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save a few ns on lsl vector rotations

httptests
UbitUmarov 2018-04-14 23:34:16 +01:00
parent 7c9c5cfedf
commit fced731e70
1 changed files with 7 additions and 5 deletions
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12
OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
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@ -270,13 +270,15 @@ namespace OpenSim.Region.ScriptEngine.Shared
// Vector-Rotation Math // Vector-Rotation Math
public static Vector3 operator *(Vector3 v, Quaternion r) public static Vector3 operator *(Vector3 v, Quaternion r)
{ {
Quaternion vq = new Quaternion(v.x, v.y, v.z, 0); double rx = r.s * v.x + r.y * v.z - r.z * v.y;
Quaternion nq = new Quaternion(-r.x, -r.y, -r.z, r.s); double ry = r.s * v.y + r.z * v.x - r.x * v.z;
double rz = r.s * v.z + r.x * v.y - r.y * v.x;
// adapted for operator * computing "b * a" v.x += 2.0f * (rz * r.y - ry * r.z);
Quaternion result = nq * (vq * r); v.y += 2.0f * (rx * r.z - rz * r.x);
v.z += 2.0f * (ry * r.x - rx * r.y);
return new Vector3(result.x, result.y, result.z); return v;
} }
public static Vector3 operator /(Vector3 v, Quaternion r) public static Vector3 operator /(Vector3 v, Quaternion r)