Changeset 3824 in orxonox.OLD for orxonox/trunk/src/lib

Timestamp:

Apr 14, 2005, 1:16:59 AM (20 years ago)

Author:

patrick

Message:

orxonox/trunk: redefined quaternion multiplication. it was more efficient as it was. reverted.

File:

• orxonox/trunk/src/lib/math/vector.cc (modified) (1 diff)

orxonox/trunk/src/lib/math/vector.cc

@@ -286 +286 @@
   H = (w   - v.y)*(q.w   + q.v.z);
   
-  return Quaternion(Vector(A - (E + F + G + H)/2, C + (E - F + G - H)/2, D + (E - F - G + H)/2), B +  (-E - F + G + H)/2);
+  Quaternion r;
+  r.v.x = A - (E + F + G + H)/2;
+  r.v.y = C + (E - F + G - H)/2;
+  r.v.z = D + (E - F - G + H)/2;
+  r.w = B +  (-E - F + G + H)/2;
+
+  return r;
 }