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The child's rotation does not change the child's position. Try it: do a pirouette - you stay in the same place, despite the fact that you are rotating through a full 360 degrees. So, child rotation does not factor into this expression at all: var childWorldPosition = Vector4.Scale( Vector4.Transform(child.Translation, parent....


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modifying the cameras transform every frame via update seems less than ideal. Then I have good news for you: you're not doing that. The code you've shown does not modify the camera's transform component in any way shape or form. Is there a way to make some sort of callback value that will give me `Quaternion(0, y, z, w)' of that camera's transform every ...


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Alright so the main problem was actually that I had to projection matrix that changed depending on the aspect ratio of the window that was being rendered to. So with that out of the way I actually did end up getting quaternion rotations to work: mutating func quatRotate(_ angle: Float, _ axis: float3) { var q = quaternion(angle: angle.toRadians, axis: ...


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