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+ Replace floats with doubles
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@wwmayer
wwmayer committed Feb 26, 2014
1 parent 50883c4 commit eed06cc
Showing 1 changed file with 47 additions and 47 deletions.
94 changes: 47 additions & 47 deletions src/Base/Rotation.cpp
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Expand Up @@ -34,7 +34,7 @@ using namespace Base;

Rotation::Rotation()
{
quat[0]=quat[1]=quat[2]=0.0f;quat[3]=1.0f;
quat[0]=quat[1]=quat[2]=0.0;quat[3]=1.0;
}

/** Construct a rotation by rotation axis and angle */
Expand Down Expand Up @@ -106,18 +106,18 @@ void Rotation::getValue(Vector3d & axis, double & rfAngle) const
// Taken from <http://de.wikipedia.org/wiki/Quaternionen>
//
// Note: -1 < w < +1 (|w| == 1 not allowed, with w:=quat[3])
if((this->quat[3] > -1.0f) && (this->quat[3] < 1.0f)) {
rfAngle = double(acos(this->quat[3])) * 2.0f;
double scale = (double)sin(rfAngle / 2.0f);
if((this->quat[3] > -1.0) && (this->quat[3] < 1.0)) {
rfAngle = double(acos(this->quat[3])) * 2.0;
double scale = (double)sin(rfAngle / 2.0);
// Get a normalized vector
axis.x = this->quat[0] / scale;
axis.y = this->quat[1] / scale;
axis.z = this->quat[2] / scale;
}
else {
// The quaternion doesn't describe a rotation, so we can setup any value we want
axis.Set(0.0f, 0.0f, 1.0f);
rfAngle = 0.0f;
axis.Set(0.0, 0.0, 1.0);
rfAngle = 0.0;
}
}

Expand All @@ -133,25 +133,25 @@ void Rotation::getValue(Matrix4D & matrix) const
const double z = this->quat[2];
const double w = this->quat[3];

matrix[0][0] = 1.0f-2.0f*(y*y+z*z);
matrix[0][1] = 2.0f*(x*y-z*w);
matrix[0][2] = 2.0f*(x*z+y*w);
matrix[0][3] = 0.0f;

matrix[1][0] = 2.0f*(x*y+z*w);
matrix[1][1] = 1.0f-2.0f*(x*x+z*z);
matrix[1][2] = 2.0f*(y*z-x*w);
matrix[1][3] = 0.0f;

matrix[2][0] = 2.0f*(x*z-y*w);
matrix[2][1] = 2.0f*(y*z+x*w);
matrix[2][2] = 1.0f-2.0f*(x*x+y*y);
matrix[2][3] = 0.0f;

matrix[3][0] = 0.0f;
matrix[3][1] = 0.0f;
matrix[3][2] = 0.0f;
matrix[3][3] = 1.0f;
matrix[0][0] = 1.0-2.0*(y*y+z*z);
matrix[0][1] = 2.0*(x*y-z*w);
matrix[0][2] = 2.0*(x*z+y*w);
matrix[0][3] = 0.0;

matrix[1][0] = 2.0*(x*y+z*w);
matrix[1][1] = 1.0-2.0*(x*x+z*z);
matrix[1][2] = 2.0*(y*z-x*w);
matrix[1][3] = 0.0;

matrix[2][0] = 2.0*(x*z-y*w);
matrix[2][1] = 2.0*(y*z+x*w);
matrix[2][2] = 1.0-2.0*(x*x+y*y);
matrix[2][3] = 0.0;

matrix[3][0] = 0.0;
matrix[3][1] = 0.0;
matrix[3][2] = 0.0;
matrix[3][3] = 1.0;
}

void Rotation::setValue(const double q[4])
Expand All @@ -166,10 +166,10 @@ void Rotation::setValue(const double q[4])
void Rotation::setValue(const Matrix4D & m)
{
double trace = (double)(m[0][0] + m[1][1] + m[2][2]);
if (trace > 0.0f) {
double s = (double)sqrt(1.0f+trace);
this->quat[3] = 0.5f * s;
s = 0.5f / s;
if (trace > 0.0) {
double s = sqrt(1.0+trace);
this->quat[3] = 0.5 * s;
s = 0.5 / s;
this->quat[0] = (double)((m[2][1] - m[1][2]) * s);
this->quat[1] = (double)((m[0][2] - m[2][0]) * s);
this->quat[2] = (double)((m[1][0] - m[0][1]) * s);
Expand All @@ -185,9 +185,9 @@ void Rotation::setValue(const Matrix4D & m)
int j = (i+1)%3;
int k = (i+2)%3;

double s = (double)sqrt((m[i][i] - (m[j][j] + m[k][k])) + 1.0f);
this->quat[i] = s * 0.5f;
s = 0.5f / s;
double s = (double)sqrt((m[i][i] - (m[j][j] + m[k][k])) + 1.0);
this->quat[i] = s * 0.5;
s = 0.5 / s;
this->quat[3] = (double)((m[k][j] - m[j][k]) * s);
this->quat[j] = (double)((m[j][i] + m[i][j]) * s);
this->quat[k] = (double)((m[k][i] + m[i][k]) * s);
Expand Down Expand Up @@ -217,17 +217,17 @@ void Rotation::setValue(const Vector3d & rotateFrom, const Vector3d & rotateTo)
Vector3d w = u % v;
const double wlen = w.Length();

if (wlen == 0.0f) { // Parallel vectors
if (wlen == 0.0) { // Parallel vectors
// Check if they are pointing in the same direction.
if (dot > 0.0f) {
this->setValue(0.0f, 0.0f, 0.0f, 1.0f);
if (dot > 0.0) {
this->setValue(0.0, 0.0, 0.0, 1.0);
}
else {
// We can use any axis perpendicular to u (and v)
Vector3d t = u % Vector3d(1.0f, 0.0f, 0.0f);
Vector3d t = u % Vector3d(1.0, 0.0, 0.0);
if(t.Length() < FLT_EPSILON)
t = u % Vector3d(0.0f, 1.0f, 0.0f);
this->setValue(t.x, t.y, t.z, 0.0f);
t = u % Vector3d(0.0, 1.0, 0.0);
this->setValue(t.x, t.y, t.z, 0.0);
}
}
else { // Vectors are not parallel
Expand Down Expand Up @@ -317,9 +317,9 @@ void Rotation::multVec(const Vector3d & src, Vector3d & dst) const
double z2 = z * z;
double w2 = w * w;

double dx = (x2+w2-y2-z2)*src.x + 2.0f*(x*y-z*w)*src.y + 2.0f*(x*z+y*w)*src.z;
double dy = 2.0f*(x*y+z*w)*src.x + (w2-x2+y2-z2)*src.y + 2.0f*(y*z-x*w)*src.z;
double dz = 2.0f*(x*z-y*w)*src.x + 2.0f*(x*w+y*z)*src.y + (w2-x2-y2+z2)*src.z;
double dx = (x2+w2-y2-z2)*src.x + 2.0*(x*y-z*w)*src.y + 2.0*(x*z+y*w)*src.z;
double dy = 2.0*(x*y+z*w)*src.x + (w2-x2+y2-z2)*src.y + 2.0*(y*z-x*w)*src.z;
double dz = 2.0*(x*z-y*w)*src.x + 2.0*(x*w+y*z)*src.y + (w2-x2-y2+z2)*src.z;
dst.x = dx;
dst.y = dy;
dst.z = dz;
Expand All @@ -337,20 +337,20 @@ Rotation Rotation::slerp(const Rotation & q0, const Rotation & q1, double t)
{
// Taken from <http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/>
// q = [q0*sin((1-t)*theta)+q1*sin(t*theta)]/sin(theta), 0<=t<=1
if (t<0.0f) t=0.0f;
else if (t>1.0f) t=1.0f;
if (t<0.0) t=0.0;
else if (t>1.0) t=1.0;
//return q0;

double scale0 = 1.0f - t;
double scale0 = 1.0 - t;
double scale1 = t;
double dot = q0.quat[0]*q1.quat[0]+q0.quat[1]*q1.quat[1]+q0.quat[2]*q1.quat[2]+q0.quat[3]*q1.quat[3];
bool neg=false;
if(dot < 0.0f) {
if(dot < 0.0) {
dot = -dot;
neg = true;
}

if ((1.0f - dot) > FLT_EPSILON) {
if ((1.0 - dot) > FLT_EPSILON) {
double angle = (double)acos(dot);
double sinangle = (double)sin(angle);
// If possible calculate spherical interpolation, otherwise use linear interpolation
Expand All @@ -372,7 +372,7 @@ Rotation Rotation::slerp(const Rotation & q0, const Rotation & q1, double t)

Rotation Rotation::identity(void)
{
return Rotation(0.0f, 0.0f, 0.0f, 1.0f);
return Rotation(0.0, 0.0, 0.0, 1.0);
}

void Rotation::setYawPitchRoll(double y, double p, double r)
Expand Down

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