//-------------------------------------------------------------------------------
// @ IvQuat::Rotate()
//-------------------------------------------------------------------------------
// Rotate vector by quaternion
// Assumes quaternion is normalized!
//-------------------------------------------------------------------------------
IvVector3
IvQuat::Rotate( const IvVector3& vector ) const
{
ASSERT( IsUnit() );
float pMult = w*w - x*x - y*y - z*z;
float vMult = 2.0f*(x*vector.x + y*vector.y + z*vector.z);
float crossMult = 2.0f*w;
return IvVector3( pMult*vector.x + vMult*x + crossMult*(y*vector.z - z*vector.y),
pMult*vector.y + vMult*y + crossMult*(z*vector.x - x*vector.z),
pMult*vector.z + vMult*z + crossMult*(x*vector.y - y*vector.x) );
} // End of IvQuat::Rotate()
Unit* Entity::ToUnit()
{
if (IsUnit())
return dynamic_cast<Unit*>(this);
return nullptr;
}
/**
* @see IsUnit
* @see Normalize
*/
bool IsNormal(T eps = T(0)) const
{
return IsUnit(eps);
}
