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Reverse order of arguments in quaternion multiplication in order to bring it in line with BulletX physics engine and Unity3D (it's reversed in LSL). Also should fix breakage in code that depends on this ordering like Opensim.

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TODO: comprehensive test suite for quaternion math

git-svn-id: http://libopenmetaverse.googlecode.com/svn/libopenmetaverse/trunk@3462 52acb1d6-8a22-11de-b505-999d5b087335
This commit is contained in:
Latif Khalifa
2010-10-29 05:11:35 +00:00
parent 10d7c02d4c
commit 1d3ee7537f
2 changed files with 6 additions and 6 deletions
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4
OpenMetaverse.Tests/TypeTests.cs
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@@ -115,7 +115,7 @@ namespace OpenMetaverse.Tests
a = new Quaternion(1, 0, 0, 0);
b = new Quaternion(0, 1, 0, 0);
expected = new Quaternion(0, 0, -1, 0);
expected = new Quaternion(0, 0, 1, 0);
result = a * b;
Assert.IsTrue(result == expected, a.ToString() + " * " + b.ToString() + " produced " + result.ToString() +
@@ -123,7 +123,7 @@ namespace OpenMetaverse.Tests
a = new Quaternion(0, 0, 1, 0);
b = new Quaternion(0, 1, 0, 0);
expected = new Quaternion(1, 0, 0, 0);
expected = new Quaternion(-1, 0, 0, 0);
result = a * b;
Assert.IsTrue(result == expected, a.ToString() + " * " + b.ToString() + " produced " + result.ToString() +

8
OpenMetaverseTypes/Quaternion.cs
View File

@@ -602,10 +602,10 @@ namespace OpenMetaverse
public static Quaternion Multiply(Quaternion a, Quaternion b)
{
return new Quaternion(
b.W * a.X + b.X * a.W + b.Y * a.Z - b.Z * a.Y,
b.W * a.Y + b.Y * a.W + b.Z * a.X - b.X * a.Z,
b.W * a.Z + b.Z * a.W + b.X * a.Y - b.Y * a.X,
b.W * a.W - b.X * a.X - b.Y * a.Y - b.Z * a.Z
a.W * b.X + a.X * b.W + a.Y * b.Z - a.Z * b.Y,
a.W * b.Y + a.Y * b.W + a.Z * b.X - a.X * b.Z,
a.W * b.Z + a.Z * b.W + a.X * b.Y - a.Y * b.X,
a.W * b.W - a.X * b.X - a.Y * b.Y - a.Z * b.Z
);
}