From 73dc6896b5787f4e7f2d332968852e6ce4eee8ed Mon Sep 17 00:00:00 2001
From: Egor Yusov <egor.yusov@gmail.com>
Date: Fri, 27 Sep 2019 21:15:42 -0700
Subject: Added Quaternion::RotateVector method

---
 Common/interface/BasicMath.h | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'Common/interface')

diff --git a/Common/interface/BasicMath.h b/Common/interface/BasicMath.h
index 1e2c2c55..8623bb47 100644
--- a/Common/interface/BasicMath.h
+++ b/Common/interface/BasicMath.h
@@ -1710,6 +1710,12 @@ struct Quaternion
         *this = Mul(*this, rhs);
         return *this;
     }
+
+    float3 RotateVector(const float3& v)const
+    {
+        const float3 axis(q.x, q.y, q.z);
+        return v + 2.f * cross(axis, cross(axis, v) + q.w * v);
+    }
 };
 
 inline Quaternion operator* (const Quaternion& q1, const Quaternion& q2)
-- 
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