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math: Add quat valdiate that only checks within 1% of unit length

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Jakob Bornecrantz 2021-01-20 13:36:08 +00:00 committed by Jakob Bornecrantz
parent 797fa5459c
commit 026fa2cebb
3 changed files with 27 additions and 4 deletions
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1
doc/changes/auxiliary/mr.659.md Normal file
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@ -0,0 +1 @@
math: Add math_quat_validate_within_1_percent function.

9
src/xrt/auxiliary/math/m_api.h
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@ -183,6 +183,15 @@ math_quat_from_plus_x_z(const struct xrt_vec3 *plus_x, const struct xrt_vec3 *pl
bool
math_quat_validate(const struct xrt_quat *quat);
/*!
* Check if this quat is within 1% of unit length.
*
* @relates xrt_quat
* @ingroup aux_math
*/
bool
math_quat_validate_within_1_percent(const struct xrt_quat *quat);
/*!
* Invert a quaternion.
*

21
src/xrt/auxiliary/math/m_base.cpp
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@ -158,13 +158,13 @@ math_quat_from_plus_x_z(const struct xrt_vec3 *plus_x, const struct xrt_vec3 *pl
math_quat_from_matrix_3x3(&m, result);
}
extern "C" bool
math_quat_validate(const struct xrt_quat *quat)
static bool
quat_validate(const float precision, const struct xrt_quat *quat)
{
assert(quat != NULL);
auto rot = copy(*quat);
const float FLOAT_EPSILON = Eigen::NumTraits<float>::epsilon();
/*
* This was originally squaredNorm, but that could result in a norm
* value that was further from 1.0f then FLOAT_EPSILON (two).
@ -176,7 +176,7 @@ math_quat_validate(const struct xrt_quat *quat)
* change the elements of the quat.
*/
auto norm = rot.norm();
if (norm > 1.0f + FLOAT_EPSILON || norm < 1.0f - FLOAT_EPSILON) {
if (norm > 1.0f + precision || norm < 1.0f - precision) {
return false;
}
@ -190,6 +190,19 @@ math_quat_validate(const struct xrt_quat *quat)
return true;
}
extern "C" bool
math_quat_validate(const struct xrt_quat *quat)
{
const float FLOAT_EPSILON = Eigen::NumTraits<float>::epsilon();
return quat_validate(FLOAT_EPSILON, quat);
}
extern "C" bool
math_quat_validate_within_1_percent(const struct xrt_quat *quat)
{
return quat_validate(0.01, quat);
}
extern "C" void
math_quat_invert(const struct xrt_quat *quat, struct xrt_quat *out_quat)
{