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Fix issue with angle between going over PI and remove faulty test (angle between Quaternions isn't equivalent to the angle between Dir vectors since Quaternions involve rolling as well)

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This commit is contained in:
Imbris 2021-10-15 03:17:30 -04:00
parent aa1ffa9f61
commit c412a96d6a
1 changed files with 7 additions and 16 deletions
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23
common/src/comp/ori.rs
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@ -1,8 +1,8 @@
use crate::util::{Dir, Plane, Projection};
use core::f32::consts::{FRAC_PI_2, PI, TAU};
use serde::{Deserialize, Serialize};
use specs::Component;
use specs_idvs::IdvStorage;
use std::f32::consts::{FRAC_PI_2, PI};
use vek::{Quaternion, Vec2, Vec3};
// Orientation
@ -189,6 +189,10 @@ impl Ori {
/// Find the angle between two `Ori`s
///
/// NOTE: This finds the angle of the quaternion between the two `Ori`s
/// which can involve rolling and thus can be larger than simply the
/// angle between vectors at the start and end points.
///
/// Returns angle in radians
pub fn angle_between(self, other: Self) -> f32 {
// Compute quaternion from one ori to the other
@ -196,7 +200,8 @@ impl Ori {
let between = self.to_quat().conjugate() * other.to_quat();
// Then compute it's angle
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/
2.0 * between.w.acos()
let angle = 2.0 * between.w.acos();
if angle < PI { angle } else { TAU - angle }
}
pub fn pitched_up(self, angle_radians: f32) -> Self {
@ -470,20 +475,6 @@ mod tests {
dirs().for_each(to_horizontal);
}
#[test]
fn angle_between() {
let angle_between = |(dir_a, dir_b): (Dir, Dir)| {
let ori_a = Ori::from(dir_a);
let ori_b = Ori::from(dir_b);
approx::assert_relative_eq!(ori_a.angle_between(ori_b), dir_a.angle_between(*dir_b));
};
dirs()
.flat_map(|dir| dirs().map(move |dir_two| (dir, dir_two)))
.for_each(angle_between)
}
#[test]
fn from_to_dir() {
let from_to = |dir: Dir| {