Skip to content

Fix intermittent SIGSEGV from NaN/non-unit axis in angle_to_quaternion #179

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
caic99 wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Fix intermittent SIGSEGV from NaN/non-unit axis in angle_to_quaternion #179

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 10 additions & 5 deletions unidock/src/lib/quaternion.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,15 +35,20 @@ bool eq(
}

qt angle_to_quaternion(const vec& axis, fl angle) { // axis is assumed to be a unit vector
// assert(eq(tvmet::norm2(axis), 1));
if (!eq(axis.norm(), 1)) {
printf("angle_to_quaternion axis.norm=%f, failed\n", axis.norm());
fl n = axis.norm();
if (std::isnan(n) || n < epsilon_fl) {
// Degenerate axis (NaN or zero-length): return identity quaternion (no rotation)
return qt_identity;
}
vec normalized_axis = axis;
if (!eq(n, 1)) {
// Renormalize axis that drifted from unit length due to floating-point precision
normalized_axis = axis / n;
}
assert(eq(axis.norm(), 1));
normalize_angle(angle); // this is probably only necessary if angles can be very big
fl c = std::cos(angle / 2);
fl s = std::sin(angle / 2);
return qt(c, s * axis[0], s * axis[1], s * axis[2]);
return qt(c, s * normalized_axis[0], s * normalized_axis[1], s * normalized_axis[2]);
}

qt angle_to_quaternion(const vec& rotation) {
Expand Down