diff options
Diffstat (limited to 'core/java/android/hardware/SensorManager.java')
| -rw-r--r-- | core/java/android/hardware/SensorManager.java | 21 |
1 files changed, 14 insertions, 7 deletions
diff --git a/core/java/android/hardware/SensorManager.java b/core/java/android/hardware/SensorManager.java index c178aee..1b799ae 100644 --- a/core/java/android/hardware/SensorManager.java +++ b/core/java/android/hardware/SensorManager.java @@ -1938,13 +1938,18 @@ public class SensorManager * @param R an array of floats in which to store the rotation matrix */ public static void getRotationMatrixFromVector(float[] R, float[] rotationVector) { - float q0 = (float)Math.sqrt(1 - rotationVector[0]*rotationVector[0] - - rotationVector[1]*rotationVector[1] - - rotationVector[2]*rotationVector[2]); + + float q0; float q1 = rotationVector[0]; float q2 = rotationVector[1]; float q3 = rotationVector[2]; + if (rotationVector.length == 4) { + q0 = rotationVector[3]; + } else { + q0 = (float)Math.sqrt(1 - q1*q1 - q2*q2 - q3*q3); + } + float sq_q1 = 2 * q1 * q1; float sq_q2 = 2 * q2 * q2; float sq_q3 = 2 * q3 * q3; @@ -1995,10 +2000,12 @@ public class SensorManager * @param Q an array of floats in which to store the computed quaternion */ public static void getQuaternionFromVector(float[] Q, float[] rv) { - float w = (float)Math.sqrt(1 - rv[0]*rv[0] - rv[1]*rv[1] - rv[2]*rv[2]); - //In this case, the w component of the quaternion is known to be a positive number - - Q[0] = w; + if (rv.length == 4) { + Q[0] = rv[3]; + } else { + //In this case, the w component of the quaternion is known to be a positive number + Q[0] = (float)Math.sqrt(1 - rv[0]*rv[0] - rv[1]*rv[1] - rv[2]*rv[2]); + } Q[1] = rv[0]; Q[2] = rv[1]; Q[3] = rv[2]; |