| 195 |
|
) |
| 196 |
|
{ |
| 197 |
|
FVECT normtarg; |
| 198 |
< |
double volen, dotprod, sint, cost; |
| 198 |
> |
double volen, dotprod, sintr, cost; |
| 199 |
|
int i; |
| 200 |
|
|
| 201 |
+ |
VCOPY(normtarg, vtarg); /* in case vtarg==vres */ |
| 202 |
|
if (vres != vorig) |
| 203 |
|
VCOPY(vres, vorig); |
| 204 |
|
if (t == 0.0) |
| 205 |
|
return(VLEN(vres)); /* no rotation requested */ |
| 206 |
|
if ((volen = normalize(vres)) == 0.0) |
| 207 |
|
return(0.0); |
| 207 |
– |
VCOPY(normtarg, vtarg); |
| 208 |
|
if (normalize(normtarg) == 0.0) |
| 209 |
|
return(0.0); /* target vector is zero */ |
| 210 |
|
dotprod = DOT(vres, normtarg); |
| 222 |
|
else if (meas == GEOD_REL) |
| 223 |
|
t *= acos(dotprod); |
| 224 |
|
cost = cos(t); |
| 225 |
< |
sint = sin(t); |
| 225 |
> |
sintr = sin(t) / sqrt(1. - dotprod*dotprod); |
| 226 |
|
for (i = 0; i < 3; i++) |
| 227 |
|
vres[i] = volen*( cost*vres[i] + |
| 228 |
< |
sint*(normtarg[i] - dotprod*vres[i]) ); |
| 228 |
> |
sintr*(normtarg[i] - dotprod*vres[i]) ); |
| 229 |
|
|
| 230 |
|
return(volen); /* return vector length */ |
| 231 |
|
} |
