From aa5cedc8e697ddae4caefe84e36a13a6ccefa712 Mon Sep 17 00:00:00 2001
From: Michael Kuron <mkuron@icp.uni-stuttgart.de>
Date: Wed, 19 Jul 2017 14:19:40 +0200
Subject: [PATCH] Remove invalid quaternion normalization
---
src/core/math/Quaternion.h | 67 +++-----------------------------------
1 file changed, 4 insertions(+), 63 deletions(-)
diff --git a/src/core/math/Quaternion.h b/src/core/math/Quaternion.h
index 1278b8e22..ddf903430 100644
--- a/src/core/math/Quaternion.h
+++ b/src/core/math/Quaternion.h
@@ -152,9 +152,6 @@ public:
//@{
inline Quaternion& set( Type r, Type i, Type j, Type k );
inline void reset();
- inline Type length() const;
- inline Quaternion& normalize();
- inline const Quaternion getNormalized() const;
inline Quaternion& invert();
inline const Quaternion getInverse() const;
inline const Matrix3<Type> toRotationMatrix() const;
@@ -249,7 +246,7 @@ template< typename Type > // Data type of the quaternion
inline Quaternion<Type>::Quaternion( Type r, Type i, Type j, Type k )
{
v_[0] = r; v_[1] = i; v_[2] = j; v_[3] = k;
- WALBERLA_ASSERT_FLOAT_EQUAL( r*r + i*i + j*j + k*k, Type(1), "Invalid quaternion parameters" );
+ WALBERLA_CHECK_FLOAT_EQUAL( r*r + i*i + j*j + k*k, Type(1), "Invalid quaternion parameters" );
}
//*************************************************************************************************
@@ -279,7 +276,7 @@ inline Quaternion<Type>::Quaternion( Vector3<Axis> axis, Type angle )
return;
}
- WALBERLA_ASSERT( axis.sqrLength() > Axis(0), "Invalid rotation axis" );
+ WALBERLA_CHECK( axis.sqrLength() > Axis(0), "Invalid rotation axis" );
const Type sina( std::sin( angle*Type(0.5) ) );
const Type cosa( std::cos( angle*Type(0.5) ) );
@@ -432,7 +429,7 @@ inline Quaternion<Type>& Quaternion<Type>::operator=( const Quaternion<Other>& r
* \param index Access index. The index has to be in the range \f$[0..3]\f$.
* \return Copy of the accessed element.
*
- * In case pe_USER_ASSERT() is active, this operator performs an index check.
+ * When compiled in Debug mode, this operator performs an index check.
*/
template< typename Type > // Data type of the quaternion
inline Type Quaternion<Type>::operator[]( size_t index ) const
@@ -462,7 +459,7 @@ inline Type Quaternion<Type>::operator[]( size_t index ) const
template< typename Type > // Data type of the quaternion
inline Quaternion<Type>& Quaternion<Type>::set( Type r, Type i, Type j, Type k )
{
- WALBERLA_ASSERT_FLOAT_EQUAL( std::fabs( r*r + i*i + j*j + k*k ), Type(1), "Invalid quaternion parameters" );
+ WALBERLA_CHECK_FLOAT_EQUAL( std::fabs( r*r + i*i + j*j + k*k ), Type(1), "Invalid quaternion parameters" );
v_[0] = r;
v_[1] = i;
v_[2] = j;
@@ -493,62 +490,6 @@ inline void Quaternion<Type>::reset()
//*************************************************************************************************
-//*************************************************************************************************
-/*!\brief Calculation of the quaternion length \f$|\hat{q}|\f$.
- *
- * \return The length of the quaternion.
- */
-template< typename Type > // Data type of the quaternion
-inline Type Quaternion<Type>::length() const
-{
- // Although the length of the quaternion should always be exactly one, the function
- // calculates the actual length to enable length checks.
- return std::sqrt( v_[0]*v_[0] + v_[1]*v_[1] + v_[2]*v_[2] + v_[3]*v_[3] );
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Normalization of the quaternion (\f$|\hat{q}|=1\f$).
- *
- * \return Reference to the quaternion.
- */
-template< typename Type > // Data type of the quaternion
-inline Quaternion<Type>& Quaternion<Type>::normalize()
-{
- const Type len( std::sqrt( v_[0]*v_[0] + v_[1]*v_[1] + v_[2]*v_[2] + v_[3]*v_[3] ) );
- WALBERLA_ASSERT_NOT_IDENTICAL( len, Type(0) );
-
- const Type ilen( Type(1)/len );
-
- v_[0] *= ilen;
- v_[1] *= ilen;
- v_[2] *= ilen;
- v_[3] *= ilen;
-
- return *this;
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Calculation of the normalized quaternion (\f$|\hat{q}|=1\f$).
- *
- * \return The normalized quaternion.
- */
-template< typename Type > // Data type of the quaternion
-inline const Quaternion<Type> Quaternion<Type>::getNormalized() const
-{
- const Type len( std::sqrt( v_[0]*v_[0] + v_[1]*v_[1] + v_[2]*v_[2] + v_[3]*v_[3] ) );
- WALBERLA_ASSERT_NOT_IDENTICAL( len, Type(0) );
-
- const Type ilen( Type(1)/len );
-
- return Quaternion( ilen*v_[0], ilen*v_[1], ilen*v_[2], ilen*v_[3] );
-}
-//*************************************************************************************************
-
-
//*************************************************************************************************
/*!\brief Inversion of the quaternion (\f$ \hat{q} = \hat{q}^{-1} \f$).
*
--
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