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unified processing order of quaternion properties to w,x,y,z

This commit is contained in:
Philip Eisenlohr 2016-11-24 09:37:57 -05:00
parent dc988dd6b1
commit c3f58fd208
1 changed files with 6 additions and 6 deletions
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12
lib/damask/orientation.py
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@ -137,18 +137,18 @@ class Quaternion:
def __imul__(self, other):
"""In-place multiplication"""
try: # Quaternion
Aw = self.w
Ax = self.x
Ay = self.y
Az = self.z
Aw = self.w
Bw = other.w
Bx = other.x
By = other.y
Bz = other.z
Bw = other.w
self.x = Ax * Bw + Ay * Bz - Az * By + Aw * Bx
self.y = -Ax * Bz + Ay * Bw + Az * Bx + Aw * By
self.z = Ax * By - Ay * Bx + Az * Bw + Aw * Bz
self.w = -Ax * Bx - Ay * By - Az * Bz + Aw * Bw
self.w = - Ax * Bx - Ay * By - Az * Bz + Aw * Bw
self.x = + Ax * Bw + Ay * Bz - Az * By + Aw * Bx
self.y = - Ax * Bz + Ay * Bw + Az * Bx + Aw * By
self.z = + Ax * By - Ay * Bx + Az * Bw + Aw * Bz
except: pass
return self