TwistyPuzzleLib

///////////////////////////////////////////////////////////////////////////////////////////////////

// purely for speedup

  @Override

  void computeRow(float[] pos, int quat, int[] output)

    {

    float[] q = mQuats[quat];

    float qx = q[0];

    float qy = q[1];

    float qz = q[2];

    float qw = q[3];

    float rx = pos[0];

    float ry = pos[1];

    float rz = pos[2];

    mTmp[0] = qx - rz*qy + ry*qz + rx*qw;

    mTmp[1] = qy + rz*qx + ry*qw - rx*qz;

    mTmp[2] = qz + rz*qw - ry*qx + rx*qy;

    mTmp[3] = qw - rz*qz - ry*qy - rx*qx;

    float x = qw*mTmp[0] + qz*mTmp[1] - qy*mTmp[2] - qx*mTmp[3];

    float y = qw*mTmp[1] - qz*mTmp[0] - qy*mTmp[3] + qx*mTmp[2];

    float z = qw*mTmp[2] - qz*mTmp[3] + qy*mTmp[0] - qx*mTmp[1];

    output[0] = (x<-0.5f ? 1 : (x<0.5f ? 2:4));

    output[1] = (y<0 ? 1:2);

    output[2] = (z<-0.5f ? 1 : (z<0.5f ? 2:4));

    }