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Update quaternion.h

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typo fix for quaternion multiplication
This commit is contained in:
youxie
2022-11-09 16:21:06 +01:00
committed by GitHub
parent 3018e4c60f
commit 409a71248a
1 changed files with 2 additions and 2 deletions
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4
Simulations/util/quaternion.h
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@@ -83,7 +83,7 @@ public:
inline const Quaternion operator*=(const Quaternion &q) inline const Quaternion operator*=(const Quaternion &q)
{ {
vector3Dim<Scalar> v1(x,y,z), v2(q.x,q.y,q.z); 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); Scalar nw = w*q.w - (v1.x*v2.x+v1.y*v2.y+v1.z*v2.z);
x = nv.x; x = nv.x;
y = nv.y; y = nv.y;
@@ -106,7 +106,7 @@ public:
inline const Quaternion operator*(const Quaternion &q) const inline const Quaternion operator*(const Quaternion &q) const
{ {
vector3Dim<Scalar> v1(x,y,z), v2(q.x,q.y,q.z); 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); 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); return Quaternion(nv.x,nv.y,nv.z,nw);