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Fix quaternion multiplication

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This commit is contained in:
Lars Mueller 2022-05-12 10:44:18 +02:00
parent 3fc0808b18
commit 912f2f01a0
1 changed files with 6 additions and 5 deletions
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11
quaternion.lua
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@ -24,11 +24,12 @@ function from_euler_rotation_deg(rotation)
end
function multiply(self, other)
return {
other[1] * self[1] - other[2] * self[2] - other[3] * self[3] - other[4] * self[4],
other[1] * self[2] + other[2] * self[1] - other[3] * self[4] + other[4] * self[3],
other[1] * self[3] + other[2] * self[4] + other[3] * self[1] - other[4] * self[2],
other[1] * self[4] - other[2] * self[3] + other[3] * self[2] + other[4] * self[1]
local X, Y, Z, W = unpack(self)
return normalize{
(other[4] * X) + (other[1] * W) + (other[2] * Z) - (other[3] * Y);
(other[4] * Y) + (other[2] * W) + (other[3] * X) - (other[1] * Z);
(other[4] * Z) + (other[3] * W) + (other[1] * Y) - (other[2] * X);
(other[4] * W) - (other[1] * X) - (other[2] * Y) - (other[3] * Z);
}
end