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quaternion: reuse existing dot product

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Matthias Grob
2018-12-16 17:59:44 +00:00
parent 9c0acfba36
commit a4f39c0f89
1 changed files with 2 additions and 2 deletions
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matrix/Quaternion.hpp
+2 -2
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@@ -194,7 +194,7 @@ public:
{ {
Quaternion &q = *this; Quaternion &q = *this;
Vector3<Type> cr = src.cross(dst); Vector3<Type> cr = src.cross(dst);
float dt = src.dot(dst); const float dt = src.dot(dst);
/* If the two vectors are parallel, cross product is zero /* If the two vectors are parallel, cross product is zero
* If they point opposite, the dot product is negative */ * If they point opposite, the dot product is negative */
if (cr.norm() < eps && dt < 0) { if (cr.norm() < eps && dt < 0) {
@@ -216,7 +216,7 @@ public:
cr = src.cross(cr); cr = src.cross(cr);
} else { } else {
/* Half-Way Quaternion Solution */ /* Half-Way Quaternion Solution */
q(0) = src.dot(dst) + sqrt(src.norm_squared() * dst.norm_squared()); q(0) = dt + sqrt(src.norm_squared() * dst.norm_squared());
} }
q(1) = cr(0); q(1) = cr(0);
q(2) = cr(1); q(2) = cr(1);