Function TriVectorRotateQuaternion

trinity/TriMath.cpp:29–56

}

Vector3* TriVectorRotateQuaternion(
	Vector3* out,
	const Vector3* v,
	const Quaternion* q )
{
	// q*v*qcomplement, where we treat v as a pure quaternion

	float ww = q->w * q->w;
	float wx = q->w * q->x;
	float wy = q->w * q->y;
	float wz = q->w * q->z;

	float xx = q->x * q->x;
	float xy = q->x * q->y;
	float xz = q->x * q->z;

	float yy = q->y * q->y;
	float yz = q->y * q->z;

	float zz = q->z * q->z;

	Vector3 temp;
	temp.x = v->x * ( ww + xx - yy - zz ) + 2.0f * ( v->y * ( xy - wz ) + v->z * ( xz + wy ) );
	temp.y = v->y * ( ww - xx + yy - zz ) + 2.0f * ( v->x * ( xy + wz ) + v->z * ( yz - wx ) );
	temp.z = v->z * ( ww - xx - yy + zz ) + 2.0f * ( v->x * ( xz - wy ) + v->y * ( yz + wx ) );
	*out = temp;
	return out;
}


// Projects a point onto a plane