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Fix a couple mismatches of llAxes2Rot with actual behaviour.

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For all zeros input, the result was <1,0,0,0> but we were producing <0,0,0,.5> because the first branch was taken. Fixed.

We forgot to take the square root when calculating the magnitude of the quaternion while normalizing. Fixed.

Use qnz instead of special casing.
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Sei Lisa 2017-01-23 01:59:32 +01:00
parent 2cca835ae9
commit 84648dadea
1 changed files with 3 additions and 4 deletions
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7
lslopt/lslbasefuncs.py
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@ -866,7 +866,7 @@ def llAxes2Rot(fwd, left, up):
# One of the hardest. # One of the hardest.
t = math.fsum((fwd[0], left[1], up[2])) t = math.fsum((fwd[0], left[1], up[2]))
if t >= 0.: # no danger of division by zero or negative roots if t > 0.: # no danger of division by zero or negative roots
r = math.sqrt(1. + t) r = math.sqrt(1. + t)
s = 0.5/r s = 0.5/r
@ -892,9 +892,8 @@ def llAxes2Rot(fwd, left, up):
q = (s*(up[0]+fwd[2]), s*(left[2]+up[1]), r*0.5, s*(fwd[1]-left[0])) q = (s*(up[0]+fwd[2]), s*(left[2]+up[1]), r*0.5, s*(fwd[1]-left[0]))
# Normalize # Normalize
if q == (0.,0.,0.,0.): q = qnz(q)
return Quaternion((0.,0.,0.,1.)) mag = math.sqrt(math.fsum((q[0]*q[0], q[1]*q[1], q[2]*q[2], q[3]*q[3])))
mag = math.fsum((q[0]*q[0], q[1]*q[1], q[2]*q[2], q[3]*q[3]))
return Quaternion(F32((q[0]/mag, q[1]/mag, q[2]/mag, q[3]/mag))) return Quaternion(F32((q[0]/mag, q[1]/mag, q[2]/mag, q[3]/mag)))