{

Vector2 retVal;

retVal.x = vec.x * mat.mat[0][0] + vec.y * mat.mat[1][0] + w * mat.mat[2][0];

retVal.y = vec.x * mat.mat[0][1] + vec.y * mat.mat[1][1] + w * mat.mat[2][1];

//ignore w since we aren't returning a new value for it...

return retVal;

{

Vector3 retVal;

retVal.x = vec.x * mat.mat[0][0] + vec.y * mat.mat[1][0] +

vec.z * mat.mat[2][0] + w * mat.mat[3][0];

retVal.y = vec.x * mat.mat[0][1] + vec.y * mat.mat[1][1] +

vec.z * mat.mat[2][1] + w * mat.mat[3][1];

retVal.z = vec.x * mat.mat[0][2] + vec.y * mat.mat[1][2] +

vec.z * mat.mat[2][2] + w * mat.mat[3][2];

//ignore w since we aren't returning a new value for it...

return retVal;

{

Vector3 retVal;

retVal.x = vec.x * mat.mat[0][0] + vec.y * mat.mat[1][0] +

vec.z * mat.mat[2][0] + w * mat.mat[3][0];

retVal.y = vec.x * mat.mat[0][1] + vec.y * mat.mat[1][1] +

vec.z * mat.mat[2][1] + w * mat.mat[3][1];

retVal.z = vec.x * mat.mat[0][2] + vec.y * mat.mat[1][2] +

vec.z * mat.mat[2][2] + w * mat.mat[3][2];

float transformedW = vec.x * mat.mat[0][3] + vec.y * mat.mat[1][3] +

vec.z * mat.mat[2][3] + w * mat.mat[3][3];

if (!Math::NearZero(Math::Abs(transformedW)))

{

transformedW = 1.0f / transformedW;

retVal *= transformedW;

}

return retVal;

{

// v + 2.0*cross(q.xyz, cross(q.xyz,v) + q.w*v);

Vector3 qv(q.x, q.y, q.z);

Vector3 retVal = v;

retVal += 2.0f * Vector3::Cross(qv, Vector3::Cross(qv, v) + q.w * v);

return retVal;

{

// Thanks slow math

// This is a really janky way to unroll everything...

float tmp[12];

float src[16];

float dst[16];

float det;

// Transpose matrix

// row 1 to col 1

src[0] = mat[0][0];

src[4] = mat[0][1];

src[8] = mat[0][2];

src[12] = mat[0][3];

// row 2 to col 2

src[1] = mat[1][0];

src[5] = mat[1][1];

src[9] = mat[1][2];

src[13] = mat[1][3];

// row 3 to col 3

src[2] = mat[2][0];

src[6] = mat[2][1];

src[10] = mat[2][2];

src[14] = mat[2][3];

// row 4 to col 4

src[3] = mat[3][0];

src[7] = mat[3][1];

src[11] = mat[3][2];

src[15] = mat[3][3];

// Calculate cofactors

tmp[0] = src[10] * src[15];

tmp[1] = src[11] * src[14];

tmp[2] = src[9] * src[15];

tmp[3] = src[11] * src[13];

tmp[4] = src[9] * src[14];

tmp[5] = src[10] * src[13];

tmp[6] = src[8] * src[15];

tmp[7] = src[11] * src[12];

tmp[8] = src[8] * src[14];

tmp[9] = src[10] * src[12];

tmp[10] = src[8] * src[13];

tmp[11] = src[9] * src[12];

dst[0] = tmp[0] * src[5] + tmp[3] * src[6] + tmp[4] * src[7];

dst[0] -= tmp[1] * src[5] + tmp[2] * src[6] + tmp[5] * src[7];

dst[1] = tmp[1] * src[4] + tmp[6] * src[6] + tmp[9] * src[7];

dst[1] -= tmp[0] * src[4] + tmp[7] * src[6] + tmp[8] * src[7];

dst[2] = tmp[2] * src[4] + tmp[7] * src[5] + tmp[10] * src[7];

dst[2] -= tmp[3] * src[4] + tmp[6] * src[5] + tmp[11] * src[7];

dst[3] = tmp[5] * src[4] + tmp[8] * src[5] + tmp[11] * src[6];

dst[3] -= tmp[4] * src[4] + tmp[9] * src[5] + tmp[10] * src[6];

dst[4] = tmp[1] * src[1] + tmp[2] * src[2] + tmp[5] * src[3];

dst[4] -= tmp[0] * src[1] + tmp[3] * src[2] + tmp[4] * src[3];

dst[5] = tmp[0] * src[0] + tmp[7] * src[2] + tmp[8] * src[3];

dst[5] -= tmp[1] * src[0] + tmp[6] * src[2] + tmp[9] * src[3];

dst[6] = tmp[3] * src[0] + tmp[6] * src[1] + tmp[11] * src[3];

dst[6] -= tmp[2] * src[0] + tmp[7] * src[1] + tmp[10] * src[3];

dst[7] = tmp[4] * src[0] + tmp[9] * src[1] + tmp[10] * src[2];

dst[7] -= tmp[5] * src[0] + tmp[8] * src[1] + tmp[11] * src[2];

tmp[0] = src[2] * src[7];

tmp[1] = src[3] * src[6];

tmp[2] = src[1] * src[7];

tmp[3] = src[3] * src[5];

tmp[4] = src[1] * src[6];

tmp[5] = src[2] * src[5];

tmp[6] = src[0] * src[7];

tmp[7] = src[3] * src[4];

tmp[8] = src[0] * src[6];

tmp[9] = src[2] * src[4];

tmp[10] = src[0] * src[5];

tmp[11] = src[1] * src[4];

dst[8] = tmp[0] * src[13] + tmp[3] * src[14] + tmp[4] * src[15];

dst[8] -= tmp[1] * src[13] + tmp[2] * src[14] + tmp[5] * src[15];

dst[9] = tmp[1] * src[12] + tmp[6] * src[14] + tmp[9] * src[15];

dst[9] -= tmp[0] * src[12] + tmp[7] * src[14] + tmp[8] * src[15];

dst[10] = tmp[2] * src[12] + tmp[7] * src[13] + tmp[10] * src[15];

dst[10] -= tmp[3] * src[12] + tmp[6] * src[13] + tmp[11] * src[15];

dst[11] = tmp[5] * src[12] + tmp[8] * src[13] + tmp[11] * src[14];

dst[11] -= tmp[4] * src[12] + tmp[9] * src[13] + tmp[10] * src[14];

dst[12] = tmp[2] * src[10] + tmp[5] * src[11] + tmp[1] * src[9];

dst[12] -= tmp[4] * src[11] + tmp[0] * src[9] + tmp[3] * src[10];

dst[13] = tmp[8] * src[11] + tmp[0] * src[8] + tmp[7] * src[10];

dst[13] -= tmp[6] * src[10] + tmp[9] * src[11] + tmp[1] * src[8];

dst[14] = tmp[6] * src[9] + tmp[11] * src[11] + tmp[3] * src[8];

dst[14] -= tmp[10] * src[11] + tmp[2] * src[8] + tmp[7] * src[9];

dst[15] = tmp[10] * src[10] + tmp[4] * src[8] + tmp[9] * src[9];

dst[15] -= tmp[8] * src[9] + tmp[11] * src[10] + tmp[5] * src[8];

// Calculate determinant

det = src[0] * dst[0] + src[1] * dst[1] + src[2] * dst[2] + src[3] * dst[3];

// Inverse of matrix is divided by determinant

det = 1 / det;

for (int j = 0; j < 16; j++)

{

dst[j] *= det;

}

// Set it back

for (int i = 0; i < 4; i++)

{

for (int j = 0; j < 4; j++)

{

mat[i][j] = dst[i * 4 + j];

}

}

{

float mat[4][4];

mat[0][0] = 1.0f - 2.0f * q.y * q.y - 2.0f * q.z * q.z;

mat[0][1] = 2.0f * q.x * q.y + 2.0f * q.w * q.z;

mat[0][2] = 2.0f * q.x * q.z - 2.0f * q.w * q.y;

mat[0][3] = 0.0f;

mat[1][0] = 2.0f * q.x * q.y - 2.0f * q.w * q.z;

mat[1][1] = 1.0f - 2.0f * q.x * q.x - 2.0f * q.z * q.z;

mat[1][2] = 2.0f * q.y * q.z + 2.0f * q.w * q.x;

mat[1][3] = 0.0f;

mat[2][0] = 2.0f * q.x * q.z + 2.0f * q.w * q.y;

mat[2][1] = 2.0f * q.y * q.z - 2.0f * q.w * q.x;

mat[2][2] = 1.0f - 2.0f * q.x * q.x - 2.0f * q.y * q.y;

mat[2][3] = 0.0f;

mat[3][0] = 0.0f;

mat[3][1] = 0.0f;

mat[3][2] = 0.0f;

mat[3][3] = 1.0f;

return Matrix4(mat);