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AP_Math: prevent a floating point exception

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This commit is contained in:
Andrew Tridgell 2014-04-21 15:23:25 +10:00
parent 4d24a86088
commit 7e5a491f14
1 changed files with 9 additions and 1 deletions
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10
libraries/AP_Math/vector2.cpp
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@ -125,7 +125,15 @@ bool Vector2<T>::operator !=(const Vector2<T> &v) const
template <typename T>
float Vector2<T>::angle(const Vector2<T> &v2) const
{
return acosf(((*this)*v2) / (this->length()*v2.length()));
float len = this->length() * v2.length();
if (len <= 0) {
return 0.0f;
}
float cosv = ((*this)*v2) / len;
if (fabsf(cosv) >= 1) {
return 0.0f;
}
return acosf(cosv);
}
// only define for float