uniform_parent_pose took the Y angle from asin, which loses precision within about 1e-6 degrees of +-90. The Y angle now comes from atan2 on cos(Y), as the X and Z angles already do. The gimbal branch and the principal-range output are unchanged. A new test parents a static Orientation with Y 1e-6 degrees off gimbal lock under a uniform parent. Its largest corner displacement was 3.3e-8 px before this change and 1.5e-14 px after. Co-Authored-By: Claude Haiku 5.5 <noreply@anthropic.com> |
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| presets | ||
| scripts | ||
| src | ||
| tests | ||
| Cargo.toml | ||