Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #577 from MichaelKorn/patch-1

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

7
src/LinearMath/btQuaternion.h
View File

@@ -418,22 +418,21 @@ public:
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 s = btScalar(2.) * btAcos(m_floats[3]);
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 s;
if (dot(*this) < 0)
if (m_floats[3] >= 0)
s = btScalar(2.) * btAcos(m_floats[3]);
else
s = btScalar(2.) * btAcos(-m_floats[3]);
return s;
}