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Update comments in QQuaternion::getEulerAngles

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A comment from the patch 6ffc8d8eb6
is a little ambiguous. This patch is just to give information
about the modification.

Task-number: QTBUG-72103
Pick-to: 6.3 6.2 5.15
Change-Id: I6bfc3ae926c118de0d969a4b44f438c24f8d4f72
Reviewed-by: Edward Welbourne <edward.welbourne@qt.io>
This commit is contained in:
Inho Lee 2022-04-19 11:30:19 +02:00
parent 6625a4744e
commit 8f9049ddbc
1 changed files with 3 additions and 2 deletions
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5
src/gui/math3d/qquaternion.cpp
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@ -495,8 +495,9 @@ void QQuaternion::getEulerAngles(float *pitch, float *yaw, float *roll) const
// https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf // https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf
// "A tutorial on SE(3) transformation parameterizations and on-manifold optimization". // "A tutorial on SE(3) transformation parameterizations and on-manifold optimization".
// Normalize values even if the length is below the margin. Otherwise we might fail // We can only detect Gimbal lock when we normalize, which we can't do when
// to detect Gimbal lock due to cumulative errors. // length is nearly zero. Do so before multiplying co-ordinates, to avoid
// underflow.
const float len = length(); const float len = length();
const bool rescale = !qFuzzyIsNull(len); const bool rescale = !qFuzzyIsNull(len);
const float xps = rescale ? xp / len : xp; const float xps = rescale ? xp / len : xp;