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@@ -3,6 +3,7 @@ package linalg
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import "core:math"
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import "base:builtin"
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import "base:intrinsics"
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+import "base:runtime"
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// Generic
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@@ -223,33 +224,27 @@ quaternion_mul_quaternion :: proc "contextless" (q1, q2: $Q) -> Q where IS_QUATE
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@(require_results)
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quaternion64_mul_vector3 :: proc "contextless" (q: $Q/quaternion64, v: $V/[3]$F/f16) -> V {
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- Raw_Quaternion :: struct {xyz: [3]f16, r: f16}
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-
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- q := transmute(Raw_Quaternion)q
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+ q := transmute(runtime.Raw_Quaternion64_Vector_Scalar)q
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v := v
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- t := cross(2*q.xyz, v)
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- return V(v + q.r*t + cross(q.xyz, t))
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+ t := cross(2*q.vector, v)
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+ return V(v + q.scalar*t + cross(q.vector, t))
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}
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@(require_results)
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quaternion128_mul_vector3 :: proc "contextless" (q: $Q/quaternion128, v: $V/[3]$F/f32) -> V {
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- Raw_Quaternion :: struct {xyz: [3]f32, r: f32}
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-
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- q := transmute(Raw_Quaternion)q
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+ q := transmute(runtime.Raw_Quaternion128_Vector_Scalar)q
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v := v
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- t := cross(2*q.xyz, v)
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- return V(v + q.r*t + cross(q.xyz, t))
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+ t := cross(2*q.vector, v)
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+ return V(v + q.scalar*t + cross(q.vector, t))
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}
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@(require_results)
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quaternion256_mul_vector3 :: proc "contextless" (q: $Q/quaternion256, v: $V/[3]$F/f64) -> V {
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- Raw_Quaternion :: struct {xyz: [3]f64, r: f64}
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-
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- q := transmute(Raw_Quaternion)q
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+ q := transmute(runtime.Raw_Quaternion256_Vector_Scalar)q
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v := v
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- t := cross(2*q.xyz, v)
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- return V(v + q.r*t + cross(q.xyz, t))
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+ t := cross(2*q.vector, v)
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+ return V(v + q.scalar*t + cross(q.vector, t))
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}
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quaternion_mul_vector3 :: proc{quaternion64_mul_vector3, quaternion128_mul_vector3, quaternion256_mul_vector3}
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