MatrixToRotAxis is nummerically instable

[Helper]

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On 09/09/2005 at 08:26, xxxxxxxx wrote:

User Information:
Cinema 4D Version:   9.1 
Platform:   Windows  ; Mac  ;  
Language(s) :     C++  ;

---------
Hello

The problem in MatrixToRotAxis is this code

// Achse berechnen
     v->x= m.v2.z-m.v3.y;
     v->y= m.v3.x-m.v1.z;
     v->z= m.v1.y-m.v2.x;
     *v = !(*v);

if the matrix is near identity then v will be really small.. the normalization however will bring it to length 1. This results in an almost random unit vector. Which is now our rotation axis..

My workaround is:

Quaternion q;
     q.SetMatrix(LM(m));
     if(Len(q.v)<1.0e-6) {
          v = Vector(1,0,0);
          w = 0;
     }
     else {
          v = SV(!(q.v));
          w = 2.0*acos(q.w);
     }

Not that you would call this efficient. But it seems to work.

best regards
Michael