SHTransformComponent>
     {
@@ -52,9 +52,17 @@ namespace SHADE
             void set(Vector3 val);
         }
         /// <summary>
-        /// Local Z-axis rotation angle stored by this Transform in Radians.
+        /// Local rotation quaternion stored by this Transform.
         /// </summary>
-        property Vector3 LocalRotation
+        property Quaternion LocalRotation
+        {
+            Quaternion get();
+            void set(Quaternion val);
+        }
+        /// <summary>
+        /// Local euler angle rotations stored by this Transform.
+        /// </summary>
+        property Vector3 LocalEulerAngles
         {
             Vector3 get();
             void set(Vector3 val);
@@ -76,16 +84,23 @@ namespace SHADE
             void set(Vector3 val);
         }
         /// <summary>
-        /// Global Z-axis rotation angle stored by this Transform in Radians.
+        /// Global rotation quaternion stored by this Transform.
         /// </summary>
-        property Vector3 GlobalRotation
+        property Quaternion GlobalRotation
+        {
+            Quaternion get();
+            void set(Quaternion val);
+        }
+        /// <summary>
+        /// Global euler angle rotations stored by this Transform.
+        /// </summary>
+        property Vector3 GlobalEulerAngles
         {
             Vector3 get();
             void set(Vector3 val);
         }
         /// <summary>
         /// Global scale stored by this Transform.
-        /// Note that this operation is expensive.
         /// </summary>
         property Vector3 GlobalScale
         {

SHADE_Managed/src/Math/Math.cxx

@@ -21,7 +21,7 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
     /* Utility Functions                                                               */
     /*---------------------------------------------------------------------------------*/
-    double Math::Wrap(double value, double min, double max)
+    float Math::Wrap(float value, float min, float max)
     {
         while (value < min)
         {
@@ -33,24 +33,24 @@ namespace SHADE
         }
         return value;
     }
-    double Math::DegreesToRadians(double degrees)
+    float Math::DegreesToRadians(float degrees)
     {
         return degrees * Deg2Rad;
     }
-    double Math::RadiansToDegrees(double radians)
+    float Math::RadiansToDegrees(float radians)
     {
         return radians * Rad2Deg;
     }
-    double Math::Lerp(double a, double b, double t)
+    float Math::Lerp(float a, float b, float t)
     {
-        return LerpUnclamped(a, b, System::Math::Clamp(t, 0.0, 1.0));
+        return LerpUnclamped(a, b, System::Math::Clamp(t, 0.0f, 1.0f));
     }
-    double Math::LerpUnclamped(double a, double b, double t)
+    float Math::LerpUnclamped(float a, float b, float t)
     {
         return a + t * (b - a);
     }
 
-    double Math::InverseLerp(double a, double b, double value)
+    float Math::InverseLerp(float a, float b, float value)
     {
         return (value - a) / (b - a);
     }

SHADE_Managed/src/Math/Math.hxx

@@ -27,11 +27,11 @@ namespace SHADE
         /// <summary>
         /// Degrees-to-radians conversion constant
         /// </summary>
-        static constexpr double Deg2Rad = System::Math::PI / 180.0;
+        static constexpr float Deg2Rad = System::Math::PI / 180.0f;
         /// <summary>
         /// Radians-to-degrees conversion constant
         /// </summary>
-        static constexpr double Rad2Deg = 180.0 / System::Math::PI;
+        static constexpr float Rad2Deg = 180.0f / System::Math::PI;
         /// <summary>
         /// Small value used for single precision floating point comparisons.
         /// </summary>
@@ -47,28 +47,28 @@ namespace SHADE
         /// <param name="min">Minimum value to wrap at.</param>
         /// <param name="max">Maximum value to wrap at.</param>
         /// <returns>Wrapped value.</returns>
-        static double Wrap(double value, double min, double max);
+        static float Wrap(float value, float min, float max);
         /// <summary>
         /// Converts an angle from degree representation to radian representation.
         /// </summary>
         /// <param name="degrees">Degree-based angle to convert.</param>
         /// <returns>The specified angle in radians.</returns>
-        static double DegreesToRadians(double degrees);
+        static float DegreesToRadians(float degrees);
         /// <summary>
         /// Converts an angle from radian representation to degree representation.
         /// </summary>
         /// <param name="radians">Radian-based angle to convert.</param>
         /// <returns>The specified angle in degrees.</returns>
-        static double RadiansToDegrees(double radians);
+        static float RadiansToDegrees(float radians);
         /// <summary>
         /// Linearly interpolates between a and b by t. 
         /// The parameter t is clamped to the range [0, 1].
         /// </summary>
         /// <param name="a">The start value.</param>
         /// <param name="b">The end value.</param>
-        /// <param name="t">The interpolation value between the two double.</param>
+        /// <param name="t">The interpolation value between the two float.</param>
-        /// <returns>The interpolated double result between the two double values.</returns>
+        /// <returns>The interpolated float result between the two float values.</returns>
-        static double Lerp(double a, double b, double t);
+        static float Lerp(float a, float b, float t);
         /// <summary>
         /// Linearly interpolates between a and b by t. 
         /// The parameter t is not clamped and a value based on a and b is supported. 
@@ -77,9 +77,9 @@ namespace SHADE
         /// </summary>
         /// <param name="a">The start value.</param>
         /// <param name="b">The end value.</param>
-        /// <param name="t">The interpolation value between the two double.</param>
+        /// <param name="t">The interpolation value between the two float.</param>
-        /// <returns>The interpolated double result between the two double values.</returns>
+        /// <returns>The interpolated float result between the two float values.</returns>
-        static double LerpUnclamped(double a, double b, double t);
+        static float LerpUnclamped(float a, float b, float t);
         /// <summary>
         /// Calculates the linear parameter t that produces the interpolant value within the range [a, b].
         /// </summary>
@@ -87,6 +87,6 @@ namespace SHADE
         /// <param name="b">End value.</param>
         /// <param name="value">Value between start and end.</param>
         /// <returns>Percentage of value between start and end.</returns>
-        static double InverseLerp(double a, double b, double value);
+        static float InverseLerp(float a, float b, float value);
     };
 }

SHADE_Managed/src/Math/Quaternion.cxx

@@ -0,0 +1,170 @@
+/************************************************************************************//*!
+\file           Quaternion.cxx
+\author         Diren D Bharwani, diren.dbharwani, 390002520
+\par            email: diren.dbharwani\@digipen.edu
+\date           Oct 23, 2022
+\brief          Contains the definitions of functions in the Quaternion struct.
+ 
+                Note: This file is written in C++17/CLI.
+
+Copyright (C) 2021 DigiPen Institute of Technology.
+Reproduction or disclosure of this file or its contents without the prior written consent 
+of DigiPen Institute of Technology is prohibited.
+*//*************************************************************************************/
+
+// Precompiled Headers
+#include "SHpch.h"
+// Primary Header
+#include "Quaternion.hxx"
+// External Dependencies
+#include "Math/SHQuaternion.h"
+#include "Math/Vector/SHVec4.h"
+// Project Headers
+#include "Utility/Convert.hxx"
+#include "Math.hxx"
+
+namespace SHADE
+{
+  /*---------------------------------------------------------------------------------*/
+  /* Constructors                                                                    */
+  /*---------------------------------------------------------------------------------*/
+
+  Quaternion::Quaternion(float _x, float _y, float _z, float _w)
+  : x { _x }
+  , y { _y }
+  , z { _z }
+  , w { _w }
+  {}
+
+  /*---------------------------------------------------------------------------------*/
+  /* Usage Functions                                                                 */
+  /*---------------------------------------------------------------------------------*/
+
+  void Quaternion::SetFromToRotation(Vector3 fromDirection, Vector3 toDirection)
+  {
+    const SHQuaternion R = SHQuaternion::FromToRotation(Convert::ToNative(fromDirection), Convert::ToNative(toDirection));
+    *this = Convert::ToCLI(R);
+  }
+
+  void Quaternion::SetLookRotation(Vector3 view, Vector3 up)
+  {
+    const SHQuaternion R = SHQuaternion::LookRotation(Convert::ToNative(view), Convert::ToNative(up));
+    *this = Convert::ToCLI(R);
+  }
+
+  void Quaternion::ToAngleAxis(float^% angle, Vector3^% axis)
+  {
+    const SHVec4 NATIVE_AXIS_ANGLE = Convert::ToNative(*this).GetAxisAngle();
+    axis = Convert::ToCLI(NATIVE_AXIS_ANGLE.ToVec3());
+    angle = NATIVE_AXIS_ANGLE.w;
+  }
+
+  System::String^ Quaternion::ToString()
+  {
+    return ValueType::ToString();
+  }
+
+  /*---------------------------------------------------------------------------------*/
+  /* IEquatable                                                                      */
+  /*---------------------------------------------------------------------------------*/
+
+  bool Quaternion::Equals(Quaternion other)
+  {
+    const float DOT = Dot(*this, other);
+    return fabs(1.0f - DOT) <= Math::Epsilon;
+  }
+
+  /*---------------------------------------------------------------------------------*/
+  /* Object Overrides                                                                */
+  /*---------------------------------------------------------------------------------*/
+
+  bool Quaternion::Equals(Object^ o)
+  {
+    return ValueType::Equals(o);
+  }
+
+  int Quaternion::GetHashCode()
+  {
+    return ValueType::GetHashCode();
+  }
+
+  /*---------------------------------------------------------------------------------*/
+    /* Static Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+  float Quaternion::Angle(Quaternion a, Quaternion b)
+  {
+    return SHQuaternion::Angle(Convert::ToNative(a), Convert::ToNative(b));
+  }
+
+  Quaternion Quaternion::AngleAxis(float angle, Vector3 axis)
+  {
+    return Convert::ToCLI(SHQuaternion::FromAxisAngle(Convert::ToNative(axis), angle));
+  }
+
+  float Quaternion::Dot(Quaternion a, Quaternion b)
+  {
+    return (a.x * b.x) + (a.y * b.y) + (a.z * b.z) + (a.w * b.w);
+  }
+
+  Quaternion Quaternion::Euler(float _x, float _y, float _z)
+  {
+    return Convert::ToCLI(SHQuaternion::FromPitchYawRoll(_x, _y, _z));
+  }
+
+  Quaternion Quaternion::FromToRotation(Vector3 fromDirection, Vector3 toDirection)
+  {
+    return Convert::ToCLI(SHQuaternion::FromToRotation(Convert::ToNative(fromDirection), Convert::ToNative(toDirection)));
+  }
+
+  Quaternion Quaternion::Inverse(Quaternion rotation)
+  {
+    return Convert::ToCLI(SHQuaternion::Inverse(Convert::ToNative(rotation)));
+  }
+
+  Quaternion Quaternion::Lerp(Quaternion a, Quaternion b, float t)
+  {
+    return Convert::ToCLI(SHQuaternion::ClampedLerp(Convert::ToNative(a), Convert::ToNative(b), t));
+  }
+
+  Quaternion Quaternion::LerpUnclamped(Quaternion a, Quaternion b, float t)
+  {
+    return Convert::ToCLI(SHQuaternion::Lerp(Convert::ToNative(a), Convert::ToNative(b), t));
+  }
+
+  Quaternion Quaternion::LookRotation(Vector3 forward, Vector3 upwards)
+  {
+    return Convert::ToCLI(SHQuaternion::LookRotation(Convert::ToNative(forward), Convert::ToNative(upwards)));
+  }
+
+  Quaternion Quaternion::Normalize(Quaternion q)
+  {
+    return Convert::ToCLI(SHQuaternion::Normalise(Convert::ToNative(q)));
+  }
+
+  Quaternion Quaternion::RotateTowards(Quaternion from, Quaternion to, float maxDegreesDelta)
+  {
+    return Convert::ToCLI(SHQuaternion::RotateTowards(Convert::ToNative(from), Convert::ToNative(to), Math::DegreesToRadians(maxDegreesDelta)));
+  }
+
+  Quaternion Quaternion::Slerp(Quaternion a, Quaternion b, float t)
+  {
+    return Convert::ToCLI(SHQuaternion::ClampedSlerp(Convert::ToNative(a), Convert::ToNative(b), t));
+  }
+
+  Quaternion Quaternion::SlerpUnclamped(Quaternion a, Quaternion b, float t)
+  {
+    return Convert::ToCLI(SHQuaternion::Slerp(Convert::ToNative(a), Convert::ToNative(b), t));
+  }
+
+
+  Quaternion Quaternion::operator*(Quaternion lhs, Quaternion rhs)
+  {
+    return Convert::ToCLI(Convert::ToNative(lhs) * Convert::ToNative(rhs));
+  }
+
+  bool Quaternion::operator==(Quaternion lhs, Quaternion rhs)
+  {
+    return lhs.Equals(rhs);
+  }
+}

SHADE_Managed/src/Math/Quaternion.hxx

@@ -0,0 +1,237 @@
+/************************************************************************************//*!
+\file           Quaternion.hxx
+\author         Diren D Bharwani, diren.dbharwani, 390002520
+\par            email: diren.dbharwani\@digipen.edu
+\date           Oct 23, 2022
+\brief          Contains the definitions of Quaternion struct.
+ 
+                Note: This file is written in C++17/CLI.
+
+Copyright (C) 2021 DigiPen Institute of Technology.
+Reproduction or disclosure of this file or its contents without the prior written consent 
+of DigiPen Institute of Technology is prohibited.
+*//*************************************************************************************/
+
+#pragma once
+
+// Standard Libraries
+#include <limits>
+// Project Includes
+#include "Vector3.hxx"
+
+namespace SHADE
+{
+  ///<summary>
+  /// CLR version of SHADE's Quaternion class that represents an orientation.
+  /// Designed to closely match Unity's Quaternion struct.
+  /// </summary>
+  [System::Runtime::InteropServices::StructLayout(System::Runtime::InteropServices::LayoutKind::Sequential)]
+  public value struct Quaternion : public System::IEquatable<Quaternion>
+  {
+  public:
+    /*-----------------------------------------------------------------------------*/
+    /* Constants                                                                   */
+    /*-----------------------------------------------------------------------------*/
+#pragma region Constants
+
+    ///<summary>
+    /// Shorthand for writing Quaternion(0, 0, 0, 1).
+    ///</summary>
+    static initonly Quaternion Identity = Quaternion(0.0f, 0.0f, 0.0f, 1.0f);
+
+#pragma endregion
+
+    /*-----------------------------------------------------------------------------*/
+    /* Public Members                                                              */
+    /*-----------------------------------------------------------------------------*/
+
+    ///<summary>
+    /// X-component of the Quaternion.
+    /// Don't modify this directly unless you know quaternions inside out.
+    ///</summary>
+    float x;
+    ///<summary>
+    /// Y-component of the Quaternion.
+    /// Don't modify this directly unless you know quaternions inside out.
+    ///</summary>
+    float y;
+    ///<summary>
+    /// Z-component of the Quaternion.
+    /// Don't modify this directly unless you know quaternions inside out.
+    ///</summary>
+    float z;
+    ///<summary>
+    /// W-component of the Quaternion. Do not directly modify quaternions.
+    ///</summary>
+    float w;
+
+    /*-----------------------------------------------------------------------------*/
+    /* Constructors                                                                */
+    /*-----------------------------------------------------------------------------*/
+
+    /// <summary>
+    /// Constructor to construct a Quaternion with the specified components.
+    /// </summary>
+    /// <param name="_x">X-coordinate to set.</param>
+    /// <param name="_y">Y-coordinate to set.</param>
+    /// <param name="_z">Z-coordinate to set.</param>
+    /// <param name="_z">W-coordinate to set.</param>
+    Quaternion(float _x, float _y, float _z, float _w);
+
+    /*-----------------------------------------------------------------------------*/
+    /* Usage Functions                                                             */
+    /*-----------------------------------------------------------------------------*/
+
+    /// <summary>
+    /// Creates a rotation which rotates from fromDirection to toDirection. <br/>
+    /// Use this to create a rotation which starts at the first Vector (fromDirection) and rotates to the second Vector (toDirection).
+    /// These Vectors must be set up in a script.
+    /// </summary>
+    void SetFromToRotation(Vector3 fromDirection, Vector3 toDirection);
+
+    /// <summary>
+    /// Creates a rotation with the specified forward and upwards directions. <br/>
+    /// The result is applied to this quaternion.
+    /// If used to orient a Transform, the Z axis will be aligned with forward and the Y axis with upwards, assuming these vectors are orthogonal.
+    /// Logs an error if the forward direction is zero.
+    /// </summary>
+    /// <param name="view">The direction to look in.</param>
+    /// <param name="up">The vector that defines in which direction up is.</param>
+    void SetLookRotation(Vector3 view, Vector3 up);
+
+    /// <summary>
+    /// Converts a rotation to angle-axis representation (angles in degrees).
+    /// </summary>
+    void ToAngleAxis(float^% angle, Vector3^% axis);
+    
+    System::String^ ToString() override;
+
+    /*-----------------------------------------------------------------------------*/
+    /* IEquatable                                                                  */
+    /*-----------------------------------------------------------------------------*/
+
+    /// <summary>
+    /// Compares equality with an object of the same type.
+    /// </summary>
+    /// <param name="other">The object to compare with.</param>
+    /// <returns>True if both objects are the same.</returns>
+    virtual bool Equals(Quaternion other);
+
+    /*-----------------------------------------------------------------------------*/
+    /* Object                                                                      */
+    /*-----------------------------------------------------------------------------*/
+
+    /// <summary>
+    /// Compares equality with another unboxed object.
+    /// </summary>
+    /// <param name="o">The unboxed object to compare with.</param>
+    /// <returns>True if both objects are the same.</returns>
+    bool Equals(Object^ o) override;
+
+    /// <summary>
+    /// Gets a unique hash for this object.
+    /// </summary>
+    /// <returns>Unique hash for this object.</returns>
+    int  GetHashCode() override;
+
+    /*-----------------------------------------------------------------------------*/
+    /* Static Functions                                                            */
+    /*-----------------------------------------------------------------------------*/
+
+    /// <summary>
+    /// Returns the angle in degrees between two rotations a and b.<br/>
+    /// </summary>
+    /// <returns>The angle in degrees between the two vectors. </returns>
+    static float Angle(Quaternion a, Quaternion b);
+
+    /// <summary>
+    /// Creates a rotation which rotates angle degrees around axis.
+    /// </summary>
+    static Quaternion AngleAxis(float angle, Vector3 axis);
+
+    /// <summary>
+    /// The dot product between two rotations.
+    /// </summary>
+    static float Dot(Quaternion a, Quaternion b);
+
+    /// <summary>
+    /// Returns a rotation that rotates y degrees around the y axis, x degrees around the x axis, and z degrees around the z axis; applied in that order.
+    /// </summary>
+    static Quaternion Euler(float _x, float _y, float _z);
+
+    /// <summary>
+    /// Creates a rotation which rotates from fromDirection to toDirection.
+    /// </summary>
+    static Quaternion FromToRotation(Vector3 fromDirection, Vector3 toDirection);
+
+    /// <summary>
+    /// Returns the Inverse of rotation.
+    /// </summary>
+    static Quaternion Inverse(Quaternion rotation);
+
+    /// <summary>
+    /// Interpolates between a and b by t and normalizes the result afterwards. The parameter t is clamped to the range [0, 1].
+    /// </summary>
+    /// <param name="a">Start value, returned when t = 0.</param>
+    /// <param name="b">End value, returned when t = 1.</param>
+    /// <param name="t">Interpolation ratio.</param>
+    /// <returns> A quaternion interpolated between quaternions a and b.</returns>
+    static Quaternion Lerp(Quaternion a, Quaternion b, float t);
+
+    /// <summary>
+    /// Interpolates between a and b by t and normalizes the result afterwards. The parameter t is not clamped.
+    /// </summary>
+    static Quaternion LerpUnclamped(Quaternion a, Quaternion b, float t);
+
+    /// <summary>
+    /// Creates a rotation with the specified forward and upwards directions. <br/>
+    /// Z axis will be aligned with forward, X axis aligned with cross product between forward and upwards, and Y axis aligned with cross product between Z and X.
+    /// </summary>
+    static Quaternion LookRotation(Vector3 forward, Vector3 upwards);
+
+    /// <summary>
+    /// Converts this quaternion to one with the same orientation but with a magnitude of 1.
+    /// </summary>
+    static Quaternion Normalize(Quaternion q);
+
+    /// <summary>
+    /// Rotates a rotation from towards to. <br/>
+    /// The from quaternion is rotated towards to by an angular step of maxDegreesDelta (but note that the rotation will not overshoot).
+    /// Negative values of maxDegreesDelta will move away from to until the rotation is exactly the opposite direction.
+    /// </summary>
+    static Quaternion RotateTowards(Quaternion from, Quaternion to, float maxDegreesDelta);
+
+    /// <summary>
+    /// Spherically interpolates between quaternions a and b by ratio t. The parameter t is clamped to the range [0, 1].
+    /// </summary>
+    /// <param name="a">Start value, returned when t = 0.</param>
+    /// <param name="b">End value, returned when t = 1.</param>
+    /// <param name="t">Interpolation ratio.</param>
+    /// <returns> A quaternion spherically interpolated between quaternions a and b.</returns>
+    static Quaternion Slerp(Quaternion a, Quaternion b, float t);
+
+    /// <summary>
+    /// Spherically interpolates between a and b by t. The parameter t is not clamped.
+    /// </summary>
+    static Quaternion SlerpUnclamped(Quaternion a, Quaternion b, float t); 
+
+    /*-----------------------------------------------------------------------------*/
+    /* Overloaded Operators                                                        */
+    /*-----------------------------------------------------------------------------*/
+
+    /// <summary>
+    /// Combines rotations lhs and rhs.
+    /// </summary>
+    /// <param name="lhs">Left-hand side quaternion.</param>
+    /// <param name="rhs">Right-hand side quaternion.</param>
+    static Quaternion operator*(Quaternion lhs, Quaternion rhs);
+
+    /// <summary>
+    /// Are two quaternions equal to each other?
+    /// </summary>
+    /// <param name="lhs">Left-hand side quaternion.</param>
+    /// <param name="rhs">Right-hand side quaternion.</param>
+    static bool operator==(Quaternion lhs, Quaternion rhs);
+  };
+
+} // namespace SHADE

SHADE_Managed/src/Math/Vector2.cxx

@@ -26,10 +26,10 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
     /* Constructors                                                                    */
     /*---------------------------------------------------------------------------------*/
-    Vector2::Vector2(double _x) 
+    Vector2::Vector2(float _x) 
-    : Vector2 { _x, 0.0 }
+    : Vector2 { _x, 0.0f }
     {}
-    Vector2::Vector2(double _x, double _y)
+    Vector2::Vector2(float _x, float _y)
     : x { _x }
     , y { _y }
     {}
@@ -47,22 +47,22 @@ namespace SHADE
         return *this / GetMagnitude();
     }
 
-    double Vector2::GetMagnitude()
+    float Vector2::GetMagnitude()
     {
         return sqrt(x * x + y * y);
     }
 
-    double Vector2::GetSqrMagnitude()
+    float Vector2::GetSqrMagnitude()
     {
         return x * x + y * y;
     }
 
-    double Vector2::AngleFromRightRadians()
+    float Vector2::AngleFromRightRadians()
     {
         return atan2(y, x);
     }
 
-    double Vector2::AngleFromRightDegrees()
+    float Vector2::AngleFromRightDegrees()
     {
         return Math::RadiansToDegrees(AngleFromRightRadians());
     }
@@ -72,7 +72,7 @@ namespace SHADE
         return IsNearPoint(point, Math::Epsilon);
     }
 
-    bool Vector2::IsNearPoint(Vector2 point, double tolerance)
+    bool Vector2::IsNearPoint(Vector2 point, float tolerance)
     {
         return (*this - point).GetSqrMagnitude() < (tolerance * tolerance);
     }
@@ -113,13 +113,13 @@ namespace SHADE
     {
         return IsNear(lhs, rhs, Math::Epsilon);
     }
-    bool Vector2::IsNear(Vector2 lhs, Vector2 rhs, double tolerance)
+    bool Vector2::IsNear(Vector2 lhs, Vector2 rhs, float tolerance)
     {
         return (std::abs(lhs.x) - std::abs(rhs.x)) < tolerance
                &&
                (std::abs(lhs.y) - std::abs(rhs.y)) < tolerance;
     }
-    double Vector2::Dot(Vector2 lhs, Vector2 rhs)
+    float Vector2::Dot(Vector2 lhs, Vector2 rhs)
     {
         return lhs.x * rhs.x + lhs.y * rhs.y;
     }
@@ -153,12 +153,12 @@ namespace SHADE
     }
     Vector2 Vector2::Reflect(Vector2 vec, Vector2 normal)
     {
-        return vec - (Project(vec, normal.GetNormalised()) * 2.0);
+        return vec - (Project(vec, normal.GetNormalised()) * 2.0f);
     }
-    Vector2 Vector2::RotateRadians(Vector2 vec, double radians)
+    Vector2 Vector2::RotateRadians(Vector2 vec, float radians)
     {
-        const double SINE   = sin(radians);
+        const float SINE   = sin(radians);
-        const double COSINE = cos(radians);
+        const float COSINE = cos(radians);
 
         return Vector2
         (
@@ -166,35 +166,35 @@ namespace SHADE
             vec.x * SINE   + vec.y * COSINE
         );
     }
-    Vector2 Vector2::RotateDegrees(Vector2 vec, double degrees)
+    Vector2 Vector2::RotateDegrees(Vector2 vec, float degrees)
     {
         return RotateRadians(vec, Math::DegreesToRadians(degrees));
     }
     Vector2 Vector2::Min(Vector2 lhs, Vector2 rhs)
     {
-        double lx = lhs.x, rx = rhs.x;
+        float lx = lhs.x, rx = rhs.x;
-        double ly = lhs.y, ry = rhs.y;
+        float ly = lhs.y, ry = rhs.y;
 
         return Vector2(std::min(lx, rx),
                        std::min(ly, ry));   
     }
     Vector2 Vector2::Max(Vector2 lhs, Vector2 rhs)
     {
-        double lx = lhs.x, rx = rhs.x;
+        float lx = lhs.x, rx = rhs.x;
-        double ly = lhs.y, ry = rhs.y;
+        float ly = lhs.y, ry = rhs.y;
 
         return Vector2(std::max(lx, rx),
                        std::max(ly, ry));  
     }
-    Vector2 Vector2::Lerp(Vector2 a, Vector2 b, double t)
+    Vector2 Vector2::Lerp(Vector2 a, Vector2 b, float t)
     {
-        return LerpUnclamped(a, b, std::clamp(t, 0.0, 1.0));
+        return LerpUnclamped(a, b, std::clamp(t, 0.0f, 1.0f));
     }
-    Vector2 Vector2::LerpUnclamped(Vector2 a, Vector2 b, double t)
+    Vector2 Vector2::LerpUnclamped(Vector2 a, Vector2 b, float t)
     {
         return a + ((b - a) * t);
     }
-    Vector2 Vector2::MoveTowards(Vector2 current, Vector2 target, double maxDistanceDelta)
+    Vector2 Vector2::MoveTowards(Vector2 current, Vector2 target, float maxDistanceDelta)
     {
         // Ignore if it is exactly on the same point
         if (current == target)
@@ -206,7 +206,7 @@ namespace SHADE
 
         // Check if check if is behind or ahead of target
         Vector2 DIFF = target - newPos;
-        if (Dot(DELTA, DIFF) < 0.0)
+        if (Dot(DELTA, DIFF) < 0.0f)
         {
             newPos = target;
         }
@@ -236,7 +236,7 @@ namespace SHADE
             lhs.y * rhs.y
         );
     }
-    Vector2 Vector2::operator*(Vector2 lhs, double rhs)
+    Vector2 Vector2::operator*(Vector2 lhs, float rhs)
     {
         return Vector2
         (
@@ -244,7 +244,7 @@ namespace SHADE
             lhs.y * rhs
         );
     }
-    Vector2 Vector2::operator/(Vector2 lhs, double rhs)
+    Vector2 Vector2::operator/(Vector2 lhs, float rhs)
     {
         return Vector2
         (

SHADE_Managed/src/Math/Vector2.hxx

@@ -19,8 +19,8 @@ of DigiPen Institute of Technology is prohibited.
 namespace SHADE
 {
     ///<summary>
-    /// CLR version of the the SHADE Engine's Vector2 class that represents a 
+    /// CLR version of SHADE Engine's Vector2 class that represents a 2-Dimensional Vector.
-    /// 2-Dimensional Vector. Designed to closely match Unity's Vector2 struct.
+    /// Designed to closely match Unity's Vector2 struct.
     /// </summary>
     [System::Runtime::InteropServices::StructLayout(System::Runtime::InteropServices::LayoutKind::Sequential)]
     public value struct Vector2 : public System::IEquatable<Vector2>
@@ -33,37 +33,37 @@ namespace SHADE
         ///<summary>
         /// Shorthand for writing Vector2(0, -1).
         ///</summary>
-        static initonly Vector2 Down = Vector2(0.0, -1.0);
+        static initonly Vector2 Down = Vector2(0.0f, -1.0f);
         ///<summary>
         /// Shorthand for writing Vector2(-1, 0).
         ///</summary>
-        static initonly Vector2 Left = Vector2(-1.0, 0.0);
+        static initonly Vector2 Left = Vector2(-1.0f, 0.0f);
         ///<summary>
-        /// Shorthand for writing Vector2(double.NegativeInfinity, 
+        /// Shorthand for writing Vector2(float.NegativeInfinity, 
-        /// double.NegativeInfinity).
+        /// float.NegativeInfinity).
         ///</summary>
-        static initonly Vector2 NegativeInfinity = Vector2(std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest());
+        static initonly Vector2 NegativeInfinity = Vector2(std::numeric_limits<float>::lowest(), std::numeric_limits<float>::lowest());
         ///<summary>
         /// Shorthand for writing Vector2(1, 1).
         ///</summary>
-        static initonly Vector2 One = Vector2(1.0, 1.0);
+        static initonly Vector2 One = Vector2(1.0f, 1.0f);
         ///<summary>
-        /// Shorthand for writing Vector2(double.PositiveInfinity, 
+        /// Shorthand for writing Vector2(float.PositiveInfinity, 
-        /// double.PositiveInfinity).
+        /// float.PositiveInfinity).
         ///</summary>
-        static initonly Vector2 PositiveInfinity = Vector2(std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
+        static initonly Vector2 PositiveInfinity = Vector2(std::numeric_limits<float>::max(), std::numeric_limits<float>::max());
         ///<summary>
         /// Shorthand for writing Vector2(1, 0).
         ///</summary>
-        static initonly Vector2 Right = Vector2(1.0, 0.0);
+        static initonly Vector2 Right = Vector2(1.0f, 0.0f);
         ///<summary>
         /// Shorthand for writing Vector2(0, 1).
         ///</summary>
-        static initonly Vector2 Up = Vector2(0.0, 1.0);
+        static initonly Vector2 Up = Vector2(0.0f, 1.0f);
         ///<summary>
         /// Shorthand for writing Vector2(0, 0).
         ///</summary>        
-        static initonly Vector2 Zero = Vector2(0.0, 0.0);
+        static initonly Vector2 Zero = Vector2(0.0f, 0.0f);
         #pragma endregion
 
         /*-----------------------------------------------------------------------------*/
@@ -72,27 +72,27 @@ namespace SHADE
         ///<summary>
         /// X-component of the Vector2.
         ///</summary>
-        double x;
+        float x;
         ///<summary>
         /// Y-component of the Vector2.
         ///</summary>
-        double y;
+        float y;
 
         /*-----------------------------------------------------------------------------*/
         /* Constructors                                                                */
         /*-----------------------------------------------------------------------------*/
         /// <summary>
         /// Constructor to construct a Vector2 with the specified components with the 
-        /// Y-component set to 0.0.
+        /// Y-component set to 0.0f.
         /// </summary>
         /// <param name="_x">X-coordinate to set.</param>
-        Vector2(double _x);
+        Vector2(float _x);
         /// <summary>
         /// Constructor to construct a Vector2 with the specified components..
         /// </summary>
         /// <param name="_x">X-coordinate to set.</param>
         /// <param name="_y">Y-coordinate to set.</param>
-        Vector2(double _x, double _y);
+        Vector2(float _x, float _y);
 
         /*-----------------------------------------------------------------------------*/
         /* Usage Functions                                                             */
@@ -117,24 +117,24 @@ namespace SHADE
         /// need the precise magnitude, consider using GetSqrMagnitude() instead.
         /// </summary>
         /// <returns>Returns the length of this Vector2.</returns>
-        double GetMagnitude();
+        float GetMagnitude();
         /// <summary>
         /// Calculates and returns the squared magnitude of this Vector2.
         /// </summary>
         /// <returns>Returns the squared length of this Vector2.</returns>
-        double GetSqrMagnitude();
+        float GetSqrMagnitude();
         /// <summary>
         /// Calculates and returns the angle of this vector from the right vector. This 
         /// function returns values between -Math.PI and Math.PI.
         /// </summary>
         /// <returns>Returns the angle of this vector from the right vector in radians.</returns>
-        double AngleFromRightRadians();
+        float AngleFromRightRadians();
         /// <summary>
         /// Calculates and returns the angle of this vector from the right vector. This 
-        /// function returns values between -180.0 and 180.0.
+        /// function returns values between -180.0f and 180.0f.
         /// </summary>
         /// <returns>Returns the angle of this vector from the right vector in degrees.</returns>
-        double AngleFromRightDegrees();
+        float AngleFromRightDegrees();
         /// <summary>
         /// Checks if a specified point is near this Vector2 that represents a point with
         /// a tolerance value of PLS_EPSILON.
@@ -156,7 +156,7 @@ namespace SHADE
         /// True if this Vector2 representing a point and the specified point are within
         /// the range of the specified tolerance. False otherwise.
         /// </returns>
-        bool IsNearPoint(Vector2 point, double tolerance);
+        bool IsNearPoint(Vector2 point, float tolerance);
 
         /*-----------------------------------------------------------------------------*/
         /* IEquatable                                                                  */
@@ -206,7 +206,7 @@ namespace SHADE
         /// <returns>
         /// True if the two Vector2s are within the tolerance value specified
         /// </returns>
-        static bool IsNear(Vector2 lhs, Vector2 rhs, double tolerance);
+        static bool IsNear(Vector2 lhs, Vector2 rhs, float tolerance);
         /// <summary>
         /// Computes and returns the dot product of 2 specified Vector2s.
         /// </summary>
@@ -215,7 +215,7 @@ namespace SHADE
         /// <returns>
         /// Scalar value representing the dot product of the two Vector2s.
         /// </returns>
-        static double Dot(Vector2 lhs, Vector2 rhs);
+        static float Dot(Vector2 lhs, Vector2 rhs);
         /// <summary>
         /// Computes the inward perpendicular Vector2 to the specified Vector2.
         /// Equivalent to calling Perpendicular(lhs, true). This means, the
@@ -260,7 +260,7 @@ namespace SHADE
         /// Angle to rotate the vector by in an anti-clockwise direction in radians.
         /// </param>
         /// <returns>The Vector2 that represents the rotated vector.</returns>
-        static Vector2 RotateRadians(Vector2 vec, double radians);
+        static Vector2 RotateRadians(Vector2 vec, float radians);
         /// <summary>
         /// Rotates a Vector2 on the Z-axis by a specified angle in an anti-clockwise 
         /// direction.
@@ -270,7 +270,7 @@ namespace SHADE
         /// Angle to rotate the vector by in an anti-clockwise direction in degrees.
         /// </param>
         /// <returns>The Vector2 that represents the rotated vector.</returns>
-        static Vector2 RotateDegrees(Vector2 vec, double degrees);
+        static Vector2 RotateDegrees(Vector2 vec, float degrees);
         /// <summary>
         /// Computes and returns a Vector2 that is made from the smallest components of 
         /// the two specified Vector2s.
@@ -298,25 +298,25 @@ namespace SHADE
         /// This is most commonly used to find a point some fraction of the way along a 
         /// line between two endpoints.
         /// </summary>
-        /// <param name="a">The start Vector2, returned when t = 0.0.</param>
+        /// <param name="a">The start Vector2, returned when t = 0.0f.</param>
-        /// <param name="b">The end Vector2, returned when t = 1.0.</param>
+        /// <param name="b">The end Vector2, returned when t = 1.0f.</param>
         /// <param name="t">
         /// Value used to interpolate between a and b which is clamped to
         /// the range[0, 1].
         /// </param>
         /// <returns>The interpolated Vector2.</returns>
-        static Vector2 Lerp(Vector2 a, Vector2 b, double t);        
+        static Vector2 Lerp(Vector2 a, Vector2 b, float t);        
         /// <summary>
         /// Linearly interpolates between two specified points. 
         /// This is most commonly used to find a point some fraction of the way along a 
         /// line between two endpoints.
         /// Unlike Lerp(), t is not clamped to a range at all.
         /// </summary>
-        /// <param name="a">The start Vector2, returned when t = 0.0.</param>
+        /// <param name="a">The start Vector2, returned when t = 0.0f.</param>
-        /// <param name="b">The end Vector2, returned when t = 1.0.</param>
+        /// <param name="b">The end Vector2, returned when t = 1.0f.</param>
         /// <param name="t">Value used to interpolate between a and b.</param>
         /// <returns>The interpolated Vector2.</returns>
-        static Vector2 LerpUnclamped(Vector2 a, Vector2 b, double t);
+        static Vector2 LerpUnclamped(Vector2 a, Vector2 b, float t);
         /// <summary>
         /// Moves a point current towards target.
         /// Similar to Lerp(), however, the function will ensure that the distance never
@@ -327,7 +327,7 @@ namespace SHADE
         /// <param name="target">The target position to move to.</param>
         /// <param name="maxDistanceDelta">Maximum distance moved per call.</param>
         /// <returns>Vector representing the moved point.</returns>
-        static Vector2 MoveTowards(Vector2 current, Vector2 target, double maxDistanceDelta);
+        static Vector2 MoveTowards(Vector2 current, Vector2 target, float maxDistanceDelta);
 
         /*-----------------------------------------------------------------------------*/
         /* Overloaded Operators                                                        */
@@ -361,7 +361,7 @@ namespace SHADE
         /// <param name="lhs">Vector2 to multiply with.</param>
         /// <param name="rhs">Scalar to multiply with.</param>
         /// <returns>The result of the scalar multiplication.</returns>
-        static Vector2 operator*(Vector2 lhs, double rhs);
+        static Vector2 operator*(Vector2 lhs, float rhs);
         /// <summary>
         /// Calculates the division of a Vector2 with a scalar value and returns 
         /// the result.
@@ -369,7 +369,7 @@ namespace SHADE
         /// <param name="lhs">Scalar to divide with.</param>
         /// <param name="rhs">Vector2 to divide with.</param>
         /// <returns>The result of the scalar division.</returns>
-        static Vector2 operator/(Vector2 lhs, double rhs);
+        static Vector2 operator/(Vector2 lhs, float rhs);
         /// <summary>
         /// Checks if two Vector2s are approximately equal. This is equivalent to 
         /// calling Vector2.IsNear() with default tolerance values.

SHADE_Managed/src/Math/Vector3.cxx

@@ -11,6 +11,7 @@ Copyright (C) 2021 DigiPen Institute of Technology.
 Reproduction or disclosure of this file or its contents without the prior written consent 
 of DigiPen Institute of Technology is prohibited.
 *//*************************************************************************************/
+
 // Precompiled Headers
 #include "SHpch.h"
 // Primary Header
@@ -26,13 +27,13 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
     /* Constructors                                                                    */
     /*---------------------------------------------------------------------------------*/
-    Vector3::Vector3(double _x) 
+    Vector3::Vector3(float _x) 
-    : Vector3 {_x, 0.0, 0.0}
+    : Vector3 {_x, 0.0f, 0.0f}
     {}
-    Vector3::Vector3(double _x, double _y)
+    Vector3::Vector3(float _x, float _y)
-    : Vector3 {_x, _y, 0.0}
+    : Vector3 {_x, _y, 0.0f}
     {}
-    Vector3::Vector3(double _x, double _y, double _z)
+    Vector3::Vector3(float _x, float _y, float _z)
     : x { _x }
     , y { _y }
     , z { _z }
@@ -54,22 +55,22 @@ namespace SHADE
         return *this / GetSqrMagnitude();
     }
 
-    double Vector3::GetMagnitude()
+    float Vector3::GetMagnitude()
     {
         return sqrt(x * x + y * y + z * z);
     }
 
-    double Vector3::GetSqrMagnitude()
+    float Vector3::GetSqrMagnitude()
     {
         return x * x + y * y + z * z;
     }
 
-    double Vector3::Angle2DFromRightRadians()
+    float Vector3::Angle2DFromRightRadians()
     {
         return atan2(y, x);
     }
 
-    double Vector3::Angle2DFromRightDegrees()
+    float Vector3::Angle2DFromRightDegrees()
     {
         return Math::RadiansToDegrees(Angle2DFromRightRadians());
     }
@@ -79,7 +80,7 @@ namespace SHADE
         return IsNearPoint(point, Math::Epsilon);
     }
 
-    bool Vector3::IsNearPoint(Vector3 point, double tolerance)
+    bool Vector3::IsNearPoint(Vector3 point, float tolerance)
     {
         return (*this - point).GetSqrMagnitude() < (tolerance * tolerance);
     }
@@ -121,7 +122,7 @@ namespace SHADE
     {
         return IsNear(lhs, rhs, Math::Epsilon);
     }
-    bool Vector3::IsNear(Vector3 lhs, Vector3 rhs, double tolerance)
+    bool Vector3::IsNear(Vector3 lhs, Vector3 rhs, float tolerance)
     {
         return (std::abs(lhs.x) - std::abs(rhs.x)) < tolerance
                &&
@@ -129,7 +130,7 @@ namespace SHADE
                &&
                (std::abs(lhs.z) - std::abs(rhs.z)) < tolerance;
     }
-    double Vector3::Dot(Vector3 lhs, Vector3 rhs)
+    float Vector3::Dot(Vector3 lhs, Vector3 rhs)
     {
         return lhs.x * rhs.x + lhs.y * rhs.y + lhs.z * rhs.z;
     }
@@ -145,12 +146,12 @@ namespace SHADE
     }
     Vector3 Vector3::Reflect(Vector3 vec, Vector3 normal)
     {
-        return vec - (Project(vec, normal.GetNormalised()) * 2.0);
+        return vec - (Project(vec, normal.GetNormalised()) * 2.0f);
     }
-    Vector3 Vector3::RotateRadians(Vector3 vec, double radians)
+    Vector3 Vector3::RotateRadians(Vector3 vec, float radians)
     {
-        const double SINE   = sin(radians);
+        const float SINE   = sin(radians);
-        const double COSINE = cos(radians);
+        const float COSINE = cos(radians);
 
         return Vector3
         (
@@ -159,15 +160,15 @@ namespace SHADE
             vec.z
         );
     }
-    Vector3 Vector3::RotateDegrees(Vector3 vec, double degrees)
+    Vector3 Vector3::RotateDegrees(Vector3 vec, float degrees)
     {
         return RotateRadians(vec, Math::DegreesToRadians(degrees));
     }
     Vector3 Vector3::Min(Vector3 lhs, Vector3 rhs)
     {
-        double lx = lhs.x, rx = rhs.x;
+        float lx = lhs.x, rx = rhs.x;
-        double ly = lhs.y, ry = rhs.y;
+        float ly = lhs.y, ry = rhs.y;
-        double lz = lhs.z, rz = rhs.z;
+        float lz = lhs.z, rz = rhs.z;
 
         return Vector3(std::min(lx, rx),
                        std::min(ly, ry),
@@ -175,23 +176,23 @@ namespace SHADE
     }
     Vector3 Vector3::Max(Vector3 lhs, Vector3 rhs)
     {
-        double lx = lhs.x, rx = rhs.x;
+        float lx = lhs.x, rx = rhs.x;
-        double ly = lhs.y, ry = rhs.y;
+        float ly = lhs.y, ry = rhs.y;
-        double lz = lhs.z, rz = rhs.z;
+        float lz = lhs.z, rz = rhs.z;
 
         return Vector3(std::max(lx, rx),
                        std::max(ly, ry),
                        std::max(lz, rz));  
     }
-    Vector3 Vector3::Lerp(Vector3 a, Vector3 b, double t)
+    Vector3 Vector3::Lerp(Vector3 a, Vector3 b, float t)
     {
-        return LerpUnclamped(a, b, std::clamp(t, 0.0, 1.0));
+        return LerpUnclamped(a, b, std::clamp(t, 0.0f, 1.0f));
     }
-    Vector3 Vector3::LerpUnclamped(Vector3 a, Vector3 b, double t)
+    Vector3 Vector3::LerpUnclamped(Vector3 a, Vector3 b, float t)
     {
         return a + ((b - a) * t);
     }
-    Vector3 Vector3::MoveTowards(Vector3 current, Vector3 target, double maxDistanceDelta)
+    Vector3 Vector3::MoveTowards(Vector3 current, Vector3 target, float maxDistanceDelta)
     {
         // Ignore if it is exactly on the same point
         if (current == target)
@@ -203,7 +204,7 @@ namespace SHADE
 
         // Check if check if is behind or ahead of target
         Vector3 DIFF = target - newPos;
-        if (Dot(DELTA, DIFF) < 0.0)
+        if (Dot(DELTA, DIFF) < 0.0f)
         {
             newPos = target;
         }
@@ -236,7 +237,7 @@ namespace SHADE
             lhs.z * rhs.z
         );
     }
-    Vector3 Vector3::operator*(Vector3 lhs, double rhs)
+    Vector3 Vector3::operator*(Vector3 lhs, float rhs)
     {
         return Vector3
         (
@@ -245,7 +246,7 @@ namespace SHADE
             lhs.z * rhs
         );
     }
-    Vector3 Vector3::operator/(Vector3 lhs, double rhs)
+    Vector3 Vector3::operator/(Vector3 lhs, float rhs)
     {
         return Vector3
         (

SHADE_Managed/src/Math/Vector3.hxx

@@ -22,8 +22,8 @@ of DigiPen Institute of Technology is prohibited.
 namespace SHADE
 {
     ///<summary>
-    /// CLR version of the the PlushieEngine's Vector3 class that represents a 
+    /// CLR version of SHADE Engine's Vector3 class that represents a 3-Dimensional Vector.
-    /// 3-Dimensional Vector. Designed to closely match Unity's Vector3 struct.
+    /// Designed to closely match Unity's Vector3 struct.
     /// </summary>
     [System::Runtime::InteropServices::StructLayout(System::Runtime::InteropServices::LayoutKind::Sequential)]
     public value struct Vector3 : public System::IEquatable<Vector3>
@@ -36,49 +36,49 @@ namespace SHADE
         ///<summary>
         /// Shorthand for writing Vector3(0, 0, -1).
         ///</summary>
-        static initonly Vector3 Back = Vector3(0.0, 0.0, -1.0);
+        static initonly Vector3 Back = Vector3(0.0f, 0.0f, -1.0f);
         ///<summary>
         /// Shorthand for writing Vector3(0, -1, 0).
         ///</summary>
-        static initonly Vector3 Down = Vector3(0.0, -1.0, 0.0);
+        static initonly Vector3 Down = Vector3(0.0f, -1.0f, 0.0f);
         ///<summary>
         /// Shorthand for writing Vector3(0, 0, 1).
         ///</summary>
-        static initonly Vector3 Forward = Vector3(0.0, 0.0, 1.0);
+        static initonly Vector3 Forward = Vector3(0.0f, 0.0f, 1.0f);
         ///<summary>
         /// Shorthand for writing Vector3(-1, 0, 0).
         ///</summary>
-        static initonly Vector3 Left = Vector3(-1.0, 0.0, 0.0);
+        static initonly Vector3 Left = Vector3(-1.0f, 0.0f, 0.0f);
         ///<summary>
-        /// Shorthand for writing Vector3(double.NegativeInfinity, 
+        /// Shorthand for writing Vector3(float.NegativeInfinity, 
-        /// double.NegativeInfinity, double.NegativeInfinity).
+        /// float.NegativeInfinity, float.NegativeInfinity).
         ///</summary>
-        static initonly Vector3 NegativeInfinity = Vector3(std::numeric_limits<double>::lowest(),
+        static initonly Vector3 NegativeInfinity = Vector3(std::numeric_limits<float>::lowest(),
-                                                               std::numeric_limits<double>::lowest(), 
+                                                               std::numeric_limits<float>::lowest(), 
-                                                               std::numeric_limits<double>::lowest());
+                                                               std::numeric_limits<float>::lowest());
         ///<summary>
         /// Shorthand for writing Vector3(1, 1, 1).
         ///</summary>
-        static initonly Vector3 One = Vector3(1.0, 1.0, 1.0);
+        static initonly Vector3 One = Vector3(1.0f, 1.0f, 1.0f);
         ///<summary>
-        /// Shorthand for writing Vector3(double.PositiveInfinity, 
+        /// Shorthand for writing Vector3(float.PositiveInfinity, 
-        /// double.PositiveInfinity, double.PositiveInfinity).
+        /// float.PositiveInfinity, float.PositiveInfinity).
         ///</summary>
-        static initonly Vector3 PositiveInfinity = Vector3(std::numeric_limits<double>::max(),
+        static initonly Vector3 PositiveInfinity = Vector3(std::numeric_limits<float>::max(),
-                                                               std::numeric_limits<double>::max(), 
+                                                               std::numeric_limits<float>::max(), 
-                                                               std::numeric_limits<double>::max());
+                                                               std::numeric_limits<float>::max());
         ///<summary>
         /// Shorthand for writing Vector3(1, 0, 0).
         ///</summary>
-        static initonly Vector3 Right = Vector3(1.0, 0.0, 0.0);
+        static initonly Vector3 Right = Vector3(1.0f, 0.0f, 0.0f);
         ///<summary>
         /// Shorthand for writing Vector3(0, 1, 0).
         ///</summary>
-        static initonly Vector3 Up = Vector3(0.0, 1.0, 0.0);
+        static initonly Vector3 Up = Vector3(0.0f, 1.0f, 0.0f);
         ///<summary>
         /// Shorthand for writing Vector3(0, 0, 0).
         ///</summary>        
-        static initonly Vector3 Zero = Vector3(0.0, 0.0, 0.0);
+        static initonly Vector3 Zero = Vector3(0.0f, 0.0f, 0.0f);
         #pragma endregion
 
         /*-----------------------------------------------------------------------------*/
@@ -87,39 +87,39 @@ namespace SHADE
         ///<summary>
         /// X-component of the Vector3.
         ///</summary>
-        double x;
+        float x;
         ///<summary>
         /// Y-component of the Vector3.
         ///</summary>
-        double y;
+        float y;
         ///<summary>
         /// Z-component of the Vector3.
         ///</summary>
-        double z;
+        float z;
 
         /*-----------------------------------------------------------------------------*/
         /* Constructors                                                                */
         /*-----------------------------------------------------------------------------*/
         /// <summary>
         /// Constructor to construct a Vector3 with the specified components with the 
-        /// Y and Z-component set to 0.0.
+        /// Y and Z-component set to 0.0f.
         /// </summary>
         /// <param name="_x">X-coordinate to set.</param>
-        Vector3(double _x);
+        Vector3(float _x);
         /// <summary>
         /// Constructor to construct a Vector3 with the specified components with the 
-        /// Z-component set to 0.0.
+        /// Z-component set to 0.0f.
         /// </summary>
         /// <param name="_x">X-coordinate to set.</param>
         /// <param name="_y">Y-coordinate to set.</param>
-        Vector3(double _x, double _y);
+        Vector3(float _x, float _y);
         /// <summary>
         /// Constructor to construct a Vector3 with the specified components.
         /// </summary>
         /// <param name="_x">X-coordinate to set.</param>
         /// <param name="_y">Y-coordinate to set.</param>
         /// <param name="_z">Z-coordinate to set.</param>
-        Vector3(double _x, double _y, double _z);
+        Vector3(float _x, float _y, float _z);
         /// <summary>
         /// Conversion constructor to construct a Vector3 using a Vector2.
         /// </summary>
@@ -149,24 +149,24 @@ namespace SHADE
         /// need the precise magnitude, consider using GetSqrMagnitude() instead.
         /// </summary>
         /// <returns>Returns the length of this Vector3.</returns>
-        double GetMagnitude();
+        float GetMagnitude();
         /// <summary>
         /// Calculates and returns the squared magnitude of this Vector3.
         /// </summary>
         /// <returns>Returns the squared length of this Vector3.</returns>
-        double GetSqrMagnitude();
+        float GetSqrMagnitude();
         /// <summary>
         /// Calculates and returns the angle of this vector from the right vector. This 
         /// function returns values between -Math.PI and Math.PI.
         /// </summary>
         /// <returns>Returns the angle of this vector from the right vector in radians.</returns>
-        double Angle2DFromRightRadians();
+        float Angle2DFromRightRadians();
         /// <summary>
         /// Calculates and returns the angle of this vector from the right vector. This 
-        /// function returns values between -180.0 and 180.0.
+        /// function returns values between -180.0f and 180.0f.
         /// </summary>
         /// <returns>Returns the angle of this vector from the right vector in degrees.</returns>
-        double Angle2DFromRightDegrees();
+        float Angle2DFromRightDegrees();
         /// <summary>
         /// Checks if a specified point is near this Vector3 that represents a point with
         /// a tolerance value of PLS_EPSILON.
@@ -188,7 +188,7 @@ namespace SHADE
         /// True if this Vector3 representing a point and the specified point are within
         /// the range of the specified tolerance. False otherwise.
         /// </returns>
-        bool IsNearPoint(Vector3 point, double tolerance);
+        bool IsNearPoint(Vector3 point, float tolerance);
 
         /*-----------------------------------------------------------------------------*/
         /* IEquatable                                                                  */
@@ -208,12 +208,12 @@ namespace SHADE
         /// </summary>
         /// <param name="o">The unboxed object to compare with.</param>
         /// <returns>True if both objects are the same.</returns>
-        bool Equals(Object^ o) override; 
+        bool Equals(Object^ o) override;
         /// <summary>
         /// Gets a unique hash for this object.
         /// </summary>
         /// <returns>Unique hash for this object.</returns>
-        int  GetHashCode() override;         
+        int  GetHashCode() override;
 
         /*-----------------------------------------------------------------------------*/
         /* Static Functions                                                            */
@@ -236,14 +236,14 @@ namespace SHADE
         /// <returns>
         /// True if the two Vector3s are within the tolerance value specified
         /// </returns>
-        static bool IsNear(Vector3 lhs, Vector3 rhs, double tolerance);
+        static bool IsNear(Vector3 lhs, Vector3 rhs, float tolerance);
         /// <summary>
         /// Computes and returns the dot product of 2 specified Vector3s.
         /// </summary>
         /// <param name="lhs">Vector3 to calculate dot product with.</param>
         /// <param name="rhs">Another Vector3 to calculate dot product with.</param>
         /// <returns>Scalar value representing the dot product of the two Vector3s.</returns>
-        static double Dot(Vector3 lhs, Vector3 rhs);
+        static float Dot(Vector3 lhs, Vector3 rhs);
         /// <summary>
         /// Computes and returns the cross product of 2 specified Vector3s.
         /// </summary>
@@ -274,7 +274,7 @@ namespace SHADE
         /// Angle to rotate the vector by in an anti-clockwise direction in radians.
         /// </param>
         /// <returns>The Vector3 that represents the rotated vector.</returns>
-        static Vector3 RotateRadians(Vector3 vec, double radians);
+        static Vector3 RotateRadians(Vector3 vec, float radians);
         /// <summary>
         /// Rotates a Vector3 on the Z-axis by a specified angle in an anti-clockwise 
         /// direction.
@@ -284,7 +284,7 @@ namespace SHADE
         /// Angle to rotate the vector by in an anti-clockwise direction in degrees.
         /// </param>
         /// <returns>The Vector3 that represents the rotated vector.</returns>
-        static Vector3 RotateDegrees(Vector3 vec, double degrees);
+        static Vector3 RotateDegrees(Vector3 vec, float degrees);
         /// <summary>
         /// Computes and returns a Vector3 that is made from the smallest components of 
         /// the two specified Vector3s.
@@ -312,25 +312,25 @@ namespace SHADE
         /// This is most commonly used to find a point some fraction of the way along a 
         /// line between two endpoints.
         /// </summary>
-        /// <param name="a">The start Vector3, returned when t = 0.0.</param>
+        /// <param name="a">The start Vector3, returned when t = 0.0f.</param>
-        /// <param name="b">The end Vector3, returned when t = 1.0.</param>
+        /// <param name="b">The end Vector3, returned when t = 1.0f.</param>
         /// <param name="t">
         /// Value used to interpolate between a and b which is clamped to
         /// the range[0, 1].
         /// </param>
         /// <returns>The interpolated Vector3.</returns>
-        static Vector3 Lerp(Vector3 a, Vector3 b, double t);        
+        static Vector3 Lerp(Vector3 a, Vector3 b, float t);        
         /// <summary>
         /// Linearly interpolates between two specified points. 
         /// This is most commonly used to find a point some fraction of the way along a 
         /// line between two endpoints.
         /// Unlike Lerp(), t is not clamped to a range at all.
         /// </summary>
-        /// <param name="a">The start Vector3, returned when t = 0.0.</param>
+        /// <param name="a">The start Vector3, returned when t = 0.0f.</param>
-        /// <param name="b">The end Vector3, returned when t = 1.0.</param>
+        /// <param name="b">The end Vector3, returned when t = 1.0f.</param>
         /// <param name="t">Value used to interpolate between a and b.</param>
         /// <returns>The interpolated Vector3.</returns>
-        static Vector3 LerpUnclamped(Vector3 a, Vector3 b, double t);
+        static Vector3 LerpUnclamped(Vector3 a, Vector3 b, float t);
         /// <summary>
         /// Moves a point current towards target.
         /// Similar to Lerp(), however, the function will ensure that the distance never
@@ -341,7 +341,7 @@ namespace SHADE
         /// <param name="target">The target position to move to.</param>
         /// <param name="maxDistanceDelta">Maximum distance moved per call.</param>
         /// <returns>Vector representing the moved point.</returns>
-        static Vector3 MoveTowards(Vector3 current, Vector3 target, double maxDistanceDelta);
+        static Vector3 MoveTowards(Vector3 current, Vector3 target, float maxDistanceDelta);
 
         /*-----------------------------------------------------------------------------*/
         /* Overloaded Operators                                                        */
@@ -375,7 +375,7 @@ namespace SHADE
         /// <param name="lhs">Vector3 to multiply with.</param>
         /// <param name="rhs">Scalar to multiply with.</param>
         /// <returns>The result of the scalar multiplication.</returns>
-        static Vector3 operator*(Vector3 lhs, double rhs);
+        static Vector3 operator*(Vector3 lhs, float rhs);
         /// <summary>
         /// Calculates the division of a Vector3 with a scalar value and returns 
         /// the result.
@@ -383,7 +383,7 @@ namespace SHADE
         /// <param name="lhs">Scalar to divide with.</param>
         /// <param name="rhs">Vector3 to divide with.</param>
         /// <returns>The result of the scalar division.</returns>
-        static Vector3 operator/(Vector3 lhs, double rhs);
+        static Vector3 operator/(Vector3 lhs, float rhs);
         /// <summary>
         /// Checks if two Vector3s are approximately equal. This is equivalent to 
         /// calling Vector3.IsNear() with default tolerance values.

SHADE_Managed/src/Utility/Convert.cxx

@@ -35,10 +35,7 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
     SHVec3 Convert::ToNative(Vector3 vec)
     {
-        const double X = vec.x;
+        return SHVec3(vec.x, vec.y, vec.z);
-        const double Y = vec.y;
-        const double Z = vec.z;
-        return SHVec3(X, Y, Z);
     }
     Vector3 Convert::ToCLI(const SHVec3& vec)
     {
@@ -46,9 +43,7 @@ namespace SHADE
     }
     SHVec2 Convert::ToNative(Vector2 vec)
     {
-        const double X = vec.x;
+        return SHVec2(vec.x, vec.y);
-        const double Y = vec.y;
-        return SHVec2(X, Y);
     }
 
     Vector2 Convert::ToCLI(const SHVec2& vec)
@@ -56,6 +51,16 @@ namespace SHADE
         return Vector2(vec.x, vec.y);
     }
 
+    SHQuaternion Convert::ToNative(Quaternion quat)
+    {
+      return SHQuaternion{ quat.x, quat.y, quat.z, quat.w };
+    }
+
+    Quaternion   Convert::ToCLI(const SHQuaternion& quat)
+    {
+      return Quaternion{ quat.x, quat.y, quat.z, quat.w };
+    }
+
     /*---------------------------------------------------------------------------------*/
     /* String Conversions                                                              */
     /*---------------------------------------------------------------------------------*/

SHADE_Managed/src/Utility/Convert.hxx

@@ -18,10 +18,12 @@ of DigiPen Institute of Technology is prohibited.
 #include "ECS_Base/Entity/SHEntity.h"
 #include "Math/Vector/SHVec2.h"
 #include "Math/Vector/SHVec3.h"
+#include "Math/SHQuaternion.h"
 // Project Includes
 #include "Engine/Entity.hxx"
 #include "Math/Vector2.hxx"
 #include "Math/Vector3.hxx"
+#include "Math/Quaternion.hxx"
 
 namespace SHADE
 {
@@ -74,6 +76,18 @@ namespace SHADE
         /// <param name="vec">The native Vector2 to convert from.</param>
         /// <returns>Managed copy of a native Vector2.</returns>
         static Vector2 ToCLI(const SHVec2& vec);
+        /// <summary>
+        /// Converts from a managed Quaternion to a native Quaternion.
+        /// </summary>
+        /// <param name="quat">The managed Quaternion to convert from.</param>
+        /// <returns>Native copy of a managed Quaternion.</returns>
+        static SHQuaternion ToNative(Quaternion quat);
+        /// <summary>
+        /// Converts from a native Quaternion to a managed Quaternion.
+        /// </summary>
+        /// <param name="quat">The native Quaternion to convert from.</param>
+        /// <returns>Managed copy of a native Quaternion.</returns>
+        static Quaternion ToCLI(const SHQuaternion& quat);
 
         /*-----------------------------------------------------------------------------*/
         /* String Conversions                                                          */