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Fix Quaternion multiplication operator

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This commit is contained in:
Aaron Franke 2021-11-04 11:24:39 -05:00
parent 518ec9ca75
commit 744b43b527
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GPG key ID: 40A1750B977E56BF
2 changed files with 12 additions and 23 deletions
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28
modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
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@ -472,26 +472,22 @@ namespace Godot
return new Quaternion(-left.x, -left.y, -left.z, -left.w);
}
public static Quaternion operator *(Quaternion left, Vector3 right)
public static Vector3 operator *(Quaternion quat, Vector3 vec)
{
return new Quaternion
(
(left.w * right.x) + (left.y * right.z) - (left.z * right.y),
(left.w * right.y) + (left.z * right.x) - (left.x * right.z),
(left.w * right.z) + (left.x * right.y) - (left.y * right.x),
-(left.x * right.x) - (left.y * right.y) - (left.z * right.z)
);
#if DEBUG
if (!quat.IsNormalized())
{
throw new InvalidOperationException("Quaternion is not normalized.");
}
#endif
var u = new Vector3(quat.x, quat.y, quat.z);
Vector3 uv = u.Cross(vec);
return vec + (((uv * quat.w) + u.Cross(uv)) * 2);
}
public static Quaternion operator *(Vector3 left, Quaternion right)
public static Vector3 operator *(Vector3 vec, Quaternion quat)
{
return new Quaternion
(
(right.w * left.x) + (right.y * left.z) - (right.z * left.y),
(right.w * left.y) + (right.z * left.x) - (right.x * left.z),
(right.w * left.z) + (right.x * left.y) - (right.y * left.x),
-(right.x * left.x) - (right.y * left.y) - (right.z * left.z)
);
return quat.Inverse() * vec;
}
public static Quaternion operator *(Quaternion left, real_t right)