Refactored file layout because platformio failed to find things

library.json

@@ -16,17 +16,5 @@
     ],
     "license": "None Yet",
     "frameworks": "*",
-    "platforms": "*",
-    "build": {
-        "srcDir": "src",
-        "flags": [
-            "-std=c++17",
-            "-I src/Vector3D",
-            "-I src/Matrix",
-            "-I src/Quaternion"
-        ],
-        "srcFilter": [
-            "-<*/unit-tests/>"
-        ]
-    }
+    "platforms": "*"
 }

src/CMakeLists.txt

@@ -1,4 +1,59 @@
-add_subdirectory(Matrix)
-add_subdirectory(Quaternion)
-add_subdirectory(Vector3D)
+# Quaternion Interface
+add_library(vector-3d-intf
+    INTERFACE
+)
 
+target_include_directories(vector-3d-intf
+    INTERFACE
+    .
+)
+
+target_link_libraries(vector-3d-intf
+    INTERFACE
+)
+
+# Quaternion
+add_library(quaternion 
+    STATIC
+    Quaternion.cpp
+)
+
+target_link_libraries(quaternion
+    PUBLIC
+    vector-3d-intf
+    PRIVATE
+)
+
+set_target_properties(quaternion
+    PROPERTIES
+    LINKER_LANGUAGE CXX
+)
+
+# Vector3d
+add_library(vector-3d 
+    STATIC
+    Vector3D.cpp
+)
+
+target_link_libraries(vector-3d
+    PUBLIC
+    vector-3d-intf
+    PRIVATE
+)
+
+# Matrix
+add_library(matrix 
+    STATIC
+    Matrix.cpp
+)
+
+target_link_libraries(matrix
+    PUBLIC
+    vector-3d-intf
+    PRIVATE
+)
+
+set_target_properties(matrix
+    PROPERTIES
+    LINKER_LANGUAGE CXX
+)

src/Matrix/CMakeLists.txt

@@ -1,35 +0,0 @@
-# Matrix Interface
-add_library(matrix-intf
-    INTERFACE
-)
-
-target_include_directories(matrix-intf
-    INTERFACE
-    .
-)
-
-# Matrix
-add_library(matrix 
-    STATIC
-    Matrix.cpp
-)
-
-target_link_libraries(matrix
-    PUBLIC
-    matrix-intf
-    PRIVATE
-)
-
-set_target_properties(matrix
-    PROPERTIES
-    LINKER_LANGUAGE CXX
-)
-
-# matrix tests
-add_executable(matrix-tests unit-tests/matrix-tests.cpp)
- 
-target_link_libraries(matrix-tests 
-    PRIVATE 
-    matrix-intf
-    Catch2::Catch2WithMain
-)

src/Quaternion.cpp

@@ -49,7 +49,7 @@ Quaternion Quaternion::operator*(float scalar) const
 
 Quaternion Quaternion::operator+(const Quaternion &other) const
 {
-    return Quaternion{this->w * other.w, this->v1 * other.v1, this->v2 * other.v2, this->v3 * other.v3};
+    return Quaternion{this->w + other.w, this->v1 + other.v1, this->v2 + other.v2, this->v3 + other.v3};
 }
 
 Quaternion &
@@ -81,6 +81,10 @@ Quaternion &Quaternion::Rotate(Quaternion &other, Quaternion &buffer) const
 void Quaternion::Normalize()
 {
     float magnitude = sqrt(this->v1 * this->v1 + this->v2 * this->v2 + this->v3 * this->v3 + this->w * this->w);
+    if (magnitude == 0)
+    {
+        return;
+    }
     this->v1 /= magnitude;
     this->v2 /= magnitude;
     this->v3 /= magnitude;

src/Quaternion.h

@@ -2,7 +2,6 @@
 #define QUATERNION_H_
 
 #include "Matrix.hpp"
-
 class Quaternion : public Matrix<1, 4>
 {
 public:
@@ -70,7 +69,7 @@ public:
      */
     void Normalize();
 
-    Matrix<3,3> ToRotationMatrix() const;
+    Matrix<3, 3> ToRotationMatrix() const;
 
     // Give people an easy way to access the elements
     float &w{matrix[0]};

src/Quaternion/CMakeLists.txt

@@ -1,40 +0,0 @@
-# Quaternion Interface
-add_library(quaternion-intf
-    INTERFACE
-)
-
-target_include_directories(quaternion-intf
-    INTERFACE
-    .
-)
-
-target_link_libraries(quaternion-intf
-    INTERFACE
-    matrix-intf
-)
-
-# Quaternion
-add_library(quaternion 
-    STATIC
-    Quaternion.cpp
-)
-
-target_link_libraries(quaternion
-    PUBLIC
-    quaternion-intf
-    PRIVATE
-)
-
-set_target_properties(quaternion
-    PROPERTIES
-    LINKER_LANGUAGE CXX
-)
-
-# Quaternion tests
-add_executable(quaternion-tests unit-tests/quaternion-tests.cpp)
- 
-target_link_libraries(quaternion-tests 
-    PRIVATE 
-    quaternion
-    Catch2::Catch2WithMain
-)

src/Vector3D/CMakeLists.txt

@@ -1,31 +0,0 @@
-# Vector 3D Interface
-add_library(vector-3d-intf
-    INTERFACE
-)
-
-target_include_directories(vector-3d-intf
-    INTERFACE
-    .
-)
-
-# Vector3d
-add_library(vector-3d 
-    STATIC
-    Vector3D.cpp
-)
-
-target_link_libraries(vector-3d
-    PUBLIC
-    vector-3d-intf
-    PRIVATE
-)
-
-# vector tests
-add_executable(vector-tests unit-tests/vector-tests.cpp)
- 
-target_link_libraries(vector-tests 
-    PRIVATE 
-    matrix-intf
-    vector-3d-intf
-    Catch2::Catch2WithMain
-)

unit-tests/CMakeLists.txt

@@ -0,0 +1,26 @@
+# Quaternion tests
+add_executable(quaternion-tests unit-tests/quaternion-tests.cpp)
+ 
+target_link_libraries(quaternion-tests 
+    PRIVATE 
+    vector-3d-intf
+    Catch2::Catch2WithMain
+)
+
+# matrix tests
+add_executable(matrix-tests unit-tests/matrix-tests.cpp)
+ 
+target_link_libraries(matrix-tests 
+    PRIVATE 
+    vector-3d-intf
+    Catch2::Catch2WithMain
+)
+
+# Vector 3D Tests
+add_executable(vector-3d-tests unit-tests/vector-tests.cpp)
+
+target_link_libraries(vector-3d-tests
+    PRIVATE
+    vector-3d-intf
+    Catch2::Catch2WithMain
+)