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Fix a bug discovered in Avogadro: the AngleAxis*Matrix and the newer

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AngleAxis*Vector products were wrong because they returned the product
_expression_
   toRotationMatrix()*other;
and toRotationMatrix() died before that expression would be later
evaluated. Here it would not have been practical to NestByValue as this
is a whole matrix. So, let them simply evaluate and return the result by
value.

The geometry.cpp unit-test only checked for compatibility between
various rotations, it didn't check the correctness of the rotations
themselves. That's why this bug escaped us. So, this commit checks that
the rotations produced by AngleAxis have all the expected properties.
Since the compatibility with the other rotations is already checked,
this should validate them as well.
This commit is contained in:
Benoit Jacob
2008-08-24 23:16:51 +00:00
parent aa54d6bef0
commit 5ac883b10a
2 changed files with 12 additions and 5 deletions
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11
test/geometry.cpp
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@@ -65,8 +65,15 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), Scalar(1));
q1 = AngleAxis(ei_random<Scalar>(-M_PI, M_PI), v0.normalized());
q2 = AngleAxis(ei_random<Scalar>(-M_PI, M_PI), v1.normalized());
VERIFY_IS_APPROX(v0, AngleAxis(a, v0.normalized()) * v0);
VERIFY_IS_APPROX(-v0, AngleAxis(M_PI, v0.unitOrthogonal()) * v0);
VERIFY_IS_APPROX(cos(a)*v0.norm2(), v0.dot(AngleAxis(a, v0.unitOrthogonal()) * v0));
m = AngleAxis(a, v0.normalized()).toRotationMatrix().adjoint();
VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxis(a, v0.normalized()));
VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxis(a, v0.normalized()) * m);
q1 = AngleAxis(a, v0.normalized());
q2 = AngleAxis(a, v1.normalized());
// rotation matrix conversion
VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);