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backporting bugfix in Quaternion::setFromTwoVectors()

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This commit is contained in:
Gael Guennebaud 2009-07-06 09:05:48 +02:00
parent 9bff5e4f67
commit c6eb9ef60e
1 changed files with 10 additions and 1 deletions
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11
Eigen/src/Geometry/Quaternion.h
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@ -346,7 +346,6 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
{ {
Vector3 v0 = a.normalized(); Vector3 v0 = a.normalized();
Vector3 v1 = b.normalized(); Vector3 v1 = b.normalized();
Vector3 axis = v0.cross(v1);
Scalar c = v0.dot(v1); Scalar c = v0.dot(v1);
// if dot == 1, vectors are the same // if dot == 1, vectors are the same
@ -354,7 +353,17 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
{ {
// set to identity // set to identity
this->w() = 1; this->vec().setZero(); this->w() = 1; this->vec().setZero();
return *this;
} }
// if dot == -1, vectors are opposites
if (ei_isApprox(c,Scalar(-1)))
{
this->vec() = v0.unitOrthogonal();
this->w() = 0;
return *this;
}
Vector3 axis = v0.cross(v1);
Scalar s = ei_sqrt((Scalar(1)+c)*Scalar(2)); Scalar s = ei_sqrt((Scalar(1)+c)*Scalar(2));
Scalar invs = Scalar(1)/s; Scalar invs = Scalar(1)/s;
this->vec() = axis * invs; this->vec() = axis * invs;