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[DEV] correct quaternion

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This commit is contained in:
Edouard DUPIN 2019-04-01 21:51:57 +02:00
parent 60ee77804c
commit 1ed74db7a8
1 changed files with 20 additions and 4 deletions
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24
etk/math/Quaternion.hpp
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@ -12,6 +12,7 @@ extern "C" {
} }
#include <etk/math/Matrix3x3.hpp> #include <etk/math/Matrix3x3.hpp>
#include <etk/math/Vector3D.hpp> #include <etk/math/Vector3D.hpp>
#include <etk/debug.hpp>
namespace etk { namespace etk {
/** /**
@ -30,6 +31,20 @@ namespace etk {
m_floats[2] = 0.0f; m_floats[2] = 0.0f;
m_floats[3] = 0.0f; m_floats[3] = 0.0f;
} }
/*
void checkValues() const {
if ( isinf(m_floats[0]) == true
|| isnan(m_floats[0]) == true
|| isinf(m_floats[1]) == true
|| isnan(m_floats[1]) == true
|| isinf(m_floats[2]) == true
|| isnan(m_floats[2]) == true
|| isinf(m_floats[3]) == true
|| isnan(m_floats[3]) == true) {
TK_CRITICAL(" set transform: (" << m_floats[0] << "," << m_floats[1] << "," << m_floats[2] << "," << m_floats[3] << ")");
}
}
*/
/** /**
* @brief Constructor from scalars. * @brief Constructor from scalars.
* @param _xxx X value * @param _xxx X value
@ -409,6 +424,7 @@ namespace etk {
m_floats[1] = m_floats[3] * _obj.m_floats[1] + _obj.m_floats[3] * m_floats[1] + crossValue.y(); m_floats[1] = m_floats[3] * _obj.m_floats[1] + _obj.m_floats[3] * m_floats[1] + crossValue.y();
m_floats[2] = m_floats[3] * _obj.m_floats[2] + _obj.m_floats[3] * m_floats[2] + crossValue.z(); m_floats[2] = m_floats[3] * _obj.m_floats[2] + _obj.m_floats[3] * m_floats[2] + crossValue.z();
m_floats[3] = m_floats[3] * _obj.m_floats[3] - base.dot(_obj.getVectorV()); m_floats[3] = m_floats[3] * _obj.m_floats[3] - base.dot(_obj.getVectorV());
safeNormalize();
return *this; return *this;
} }
/** /**
@ -462,10 +478,10 @@ namespace etk {
* @param[in] _www W value. * @param[in] _www W value.
*/ */
void setValue(const float& _xxx, const float& _yyy, const float& _zzz, const float& _www) { void setValue(const float& _xxx, const float& _yyy, const float& _zzz, const float& _www) {
m_floats[0]=_xxx; m_floats[0] = _xxx;
m_floats[1]=_yyy; m_floats[1] = _yyy;
m_floats[2]=_zzz; m_floats[2] = _zzz;
m_floats[3]=_www; m_floats[3] = _www;
} }
/** /**
* @brief Set 0 value on all the quaternion * @brief Set 0 value on all the quaternion