commit 309ba6eaf3bac14f19adf140bbabb92dc15fcc56
Author: leszek <leszek@koltunski.pl>
Date:   Mon Nov 4 15:59:49 2024 +0100

    major speedup of SolvedObject

diff --git a/src/main/java/org/distorted/library/helpers/QuatHelper.java b/src/main/java/org/distorted/library/helpers/QuatHelper.java
index 474723c..67f595e 100644
--- a/src/main/java/org/distorted/library/helpers/QuatHelper.java
+++ b/src/main/java/org/distorted/library/helpers/QuatHelper.java
@@ -143,6 +143,17 @@ public class QuatHelper
     ret[3] = rw*qw - rz*qz - ry*qy - rx*qx;
     }
 
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// ret = (qx,qy,qz,qw)*(rx,ry,rz,rw)
+
+  private static void quatMultiply( float[] ret, int index, float qx, float qy, float qz, float qw, float rx, float ry, float rz, float rw )
+    {
+    ret[index  ] = rw*qx - rz*qy + ry*qz + rx*qw;
+    ret[index+1] = rw*qy + rz*qx + ry*qw - rx*qz;
+    ret[index+2] = rw*qz + rz*qw - ry*qx + rx*qy;
+    ret[index+3] = rw*qw - rz*qz - ry*qy - rx*qx;
+    }
+
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 // rotate 'vector' by quat  ( i.e. return quat*vector*(quat^-1) )
 
@@ -189,6 +200,22 @@ public class QuatHelper
     quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw);
     }
 
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )
+
+  public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, Static4D quat)
+    {
+    float[] tmp = new float[4];
+
+    float qx = quat.get0();
+    float qy = quat.get1();
+    float qz = quat.get2();
+    float qw = quat.get3();
+
+    quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w);
+    quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw);
+    }
+
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 // rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )
 
@@ -205,6 +232,22 @@ public class QuatHelper
     quatMultiply(output,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw);
     }
 
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )
+
+  public static void rotateVectorByQuat(float[] output, int index, float x, float y, float z, float w, float[] quat)
+    {
+    float[] tmp = new float[4];
+
+    float qx = quat[0];
+    float qy = quat[1];
+    float qz = quat[2];
+    float qw = quat[3];
+
+    quatMultiply(tmp,qx,qy,qz,qw,x,y,z,w);
+    quatMultiply(output,index,tmp[0],tmp[1],tmp[2],tmp[3],-qx,-qy,-qz,qw);
+    }
+
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 // rotate vec by quat ( i.e. return quat*vector*(quat^-1) )