Code: Select all
btQuaternion inverse() const
{
return btQuaternion(m_x, m_y, m_z, -m_unusedW);
}
So I would see instead :
Code: Select all
btQuaternion inverse() const
{
return btQuaternion(-m_x, -m_y, -m_z, m_unusedW);
}
Code: Select all
btQuaternion inverse() const
{
return btQuaternion(m_x, m_y, m_z, -m_unusedW);
}
Code: Select all
btQuaternion inverse() const
{
return btQuaternion(-m_x, -m_y, -m_z, m_unusedW);
}
Code: Select all
SIMD_FORCE_INLINE btVector3
quatRotate(const btQuaternion& rotation, const btVector3& v)
{
btQuaternion q = rotation * v;
q *= rotation.inverse();
return btVector3(q.getX(),q.getY(),q.getZ());
}