diff options
| -rw-r--r-- | linmath.h | 7 |
1 files changed, 4 insertions, 3 deletions
@@ -481,13 +481,14 @@ static inline void quat_mul_vec3(vec3 r, quat q, vec3 v) t = 2 * cross(q.xyz, v) v' = v + q.w * t + cross(q.xyz, t) */ - vec3 t = {q[0], q[1], q[2]}; + vec3 t; + vec3 q_xyz = {q[0], q[1], q[2]}; vec3 u = {q[0], q[1], q[2]}; - vec3_mul_cross(t, t, v); + vec3_mul_cross(t, q_xyz, v); vec3_scale(t, t, 2); - vec3_mul_cross(u, u, t); + vec3_mul_cross(u, q_xyz, t); vec3_scale(t, t, q[3]); vec3_add(r, v, t); |