Eigen::Vector3f quaternionMutltiply(Eigen::Vector4f quat, Eigen::Vector3f vec){
float num = quat.x() * 2.0f;
float num2 = quat.y() * 2.0f;
float num3 = quat.z() * 2.0f;
float num4 = quat.x()* num;
float num5 = quat.y() * num2;
float num6 = quat.z() * num3;
float num7 = quat.x() * num2;
float num8 = quat.x() * num3;
float num9 = quat.y ()* num3;
float num10 = quat.w() * num;
float num11 = quat.w ()* num2;
float num12 = quat.w ()* num3;
Eigen::Vector3f result;
result.x() = (1.0f - (num5 + num6)) * vec.x ()+ (num7 - num12) * vec.y() + (num8 + num11) * vec.z();
result.y() = (num7 + num12) * vec.x() + (1.0f - (num4 + num6)) * vec.y() + (num9 - num10) * vec.z();
result.z() = (num8 - num11) * vec.x() + (num9 + num10) * vec.y() + (1.0f - (num4 + num5)) * vec.z();
return result;
}
void VertexProcessor::parameter(vp::Parameter param, const Eigen::Vector4f& v)
{
parameter(param, v.x(), v.y(), v.z(), v.w());
}
void glsl_program::set_uniform(unsigned loc, const Eigen::Vector4f& value) const
{
if (used_program != this)
throw runtime_error("glsl_program::set_uniform, program not bound!");
glUniform4f(loc, value.x(), value.y(), value.z(), value.w());
}