/// <summary>
/// Transforms a vector by a quaternion rotation.
/// </summary>
/// <param name="vec">The vector to transform.</param>
/// <param name="quat">The quaternion to rotate the vector by.</param>
/// <param name="result">The result of the operation.</param>
// public static void Transform(ref Vector3 vec, ref Quaternion quat, out Vector3 result)
// {
// // Taken from the OpentTK implementation of Vector3
// // Since vec.W == 0, we can optimize quat * vec * quat^-1 as follows:
// // vec + 2.0 * cross(quat.xyz, cross(quat.xyz, vec) + quat.w * vec)
// Vector3 xyz = quat.Xyz, temp, temp2;
// Vector3.Cross(ref xyz, ref vec, out temp);
// Vector3.Multiply(ref vec, quat.W, out temp2);
// Vector3.Add(ref temp, ref temp2, out temp);
// Vector3.Cross(ref xyz, ref temp, out temp);
// Vector3.Multiply(ref temp, 2, out temp);
// Vector3.Add(ref vec, ref temp, out result);
// }
/// <summary>
/// Transforms a vector by a quaternion rotation.
/// </summary>
/// <param name="vec">The vector to transform.</param>
/// <param name="quat">The quaternion to rotate the vector by.</param>
/// <param name="result">The result of the operation.</param>
public static void Transform(ref Vector3 vec, ref Quaternion quat, out Vector3 result)
{
// This has not been tested
// TODO: This could probably be unrolled so will look into it later
Matrix matrix = quat.ToMatrix();
Transform(ref vec, ref matrix, out result);
}
internal void ToMatrix(out Matrix matrix)
{
Quaternion.ToMatrix(this, out matrix);
}
