Created
November 12, 2019 10:30
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unit quaternion drift
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| use glam; | |
| use rand::{thread_rng, Rng}; | |
| fn rand_angle<R: Rng>(rng: &mut R) -> f32 { | |
| rng.gen_range(-std::f32::consts::PI, std::f32::consts::PI) | |
| } | |
| fn rand_quat<R: Rng>(rng: &mut R) -> glam::Quat { | |
| let yaw = rand_angle(rng); | |
| let pitch = rand_angle(rng); | |
| let roll = rand_angle(rng); | |
| let result = glam::Quat::from_rotation_ypr(yaw, pitch, roll); | |
| assert!(result.is_normalized()); | |
| result | |
| } | |
| fn main() { | |
| let mut rng = thread_rng(); | |
| let mut result = rand_quat(&mut rng); | |
| let mut i = 0; | |
| loop { | |
| let a = result; | |
| let b = rand_quat(&mut rng); | |
| result = a * b; | |
| if !result.is_normalized() { | |
| println!("{}: {} * {} = {} |{}|", i, a, b, result, result.length()); | |
| break; | |
| } | |
| i += 1; | |
| } | |
| } |
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