Revision 2dd31024

View differences:

utility/quaternion.h
142 142
        }
143 143
    }
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145
    void toAxisAngle(Vector<3>& axis, float& angle) const
145
    void toAxisAngle(Vector<3>& axis, double& angle) const
146 146
    {
147
        float sqw = sqrt(1-_w*_w);
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        if(sqw == 0) //it's a singularity and divide by zero, avoid
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        double sqw = sqrt(1-_w*_w);
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        if (sqw == 0) //it's a singularity and divide by zero, avoid
149 149
            return;
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151 151
        angle = 2 * acos(_w);
......
198 198
        return ret;
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    }
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201
    Vector<3> toAngularVelocity(float dt) const
201
    Vector<3> toAngularVelocity(double dt) const
202 202
    {
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        Vector<3> ret;
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        Quaternion one(1.0, 0.0, 0.0, 0.0);

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