float3 MUST_USE_RESULT Quat::Transform(const float3 &vec) const
{
assume2(this->IsNormalized(), *this, this->LengthSq());
#if defined(MATH_AUTOMATIC_SSE) && defined(MATH_SSE)
return float4(quat_transform_vec4(q, load_vec3(vec.ptr(), 0.f))).xyz();
#else
///\todo Optimize/benchmark the scalar path not to generate a matrix!
float3x3 mat = this->ToFloat3x3();
return mat * vec;
#endif
}
void Quat::SetFromAxisAngle(const float3 &axis, float angle)
{
#if defined(MATH_AUTOMATIC_SSE) && defined(MATH_SSE)
SetFromAxisAngle(load_vec3(axis.ptr(), 0.f), angle);
#else
assume1(axis.IsNormalized(), axis);
assume1(MATH_NS::IsFinite(angle), angle);
float sinz, cosz;
SinCos(angle*0.5f, sinz, cosz);
x = axis.x * sinz;
y = axis.y * sinz;
z = axis.z * sinz;
w = cosz;
#endif
}
//-----------------------------------------------------------------------------
CE_EXPORT int32_t luaopen_libcrown(lua_State* L)
{
LuaEnvironment env(L);
load_vec2(env);
load_vec3(env);
load_mat4(env);
load_quat(env);
load_math(env);
load_mouse(env);
load_keyboard(env);
load_accelerometer(env);
load_device(env);
load_window(env);
return 1;
}
