/* axis vector suffers from precision errors, use this function to ensure */
static void quat__axis_angle_sanitize(float axis[3], float *angle)
{
if (axis) {
if (is_zero_v3(axis) ||
!finite(axis[0]) ||
!finite(axis[1]) ||
!finite(axis[2]))
{
axis[0] = 1.0f;
axis[1] = 0.0f;
axis[2] = 0.0f;
}
else if (EXPP_FloatsAreEqual(axis[0], 0.0f, 10) &&
EXPP_FloatsAreEqual(axis[1], 0.0f, 10) &&
EXPP_FloatsAreEqual(axis[2], 0.0f, 10))
{
axis[0] = 1.0f;
}
}
if (angle) {
if (!finite(*angle)) {
*angle = 0.0f;
}
}
}
/*---------------------- EXPP_VectorsAreEqual -------------------------
* Builds on EXPP_FloatsAreEqual to test vectors */
int EXPP_VectorsAreEqual(const float *vecA, const float *vecB, int size, int floatSteps)
{
int x;
for (x = 0; x < size; x++) {
if (EXPP_FloatsAreEqual(vecA[x], vecB[x], floatSteps) == 0)
return 0;
}
return 1;
}