Fix intermittent SIGSEGV from NaN/non-unit axis in angle_to_quaternion#179
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caic99 wants to merge 1 commit intodptech-corp:mainfrom
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Fix intermittent SIGSEGV from NaN/non-unit axis in angle_to_quaternion#179caic99 wants to merge 1 commit intodptech-corp:mainfrom
caic99 wants to merge 1 commit intodptech-corp:mainfrom
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…ternion (dptech-corp#160) angle_to_quaternion(axis, angle) assumed the axis is a unit vector, but GPU floating-point precision drift in matrix-vector multiplication (segment transformations in tree.h) can produce non-unit or NaN axes. The existing assert() is stripped in release builds, leaving no protection and causing intermittent crashes. Add robust handling: - NaN or zero-length axis: return identity quaternion (no rotation) - Near-unit axis: renormalize before use - Well-behaved axis: unchanged behavior Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>
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Summary
Root cause:
angle_to_quaternion(axis, angle)assumes the axis is a unit vector, but floating-point precision drift from GPU matrix-vector multiplication (segment transformations in tree.h) can produce non-unit or NaN axes. The existingassert()is stripped in release builds, leaving no protection.Fix: Add robust handling:
This makes the function resilient to floating-point drift without changing docking results for well-behaved inputs.
Test plan
🤖 Generated with Claude Code