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| author | Mathias Agopian <mathias@google.com> | 2010-12-01 03:37:40 -0800 |
|---|---|---|
| committer | Android Git Automerger <android-git-automerger@android.com> | 2010-12-01 03:37:40 -0800 |
| commit | fb49440b998c977c6928f07bda6127284dee6616 (patch) | |
| tree | d8a8e6ba0b907b740833b130bbf1844dd304aa91 /services | |
| parent | dacf543dfe521b420b16b4588b14ef9f3b113add (diff) | |
| parent | e3895b6ff2eca41c7a1e764e88af0591cbffa560 (diff) | |
| download | frameworks_base-fb49440b998c977c6928f07bda6127284dee6616.zip frameworks_base-fb49440b998c977c6928f07bda6127284dee6616.tar.gz frameworks_base-fb49440b998c977c6928f07bda6127284dee6616.tar.bz2 | |
am e3895b6f: am 24754c9f: Merge "don\'t attempt to normalize the rotation vector" into gingerbread
* commit 'e3895b6ff2eca41c7a1e764e88af0591cbffa560':
don't attempt to normalize the rotation vector
Diffstat (limited to 'services')
| -rw-r--r-- | services/sensorservice/RotationVectorSensor.cpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/services/sensorservice/RotationVectorSensor.cpp b/services/sensorservice/RotationVectorSensor.cpp index 6f4b8be..eecf260 100644 --- a/services/sensorservice/RotationVectorSensor.cpp +++ b/services/sensorservice/RotationVectorSensor.cpp @@ -114,10 +114,12 @@ bool RotationVectorSensor::process(sensors_event_t* outEvent, float qx = sqrtf( clamp( Hx - My - Az + 1) * 0.25f ); float qy = sqrtf( clamp(-Hx + My - Az + 1) * 0.25f ); float qz = sqrtf( clamp(-Hx - My + Az + 1) * 0.25f ); - const float n = 1.0f / (qw*qw + qx*qx + qy*qy + qz*qz); - qx = copysignf(qx, Ay - Mz) * n; - qy = copysignf(qy, Hz - Ax) * n; - qz = copysignf(qz, Mx - Hy) * n; + qx = copysignf(qx, Ay - Mz); + qy = copysignf(qy, Hz - Ax); + qz = copysignf(qz, Mx - Hy); + + // this quaternion is guaranteed to be normalized, by construction + // of the rotation matrix. *outEvent = event; outEvent->data[0] = qx; |