From 0a2cfda21f3915058f1d1bf8933d2d1bb0051ca4 Mon Sep 17 00:00:00 2001
From: lisyarus <lisyarus@gmail.com>
Date: Sun, 26 Dec 2021 10:46:37 +0300
Subject: [PATCH] Use conjugate instead of inverse in quaternion rotation

---
 libs/geom/include/psemek/geom/quaternion.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libs/geom/include/psemek/geom/quaternion.hpp b/libs/geom/include/psemek/geom/quaternion.hpp
index a7a378fa..12afb858 100644
--- a/libs/geom/include/psemek/geom/quaternion.hpp
+++ b/libs/geom/include/psemek/geom/quaternion.hpp
@@ -163,7 +163,7 @@ namespace psemek::geom
 	template <typename T>
 	vector<T, 3> rotate(quaternion<T> const & q, vector<T, 3> const & v)
 	{
-		auto res = q * quaternion<T>::vector(v) * inverse(q);
+		auto res = q * quaternion<T>::vector(v) * conjugate(q);
 		return {res[0], res[1], res[2]};
 	}