From 72dc5960d6963743fc7434ba2698fe844460a7d0 Mon Sep 17 00:00:00 2001
From: Sam <samuelkeiffer@gmail.com>
Date: Fri, 15 Oct 2021 22:41:53 -0400
Subject: [PATCH] Correctly took dot product, switched to square root of dot
product
---
common/src/comp/ori.rs | 2 +-
common/src/states/utils.rs | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/common/src/comp/ori.rs b/common/src/comp/ori.rs
index 4b4e90963e..7f3bb40198 100644
--- a/common/src/comp/ori.rs
+++ b/common/src/comp/ori.rs
@@ -208,7 +208,7 @@ impl Ori {
if angle < PI { angle } else { TAU - angle }
}
- pub fn dot(self, other: Self) -> f32 { self.0.dot(other.0) }
+ pub fn dot(self, other: Self) -> f32 { self.look_vec().dot(other.look_vec()) }
pub fn pitched_up(self, angle_radians: f32) -> Self {
self.rotated(Quaternion::rotation_x(angle_radians))
diff --git a/common/src/states/utils.rs b/common/src/states/utils.rs
index 65a51b9a91..a296d51d63 100644
--- a/common/src/states/utils.rs
+++ b/common/src/states/utils.rs
@@ -406,7 +406,7 @@ pub fn handle_orientation(
let rate = {
// Angle factor used to keep turning rate approximately constant by
// counteracting slerp turning more with a larger angle
- let angle_factor = 2.0 / (1.0 - update.ori.dot(target_ori));
+ let angle_factor = 2.0 / (1.0 - update.ori.dot(target_ori)).sqrt();
data.body.base_ori_rate() * efficiency * angle_factor
};
update.ori = update