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quaternions take half the angle the represent

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Michael Kirsch 2019-05-25 20:53:41 +02:00 committed by Joseph Lenox
parent b46383a089
commit 293a6bfe10
1 changed files with 2 additions and 2 deletions
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4
xs/src/libslic3r/TransformationMatrix.cpp
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@ -311,13 +311,13 @@ TransformationMatrix TransformationMatrix::mat_rotation(double q1, double q2, do
TransformationMatrix TransformationMatrix::mat_rotation(double angle_rad, const Pointf3 &axis) TransformationMatrix TransformationMatrix::mat_rotation(double angle_rad, const Pointf3 &axis)
{ {
double s, factor, q1, q2, q3, q4; double s, factor, q1, q2, q3, q4;
s = sin(angle_rad); s = sin(angle_rad/2);
factor = axis.x*axis.x + axis.y*axis.y + axis.z*axis.z; factor = axis.x*axis.x + axis.y*axis.y + axis.z*axis.z;
factor = s / sqrt(factor); factor = s / sqrt(factor);
q1 = factor*axis.x; q1 = factor*axis.x;
q2 = factor*axis.y; q2 = factor*axis.y;
q3 = factor*axis.z; q3 = factor*axis.z;
q4 = cos(angle_rad); q4 = cos(angle_rad/2);
return mat_rotation(q1, q2, q3, q4); return mat_rotation(q1, q2, q3, q4);
} }