Fix generic template functions

AngleAxis.cpp

@@ -4,14 +4,33 @@
 
 #include "AngleAxis.h"
 
-template <typename T>
+// template <typename T>
-AngleAxis<T>::AngleAxis() {
+// AngleAxis<T>::AngleAxis() {
-  this->angle = Angle();
+//   this->angle = Angle();
-  this->axis = Direction<T>();
+//   this->axis = Direction<T>();
-}
+// }
 
-template <typename T>
+// template <typename T>
-AngleAxis<T>::AngleAxis(AngleOf<T> angle, Direction<T> axis) {
+// AngleAxis<T>::AngleAxis(AngleOf<T> angle, Direction<T> axis) {
-  this->angle = angle;
+//   this->angle = angle;
-  this->axis = axis;
+//   this->axis = axis;
-}
+// }
+
+// template <typename T>
+// AngleAxis<T>::AngleAxis(float angle, Vector3 axis) {
+//   this->angle = AngleOf<T>(angle);
+//   this->axis = Direction<T>(axis);
+// }
+
+// template <typename T>
+// Quaternion AngleAxis<T>::ToQuaternion() {
+//   Vector3 axisVector = this->axis.ToVector3();
+//   float angleFloat = this->angle.ToFloat();
+//   Quaternion q = Quaternion::AngleAxis(angleFloat, axisVector);
+//   return q;
+// }
+
+// template <typename T>
+// Direction<T> AngleAxis<T>::GetSwing() {
+//   return this->axis;
+// }

AngleAxis.h

@@ -7,6 +7,7 @@
 
 #include "Angle.h"
 #include "Direction.h"
+#include "Quaternion.h"
 
 namespace Passer {
 namespace LinearAlgebra {
@@ -19,10 +20,46 @@ class AngleAxis {
 
   AngleAxis();
   AngleAxis(AngleOf<T> angle, Direction<T> axis);
+  AngleAxis(float angle, Vector3 axis);
+
+  Quaternion ToQuaternion();
+
+  Direction<T> GetSwing();
 };
 
+template <typename T>
+Quaternion AngleAxis<T>::ToQuaternion() {
+  Vector3 axisVector = this->axis.ToVector3();
+  float angleFloat = this->angle.ToFloat();
+  Quaternion q = Quaternion::AngleAxis(angleFloat, axisVector);
+  return q;
+}
+
 }  // namespace LinearAlgebra
 }  // namespace Passer
 using namespace Passer::LinearAlgebra;
 
+template <typename T>
+AngleAxis<T>::AngleAxis() {
+  this->angle = Angle();
+  this->axis = Direction<T>();
+}
+
+template <typename T>
+AngleAxis<T>::AngleAxis(AngleOf<T> angle, Direction<T> axis) {
+  this->angle = angle;
+  this->axis = axis;
+}
+
+template <typename T>
+AngleAxis<T>::AngleAxis(float angle, Vector3 axis) {
+  this->angle = AngleOf<T>(angle);
+  this->axis = Direction<T>(axis);
+}
+
+template <typename T>
+Direction<T> AngleAxis<T>::GetSwing() {
+  return this->axis;
+}
+
 #endif

Direction.cpp

@@ -9,24 +9,24 @@
 
 #include <math.h>
 
-template <typename T>
+// template <typename T>
-Direction<T>::Direction() {
+// Direction<T>::Direction() {
-  this->horizontalAngle = AngleOf<T>(0.0f);
+//   this->horizontalAngle = AngleOf<T>(0.0f);
-  this->verticalAngle = AngleOf<T>(0.0f);
+//   this->verticalAngle = AngleOf<T>(0.0f);
-}
+// }
 
-template <typename T>
+// template <typename T>
-Direction<T>::Direction(AngleOf<T> horizontal, AngleOf<T> vertical) {
+// Direction<T>::Direction(AngleOf<T> horizontal, AngleOf<T> vertical) {
-  this->horizontalAngle = horizontal;
+//   this->horizontalAngle = horizontal;
-  this->verticalAngle = vertical;
+//   this->verticalAngle = vertical;
-};
+// };
 
-template <typename T>
+// template <typename T>
-Direction<T>::Direction(Vector3 v) {
+// Direction<T>::Direction(Vector3 v) {
-  this->horizontalAngle =
+//   this->horizontalAngle =
-      atan2f(v.Right(), v.Forward()) * Passer::LinearAlgebra::Rad2Deg;
+//       atan2f(v.Right(), v.Forward()) * Passer::LinearAlgebra::Rad2Deg;
-  this->verticalAngle = 90 - acosf(v.Up()) * Passer::LinearAlgebra::Rad2Deg;
+//   this->verticalAngle = 90 - acosf(v.Up()) * Passer::LinearAlgebra::Rad2Deg;
-}
+// }
 
 template <typename T>
 const Direction<T> Direction<T>::forward = Direction<T>(0.0f, 0.0f);
@@ -41,10 +41,10 @@ const Direction<T> Direction<T>::left = Direction<T>(-90.0f, 0.0f);
 template <typename T>
 const Direction<T> Direction<T>::right = Direction<T>(90.0f, 0.0f);
 
-template <typename T>
+// template <typename T>
-Vector3 Direction<T>::ToVector3() {
+// Vector3 Direction<T>::ToVector3() {
-  Vector3 v = Quaternion::Euler(-(this->verticalAngle.ToFloat()),
+//   Vector3 v = Quaternion::Euler(-(this->verticalAngle.ToFloat()),
-                                this->horizontalAngle.ToFloat(), 0) *
+//                                 this->horizontalAngle.ToFloat(), 0) *
-              Vector3::forward;
+//               Vector3::forward;
-  return v;
+//   return v;
-}
+// }

Direction.h

@@ -36,4 +36,35 @@ class Direction {
 }  // namespace Passer
 using namespace Passer::LinearAlgebra;
 
+#include <math.h>
+#include "Quaternion.h"
+#include "Vector3.h"
+
+template <typename T>
+Direction<T>::Direction() {
+  this->horizontalAngle = AngleOf<T>(0.0f);
+  this->verticalAngle = AngleOf<T>(0.0f);
+}
+
+template <typename T>
+Direction<T>::Direction(AngleOf<T> horizontal, AngleOf<T> vertical) {
+  this->horizontalAngle = horizontal;
+  this->verticalAngle = vertical;
+};
+
+template <typename T>
+Direction<T>::Direction(Vector3 v) {
+  this->horizontalAngle =
+      atan2f(v.Right(), v.Forward()) * Passer::LinearAlgebra::Rad2Deg;
+  this->verticalAngle = 90 - acosf(v.Up()) * Passer::LinearAlgebra::Rad2Deg;
+}
+
+template <typename T>
+Vector3 Direction<T>::ToVector3() {
+  Vector3 v = Quaternion::Euler(-(this->verticalAngle.ToFloat()),
+                                this->horizontalAngle.ToFloat(), 0) *
+              Vector3::forward;
+  return v;
+}
+
 #endif