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Basic geometry property definition Degeneralize NormalAxis Added Sphere-Sphere collision Add Box-Sphere collision
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* refactor object constructors * implement rotational matrix with quaternion-conversion * Add inertial matrix and quaternion velocity * Add `matrix` transpose. * Additional mathematical concepts * fix some merging conflicts * fix more merging problem * Add `matrix` addition and subtraction * fix matrices implementation for accepting l-rvalues * Implement self-determining angular inertia for sphere and box base on Parallel Axis Theorem
* folder restructuring * CMake subdividing
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Adding the most basic single object, closed system to the engine.