public void rotate(Vector3 v) {
double ts = -this.x * v.x - this.y * v.y - this.z * v.z;
double tx = this.s * v.x + this.y * v.z - this.z * v.y;
double ty = this.s * v.y - this.x * v.z + this.z * v.x;
double tz = this.s * v.z + this.x * v.y - this.y * v.x;
v.x = (tx * this.s - ts * this.x - ty * this.z + tz * this.y);
v.y = (ty * this.s - ts * this.y + tx * this.z - tz * this.x);
v.z = (tz * this.s - ts * this.z - tx * this.y + ty * this.x);
}
public final void setPosition(final float _x, final float _y, final float _z) {
position.x = _x;
position.y = _y;
position.z = _z;
}
public final void addToPosition(final float _x, final float _y, final float _z) {
position.x += _x;
position.y += _y;
position.z += _z;
}
public Vector3 add(Vector3 v) {
return new Vector3(x() + v.x(), y() + v.y(), z() + v.z());
}