------------------------------------------------------------
revno: 2078
committer: Anton Gladky <gladky.an...@gmail.com>
branch nick: trunk
timestamp: Fri 2010-03-12 22:20:32 +0100
message:
Adaptation to Eigen Library
modified:
pkg/dem/DataClass/InteractionGeometry/Dem3DofGeom_SphereSphere.cpp
--
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=== modified file 'pkg/dem/DataClass/InteractionGeometry/Dem3DofGeom_SphereSphere.cpp'
--- pkg/dem/DataClass/InteractionGeometry/Dem3DofGeom_SphereSphere.cpp 2010-03-10 09:18:14 +0000
+++ pkg/dem/DataClass/InteractionGeometry/Dem3DofGeom_SphereSphere.cpp 2010-03-12 21:20:32 +0000
@@ -40,9 +40,12 @@
* @note It is not checked whether planePt relly lies on the tangent plane. If not, result will be incorrect.
*/
Quaternionr Dem3DofGeom_SphereSphere::rollPlanePtToSphere(const Vector3r& planePt, const Real& radius, const Vector3r& planeNormal){
- Vector3r axis=planeNormal.Cross(planePt); axis.Normalize();
- Real angle=planePt.Length()/radius;
- Quaternionr normal2pt(axis,angle);
+ Quaternionr normal2pt;
+ if (planePt!=Vector3r::ZERO) {
+ Vector3r axis=planeNormal.Cross(planePt); axis.Normalize();
+ Real angle=planePt.Length()/radius;
+ normal2pt.FromAxisAngle(axis,angle);
+ }
Quaternionr ret; ret.Align(Vector3r::UNIT_X,normal2pt*planeNormal);
return ret;
}
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