From c3582cf5eed1bcc68c50268024ed1209e8f203f5 Mon Sep 17 00:00:00 2001
From: Diren D Bharwani <diren.bharwani@gmail.com>
Date: Sat, 7 Jan 2023 16:14:55 +0800
Subject: [PATCH 1/2] Added a rotate method with quaternions for Vector3

---
 SHADE_Engine/src/Math/Transform/SHTransform.cpp | 12 +++++++++++-
 SHADE_Managed/src/Math/Vector3.cxx              |  4 ++++
 SHADE_Managed/src/Math/Vector3.hxx              | 17 +++++++++++++++--
 3 files changed, 30 insertions(+), 3 deletions(-)

diff --git a/SHADE_Engine/src/Math/Transform/SHTransform.cpp b/SHADE_Engine/src/Math/Transform/SHTransform.cpp
index ef7c5fda..7be2a60c 100644
--- a/SHADE_Engine/src/Math/Transform/SHTransform.cpp
+++ b/SHADE_Engine/src/Math/Transform/SHTransform.cpp
@@ -35,7 +35,17 @@ namespace SHADE
   : position    { pos }
   , orientation { SHQuaternion::FromEuler(rot) }
   , scale       { scl }
-  {}
+  {
+    ComputeTRS();
+  }
+
+  SHTransform::SHTransform(const SHVec3& pos, const SHQuaternion& quat, const SHVec3& scl) noexcept
+  : position    { pos   }
+  , orientation { quat  }
+  , scale       { scl   }
+  {
+    ComputeTRS();
+  }
 
   /*-----------------------------------------------------------------------------------*/
   /* Operator Overload Definitions                                                     */
diff --git a/SHADE_Managed/src/Math/Vector3.cxx b/SHADE_Managed/src/Math/Vector3.cxx
index d2862ac7..647174a2 100644
--- a/SHADE_Managed/src/Math/Vector3.cxx
+++ b/SHADE_Managed/src/Math/Vector3.cxx
@@ -167,6 +167,10 @@ namespace SHADE
     {
       return Convert::ToCLI(SHVec3::Rotate(Convert::ToNative(vec), Convert::ToNative(axis), radians));
     }
+    Vector3 Vector3::Rotate(Vector3 vec, Quaternion quat)
+    {
+      return Convert::ToCLI(SHVec3::Rotate(Convert::ToNative(vec), Convert::ToNative(quat)));
+    }
     Vector3 Vector3::Min(Vector3 lhs, Vector3 rhs)
     {
         float lx = lhs.x, rx = rhs.x;
diff --git a/SHADE_Managed/src/Math/Vector3.hxx b/SHADE_Managed/src/Math/Vector3.hxx
index 76b11420..31a373ba 100644
--- a/SHADE_Managed/src/Math/Vector3.hxx
+++ b/SHADE_Managed/src/Math/Vector3.hxx
@@ -19,10 +19,17 @@ of DigiPen Institute of Technology is prohibited.
 // Project Includes
 #include "Vector2.hxx"
 
-value struct Quaternion;
-
 namespace SHADE
 {
+    /*---------------------------------------------------------------------------------*/
+    /* Forward Declarations                                                            */
+    /*--------------------------------------------------------------------------   --- */
+    value struct Quaternion;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Type Definitions                                                                */
+    /*--------------------------------------------------------------------------   --- */
+
     ///<summary>
     /// CLR version of SHADE Engine's Vector3 class that represents a 3-Dimensional Vector.
     /// Designed to closely match Unity's Vector3 struct.
@@ -308,6 +315,12 @@ namespace SHADE
         /// <returns>The Vector3 that represents the rotated vector.</returns>
         static Vector3 Rotate(Vector3 vec, Vector3 axis, float radians);
         /// <summary>
+        /// Rotates a Vector3 using a Quaternion.
+        /// </summary>
+        /// <param name="vec">A Vector3 to rotate.</param>
+        /// <param name="quat">A Quaternion to rotate the vector with.</param>
+        static Vector3 Rotate(Vector3 vec, Quaternion quat);
+        /// <summary>
         /// Computes and returns a Vector3 that is made from the smallest components of 
         /// the two specified Vector3s.
         /// </summary>
-- 
2.40.1


From 222bda9a13436cfc71a0fbd8f7043fb5ee4ec686 Mon Sep 17 00:00:00 2001
From: Diren D Bharwani <diren.bharwani@gmail.com>
Date: Sat, 7 Jan 2023 16:16:35 +0800
Subject: [PATCH 2/2] Replaced Transform's Forward.get with new rotate method

---
 SHADE_Managed/src/Components/Transform.cxx | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/SHADE_Managed/src/Components/Transform.cxx b/SHADE_Managed/src/Components/Transform.cxx
index bc61eff3..d5b38967 100644
--- a/SHADE_Managed/src/Components/Transform.cxx
+++ b/SHADE_Managed/src/Components/Transform.cxx
@@ -107,8 +107,7 @@ namespace SHADE
 
   Vector3 Transform::Forward::get()
   {
-    const SHVec3 DIRECTION = SHVec3::Rotate(-SHVec3::UnitZ, Convert::ToNative(GlobalRotation));
-    return Convert::ToCLI(DIRECTION);
+    return Vector3::Rotate(Vector3::Forward, GlobalRotation);
   }
 
   /*-----------------------------------------------------------------------------------*/
-- 
2.40.1