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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.
This commit is contained in:
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.
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)
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]))
# Normalize
if q == (0.,0.,0.,0.):
return Quaternion((0.,0.,0.,1.))
mag = math.fsum((q[0]*q[0], q[1]*q[1], q[2]*q[2], q[3]*q[3]))
q = qnz(q)
mag = math.sqrt(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)))