------------------------------------------------------------
revno: 2514
committer: bchareyre <bchare...@dt-rv020>
branch nick: yade
timestamp: Tue 2010-10-26 16:59:45 +0200
message:
- more debug info for quaternions with nan angle.
modified:
pkg/dem/ScGeom.cpp
--
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=== modified file 'pkg/dem/ScGeom.cpp'
--- pkg/dem/ScGeom.cpp 2010-10-26 14:09:37 +0000
+++ pkg/dem/ScGeom.cpp 2010-10-26 14:59:45 +0000
@@ -94,10 +94,10 @@
if (creep) delta = delta * twistCreep;
AngleAxisr aa(delta); // axis of rotation - this is the Moment direction UNIT vector; // angle represents the power of resistant ELASTIC moment
//Eigen::AngleAxisr(q) returns nan's when q close to identity, next tline fixes the pb.
-// #define Q_DEBUG
+#define Q_DEBUG
#ifdef Q_DEBUG
if (isnan(aa.angle())) {
- cerr<<"NaN found after quaternion product"<<endl;
+ cerr<<"NaN angle found in angleAxisr(q), for quaternion "<<delta<<", after quaternion product"<<endl;
cerr<<"rbp1.ori * (initialOrientation1.conjugate())) * (initialOrientation2 * (rbp2.ori.conjugate()) is:"<<endl;
cerr<<rbp1.ori<<" * "<<initialOrientation1.conjugate()<<" * "<<initialOrientation2<<" * "<<rbp2.ori.conjugate()<<endl<<"with sub-products :"<<endl<<rbp1.ori * (initialOrientation1.conjugate())<<" * "<<initialOrientation2 * (rbp2.ori.conjugate())<<endl;
}
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