Quaternions

[lhog]

No description provided.

[saurtron]

Guess you already checked this and not the most critical thing atm, but since I looked it up, so it can serve as reference for later on:

Some possible mathematical simplifications for 4x4 det: blender code (not sure where their method comes from but seems to do less operations). Also for reference in case it can be useful, their quaternion code.

Also, from wikipedia:

$det\pmatrix{A & B \\ C & D} = det(D)det(A-BD^{-1}C))$

Being A B C D the 2x2 blocks. this would also possibly result in less operations.

There's lot of literature on the subject, specially re simd optimizations, but anyways those seem straighforward simplifications.

Looking great, maybe some tests would be in order?

[lhog]

Looking great, maybe some tests would be in order?

I'm going to switch most of the engine internals to quaternions, so there will be lots of manual tests :)