Fix #119703: Incorrect conversion of identity quaternion to axis angle #119762
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@ -630,8 +630,11 @@ AxisAngleBase<T, AngleT> to_axis_angle(const QuaternionBase<T> &quat)
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T sin_half_angle = math::length(axis);
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T sin_half_angle = math::length(axis);
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/* Prevent division by zero for axis conversion. */
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/* Prevent division by zero for axis conversion. */
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if (sin_half_angle < T(0.0005)) {
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if (sin_half_angle < T(0.0005)) {
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sin_half_angle = T(1);
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using AngleAxisT = typename AxisAngleBase<T, AngleT>::vec3_type;
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axis[1] = T(1);
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const AngleAxisT identity_axis = AxisAngleBase<T, AngleT>::identity().axis();
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BLI_assert(abs(cos_half_angle) > 0.0005);
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AxisAngleBase<T, AngleT> identity(identity_axis * sign(cos_half_angle), AngleT(0));
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return identity;
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}
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}
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/* Normalize the axis. */
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/* Normalize the axis. */
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axis /= sin_half_angle;
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axis /= sin_half_angle;
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@ -879,4 +879,22 @@ TEST(math_rotation, DualQuaternionTransform)
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}
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}
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}
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}
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TEST(math_axis_angle, AxisAngleFromQuaternion)
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{
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{
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const math::AxisAngle axis_angle({0.0f, 1.0f, 0.0f}, math::AngleRadian(0));
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const math::Quaternion quaternion(1.0f, {0.0f, 0.0f, 0.0f});
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const math::AxisAngle from_quaternion = math::to_axis_angle(quaternion);
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EXPECT_V3_NEAR(axis_angle.axis(), from_quaternion.axis(), 1e-6);
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EXPECT_NEAR(axis_angle.angle().radian(), from_quaternion.angle().radian(), 1e-6);
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}
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{
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const math::AxisAngle axis_angle({0.0f, -1.0f, 0.0f}, math::AngleRadian(0));
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const math::Quaternion quaternion(-1.0f, {0.0f, 0.0f, 0.0f});
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const math::AxisAngle from_quaternion = math::to_axis_angle(quaternion);
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EXPECT_V3_NEAR(axis_angle.axis(), from_quaternion.axis(), 1e-6);
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EXPECT_NEAR(axis_angle.angle().radian(), from_quaternion.angle().radian(), 1e-6);
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}
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}
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} // namespace blender::math::tests
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} // namespace blender::math::tests
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