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Merge pull request #577 from MichaelKorn/patch-1

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fix for issue in getAngleShortestPath()
This commit is contained in:
erwincoumans
2016-03-04 15:03:04 -08:00
parent 03e85ad5a8 e80bafdf66
commit 51970941b4
1 changed files with 3 additions and 4 deletions
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7
src/LinearMath/btQuaternion.h
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@@ -418,22 +418,21 @@ public:
return btAcos(dot(q) / s) * btScalar(2.0); return btAcos(dot(q) / s) * btScalar(2.0);
} }
/**@brief Return the angle of rotation represented by this quaternion */ /**@brief Return the angle [0, 2Pi] of rotation represented by this quaternion */
btScalar getAngle() const btScalar getAngle() const
{ {
btScalar s = btScalar(2.) * btAcos(m_floats[3]); btScalar s = btScalar(2.) * btAcos(m_floats[3]);
return s; return s;
} }
/**@brief Return the angle of rotation represented by this quaternion along the shortest path*/ /**@brief Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path */
btScalar getAngleShortestPath() const btScalar getAngleShortestPath() const
{ {
btScalar s; btScalar s;
if (dot(*this) < 0) if (m_floats[3] >= 0)
s = btScalar(2.) * btAcos(m_floats[3]); s = btScalar(2.) * btAcos(m_floats[3]);
else else
s = btScalar(2.) * btAcos(-m_floats[3]); s = btScalar(2.) * btAcos(-m_floats[3]);
return s; return s;
} }