From 6fb3c0dcba68488651b5bd573914dc1e93b56596 Mon Sep 17 00:00:00 2001
From: Niklaus Johner <nij2003@med.cornell.edu>
Date: Fri, 16 Sep 2011 14:21:58 -0400
Subject: [PATCH] fix for geom::quat::GetAngle and for
geom::Rotation3::GetRotationAngle() and geom::Rotation3::GetRotationMatrix()
---
modules/geom/src/composite3.cc | 22 +++++-----------------
modules/geom/src/quat.cc | 3 ++-
2 files changed, 7 insertions(+), 18 deletions(-)
diff --git a/modules/geom/src/composite3.cc b/modules/geom/src/composite3.cc
index 686e843e1..751901b30 100644
--- a/modules/geom/src/composite3.cc
+++ b/modules/geom/src/composite3.cc
@@ -224,25 +224,12 @@ Vec3 Rotation3::GetRotationAxis() const
}
Real Rotation3::GetRotationAngle() const
{
- return 2.0*acos(q_.GetAngle());
+ //return 2.0*acos(q_.GetAngle());
+ return q_.GetAngle();
}
Mat3 Rotation3::GetRotationMatrix() const
{
- Real ww = q_.GetAngle()*q_.GetAngle();
- Real wx = q_.GetAngle()*q_.GetAxis().GetX();
- Real wy = q_.GetAngle()*q_.GetAxis().GetY();
- Real wz = q_.GetAngle()*q_.GetAxis().GetZ();
- Real xx = q_.GetAxis().GetX()*q_.GetAxis().GetX();
- Real xy = q_.GetAxis().GetX()*q_.GetAxis().GetY();
- Real xz = q_.GetAxis().GetX()*q_.GetAxis().GetZ();
- Real yy = q_.GetAxis().GetY()*q_.GetAxis().GetY();
- Real yz = q_.GetAxis().GetY()*q_.GetAxis().GetZ();
- Real zz = q_.GetAxis().GetZ()*q_.GetAxis().GetZ();
-
-
- return Mat3((ww+xx-yy-zz), 2.0*(-wz+xy), 2.0*(wy+xz),
- 2.0*(wz+xy), (ww-xx+yy-zz), 2.0*(-wx+yz),
- 2.0*(-wy+xz), 2.0*(wx+yz),(ww-xx-yy+zz));
+ return q_.ToRotationMatrix();
}
void Rotation3::SetOrigin(const Vec3& o)
@@ -299,7 +286,8 @@ Quat Rotation3::generate_from_eulers(Real phi, Real theta, Real psi)
}
Quat Rotation3::generate_from_axis_angle(const Vec3& axis, Real angle)
{
- return Quat(cos(angle/2.0),sin(angle/2.0)*Normalize(axis));
+ //return Quat(cos(angle/2.0),sin(angle/2.0)*Normalize(axis));
+ return Quat(angle, axis);
}
/*
diff --git a/modules/geom/src/quat.cc b/modules/geom/src/quat.cc
index b923a6680..f9b852cae 100644
--- a/modules/geom/src/quat.cc
+++ b/modules/geom/src/quat.cc
@@ -287,7 +287,8 @@ Vec3 Quat::GetAxis() const
Real Quat::GetAngle() const
{
- Real ww = std::acos(w/Length(Vec3(x,y,z)));
+ //Real ww = std::acos(w/Length(Vec3(x,y,z)));
+ Real ww = 2.0*std::acos(w);
return ww;
}
--
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