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#include "Vec3f.h"
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#include "Vec3f.h"
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#include "Quaternion.h"
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#include "Quaternion.h"
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namespace CGLA {
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namespace CGLA
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{
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	void Quaternion::make_rot(float angle, const Vec3f& v)
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  void Quaternion::make_rot(float angle, const Vec3f& v)
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	{
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  {
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		angle = angle/2;
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    angle = angle/2;
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		qv = CGLA::normalize(v);
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    qv = CGLA::normalize(v);
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		qv *= sin(angle);
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    qv *= sin(angle);
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         s*(qv[1]*qv[2]-qw*qv[0]),
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		  s*(qv[1]*qv[2]-qw*qv[0]),
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									s*(qv[0]*qv[2]-qw*qv[1]),
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		  s*(qv[0]*qv[2]-qw*qv[1]),
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									s*(qv[1]*qv[2]+qw*qv[0]),
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		  s*(qv[1]*qv[2]+qw*qv[0]),
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									1 - s*(qv[0]*qv[0]+qv[1]*qv[1])};
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		  1 - s*(qv[0]*qv[0]+qv[1]*qv[1])};
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		Mat3x3f mat;
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    Mat3x3f mat;
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		mat.set(m);
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    raw_assign(mat, m);
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		return mat;
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    return mat;
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	}
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  }
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	//This function just need to call the right initialiser
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  //This function just need to call the right initialiser
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									 float(0),
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		   float(0),
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									 float(0),
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		   float(0),
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									 float(0),
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		   float(0),
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									 float(1)};
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		   float(1)};
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		Mat4x4f mat;
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    Mat4x4f mat;
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		mat.set(m);
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    raw_assign(mat, m);
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		return mat;
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    return mat;
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	}
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  }
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	Vec3f Quaternion::apply(const Vec3f& vec) const
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  Vec3f Quaternion::apply(const Vec3f& vec) const