How to Rotate a Vertex by a Quaternion in GLSL

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This article—the 15th in the series—describes a rudimentary SPH fluid simulation used to model a fluid in a container. Part 1 summarized fluid dynamics; part 2 surveyed fluid simulation techniques. Part 3 and part 4 presented a vortex-particle fluid simulation with two-way fluid-body interactions that run in real time. Part 5 profiled and optimized that simulation code. Part 6 described a differential method for computing velocity from vorticity, and part 7 showed how to integrate a fluid simulation into a typical particle system. Part 8 explained how a vortex-based fluid simulation handles variable density in a fluid; part 9 described how to approximate buoyant and gravitational forces on a body immersed in a fluid with varying density. Part 10 described how density varies with temperature, how heat transfers throughout a fluid, and how heat transfers between bodies and fluid. Part 11 added combustion, a chemical reaction that generates heat. Part 12 explained how improper sampling caused unwanted jerky motion and described how to mitigate it. Part 13 added convex polytopes and lift-like forces. Part 14 modified those polytopes to represent rudimentary containers.