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Quaternion assign-multiply fix

This commit is contained in:
Jack Andersen 2016-09-11 12:22:50 -10:00
parent 0e491fc8f5
commit 841e25df42
1 changed files with 6 additions and 4 deletions
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10
src/CQuaternion.cpp
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@ -77,10 +77,12 @@ const CQuaternion& CQuaternion::operator-=(const CQuaternion& q)
const CQuaternion& CQuaternion::operator*=(const CQuaternion& q) const CQuaternion& CQuaternion::operator*=(const CQuaternion& q)
{ {
w = w * q.w - CVector3f(x, y, z).dot({q.x, q.y, q.z}); CQuaternion orig = *this;
x = y * q.z - z * q.y + w * q.x + x * q.w;
y = z * q.x - x * q.z + w * q.y + y * q.w; w = orig.w * q.w - CVector3f(orig.x, orig.y, orig.z).dot({q.x, q.y, q.z});
z = x * q.y - y * q.x + w * q.z + z * q.w; x = orig.y * q.z - orig.z * q.y + orig.w * q.x + orig.x * q.w;
y = orig.z * q.x - orig.x * q.z + orig.w * q.y + orig.y * q.w;
z = orig.x * q.y - orig.y * q.x + orig.w * q.z + orig.z * q.w;
return *this; return *this;
} }