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Fixed axisAngle NaN #638

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This commit is contained in:
Christophe Riccio 2017-06-24 12:43:00 +02:00
parent 631fd1703f
commit 26b3e3ed78
3 changed files with 45 additions and 2 deletions
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8
glm/gtx/matrix_interpolation.inl
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@ -1,6 +1,8 @@
/// @ref gtx_matrix_interpolation /// @ref gtx_matrix_interpolation
/// @file glm/gtx/matrix_interpolation.hpp /// @file glm/gtx/matrix_interpolation.hpp
#include "../gtc/constants.hpp"
namespace glm namespace glm
{ {
template<typename T, precision P> template<typename T, precision P>
@ -72,7 +74,11 @@ namespace glm
T s = sqrt((mat[2][1] - mat[1][2]) * (mat[2][1] - mat[1][2]) + (mat[2][0] - mat[0][2]) * (mat[2][0] - mat[0][2]) + (mat[1][0] - mat[0][1]) * (mat[1][0] - mat[0][1])); T s = sqrt((mat[2][1] - mat[1][2]) * (mat[2][1] - mat[1][2]) + (mat[2][0] - mat[0][2]) * (mat[2][0] - mat[0][2]) + (mat[1][0] - mat[0][1]) * (mat[1][0] - mat[0][1]));
if (glm::abs(s) < T(0.001)) if (glm::abs(s) < T(0.001))
s = (T)1.0; s = (T)1.0;
angle = acos((mat[0][0] + mat[1][1] + mat[2][2] - (T)1.0) * (T)0.5); T const angleCos = (mat[0][0] + mat[1][1] + mat[2][2] - (T)1.0) * (T)0.5;
if (angleCos - static_cast<T>(1)) < epsilon)
angle = pi<T>() * static_cast<T>(0.25);
else
angle = acos(angleCos);
axis.x = (mat[1][2] - mat[2][1]) / s; axis.x = (mat[1][2] - mat[2][1]) / s;
axis.y = (mat[2][0] - mat[0][2]) / s; axis.y = (mat[2][0] - mat[0][2]) / s;
axis.z = (mat[0][1] - mat[1][0]) / s; axis.z = (mat[0][1] - mat[1][0]) / s;

1
readme.md
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@ -82,6 +82,7 @@ glm::mat4 camera(float Translate, glm::vec2 const & Rotate)
- Fixed usused variable warning in GTX_spline #618 - Fixed usused variable warning in GTX_spline #618
- Fixed references to GLM_FORCE_RADIANS which was removed #642 - Fixed references to GLM_FORCE_RADIANS which was removed #642
- Fixed glm::fastInverseSqrt to use fast inverse square #640 - Fixed glm::fastInverseSqrt to use fast inverse square #640
- Fixed axisAngle NaN #638
#### Deprecation: #### Deprecation:
- Requires Visual Studio 2013, GCC 4.7, Clang 3.4, Cuda 7, ICC 2013 or a C++11 compiler - Requires Visual Studio 2013, GCC 4.7, Clang 3.4, Cuda 7, ICC 2013 or a C++11 compiler

38
test/gtx/gtx_matrix_interpolation.cpp
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@ -1,9 +1,45 @@
#define GLM_ENABLE_EXPERIMENTAL #define GLM_ENABLE_EXPERIMENTAL
#include <glm/gtc/quaternion.hpp>
#include <glm/gtx/matrix_interpolation.hpp> #include <glm/gtx/matrix_interpolation.hpp>
#include <iostream>
int test_axisAngle()
{
int Error = 0;
float p = 0.171654f;
glm::mat4 m1(-0.9946f, 0.0f, -0.104531f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.104531f, 0.0f, -0.9946f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
glm::mat4 m2(-0.992624f, 0.0f, -0.121874f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.121874f, 0.0f, -0.992624f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
glm::mat4 const m1rot = glm::extractMatrixRotation(m1);
glm::mat4 const dltRotation = m2 * glm::transpose(m1rot);
glm::vec3 dltAxis(0.0f);
float dltAngle = 0.0f;
glm::axisAngle(dltRotation, dltAxis, dltAngle);
std::cout << "dltAngle: (" << dltAxis.x << ", " << dltAxis.y << ", " << dltAxis.z << "), dltAngle: " << dltAngle << std::endl;
glm::fquat q = glm::quat_cast(dltRotation);
std::cout << "q: (" << q.x << ", " << q.y << ", " << q.z << ", " << q.w << ")" << std::endl;
float yaw = glm::yaw(q);
std::cout << "Yaw: " << yaw << std::endl;
return Error;
}
int main() int main()
{ {
int Error(0); int Error = 0;
Error += test_axisAngle();
return Error; return Error;
} }