Fix Quaternion biAlign #1094
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Fix Quaternion biAlign #1094
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Fixed biAlign. (Syntax check and formatting needed) Added: Safety unitization in case of non unit axes. Fixed: Found bQ was evaluated as "a.dot(Q.xyz)" instead of "b.dot(Q.xyz)" Fixed: abQ was missing term "- a.dot(b)*rot.w" Fixed: angleA was maximizing error instead of minimizing Fixed: angleB was not consistently giving a value between -pi and pi I came back to this code to use it for some research, and turns out there were some severe mistakes or typos. This is re-derived from the ground up and the lua version is tested a fair bit. This is a translation of Lua to Kotlin, so there might be some syntax errors, but the math is correct now.
Attempt to appease the formatter
AxisAngles
requested review from
ButterscotchV,
Eirenliel and
Erimelowo
as code owners
ImUrX
approved these changes
Jun 25, 2024
Erimelowo
approved these changes
Jun 25, 2024
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Fixed biAlign. (Syntax check and formatting needed)
Added: Safety unitization in case of non unit axes.
Fixed: Found bQ was evaluated as "a.dot(Q.xyz)" instead of "b.dot(Q.xyz)"
Fixed: abQ was missing term "- a.dot(b)*rot.w"
Fixed: angleA was maximizing error instead of minimizing
Fixed: angleB was not consistently giving a value between -pi and pi
I came back to this code to use it for some research, and turns out there were some severe mistakes or typos. This is re-derived from the ground up and the lua version is tested a fair bit. This is a translation of Lua to Kotlin, so there might be some syntax errors, but the math is correct now.