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Fixed incorrect Quaternion/Vector rotation (#776)

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The issue was related to referencing...
In OpenTK 2.0, Vector3.Transform(Quaternion) actually returned a new instance of the rotated vector, which was then changed in 3.0 so that no new vector instances were created for better performance. In short, this is what caused the issue at Vector3.Transform(Quaternion), returning incorrectly rotated vectors.
This commit is contained in:
TominoCZ 2018-07-06 14:37:34 +02:00 committed by Jarl Gullberg
parent b8f8299b93
commit 9b5bc1172b
2 changed files with 12 additions and 12 deletions
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12
src/OpenTK/Math/Vector3.cs
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@ -968,12 +968,12 @@ namespace OpenTK
// Since vec.W == 0, we can optimize quat * vec * quat^-1 as follows:
// vec + 2.0 * cross(quat.xyz, cross(quat.xyz, vec) + quat.w * vec)
Vector3 xyz = quat.Xyz, temp, temp2;
Vector3.Cross(ref xyz, ref vec, out temp);
Vector3.Multiply(ref vec, quat.W, out temp2);
Vector3.Add(ref temp, ref temp2, out temp);
Vector3.Cross(ref xyz, ref temp, out temp);
Vector3.Multiply(ref temp, 2, out temp);
Vector3.Add(ref vec, ref temp, out result);
Cross(ref xyz, ref vec, out temp);
Multiply(ref vec, quat.W, out temp2);
Add(ref temp, ref temp2, out temp);
Cross(ref xyz, ref temp, out temp2);
Multiply(ref temp2, 2f, out temp2);
Add(ref vec, ref temp2, out result);
}
/// <summary>Transform a Vector by the given Matrix using right-handed notation</summary>

12
src/OpenTK/Math/Vector3d.cs
View file

@ -968,12 +968,12 @@ namespace OpenTK
// Since vec.W == 0, we can optimize quat * vec * quat^-1 as follows:
// vec + 2.0 * cross(quat.xyz, cross(quat.xyz, vec) + quat.w * vec)
Vector3d xyz = quat.Xyz, temp, temp2;
Vector3d.Cross(ref xyz, ref vec, out temp);
Vector3d.Multiply(ref vec, quat.W, out temp2);
Vector3d.Add(ref temp, ref temp2, out temp);
Vector3d.Cross(ref xyz, ref temp, out temp);
Vector3d.Multiply(ref temp, 2, out temp);
Vector3d.Add(ref vec, ref temp, out result);
Cross(ref xyz, ref vec, out temp);
Multiply(ref vec, quat.W, out temp2);
Add(ref temp, ref temp2, out temp);
Cross(ref xyz, ref temp, out temp2);
Multiply(ref temp2, 2f, out temp2);
Add(ref vec, ref temp2, out result);
}
/// <summary>