From 706395680f6d1914dd4a1d05fc269ff1a365bd23 Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Wed, 19 Feb 2014 14:51:37 +0100
Subject: [PATCH] Added bunch of Quaternion functions

Needed one of them to create  a bug trap
---
 Code/Misc/OysterMath/Quaternion.h | 52 +++++++++++++++++++++++++++++++
 1 file changed, 52 insertions(+)

diff --git a/Code/Misc/OysterMath/Quaternion.h b/Code/Misc/OysterMath/Quaternion.h
index f5ea5951..b2390a2d 100644
--- a/Code/Misc/OysterMath/Quaternion.h
+++ b/Code/Misc/OysterMath/Quaternion.h
@@ -49,7 +49,16 @@ namespace LinearAlgebra
 		Quaternion<ScalarType>   operator  - ( const Quaternion<ScalarType> &quaternion ) const;
 		Quaternion<ScalarType>   operator  - ( ) const;
 
+		Quaternion<ScalarType> & Conjugate( );
+		Quaternion<ScalarType> & Normalize( );
+		Quaternion<ScalarType> & Inverse( );
+
 		Quaternion<ScalarType> GetConjugate( ) const;
+		Quaternion<ScalarType> GetNormalized( ) const;
+		Quaternion<ScalarType> GetInversed( ) const;
+		ScalarType			   GetNorm( ) const;
+		ScalarType			   GetModulus( ) const;
+
 	};
 
 ///////////////////////////////////////////////////////////////////////////////////
@@ -205,11 +214,54 @@ namespace LinearAlgebra
 		return Quaternion<ScalarType>(-this->imaginary, -this->real);
 	}
 
+	template<typename ScalarType>
+	inline Quaternion<ScalarType> & Quaternion<ScalarType>::Conjugate( )
+	{
+		this->imaginary = -this->imaginary;
+		return *this;
+	}
+
+	template<typename ScalarType>
+	inline Quaternion<ScalarType> & Quaternion<ScalarType>::Normalize( )
+	{
+		return *this /= this->GetModulus();
+	}
+
+	template<typename ScalarType>
+	inline Quaternion<ScalarType> & Quaternion<ScalarType>::Inverse( )
+	{
+		return this->Conjugate() /= this->GetNorm();
+	}
+
 	template<typename ScalarType>
 	inline Quaternion<ScalarType> Quaternion<ScalarType>::GetConjugate( ) const
 	{
 		return Quaternion<ScalarType>(-this->imaginary, this->real );
 	}
+
+	template<typename ScalarType>
+	inline Quaternion<ScalarType> Quaternion<ScalarType>::GetNormalized( ) const
+	{
+		return *this / this->GetModulus();
+	}
+
+	template<typename ScalarType>
+	inline Quaternion<ScalarType> Quaternion<ScalarType>::GetInversed( ) const
+	{
+		return this->GetConjugate() /= this->GetNorm();
+	}
+
+	template<typename ScalarType>
+	inline ScalarType Quaternion<ScalarType>::GetNorm( ) const
+	{
+		return this->imaginary.Dot(this->imaginary) + this->real * this->real;
+	}
+
+	template<typename ScalarType>
+	inline ScalarType Quaternion<ScalarType>::GetModulus( ) const
+	{
+		return (ScalarType)::std::sqrt( this->GetNorm() );
+	}
 }
 
 #endif
\ No newline at end of file