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fix: Quaternion.RotateVector method not working properly on some angles fixed

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Syntriax
2025-10-19 00:16:07 +03:00
parent 7469c9ab0c
commit 6901159106
1 changed files with 6 additions and 2 deletions
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8
Engine.Core/Primitives/Quaternion.cs
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@@ -187,8 +187,12 @@ public readonly struct Quaternion(float x, float y, float z, float w) : IEquatab
/// <returns>The rotated <see cref="Vector3D"/>.</returns>
public static Vector3D RotateVector(Vector3D vector, Quaternion quaternion)
{
Quaternion rotation = quaternion * new Quaternion(vector.X, vector.Y, vector.Z, 0) * Invert(quaternion);
return new(rotation.X, rotation.Y, rotation.Z);
// https://blog.molecular-matters.com/2013/05/24/a-faster-quaternion-vector-multiplication/
// t = 2 * cross(q.xyz, v)
// v' = v + q.w * t + cross(q.xyz, t)
Vector3D quaternionVector = new(quaternion.X, quaternion.Y, quaternion.Z);
Vector3D t = 2f * quaternionVector.Cross(vector);
return vector + quaternion.W * t + quaternionVector.Cross(t);
}
/// <summary>