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fix for issue in getAngleShortestPath()

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Testing squared norm for <0 does not make any sense. In Addition giving the range of the return values is a great help to understand the descriptions.
This commit is contained in:
Michael Korn
2016-03-04 22:01:29 +01:00
parent 03e85ad5a8
commit e80bafdf66
1 changed files with 3 additions and 4 deletions
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7
src/LinearMath/btQuaternion.h
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@@ -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;
}