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fixed issue with de-normalized quaternion, causing acosf to fail

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See http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1440
Thanks Proctoid for reporting.
This commit is contained in:
ejcoumans
2007-09-11 02:49:39 +00:00
parent 15df0a7d7a
commit a71e9c3e5a
2 changed files with 8 additions and 1 deletions
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5
src/LinearMath/btScalar.h
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@@ -116,7 +116,10 @@ SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); }
SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { return acosf(x); } SIMD_FORCE_INLINE btScalar btAcos(btScalar x) {
btAssert(x <= btScalar(1.));
return acosf(x);
}
SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); } SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); }
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }

4
src/LinearMath/btTransformUtil.h
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@@ -121,6 +121,10 @@ public:
dmat.getRotation(dorn); dmat.getRotation(dorn);
#endif//USE_QUATERNION_DIFF #endif//USE_QUATERNION_DIFF
///floating point inaccuracy can lead to w component > 1..., which breaks
dorn.normalize();
angle = dorn.getAngle(); angle = dorn.getAngle();
axis = btVector3(dorn.x(),dorn.y(),dorn.z()); axis = btVector3(dorn.x(),dorn.y(),dorn.z());
axis[3] = btScalar(0.); axis[3] = btScalar(0.);