From d5efb1435fb43db2931f0c4914dbb70f24969e23 Mon Sep 17 00:00:00 2001
From: Andreas Orthey <andreas.orthey@gmx.de>
Date: Sat, 31 May 2014 12:11:40 +0200
Subject: [PATCH] more efficient vector rotation without explicitly assigning
quaternions
---
src/math/transform.cpp | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/math/transform.cpp b/src/math/transform.cpp
index b8a8a380..408f5df1 100644
--- a/src/math/transform.cpp
+++ b/src/math/transform.cpp
@@ -316,8 +316,10 @@ Quaternion3f& Quaternion3f::inverse()
Vec3f Quaternion3f::transform(const Vec3f& v) const
{
- Quaternion3f r = (*this) * Quaternion3f(0, v[0], v[1], v[2]) * (fcl::conj(*this));
- return Vec3f(r.data[1], r.data[2], r.data[3]);
+ Vec3f u(getX(), getY(), getZ());
+ double s = getW();
+ Vec3f vprime = 2*u.dot(v)*u + (s*s - u.dot(u))*v + 2*s*u.cross(v);
+ return vprime;
}
Quaternion3f conj(const Quaternion3f& q)
--
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