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Commit 4f19ecbe authored by Rye Mutt's avatar Rye Mutt :bread:
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Attempt to please the floating point gods

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indra/llmath/llquaternion.cpp
+ 19
− 19
View file @ 4f19ecbe
......@@ -61,7 +61,7 @@ LLQuaternion::LLQuaternion(F32 angle, const LLVector4 &vec)
F32 mag = sqrtf(vec.mV[VX] * vec.mV[VX] + vec.mV[VY] * vec.mV[VY] + vec.mV[VZ] * vec.mV[VZ]);
if (mag > FP_MAG_THRESHOLD)
{
angle *= 0.5;
angle *= 0.5f;
F32 c = cosf(angle);
F32 s = sinf(angle) / mag;
mQ[VX] = vec.mV[VX] * s;
......@@ -80,7 +80,7 @@ LLQuaternion::LLQuaternion(F32 angle, const LLVector3 &vec)
F32 mag = sqrtf(vec.mV[VX] * vec.mV[VX] + vec.mV[VY] * vec.mV[VY] + vec.mV[VZ] * vec.mV[VZ]);
if (mag > FP_MAG_THRESHOLD)
{
angle *= 0.5;
angle *= 0.5f;
F32 c = cosf(angle);
F32 s = sinf(angle) / mag;
mQ[VX] = vec.mV[VX] * s;
......@@ -150,7 +150,7 @@ const LLQuaternion& LLQuaternion::setAngleAxis(F32 angle, F32 x, F32 y, F32 z)
F32 mag = sqrtf(x * x + y * y + z * z);
if (mag > FP_MAG_THRESHOLD)
{
angle *= 0.5;
angle *= 0.5f;
F32 c = cosf(angle);
F32 s = sinf(angle) / mag;
mQ[VX] = x * s;
......@@ -170,7 +170,7 @@ const LLQuaternion& LLQuaternion::setAngleAxis(F32 angle, const LLVector3 &vec)
F32 mag = sqrtf(vec.mV[VX] * vec.mV[VX] + vec.mV[VY] * vec.mV[VY] + vec.mV[VZ] * vec.mV[VZ]);
if (mag > FP_MAG_THRESHOLD)
{
angle *= 0.5;
angle *= 0.5f;
F32 c = cosf(angle);
F32 s = sinf(angle) / mag;
mQ[VX] = vec.mV[VX] * s;
......@@ -190,7 +190,7 @@ const LLQuaternion& LLQuaternion::setAngleAxis(F32 angle, const LLVector4 &vec)
F32 mag = sqrtf(vec.mV[VX] * vec.mV[VX] + vec.mV[VY] * vec.mV[VY] + vec.mV[VZ] * vec.mV[VZ]);
if (mag > FP_MAG_THRESHOLD)
{
angle *= 0.5;
angle *= 0.5f;
F32 c = cosf(angle);
F32 s = sinf(angle) / mag;
mQ[VX] = vec.mV[VX] * s;
......@@ -237,7 +237,7 @@ const LLQuaternion& LLQuaternion::setQuat(F32 angle, F32 x, F32 y, F32 z)
F32 mag = sqrtf(x * x + y * y + z * z);
if (mag > FP_MAG_THRESHOLD)
{
angle *= 0.5;
angle *= 0.5f;
F32 c = cosf(angle);
F32 s = sinf(angle) / mag;
mQ[VX] = x * s;
......@@ -258,7 +258,7 @@ const LLQuaternion& LLQuaternion::setQuat(F32 angle, const LLVector3 &vec)
F32 mag = sqrtf(vec.mV[VX] * vec.mV[VX] + vec.mV[VY] * vec.mV[VY] + vec.mV[VZ] * vec.mV[VZ]);
if (mag > FP_MAG_THRESHOLD)
{
angle *= 0.5;
angle *= 0.5f;
F32 c = cosf(angle);
F32 s = sinf(angle) / mag;
mQ[VX] = vec.mV[VX] * s;
......@@ -278,7 +278,7 @@ const LLQuaternion& LLQuaternion::setQuat(F32 angle, const LLVector4 &vec)
F32 mag = sqrtf(vec.mV[VX] * vec.mV[VX] + vec.mV[VY] * vec.mV[VY] + vec.mV[VZ] * vec.mV[VZ]);
if (mag > FP_MAG_THRESHOLD)
{
angle *= 0.5;
angle *= 0.5f;
F32 c = cosf(angle);
F32 s = sinf(angle) / mag;
mQ[VX] = vec.mV[VX] * s;
......@@ -498,7 +498,7 @@ const LLQuaternion &LLQuaternion::constrain(F32 radians)
const F32 cos_angle_lim = cosf( radians/2 ); // mQ[VW] limit
const F32 sin_angle_lim = sinf( radians/2 ); // rotation axis length limit
if (mQ[VW] < 0.f)
if (mQ[VW] < 0.0f)
{
mQ[VX] *= -1.f;
mQ[VY] *= -1.f;
......@@ -888,8 +888,8 @@ void LLQuaternion::getAzimuthAndAltitude(F32 &azimuthRadians, F32 &altitudeRadia
// quaternion does not need to be normalized
void LLQuaternion::getEulerAngles(F32 *roll, F32 *pitch, F32 *yaw) const
{
F32 sx = 2 * (mQ[VX] * mQ[VW] - mQ[VY] * mQ[VZ]); // sine of the roll
F32 sy = 2 * (mQ[VY] * mQ[VW] + mQ[VX] * mQ[VZ]); // sine of the pitch
F32 sx = 2.f * (mQ[VX] * mQ[VW] - mQ[VY] * mQ[VZ]); // sine of the roll
F32 sy = 2.f * (mQ[VY] * mQ[VW] + mQ[VX] * mQ[VZ]); // sine of the pitch
F32 ys = mQ[VW] * mQ[VW] - mQ[VY] * mQ[VY]; // intermediate cosine 1
F32 xz = mQ[VX] * mQ[VX] - mQ[VZ] * mQ[VZ]; // intermediate cosine 2
F32 cx = ys - xz; // cosine of the roll
......@@ -902,17 +902,17 @@ void LLQuaternion::getEulerAngles(F32 *roll, F32 *pitch, F32 *yaw) const
}
else // gimbal lock
{
if (sy > 0)
if (sy > 0.0f)
{
*pitch = F_PI_BY_TWO;
*yaw = 2 * atan2f(mQ[VZ] + mQ[VX], mQ[VW] + mQ[VY]);
*yaw = 2.f * atan2f(mQ[VZ] + mQ[VX], mQ[VW] + mQ[VY]);
}
else
{
*pitch = -F_PI_BY_TWO;
*yaw = 2 * atan2f(mQ[VZ] - mQ[VX], mQ[VW] - mQ[VY]);
*yaw = 2.f * atan2f(mQ[VZ] - mQ[VX], mQ[VW] - mQ[VY]);
}
*roll = 0;
*roll = 0.0f;
}
}
......@@ -930,7 +930,7 @@ LLVector3 LLQuaternion::packToVector3() const
y /= mag;
z /= mag; // no need to normalize w, it's not used
}
if( mQ[VW] >= 0 )
if( mQ[VW] >= 0.0f)
{
return LLVector3( x, y , z );
}
......@@ -946,8 +946,8 @@ void LLQuaternion::unpackFromVector3( const LLVector3& vec )
mQ[VX] = vec.mV[VX];
mQ[VY] = vec.mV[VY];
mQ[VZ] = vec.mV[VZ];
F32 t = 1.f - vec.magVecSquared();
if( t > 0 )
F32 t = 1.0f - vec.magVecSquared();
if( t > 0.0f)
{
mQ[VW] = sqrt( t );
}
......@@ -955,7 +955,7 @@ void LLQuaternion::unpackFromVector3( const LLVector3& vec )
{
// Need this to avoid trying to find the square root of a negative number due
// to floating point error.
mQ[VW] = 0;
mQ[VW] = 0.0f;
}
}
......
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