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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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4
Demos/ConstraintDemo/CMakeLists.txt
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@@ -33,13 +33,13 @@ IF (USE_GLUT)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
IF (CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppConcaveDemo
TARGET AppConstraintDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
)
ELSE(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppConcaveDemo
TARGET AppConstraintDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
)

100
UnitTests/BulletUnitTests/TestLinearMath.h
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@@ -6,10 +6,60 @@
#include "LinearMath/btScalar.h"
#define TEST_NUM_UNITSPHERE_POINTS 42
static btVector3 sPenetrationDirections[TEST_NUM_UNITSPHERE_POINTS] =
{
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
// ---------------------------------------------------------------------------
class TestLinearMath : public CppUnit::TestFixture
{
public:
@@ -54,8 +104,58 @@ public:
}
void testQuaternionGetAxisAngle()
{
int steps=100;
for (int j=0;j<TEST_NUM_UNITSPHERE_POINTS;j++)
{
btVector3 axis = sPenetrationDirections[j];
for (int i=-steps+1;i<steps;i++)
{
btScalar angle=i*SIMD_2_PI/btScalar(steps);
btQuaternion quat(axis,angle);
btScalar compAngle = quat.getAngle();
if (i>=0)
CPPUNIT_ASSERT_DOUBLES_EQUAL( angle, compAngle, 1e-5 );
else
{
CPPUNIT_ASSERT_DOUBLES_EQUAL( btFabs(angle), btFabs(compAngle), 1e-5 );
}
btVector3 compAxis = quat.getAxis();
if (compAngle>SIMD_EPSILON)
{
if (i>=0)
{
CPPUNIT_ASSERT_DOUBLES_EQUAL( axis.getX(), compAxis.getX(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( axis.getY(), compAxis.getY(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( axis.getZ(), compAxis.getZ(), 1e-4 );
} else
{
btScalar sign = compAngle*angle<0? -1 : 1;
CPPUNIT_ASSERT_DOUBLES_EQUAL( sign*axis.getX(), compAxis.getX(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( sign*axis.getY(), compAxis.getY(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( sign*axis.getZ(), compAxis.getZ(), 1e-4 );
}
} else
{
CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.f, compAxis.getX(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( 0.f, compAxis.getY(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( 0.f, compAxis.getZ(), 1e-4 );
}
}
}
}
CPPUNIT_TEST_SUITE(TestLinearMath);
CPPUNIT_TEST(testNormalize);
CPPUNIT_TEST(testQuaternionGetAxisAngle);
CPPUNIT_TEST_SUITE_END();
private:

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());
}