From b5b7ae3a9a83d5ac5c694090b4cd53d702c1efbf Mon Sep 17 00:00:00 2001
From: Danny Robson <danny@nerdcruft.net>
Date: Mon, 17 Oct 2016 18:58:45 +1100
Subject: [PATCH] quaternion: use consistent order for naive impl

---
 quaternion.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/quaternion.cpp b/quaternion.cpp
index 38d12c73..a5268073 100644
--- a/quaternion.cpp
+++ b/quaternion.cpp
@@ -184,14 +184,14 @@ util::rotate (vector3<T> v, quaternion<4,T> q)
 {
     CHECK (is_normalised (v));
 
-#if 1
-    util::vector3<T> u { q.x, q.y, q.z };
-    return v + 2 * cross (u, cross (u, v) + q.w * v);
-#else
-    // Verbosely:
-    quaternionf p { 0, v.x, v.y, v.z };
+#if 0
+    // Naive:
+    quaternion<4,T> p { 0, v.x, v.y, v.z };
     auto p_ = q * p * conjugate (q);
     return { p_.x, p_.y, p_.z };
+#else
+    util::vector3<T> u { q.x, q.y, q.z };
+    return v + 2 * cross (u, cross (u, v) + q.w * v);
 #endif
 }