6ffc8d8eb6
This is heavily inspired by the patch written by Inho Lee
<inho.lee@qt.io>, which says "There is a precision problem in the
previous algorithm when checking pitch value. (In the case that the
rotation on the X-axis makes Gimbal lock.)"
In order to work around the precision problem, this patch does:
1. switch to the algorithm described in the inline comment to make
the story simple.
2. forcibly normalize the {x, y, z, w} components to eliminate
fractional errors.
3. set threshold to avoid hidden division by cos(pitch) =~ 0.
From my testing which compares dot product of the original quaternion
and the one recreated from Euler angles, calculation within float range
seems okay. (abs(normalize(q_orig) * normalize(q_roundtrip)) >= 0.99999)
Many thanks to Inho Lee for the original patch and discussion about
rounding errors.
Fixes: QTBUG-72103
Pick-to: 6.3 6.2 5.15
Change-Id: I8995e4affe603111ff2303a0dfcbdb0b1ae03f10
Reviewed-by: Yuya Nishihara <yuya@tcha.org>
Reviewed-by: Inho Lee <inho.lee@qt.io>
Reviewed-by: Qt CI Bot <qt_ci_bot@qt-project.org>
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| qmatrixnxn | ||
| qquaternion | ||
| qvectornd | ||
| CMakeLists.txt | ||