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fixed rotation and translation issues for mesh and hull collision shapes

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nicola.candussi
2008-09-22 18:07:39 +00:00
parent a5da7347db
commit 965ef932e9
4 changed files with 68 additions and 41 deletions
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25
Extras/MayaPlugin/mvl/quat.h
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@@ -121,22 +121,21 @@ q_from_axis_angle(vec<T1, 3> const& axis, T2 theta) {
template<typename T1, typename T2, typename T3>
inline
void
q_to_axis_angle(vec<T1, 4> const& q, vec<T2, 3>& axis, T3& theta) {
T3 half_theta= acos(q[0]);
q_to_axis_angle(vec<T1, 4> const& q, vec<T2, 3>& axis, T3& theta)
{
T3 half_theta= acos(q[0]);
if(half_theta > 10 * std::numeric_limits<T3>::epsilon()) {
if(half_theta > 10 * std::numeric_limits<T3>::epsilon()) {
T3 oost = 1 / sin(half_theta);
T3 oost = 1 / sin(half_theta);
axis[0] = oost * q[1];
axis[1] = oost * q[2];
axis[2] = oost * q[3];
theta = 2 * half_theta;
} else {
axis[0] = oost * q[1];
axis[1] = oost * q[2];
axis[2] = oost * q[3];
theta = 2 * half_theta;
} else {
axis[0] = axis[1] = axis[2] = 0;
theta = 0;
}
theta = 0;
}
}
//init quaternion from rotation matrix