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Removed global operator- in btQuaternion, and rewrote the 'getAxis' method

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Add a unit test for testQuaternionGetAxisAngle
Thanks to ejtttje, fixes Issue 538
This commit is contained in:
erwin.coumans
2011-09-13 23:37:05 +00:00
parent 02a0574ceb
commit b690019e39
5 changed files with 108 additions and 13 deletions
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2
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -918,7 +918,7 @@ void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,
if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate.
{
qMinTwist = operator-(qTwist);
qMinTwist = -(qTwist);
twistAngle = qMinTwist.getAngle();
}
if (twistAngle < 0)

2
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -663,7 +663,7 @@ void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt)
btScalar targetAngle = qHinge.getAngle();
if (targetAngle > SIMD_PI) // long way around. flip quat and recalculate.
{
qHinge = operator-(qHinge);
qHinge = -(qHinge);
targetAngle = qHinge.getAngle();
}
if (qHinge.getZ() < 0)

13
src/LinearMath/btQuaternion.h
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@@ -212,11 +212,12 @@ public:
/**@brief Return the axis of the rotation represented by this quaternion */
btVector3 getAxis() const
{
btScalar s_squared = btScalar(1.) - btPow(m_floats[3], btScalar(2.));
btScalar s_squared = 1.f-m_floats[3]*m_floats[3];
if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero
return btVector3(1.0, 0.0, 0.0); // Arbitrary
btScalar s = btSqrt(s_squared);
return btVector3(m_floats[0] / s, m_floats[1] / s, m_floats[2] / s);
btScalar s = 1.f/btSqrt(s_squared);
return btVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
}
/**@brief Return the inverse of this quaternion */
@@ -315,12 +316,6 @@ public:
};
/**@brief Return the negative of a quaternion */
SIMD_FORCE_INLINE btQuaternion
operator-(const btQuaternion& q)
{
return btQuaternion(-q.x(), -q.y(), -q.z(), -q.w());
}