Added convenience method worldToLocal(Quaternion) to spatial. - #2559
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…ns and corresponding test
…uaternion transformations.
| Assert.assertEquals(worldTranslation,testNode.getWorldTranslation()); | ||
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| testNode.setLocalRotation(nodeB.worldToLocal(worldRotation,null)); | ||
| Assert.assertEquals(worldRotation,testNode.getWorldRotation()); |
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I suggest using isSimilar for equality checks so it doesn't fail on round-off error.
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I am going reimplement to get rid of the unneccesary allocation. |
…enhanced floating-point precision checks.
(Quaternion.inverse())
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I don't know how quaternions work, so take this with a grain of salt.
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| //Second option is to normalize manually | ||
| float norm = rotation.norm(); | ||
| store.multLocal(rotation.getX()*-norm, rotation.getY()*-norm, |
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This doesn't look right to me if you're trying to normalize and invert the rotation. From looking at Quaternion, it seems like norm should be changed like this:
norm = FastMath.invSqrt(norm) / norm;There was a problem hiding this comment.
Generally i agree, using jme math i have not yet managed to create a non normalized quaternion.
for (int i = 0; i < 1000000; i++) {
Quaternion quaternion=new Quaternion().fromAngles(FastMath.nextRandomFloat()*-360,FastMath.nextRandomFloat()*360,FastMath.nextRandomFloat()*360);
Quaternion inverse = quaternion.inverse();
float norm = quaternion.norm();
//norm = FastMath.invSqrt(norm)/norm;
System.out.println(norm);
quaternion.set(quaternion.getX()*-norm, quaternion.getY()*-norm, quaternion.getZ()*-norm, quaternion.getW()*norm);
if(!quaternion.isSimilar(inverse,0.000001f)){
System.out.println("Fail");
System.out.println(quaternion);
System.out.println(inverse);
System.exit(1);
}
}
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I could use temp vars and use the existing math functions. I probably prefer that. Considering that this code is probably never executed in the "hot loop"
…mized quaternion handling and removed redundant comments.
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This PR adds the convenience method worldToLocal for Quaternions, i added a test that shows the usage when transferring a spatial to a different Node.