Mirrored_Repos/veloren
1
0
Fork 0
mirror of https://gitlab.com/veloren/veloren.git synced 2024-08-30 18:12:32 +00:00
Code Issues Packages Projects Releases Wiki Activity

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)

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
common/src/comp/ori.rs
View File

@ -1,8 +1,8 @@
use crate::util::{Dir, Plane, Projection}; use crate::util::{Dir, Plane, Projection};
use core::f32::consts::{FRAC_PI_2, PI, TAU};
use serde::{Deserialize, Serialize}; use serde::{Deserialize, Serialize};
use specs::Component; use specs::Component;
use specs_idvs::IdvStorage; use specs_idvs::IdvStorage;
use std::f32::consts::{FRAC_PI_2, PI};
use vek::{Quaternion, Vec2, Vec3}; use vek::{Quaternion, Vec2, Vec3};
// Orientation // Orientation
@ -189,6 +189,10 @@ impl Ori {
/// Find the angle between two `Ori`s /// 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 /// Returns angle in radians
pub fn angle_between(self, other: Self) -> f32 { pub fn angle_between(self, other: Self) -> f32 {
// Compute quaternion from one ori to the other // Compute quaternion from one ori to the other
@ -196,7 +200,8 @@ impl Ori {
let between = self.to_quat().conjugate() * other.to_quat(); let between = self.to_quat().conjugate() * other.to_quat();
// Then compute it's angle // Then compute it's angle
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/ // 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 { pub fn pitched_up(self, angle_radians: f32) -> Self {
@ -470,20 +475,6 @@ mod tests {
dirs().for_each(to_horizontal); 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] #[test]
fn from_to_dir() { fn from_to_dir() {
let from_to = |dir: Dir| { let from_to = |dir: Dir| {