super-three 0.157.1 → 0.160.0

package/src/math/Vector3.js

@@ -251,21 +251,20 @@ class Vector3 {
 
 	applyQuaternion( q ) {
 
-		const x = this.x, y = this.y, z = this.z;
-		const qx = q.x, qy = q.y, qz = q.z, qw = q.w;
+		// quaternion q is assumed to have unit length
 
-		// calculate quat * vector
-
-		const ix = qw * x + qy * z - qz * y;
-		const iy = qw * y + qz * x - qx * z;
-		const iz = qw * z + qx * y - qy * x;
-		const iw = - qx * x - qy * y - qz * z;
+		const vx = this.x, vy = this.y, vz = this.z;
+		const qx = q.x, qy = q.y, qz = q.z, qw = q.w;
 
-		// calculate result * inverse quat
+		// t = 2 * cross( q.xyz, v );
+		const tx = 2 * ( qy * vz - qz * vy );
+		const ty = 2 * ( qz * vx - qx * vz );
+		const tz = 2 * ( qx * vy - qy * vx );
 
-		this.x = ix * qw + iw * - qx + iy * - qz - iz * - qy;
-		this.y = iy * qw + iw * - qy + iz * - qx - ix * - qz;
-		this.z = iz * qw + iw * - qz + ix * - qy - iy * - qx;
+		// v + q.w * t + cross( q.xyz, t );
+		this.x = vx + qw * tx + qy * tz - qz * ty;
+		this.y = vy + qw * ty + qz * tx - qx * tz;
+		this.z = vz + qw * tz + qx * ty - qy * tx;
 
 		return this;