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Using Quaternions Efficiently in Real-time Applications

, 10 Nov 2010 CPOL
Various methods for using quaternions in ways that maximize performance

#include "Math.h"

class GameEntityBase
    virtual void updateAI() = 0;
    virtual void updatePursuitAction( const D3DXVECTOR3 &targetPos ) = 0;

    virtual void transformManyVertices( unsigned int numVerts ) = 0;

    virtual void calculateOrientation( float dt ) = 0;

    void UpdateRotation()
        D3DXMATRIX m = quatToMatrix( ori_ );

        side_ = D3DXVECTOR3( m(0,0), m(1,0), m(2,0) );
        up_ = D3DXVECTOR3( m(0,1), m(1,1), m(2,1) );
        dir_ = D3DXVECTOR3( m(0,2), m(1,2), m(2,2) );

    D3DXVECTOR3         dir_;
    D3DXVECTOR3         up_;
    D3DXVECTOR3         side_;

    float               yaw_;
    float               pitch_;
    float               roll_;

    D3DXVECTOR3         angularVel_;

    D3DXQUATERNION      ori_;
    D3DXVECTOR3         pos_;


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Software Developer Gameloft
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