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Adressed implicit conversion issues in quat.h #1542

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Adressed implicit conversion issues in quat.h #1542

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ec45d13
Adressed implicit conversion issues in quats.h
cmeyer42 Jul 23, 2025
e7aeb99
Fixed a wrong constant in previous commit (ec45d1314cc8830147b47e4361…
cmeyer42 Jul 23, 2025
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35 changes: 25 additions & 10 deletions include/vsg/maths/quat.h
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,13 @@ namespace vsg

void set(value_type angle_radians, const t_vec3<value_type>& axis)
{
const value_type epsilon = 1e-7;
//@todo epsilon might have to be made value_type dependent
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static constexpr value_type epsilon = static_cast<value_type>(1e-7);
// avoid implicit conversions.
// a performance optimization for the sin / cos calls below which otherwise operate in double precision.
static constexpr value_type one = static_cast<value_type>(1.0);
static constexpr value_type half = static_cast<value_type>(0.5);

value_type len = length(axis);
if (len < epsilon)
{
Expand All @@ -102,9 +108,9 @@ namespace vsg
return;
}

value_type inversenorm = 1.0 / len;
value_type coshalfangle = cos(0.5 * angle_radians);
value_type sinhalfangle = sin(0.5 * angle_radians);
value_type inversenorm = one / len;
value_type coshalfangle = cos(half * angle_radians);
value_type sinhalfangle = sin(half * angle_radians);

x = axis.x * sinhalfangle * inversenorm;
y = axis.y * sinhalfangle * inversenorm;
Expand All @@ -114,7 +120,12 @@ namespace vsg

void set(const t_vec3<value_type>& from, const t_vec3<value_type>& to)
{
const value_type epsilon = 1e-7;
//@todo epsilon might have to be made value_type dependent
static constexpr value_type epsilon = static_cast<value_type>(1e-7);
// avoid implicit conversions.
// a performance optimization for the sin / cos calls below which otherwise operate in double precision.
static constexpr value_type one = static_cast<value_type>(1.0);
static constexpr value_type half = static_cast<value_type>(0.5);

value_type dot_pd = vsg::dot(from, to);
value_type div = std::sqrt(length2(from) * length2(to));
Expand All @@ -132,17 +143,21 @@ namespace vsg

double angle_radians = acos(dot_pd / div);

value_type inversenorm = 1.0 / len;
value_type coshalfangle = cos(0.5 * angle_radians);
value_type sinhalfangle = sin(0.5 * angle_radians);
value_type inversenorm = one / len;
value_type coshalfangle = cos(half * angle_radians);
value_type sinhalfangle = sin(half * angle_radians);

x = axis.x * sinhalfangle * inversenorm;
y = axis.y * sinhalfangle * inversenorm;
z = axis.z * sinhalfangle * inversenorm;
w = coshalfangle;
}

explicit operator bool() const noexcept { return value[0] != 0.0 || value[1] != 0.0 || value[2] != 0.0 || value[3] != 0.0; }
explicit operator bool() const noexcept
{
static constexpr value_type zero = static_cast<value_type>(0.0);
return value[0] != zero || value[1] != zero || value[2] != zero || value[3] != zero;
}
};

using quat = t_quat<float>; /// float quaternion
Expand Down Expand Up @@ -275,7 +290,7 @@ namespace vsg
T one(1.0);

T cosomega = dot(from, to);
if (cosomega < 0.0)
if (cosomega < static_cast<T>(0.0))
{
cosomega = -cosomega;
to.x = -to.x;
Expand Down
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