Start from random rotation in from_matrix to prevent issues when calling from_matrix on rotation matrices
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@ -410,9 +410,11 @@ where
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/// This is an iterative method. See `.from_matrix_eps` to provide mover
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/// This is an iterative method. See `.from_matrix_eps` to provide mover
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/// convergence parameters and starting solution.
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/// convergence parameters and starting solution.
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/// This implements "A Robust Method to Extract the Rotational Part of Deformations" by Müller et al.
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/// This implements "A Robust Method to Extract the Rotational Part of Deformations" by Müller et al.
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#[cfg(feature = "rand-no-std")]
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pub fn from_matrix(m: &Matrix3<T>) -> Self
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pub fn from_matrix(m: &Matrix3<T>) -> Self
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where
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where
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T: RealField,
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T: RealField + Scalar,
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Standard: Distribution<Rotation3<T>>,
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{
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{
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Rotation3::from_matrix(m).into()
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Rotation3::from_matrix(m).into()
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}
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}
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@ -706,11 +706,15 @@ where
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/// This is an iterative method. See `.from_matrix_eps` to provide mover
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/// This is an iterative method. See `.from_matrix_eps` to provide mover
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/// convergence parameters and starting solution.
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/// convergence parameters and starting solution.
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/// This implements "A Robust Method to Extract the Rotational Part of Deformations" by Müller et al.
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/// This implements "A Robust Method to Extract the Rotational Part of Deformations" by Müller et al.
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#[cfg(feature = "rand-no-std")]
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pub fn from_matrix(m: &Matrix3<T>) -> Self
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pub fn from_matrix(m: &Matrix3<T>) -> Self
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where
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where
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T: RealField,
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T: RealField + crate::Scalar,
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Standard: Distribution<Rotation3<T>>,
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{
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{
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Self::from_matrix_eps(m, T::default_epsilon(), 0, Self::identity())
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// Starting from a random rotation has almost zero likelihood to end up in a maximum if `m` is already a rotation matrix
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let random_rotation: Rotation3<T> = rand::thread_rng().gen();
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Self::from_matrix_eps(m, T::default_epsilon(), 0, random_rotation)
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}
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}
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/// Builds a rotation matrix by extracting the rotation part of the given transformation `m`.
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/// Builds a rotation matrix by extracting the rotation part of the given transformation `m`.
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@ -730,7 +734,7 @@ where
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T: RealField,
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T: RealField,
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{
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{
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if max_iter == 0 {
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if max_iter == 0 {
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max_iter = usize::max_value();
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max_iter = usize::MAX;
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}
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}
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let mut rot = guess.into_inner();
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let mut rot = guess.into_inner();
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@ -1,4 +1,5 @@
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use na::{Quaternion, RealField, UnitQuaternion, Vector2, Vector3};
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use std::f64::consts::PI;
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use na::{Matrix3, Quaternion, RealField, Rotation3, UnitQuaternion, UnitVector3, Vector2, Vector3};
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#[test]
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#[test]
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fn angle_2() {
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fn angle_2() {
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@ -16,6 +17,19 @@ fn angle_3() {
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assert_eq!(a.angle(&b), 0.0);
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assert_eq!(a.angle(&b), 0.0);
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}
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}
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#[test]
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fn from_rotation_matrix() {
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// Test degenerate case when from_matrix_eps gets stuck in maximum
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let identity = Rotation3::from_matrix(&Matrix3::new(
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1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0,
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));
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assert_relative_eq!(identity, &Rotation3::identity(), epsilon = 0.001);
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let rotated_z = Rotation3::from_matrix(&Matrix3::new(
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1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0,
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));
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assert_relative_eq!(rotated_z, &Rotation3::from_axis_angle(&UnitVector3::new_unchecked(Vector3::new(1.0, 0.0, 0.0)), PI), epsilon = 0.001);
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}
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#[test]
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#[test]
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fn quaternion_euler_angles_issue_494() {
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fn quaternion_euler_angles_issue_494() {
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let quat = UnitQuaternion::from_quaternion(Quaternion::new(
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let quat = UnitQuaternion::from_quaternion(Quaternion::new(
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