From b21236e5dbb53eae17125bceb286e40fb0789945 Mon Sep 17 00:00:00 2001
From: Quinn <quinn.henthorne@gmail.com>
Date: Sun, 9 Feb 2025 11:32:46 -0500
Subject: [PATCH] Fixed quaternion equals operator

---
 src/Quaternion.cpp              |  4 ++--
 src/Quaternion.h                |  2 +-
 unit-tests/matrix-tests.cpp     | 11 ++++-------
 unit-tests/quaternion-tests.cpp | 18 ++++++++++++++----
 4 files changed, 21 insertions(+), 14 deletions(-)

diff --git a/src/Quaternion.cpp b/src/Quaternion.cpp
index 5420075..4ea9748 100644
--- a/src/Quaternion.cpp
+++ b/src/Quaternion.cpp
@@ -30,9 +30,9 @@ float Quaternion::operator[](uint8_t index) const
     return 1e+6;
 }
 
-void Quaternion::operator=(const Quaternion &other) const
+void Quaternion::operator=(const Quaternion &other)
 {
-    static_cast<Matrix<1, 4>>(this->matrix) = static_cast<Matrix<1, 4>>(other.matrix);
+    memcpy(&(this->matrix), &(other.matrix), 4 * sizeof(float));
 }
 
 Quaternion Quaternion::operator*(const Quaternion &other) const
diff --git a/src/Quaternion.h b/src/Quaternion.h
index 5c958e2..0e66a7b 100644
--- a/src/Quaternion.h
+++ b/src/Quaternion.h
@@ -29,7 +29,7 @@ public:
     /**
      * @brief Assign one quaternion to another
      */
-    void operator=(const Quaternion &other) const;
+    void operator=(const Quaternion &other);
 
     /**
      * @brief Do quaternion multiplication
diff --git a/unit-tests/matrix-tests.cpp b/unit-tests/matrix-tests.cpp
index dc01a08..0486d23 100644
--- a/unit-tests/matrix-tests.cpp
+++ b/unit-tests/matrix-tests.cpp
@@ -323,28 +323,25 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
         4, 5, 6,
         7, 8, 9};
 
-    Matrix<2, 2> mat5{0};
+    Matrix<2, 2> mat5 = mat4.SubMatrix<2, 2, 0, 0>();
 
-    mat4.SubMatrix(mat5, 0, 0);
     REQUIRE(mat5.Get(0, 0) == 1);
     REQUIRE(mat5.Get(0, 1) == 2);
     REQUIRE(mat5.Get(1, 0) == 4);
     REQUIRE(mat5.Get(1, 1) == 5);
 
-    mat4.SubMatrix(mat5, 1, 1);
+    mat5 = mat4.SubMatrix<2, 2, 1, 1>();
     REQUIRE(mat5.Get(0, 0) == 5);
     REQUIRE(mat5.Get(0, 1) == 6);
     REQUIRE(mat5.Get(1, 0) == 8);
     REQUIRE(mat5.Get(1, 1) == 9);
 
-    Matrix<3, 1> mat6{0};
-    mat4.SubMatrix(mat6, 0, 0);
+    Matrix<3, 1> mat6 = mat4.SubMatrix<3, 1, 0, 0>();
     REQUIRE(mat6.Get(0, 0) == 1);
     REQUIRE(mat6.Get(1, 0) == 4);
     REQUIRE(mat6.Get(2, 0) == 7);
 
-    Matrix<1, 3> mat7{0};
-    mat4.SubMatrix(mat7, 0, 0);
+    Matrix<1, 3> mat7 = mat4.SubMatrix<1, 3, 0, 0>();
     REQUIRE(mat7.Get(0, 0) == 1);
     REQUIRE(mat7.Get(0, 1) == 2);
     REQUIRE(mat7.Get(0, 2) == 3);
diff --git a/unit-tests/quaternion-tests.cpp b/unit-tests/quaternion-tests.cpp
index 2551754..6211680 100644
--- a/unit-tests/quaternion-tests.cpp
+++ b/unit-tests/quaternion-tests.cpp
@@ -53,6 +53,16 @@ TEST_CASE("Vector Math", "Vector")
         REQUIRE(q6.v3 == 4);
     }
 
+    SECTION("Equals")
+    {
+        Quaternion q3{0, 0, 0, 0};
+        q3 = q1;
+        REQUIRE(q3.w == 1);
+        REQUIRE(q3.v1 == 2);
+        REQUIRE(q3.v2 == 3);
+        REQUIRE(q3.v3 == 4);
+    }
+
     SECTION("Array access")
     {
         REQUIRE(q1[0] == 1);
@@ -64,10 +74,10 @@ TEST_CASE("Vector Math", "Vector")
     SECTION("Addition")
     {
         Quaternion q3 = q1 + q2;
-        REQUIRE(q3.w == 5);
-        REQUIRE(q3.v1 == 12);
-        REQUIRE(q3.v2 == 21);
-        REQUIRE(q3.v3 == 32);
+        REQUIRE(q3.w == 6);
+        REQUIRE(q3.v1 == 8);
+        REQUIRE(q3.v2 == 10);
+        REQUIRE(q3.v3 == 12);
     }
 
     SECTION("Multiplication")