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Quaternion multiply inline return

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Daniel Agar
2019-11-26 12:03:15 -05:00
parent dba84236cb
commit a8009a36a3
1 changed files with 5 additions and 6 deletions
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matrix/Quaternion.hpp
+5 -6
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@@ -255,12 +255,11 @@ public:
Quaternion operator*(const Quaternion &q) const
{
const Quaternion &p = *this;
Quaternion r;
r(0) = p(0) * q(0) - p(1) * q(1) - p(2) * q(2) - p(3) * q(3);
r(1) = p(0) * q(1) + p(1) * q(0) + p(2) * q(3) - p(3) * q(2);
r(2) = p(0) * q(2) - p(1) * q(3) + p(2) * q(0) + p(3) * q(1);
r(3) = p(0) * q(3) + p(1) * q(2) - p(2) * q(1) + p(3) * q(0);
return r;
return {
p(0) * q(0) - p(1) * q(1) - p(2) * q(2) - p(3) * q(3),
p(0) * q(1) + p(1) * q(0) + p(2) * q(3) - p(3) * q(2),
p(0) * q(2) - p(1) * q(3) + p(2) * q(0) + p(3) * q(1),
p(0) * q(3) + p(1) * q(2) - p(2) * q(1) + p(3) * q(0)};
}
/**