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axisAngle epsilon changed to work as expected on small angles

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also small refactoring
also single epsilon is used
also passes new axisAngle tests now

Signed-off-by: Sergey Krivohatskiy <s.krivohatskiy@gmail.com>
This commit is contained in:
Sergey Krivohatskiy 2021-03-23 14:28:36 +03:00
parent c9c656ce31
commit df7b5bda7c
1 changed files with 16 additions and 4 deletions
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20
glm/gtx/matrix_interpolation.inl
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@ -2,17 +2,29 @@
#include "../ext/scalar_constants.hpp"
#include <limits>
namespace glm
{
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER void axisAngle(mat<4, 4, T, Q> const& m, vec<3, T, Q>& axis, T& angle)
{
T epsilon = static_cast<T>(0.01);
T epsilon2 = static_cast<T>(0.1);
T const epsilon =
std::numeric_limits<T>::epsilon() * static_cast<T>(1e2);
if((abs(m[1][0] - m[0][1]) < epsilon) && (abs(m[2][0] - m[0][2]) < epsilon) && (abs(m[2][1] - m[1][2]) < epsilon))
bool const nearSymmetrical =
abs(m[1][0] - m[0][1]) < epsilon &&
abs(m[2][0] - m[0][2]) < epsilon &&
abs(m[2][1] - m[1][2]) < epsilon;
if(nearSymmetrical)
{
if ((abs(m[1][0] + m[0][1]) < epsilon2) && (abs(m[2][0] + m[0][2]) < epsilon2) && (abs(m[2][1] + m[1][2]) < epsilon2) && (abs(m[0][0] + m[1][1] + m[2][2] - static_cast<T>(3.0)) < epsilon2))
bool const nearIdentity =
abs(m[1][0] + m[0][1]) < epsilon &&
abs(m[2][0] + m[0][2]) < epsilon &&
abs(m[2][1] + m[1][2]) < epsilon &&
abs(m[0][0] + m[1][1] + m[2][2] - T(3.0)) < epsilon;
if (nearIdentity)
{
angle = static_cast<T>(0.0);
axis = vec<3, T, Q>(