nerdcruft/libcruft-util
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quaternion: assert angles are less than a full rotation

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Danny Robson 2019-12-19 14:44:58 +11:00
parent 0624a3ad00
commit 16f460a2d2
1 changed files with 4 additions and 0 deletions
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4
quaternion.cpp
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@ -23,6 +23,8 @@ template <typename T>
quaternion<T> quaternion<T>
quaternion<T>::angle_axis (const T radians, const vector<3,T> axis) quaternion<T>::angle_axis (const T radians, const vector<3,T> axis)
{ {
CHECK (radians < cruft::pi<T> * 2);
CHECK (radians > -cruft::pi<T> * 2);
CHECK (is_normalised (axis)); CHECK (is_normalised (axis));
auto w = std::cos (radians / 2); auto w = std::cos (radians / 2);
@ -39,6 +41,8 @@ template <typename T>
quaternion<T> quaternion<T>
quaternion<T>::from_euler (vector<3,T> angles) quaternion<T>::from_euler (vector<3,T> angles)
{ {
CHECK (all (angles > -cruft::pi<T> * 2));
CHECK (all (angles < cruft::pi<T> * 2));
auto half = angles / 2; auto half = angles / 2;
auto c = std::cos (half); auto c = std::cos (half);