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  1. Commons Math
  2. MATH-801

Quaternion not normalized after construction

    Details

    • Type: Bug
    • Status: Closed
    • Priority: Major
    • Resolution: Fixed
    • Affects Version/s: 3.0
    • Fix Version/s: 3.1
    • Labels:
      None

      Description

      The use of the Rotation(Vector3D u1,Vector3D u2,Vector3D v1,Vector3D v2) constructor with normalized angle can apparently lead to un-normalized quaternion.
      This case appeared to me with the following data :
      u1 = (0.9999988431610581, -0.0015210774290851095, 0.0)
      u2 = (0.0, 0.0, 1.0)
      and
      v1 = (0.9999999999999999, 0.0, 0.0)
      v2 = (0.0, 0.0, -1.0)

      This lead to the following quaternion :
      q0 = 225783.35177064248
      q1 = 0.0
      q2 = 0.0
      q3 = -3.3684446110762543E-9

      I was expecting to have a normalized quaternion, as input vector's are normalized. Does the quaternion shouldn't be normalized ?
      I've joined the corresponding piece of code as JUnit Test case

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            • Assignee:
              Unassigned
              Reporter:
              romdicos DI COSTANZO
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              • Created:
                Updated:
                Resolved: