commit 9a6394c2954faf837847a126d8b62fb98eb80330
Author: leszek <leszek@koltunski.pl>
Date:   Tue Jan 14 15:24:14 2025 +0100

    progress with Ghosts

diff --git a/src/main/java/org/distorted/library/helpers/QuatHelper.java b/src/main/java/org/distorted/library/helpers/QuatHelper.java
index 6ccdcdf..30f6a0d 100644
--- a/src/main/java/org/distorted/library/helpers/QuatHelper.java
+++ b/src/main/java/org/distorted/library/helpers/QuatHelper.java
@@ -154,21 +154,6 @@ public class QuatHelper
     ret[index+3] = rw*qw - rz*qz - ry*qy - rx*qx;
     }
 
-///////////////////////////////////////////////////////////////////////////////////////////////////
-// rotate 'vector' by quat  ( i.e. return quat*vector*(quat^-1) )
-
-  public static Static4D rotateVectorByQuat(Static4D vector, Static4D quat)
-    {
-    float qx = quat.get0();
-    float qy = quat.get1();
-    float qz = quat.get2();
-    float qw = quat.get3();
-
-    Static4D tmp = quatMultiply(qx,qy,qz,qw,vector);
-
-    return quatMultiply(tmp,-qx,-qy,-qz,qw);
-    }
-
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 // rotate (x1,x2,x3,x4) by quat  ( i.e. return quat*vector*(quat^-1) )
 
@@ -268,6 +253,21 @@ public class QuatHelper
     quat[2] = -quat[2];
     }
 
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// rotate 'vector' by quat  ( i.e. return quat*vector*(quat^-1) )
+
+  public static Static4D rotateVectorByQuat(Static4D vector, Static4D quat)
+    {
+    float qx = quat.get0();
+    float qy = quat.get1();
+    float qz = quat.get2();
+    float qw = quat.get3();
+
+    Static4D tmp = quatMultiply(qx,qy,qz,qw,vector);
+
+    return quatMultiply(tmp,-qx,-qy,-qz,qw);
+    }
+
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 // rotate 'vector' by quat^(-1)  ( i.e. return (quat^-1)*vector*quat )
 
@@ -280,9 +280,25 @@ public class QuatHelper
 
     Static4D tmp = quatMultiply(-qx,-qy,-qz,qw,vector);
 
-    return quatMultiply(tmp,quat);
+    return quatMultiply(tmp,qx,qy,qz,qw);
     }
 
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// rotate 'vector' by quat^(-1)  ( i.e. return (quat^-1)*vector*quat )
+
+    public static void rotateVectorByInvertedQuat(float[] output, 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,tmp[0],tmp[1],tmp[2],tmp[3],qx,qy,qz,qw);
+      }
+
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 
   public static Static4D quatFromDrag(float dragX, float dragY)