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core/math/linalg: Fix negated quaternions in angle_from_quaternion

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andzdroid
2026-04-23 21:00:22 +01:00
parent 01734dfa9b
commit 494ecad737
1 changed files with 6 additions and 3 deletions
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9
core/math/linalg/specific.odin
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@@ -512,7 +512,8 @@ quaternion_angle_axis :: proc{
@(require_results)
angle_from_quaternion_f16 :: proc "contextless" (q: Quaternionf16) -> f16 {
if abs(q.w) > math.SQRT_THREE*0.5 {
return math.asin(math.sqrt(q.x*q.x + q.y*q.y + q.z*q.z)) * 2
angle := math.asin(math.sqrt(q.x*q.x + q.y*q.y + q.z*q.z)) * 2
return q.w < 0 ? math.TAU - angle : angle
}
return math.acos(q.w) * 2
@@ -520,7 +521,8 @@ angle_from_quaternion_f16 :: proc "contextless" (q: Quaternionf16) -> f16 {
@(require_results)
angle_from_quaternion_f32 :: proc "contextless" (q: Quaternionf32) -> f32 {
if abs(q.w) > math.SQRT_THREE*0.5 {
return math.asin(math.sqrt(q.x*q.x + q.y*q.y + q.z*q.z)) * 2
angle := math.asin(math.sqrt(q.x*q.x + q.y*q.y + q.z*q.z)) * 2
return q.w < 0 ? math.TAU - angle : angle
}
return math.acos(q.w) * 2
@@ -528,7 +530,8 @@ angle_from_quaternion_f32 :: proc "contextless" (q: Quaternionf32) -> f32 {
@(require_results)
angle_from_quaternion_f64 :: proc "contextless" (q: Quaternionf64) -> f64 {
if abs(q.w) > math.SQRT_THREE*0.5 {
return math.asin(math.sqrt(q.x*q.x + q.y*q.y + q.z*q.z)) * 2
angle := math.asin(math.sqrt(q.x*q.x + q.y*q.y + q.z*q.z)) * 2
return q.w < 0 ? math.TAU - angle : angle
}
return math.acos(q.w) * 2