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- Bugfix: Matrix To Quaternion Conversion trashed the rotation in various border cases 

git-svn-id: https://assimp.svn.sourceforge.net/svnroot/assimp/trunk@57 67173fc5-114c-0410-ac8e-9d2fd5bffc1f
pull/1/head
ulfjorensen 2008-06-08 20:26:06 +00:00
parent 492aa8358b
commit e834a044db
1 changed files with 7 additions and 8 deletions
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15
include/aiQuaternion.h
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@ -49,28 +49,27 @@ inline aiQuaternion::aiQuaternion( const aiMatrix3x3 &pRotMatrix)
{ {
// Column 0: // Column 0:
float s = sqrt( 1.0f + pRotMatrix.a1 - pRotMatrix.b2 - pRotMatrix.c3) * 2.0f; float s = sqrt( 1.0f + pRotMatrix.a1 - pRotMatrix.b2 - pRotMatrix.c3) * 2.0f;
x = 0.25f * s; x = -0.25f * s;
y = (pRotMatrix.a2 + pRotMatrix.b1) / s; y = (pRotMatrix.a2 + pRotMatrix.b1) / s;
z = (pRotMatrix.c1 + pRotMatrix.a3) / s; z = (pRotMatrix.c1 + pRotMatrix.a3) / s;
w = (pRotMatrix.b3 - pRotMatrix.c2) / s; w = (pRotMatrix.c2 - pRotMatrix.b3) / s;
} }
else if( pRotMatrix.b2 > pRotMatrix.c3) else if( pRotMatrix.b2 > pRotMatrix.c3)
{ {
// Column 1: // Column 1:
float s = sqrt( 1.0f + pRotMatrix.b2 - pRotMatrix.a1 - pRotMatrix.c3) * 2.0f; float s = sqrt( 1.0f + pRotMatrix.b2 - pRotMatrix.a1 - pRotMatrix.c3) * 2.0f;
x = (pRotMatrix.a2 + pRotMatrix.b1) / s; x = (pRotMatrix.a2 + pRotMatrix.b1) / s;
y = 0.25f * s; y = -0.25f * s;
z = (pRotMatrix.b3 + pRotMatrix.c2) / s; z = (pRotMatrix.b3 + pRotMatrix.c2) / s;
w = (pRotMatrix.c1 - pRotMatrix.a3) / s; w = (pRotMatrix.a3 - pRotMatrix.c1) / s;
} } else
else
{ {
// Column 2: // Column 2:
float s = sqrt( 1.0f + pRotMatrix.c3 - pRotMatrix.a1 - pRotMatrix.b2) * 2.0f; float s = sqrt( 1.0f + pRotMatrix.c3 - pRotMatrix.a1 - pRotMatrix.b2) * 2.0f;
x = (pRotMatrix.c1 + pRotMatrix.a3) / s; x = (pRotMatrix.c1 + pRotMatrix.a3) / s;
y = (pRotMatrix.b3 + pRotMatrix.c2) / s; y = (pRotMatrix.b3 + pRotMatrix.c2) / s;
z = 0.25f * s; z = -0.25f * s;
w = (pRotMatrix.a2 - pRotMatrix.b1) / s; w = (pRotMatrix.b1 - pRotMatrix.a2) / s;
} }
} }