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Fix the calculation of the angular velocity when the rotation speed is not high.

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(cherry picked from commit db7c91e0ad)
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fabriceci 2022-07-19 09:50:54 +02:00 committed by Rémi Verschelde
parent 4e1f30390d
commit 43e9816fb1
1 changed files with 6 additions and 7 deletions
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13
core/math/basis.cpp
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@ -867,14 +867,13 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
#endif
*/
real_t angle, x, y, z; // variables for result
real_t epsilon = 0.01; // margin to allow for rounding errors
real_t epsilon2 = 0.1; // margin to distinguish between 0 and 180 degrees
real_t angle_epsilon = 0.1; // margin to distinguish between 0 and 180 degrees
if ((Math::abs(elements[1][0] - elements[0][1]) < epsilon) && (Math::abs(elements[2][0] - elements[0][2]) < epsilon) && (Math::abs(elements[2][1] - elements[1][2]) < epsilon)) {
if ((Math::abs(elements[1][0] - elements[0][1]) < CMP_EPSILON) && (Math::abs(elements[2][0] - elements[0][2]) < CMP_EPSILON) && (Math::abs(elements[2][1] - elements[1][2]) < CMP_EPSILON)) {
// singularity found
// first check for identity matrix which must have +1 for all terms
// in leading diagonaland zero in other terms
if ((Math::abs(elements[1][0] + elements[0][1]) < epsilon2) && (Math::abs(elements[2][0] + elements[0][2]) < epsilon2) && (Math::abs(elements[2][1] + elements[1][2]) < epsilon2) && (Math::abs(elements[0][0] + elements[1][1] + elements[2][2] - 3) < epsilon2)) {
if ((Math::abs(elements[1][0] + elements[0][1]) < angle_epsilon) && (Math::abs(elements[2][0] + elements[0][2]) < angle_epsilon) && (Math::abs(elements[2][1] + elements[1][2]) < angle_epsilon) && (Math::abs(elements[0][0] + elements[1][1] + elements[2][2] - 3) < angle_epsilon)) {
// this singularity is identity matrix so angle = 0
r_axis = Vector3(0, 1, 0);
r_angle = 0;
@ -889,7 +888,7 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
real_t xz = (elements[2][0] + elements[0][2]) / 4;
real_t yz = (elements[2][1] + elements[1][2]) / 4;
if ((xx > yy) && (xx > zz)) { // elements[0][0] is the largest diagonal term
if (xx < epsilon) {
if (xx < CMP_EPSILON) {
x = 0;
y = Math_SQRT12;
z = Math_SQRT12;
@ -899,7 +898,7 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
z = xz / x;
}
} else if (yy > zz) { // elements[1][1] is the largest diagonal term
if (yy < epsilon) {
if (yy < CMP_EPSILON) {
x = Math_SQRT12;
y = 0;
z = Math_SQRT12;
@ -909,7 +908,7 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
z = yz / y;
}
} else { // elements[2][2] is the largest diagonal term so base result on this
if (zz < epsilon) {
if (zz < CMP_EPSILON) {
x = Math_SQRT12;
y = Math_SQRT12;
z = 0;