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aux/math: special case delta_s == 0 in m_predic

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Rather than asserting in the underlying math functions we return the
trivial values for prediction with 0s.
This commit is contained in:
Christoph Haag 2021-01-11 18:50:37 +01:00 committed by Jakob Bornecrantz
parent 1e4a540bb9
commit e785053c0a
1 changed files with 12 additions and 0 deletions
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12
src/xrt/auxiliary/math/m_predict.c
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@ -18,6 +18,12 @@ do_orientation(const struct xrt_space_relation *rel,
double delta_s, double delta_s,
struct xrt_space_relation *out_rel) struct xrt_space_relation *out_rel)
{ {
if (delta_s == 0) {
out_rel->pose.orientation = rel->pose.orientation;
out_rel->angular_velocity = rel->angular_velocity;
return;
}
struct xrt_vec3 accum = {0}; struct xrt_vec3 accum = {0};
bool valid_orientation = bool valid_orientation =
(flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) != 0; (flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) != 0;
@ -75,6 +81,12 @@ do_position(const struct xrt_space_relation *rel,
double delta_s, double delta_s,
struct xrt_space_relation *out_rel) struct xrt_space_relation *out_rel)
{ {
if (delta_s == 0) {
out_rel->pose.position = rel->pose.position;
out_rel->linear_velocity = rel->linear_velocity;
return;
}
struct xrt_vec3 accum = {0}; struct xrt_vec3 accum = {0};
bool valid_position = bool valid_position =
(flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) != 0; (flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) != 0;