From 47869627d13d71f3997adea53731890e55a10de4 Mon Sep 17 00:00:00 2001
From: Daniel Chappuis <chappuis.daniel@gmail.com>
Date: Thu, 14 Dec 2017 20:24:19 +0100
Subject: [PATCH] Fix issue in Transform

---
 src/mathematics/Transform.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/mathematics/Transform.h b/src/mathematics/Transform.h
index a5248fc2..aeaf4234 100644
--- a/src/mathematics/Transform.h
+++ b/src/mathematics/Transform.h
@@ -223,7 +223,11 @@ inline Vector3 Transform::operator*(const Vector3& vector) const {
 // Operator of multiplication of a transform with another one
 inline Transform Transform::operator*(const Transform& transform2) const {
 
-    const decimal prodX = mOrientation.w * transform2.mPosition.x + mOrientation.w * transform2.mPosition.z
+    // The following code is equivalent to this
+    //return Transform(mPosition + mOrientation * transform2.mPosition,
+    //                 mOrientation * transform2.mOrientation);
+
+    const decimal prodX = mOrientation.w * transform2.mPosition.x + mOrientation.y * transform2.mPosition.z
                           - mOrientation.z * transform2.mPosition.y;
     const decimal prodY = mOrientation.w * transform2.mPosition.y + mOrientation.z * transform2.mPosition.x
                           - mOrientation.x * transform2.mPosition.z;