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to avoid NaN: don not rely on glm::angle(quat) UYKWYAD

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This commit is contained in:
Andrew Meadows 2018-06-19 14:27:27 -07:00
parent fa3fae09b2
commit b557717dab
1 changed files with 12 additions and 4 deletions
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16
libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp
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@ -551,10 +551,18 @@ void Avatar::measureMotionDerivatives(float deltaTime) {
// angular
glm::quat orientation = getWorldOrientation();
glm::quat delta = glm::inverse(_lastOrientation) * orientation;
glm::vec3 angularVelocity = glm::axis(delta) * glm::angle(delta) * invDeltaTime;
setWorldAngularVelocity(angularVelocity);
_lastOrientation = getWorldOrientation();
float changeDot = glm::abs(glm::dot(orientation, _lastOrientation));
float CHANGE_DOT_THRESHOLD = 0.9999f;
if (changeDot < CHANGE_DOT_THRESHOLD) {
float angle = 2.0f * acosf(changeDot);
glm::quat delta = glm::inverse(_lastOrientation) * orientation;
glm::vec3 angularVelocity = (angle * invDeltaTime) * glm::axis(delta);
if (glm::any(glm::isnan(angularVelocity))) { crashHere(); }
setWorldAngularVelocity(angularVelocity);
_lastOrientation = orientation;
} else {
setWorldAngularVelocity(glm::vec3(0.0f));
}
}
enum TextRendererType {