Possible bug in Quaternion

[SerafeimBakalakos]

In class ISAAR.MSolve.Numerical.LinearAlgebra.Quaternion methods ApplyIncrementalRotation(Vector incrementalRotation) and ApplyIncrementalRotationToNew(Vector incrementalRotation), note the segment:

        Vector updatedVectorPart = this.vectorPart;
        updatedVectorPart.Scale(scalarPartIncrement);
        updatedVectorPart.Add(scalarPart * vectorPartIncrement);
        Vector incrementCrossVectorPart = vectorPartIncrement ^ this.vectorPart;
        updatedVectorPart.Add(incrementCrossVectorPart);

The first line above does NOT copy the vector in C#. It only creates a new reference to the same vector. This means that as updatedVectorPart is scaled, added, etc, the original this.vectorPart does as well.

The question is: Is this code still correct, taking the above into consideration?

[SerafeimBakalakos]

Also I do not know if anyone has experience with quaternions. If you do, please assign yourselves.

[vpapado]

theofilos. στειλτου ενα μεηλ Στις Σάβ, 29 Δεκ 2018, 16:44 ο χρήστης Serafeim Bakalakos < notifications@github.com> έγραψε:

…

Also I do not know if anyone has experience with quaternions? If you do, please assign yourselves. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#117 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AS23bOnwHtWn8yHd_FS7ZD6jEIItkDo2ks5u93-9gaJpZM4ZkmUG> .