From ed4fe2aa8e22fc7d19b3d6e4e9190d25c67a8cfd Mon Sep 17 00:00:00 2001
From: Christoph Rettinger <christoph.rettinger@fau.de>
Date: Mon, 29 Jan 2018 12:36:25 +0100
Subject: [PATCH] Removed unnecessary and problematic check in Quaternion
---
src/core/math/Quaternion.h | 8 +++-----
1 file changed, 3 insertions(+), 5 deletions(-)
diff --git a/src/core/math/Quaternion.h b/src/core/math/Quaternion.h
index ddf903430..a20309bfd 100644
--- a/src/core/math/Quaternion.h
+++ b/src/core/math/Quaternion.h
@@ -271,17 +271,15 @@ inline Quaternion<Type>::Quaternion( Vector3<Axis> axis, Type angle )
static_assert(boost::is_floating_point<Axis>::value, "Axis has to be floating point!" );
auto axisLength = axis.length();
- if( (floatIsEqual(axisLength, 0)) || (math::equal(std::fabs(angle), real_c(0))) ) {
+ if( (floatIsEqual(axisLength, 0)) || (math::equal(std::fabs(angle), real_t(0))) ) {
reset();
return;
}
- 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) ) );
- auto invAxisLength = real_c(1) / axisLength;
+ auto invAxisLength = real_t(1) / axisLength;
axis *= invAxisLength;
v_[0] = cosa;
@@ -548,7 +546,7 @@ inline const Matrix3<Type> Quaternion<Type>::toRotationMatrix() const
template< typename Type >
inline Type Quaternion<Type>::getAngle() const
{
- return 2*std::acos(v_[0]);
+ return Type(2)*std::acos(v_[0]);
}
//*************************************************************************************************
--
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