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refactor pimathvector.h

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Бычков Андрей
2020-10-21 17:58:42 +03:00
parent 6789d068e3
commit 7b5555f63d
3 changed files with 272 additions and 107 deletions
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libs/main/math/piquaternion.cpp
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@@ -199,8 +199,8 @@ PIQuaternion PIQuaternion::fromRotationMatrix(const PIMathMatrixT33d & m) {
PIQuaternion operator*(const PIQuaternion & q0, const PIQuaternion & q1) {
PIMathVectorT3d v0(q0.vector()), v1(q1.vector());
double r0 = q0.q[0] * q1.q[0] - (v0^v1);
PIMathVectorT3d qv = v1*q0.q[0] + v0*q1.q[0] + v0*v1;
double r0 = q0.q[0] * q1.q[0] - v0.dot(v1);
PIMathVectorT3d qv = v1*q0.q[0] + v0*q1.q[0] + v0.cross(v1);
PIQuaternion ret;
ret.q[0] = r0;
ret.q[1] = qv[0];