diff options
| -rwxr-xr-x | src/jogl/classes/com/jogamp/graph/math/Quaternion.java | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/jogl/classes/com/jogamp/graph/math/Quaternion.java b/src/jogl/classes/com/jogamp/graph/math/Quaternion.java index adaf073e3..1e912457d 100755 --- a/src/jogl/classes/com/jogamp/graph/math/Quaternion.java +++ b/src/jogl/classes/com/jogamp/graph/math/Quaternion.java @@ -176,11 +176,11 @@ public class Quaternion { */ public void mult(Quaternion q) { - float w1 = w*q.w - (x*q.x + y*q.y + z*q.z); + float w1 = w*q.w - x*q.x - y*q.y - z*q.z; - float x1 = w*q.z + q.w*z + y*q.z - z*q.y; - float y1 = w*q.x + q.w*x + z*q.x - x*q.z; - float z1 = w*q.y + q.w*y + x*q.y - y*q.x; + float x1 = w*q.x + x*q.w + y*q.z - z*q.y; + float y1 = w*q.y - x*q.z + y*q.w + x*q.x; + float z1 = w*q.z + x*q.y - y*q.x + y*q.w; w = w1; x = x1; |