most quaternion / matrix opperations are removed as there is no use case

and the math is not strictly correct, quaternions can only be multiplied
with vectors if they are on the left side (prevents misuse)

math/Matrix.cpp

@@ -107,32 +107,13 @@ Matrix& Matrix::rotateZ(float degrees) {
     return rotate(degrees, 0, 1);
 }
 
-Matrix& Matrix::operator*=(const Quaternion& q) {
+Matrix& Matrix::rotate(const Quaternion& q) {
-    const float* mp = getValues();
+    Vector3 a = q * Vector3(data[0][0], data[1][0], data[2][0]);
-    Vector3 a = Vector3(mp[0], mp[1], mp[2]) * q;
+    Vector3 b = q * Vector3(data[0][1], data[1][1], data[2][1]);
-    Vector3 b = Vector3(mp[4], mp[5], mp[6]) * q;
+    Vector3 c = q * Vector3(data[0][2], data[1][2], data[2][2]);
-    Vector3 c = Vector3(mp[8], mp[9], mp[10]) * q;
+    Vector3 d = q * Vector3(data[0][3], data[1][3], data[2][3]);
-    set(0, Vector4(a[0], a[1], a[2], mp[3]));
+    set(0, Vector4(a[0], b[0], c[0], d[0]));
-    set(1, Vector4(b[0], b[1], b[2], mp[7]));
+    set(1, Vector4(a[1], b[1], c[1], d[1]));
-    set(2, Vector4(c[0], c[1], c[2], mp[11]));
+    set(2, Vector4(a[2], b[2], c[2], d[2]));
     return *this;
-}
-
-Matrix Matrix::operator*(const Quaternion& q) const {
-    Matrix m(*this);
-    m *= q;
-    return m;
-}
-
-Matrix operator*(const Quaternion& q, const Matrix& m) {
-    const float* mp = m.getValues();
-    Vector3 a = q * Vector3(mp[0], mp[4], mp[8]);
-    Vector3 b = q * Vector3(mp[1], mp[5], mp[9]);
-    Vector3 c = q * Vector3(mp[2], mp[6], mp[10]);
-    Vector3 d = q * Vector3(mp[3], mp[7], mp[11]);
-    Matrix r(m);
-    r.set(0, Vector4(a[0], b[0], c[0], d[0]));
-    r.set(1, Vector4(a[1], b[1], c[1], d[1]));
-    r.set(2, Vector4(a[2], b[2], c[2], d[2]));
-    return r;
 }

math/Matrix.h

@@ -34,9 +34,7 @@ public:
     Matrix& rotateX(float degrees);
     Matrix& rotateY(float degrees);
     Matrix& rotateZ(float degrees);
-    
+    Matrix& rotate(const Quaternion& q);
-    Matrix& operator*=(const Quaternion& q);
-    Matrix operator*(const Quaternion& q) const;
     
     template<int L>
     void toString(StringBuffer<L>& s) const {
@@ -47,6 +45,4 @@ public:
     }
 };
 
-Matrix operator*(const Quaternion& q, const Matrix& m);
-
 #endif

math/Quaternion.cpp

@@ -39,10 +39,4 @@ Vector3 Quaternion::operator*(const Vector3& v) const {
     Vector3 qv = v * w + xyz.cross(v);
     Vector3 qvq = xyz * xyz.dot(v) + qv * w - qv.cross(xyz);
     return qvq;
-}
-
-Vector3 operator*(const Vector3& v, const Quaternion& q) {
-    Vector3 qv = v * q.w - q.xyz.cross(v);
-    Vector3 qvq = q.xyz * q.xyz.dot(v) + qv * q.w + qv.cross(q.xyz);
-    return qvq;
 }

math/Quaternion.h

@@ -8,8 +8,6 @@ class Quaternion {
     Vector3 xyz;
     float w;
 
-    friend Vector3 operator*(const Vector3& v, const Quaternion& q);
-
 public:
     Quaternion();
     Quaternion(const Vector3& axis, float angle);
@@ -29,6 +27,4 @@ public:
     }
 };
 
-Vector3 operator*(const Vector3& v, const Quaternion& q);
-
 #endif

tests/MatrixTests.cpp

@@ -155,60 +155,12 @@ static void testQuaternionMatrix(Test& test) {
 
     Matrix m;
     m.translate(Vector3(1.0f, 2.0f, 3.0f));
-    m = q1 * m;
+    m.rotate(q1).rotate(q2).rotate(q3);
-    m = q2 * m;
-    m = q3 * m;
     m.translate(Vector3(1.0f, 2.0f, 3.0f));
 
     Matrix check;
     check.translate(Vector3(1.0f, 2.0f, 3.0f));
-    check.rotateX(48.0f);
+    check.rotateX(48.0f).rotateY(52.0f).rotateZ(60.0f);
-    check.rotateY(52.0f);
-    check.rotateZ(60.0f);
-    check.translate(Vector3(1.0f, 2.0f, 3.0f));
-
-    for(int i = 0; i < 16; i++) {
-        test.checkFloat(check.getValues()[i], m.getValues()[i], eps, "mul matrix");
-    }
-}
-
-static void testMulSetQuaternion(Test& test) {
-    Quaternion q1(Vector3(1.0f, 0.0f, 0.0f), 48.0f);
-    Quaternion q2(Vector3(0.0f, 1.0f, 0.0f), 52.0f);
-    Quaternion q3(Vector3(0.0f, 0.0f, 1.0f), 60.0f);
-
-    Matrix m;
-    m *= q1;
-    m *= q2;
-    m *= q3;
-    m.translate(Vector3(1.0f, 2.0f, 3.0f));
-
-    Matrix check;
-    check.rotateZ(60.0f);
-    check.rotateY(52.0f);
-    check.rotateX(48.0f);
-    check.translate(Vector3(1.0f, 2.0f, 3.0f));
-
-    for(int i = 0; i < 16; i++) {
-        test.checkFloat(check.getValues()[i], m.getValues()[i], eps, "mul matrix");
-    }
-}
-
-static void testMatrixQuaternion(Test& test) {
-    Quaternion q1(Vector3(1.0f, 0.0f, 0.0f), 48.0f);
-    Quaternion q2(Vector3(0.0f, 1.0f, 0.0f), 52.0f);
-    Quaternion q3(Vector3(0.0f, 0.0f, 1.0f), 60.0f);
-
-    Matrix m;
-    m = m * q1;
-    m = m * q2;
-    m = m * q3;
-    m.translate(Vector3(1.0f, 2.0f, 3.0f));
-
-    Matrix check;
-    check.rotateZ(60.0f);
-    check.rotateY(52.0f);
-    check.rotateX(48.0f);
     check.translate(Vector3(1.0f, 2.0f, 3.0f));
 
     for(int i = 0; i < 16; i++) {
@@ -233,7 +185,5 @@ void MatrixTests::test() {
     testRotateZ(test);
     testToString(test);
     testQuaternionMatrix(test);
-    testMulSetQuaternion(test);
-    testMatrixQuaternion(test);
     test.finalize();
 }