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* Quaternion: added dot product and angularDistance functions. The latter is

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based on the former.
* opengl_demo: makes IcoSphere better (vertices are instanciated only once) and
               removed the generation of a big geometry for the fancy spheres...
This commit is contained in:
Gael Guennebaud
2008-09-11 11:19:34 +00:00
parent 5e9ee8863e
commit e5c50afed6
4 changed files with 156 additions and 119 deletions
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10
test/geometry.cpp
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@@ -48,6 +48,10 @@ template<typename Scalar> void geometry(void)
typedef Translation<Scalar,2> Translation2;
typedef Translation<Scalar,3> Translation3;
Scalar largeEps = test_precision<Scalar>();
if (ei_is_same_type<Scalar,float>::ret)
largeEps = 1e-3f;
Quaternion q1, q2;
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random(),
@@ -82,6 +86,12 @@ template<typename Scalar> void geometry(void)
q1 = AngleAxis(a, v0.normalized());
q2 = AngleAxis(a, v1.normalized());
// angular distance
Scalar refangle = ei_abs(AngleAxis(q1.inverse()*q2).angle());
if (refangle>M_PI)
refangle = 2.*M_PI - refangle;
VERIFY(ei_isApprox(q1.angularDistance(q2), refangle, largeEps));
// rotation matrix conversion
VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
VERIFY_IS_APPROX(q1 * q2 * v2,