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V2 llmath merge

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This commit is contained in:
Shyotl
2011-02-22 21:44:04 -06:00
parent b31db27545
commit 7deee9336c
34 changed files with 371 additions and 192 deletions
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34
indra/llmath/llquaternion.h
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@@ -469,20 +469,30 @@ inline const LLQuaternion& operator*=(LLQuaternion &a, const LLQuaternion &b)
return a;
}
const F32 ONE_PART_IN_A_MILLION = 0.000001f;
inline F32 LLQuaternion::normalize()
{
F32 mag = sqrtf(mQ[VX]*mQ[VX] + mQ[VY]*mQ[VY] + mQ[VZ]*mQ[VZ] + mQ[VS]*mQ[VS]);
if (mag > FP_MAG_THRESHOLD)
{
F32 oomag = 1.f/mag;
mQ[VX] *= oomag;
mQ[VY] *= oomag;
mQ[VZ] *= oomag;
mQ[VS] *= oomag;
// Floating point error can prevent some quaternions from achieving
// exact unity length. When trying to renormalize such quaternions we
// can oscillate between multiple quantized states. To prevent such
// drifts we only renomalize if the length is far enough from unity.
if (fabs(1.f - mag) > ONE_PART_IN_A_MILLION)
{
F32 oomag = 1.f/mag;
mQ[VX] *= oomag;
mQ[VY] *= oomag;
mQ[VZ] *= oomag;
mQ[VS] *= oomag;
}
}
else
{
// we were given a very bad quaternion so we set it to identity
mQ[VX] = 0.f;
mQ[VY] = 0.f;
mQ[VZ] = 0.f;
@@ -499,11 +509,15 @@ inline F32 LLQuaternion::normQuat()
if (mag > FP_MAG_THRESHOLD)
{
F32 oomag = 1.f/mag;
mQ[VX] *= oomag;
mQ[VY] *= oomag;
mQ[VZ] *= oomag;
mQ[VS] *= oomag;
if (fabs(1.f - mag) > ONE_PART_IN_A_MILLION)
{
// only renormalize if length not close enough to 1.0 already
F32 oomag = 1.f/mag;
mQ[VX] *= oomag;
mQ[VY] *= oomag;
mQ[VZ] *= oomag;
mQ[VS] *= oomag;
}
}
else
{