12 

    13 void Camera::rotate(const Quaternion &q)

    14 {

    15 	Quaternion res;

    16 	res = q * Quaternion(u) * conjugate(q);

    17 	u = res.toVector();

    18 	res = q * Quaternion(v) * conjugate(q);

    19 	v = res.toVector();

    20 	res = q * Quaternion(p) * conjugate(q);

    21 	p = res.toVector();

    22 	p.normalize();

    23 	u.normalize();

    24 	v.normalize();

    25 /*  // optimized version

    26 	float t2 =   q.a*q.b;

    27 	float t3 =   q.a*q.c;

    28 	float t4 =   q.a*q.d;

    29 	float t5 =  -q.b*q.b;

    30 	float t6 =   q.b*q.c;

    31 	float t7 =   q.b*q.d;

    32 	float t8 =  -q.c*q.c;

    33 	float t9 =   q.c*q.d;

    34 	float t10 = -q.d*q.d;

    35 	float x,y,z;

    36 	x = 2*( (t8 + t10)*p.x + (t6 -  t4)*p.y + (t3 + t7)*p.z ) + p.x;

    37 	y = 2*( (t4 +  t6)*p.x + (t5 + t10)*p.y + (t9 - t2)*p.z ) + p.y;

    38 	z = 2*( (t7 -  t3)*p.x + (t2 +  t9)*p.y + (t5 + t8)*p.z ) + p.z;

    39 	p = Vector3(x,y,z);

    40 	x = 2*( (t8 + t10)*u.x + (t6 -  t4)*u.y + (t3 + t7)*u.z ) + u.x;

    41 	y = 2*( (t4 +  t6)*u.x + (t5 + t10)*u.y + (t9 - t2)*u.z ) + u.y;

    42 	z = 2*( (t7 -  t3)*u.x + (t2 +  t9)*u.y + (t5 + t8)*u.z ) + u.z;

    43 	u = Vector3(x,y,z);

    44 	x = 2*( (t8 + t10)*v.x + (t6 -  t4)*v.y + (t3 + t7)*v.z ) + v.x;

    45 	y = 2*( (t4 +  t6)*v.x + (t5 + t10)*v.y + (t9 - t2)*v.z ) + v.y;

    46 	z = 2*( (t7 -  t3)*v.x + (t2 +  t9)*v.y + (t5 + t8)*v.z ) + v.z;

    47 	v = Vector3(x,y,z);*/

    48 }

    49 

    50 void Camera::move(const float fw, const float left, const float up)

    51 {

    52 	eye = eye + fw*p + left*u + up*v;

    53 }