From 17f77bdcf9ee2c3065aec852393b6d7dc53b882a Mon Sep 17 00:00:00 2001
From: youxie <you.xie@tum.de>
Date: Wed, 9 Nov 2022 16:20:31 +0100
Subject: [PATCH] Update quaternion.h

typo fix for quaternion multiplication
---
 Simulations/util/quaternion.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Simulations/util/quaternion.h b/Simulations/util/quaternion.h
index e25bb36..24734d1 100644
--- a/Simulations/util/quaternion.h
+++ b/Simulations/util/quaternion.h
@@ -83,7 +83,7 @@ public:
 	inline const Quaternion operator*=(const Quaternion &q) 
 	{
 		vector3Dim<Scalar> v1(x,y,z), v2(q.x,q.y,q.z);
-		vector3Dim<Scalar> nv = v1*q.w + v2*w + cross(v2,v1);
+		vector3Dim<Scalar> nv = v1*q.w + v2*w + cross(v1,v2);
 		Scalar nw = w*q.w - (v1.x*v2.x+v1.y*v2.y+v1.z*v2.z);
 		x = nv.x;
 		y = nv.y;
@@ -106,7 +106,7 @@ public:
 	inline const Quaternion operator*(const Quaternion &q) const
 	{
 		vector3Dim<Scalar> v1(x,y,z), v2(q.x,q.y,q.z);
-		vector3Dim<Scalar> nv = v1*q.w + v2*w + cross(v2,v1);
+		vector3Dim<Scalar> nv = v1*q.w + v2*w + cross(v1,v2);
 		Scalar nw = w*q.w - (v1.x*v2.x+v1.y*v2.y+v1.z*v2.z);
 
 		return Quaternion(nv.x,nv.y,nv.z,nw);