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Use conjugate instead of inverse in quaternion rotation

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This commit is contained in:
Nikita Lisitsa 2021-12-26 10:46:37 +03:00
parent f9e6a6e37e
commit 0a2cfda21f
1 changed files with 1 additions and 1 deletions
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libs/geom/include/psemek/geom/quaternion.hpp
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@ -163,7 +163,7 @@ namespace psemek::geom
template <typename T> template <typename T>
vector<T, 3> rotate(quaternion<T> const & q, vector<T, 3> const & v) 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]}; return {res[0], res[1], res[2]};
} }