From b241cf5c95d1113e4afef42e5e47801a91b1da2b Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 16 Oct 2017 19:18:56 +0200
Subject: [PATCH] Quaternion: Adjusted rotate() to the Hamilton convention
 (which we switched to) Note: This error was not caught by a test because the
 test included only trivial cases which do not explore non-commuting
 quaternions.

---
 matrix/Quaternion.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/matrix/Quaternion.hpp b/matrix/Quaternion.hpp
index 4e5d2ad11f..f4a859fca9 100644
--- a/matrix/Quaternion.hpp
+++ b/matrix/Quaternion.hpp
@@ -338,7 +338,7 @@ public:
     {
         Quaternion res;
         res.from_axis_angle(vec);
-        (*this) = (*this) * res;
+        (*this) = res * (*this);
     }
 
     /**