Fix camera direction optimization

NVlabs · Mar 3, 2022 · af9434e · af9434e
1 parent 36278ee
commit af9434e
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/include/neural-graphics-primitives/adam_optimizer.h b/include/neural-graphics-primitives/adam_optimizer.h
@@ -104,8 +104,10 @@ class RotationAdamOptimizer {
 		float rot_len = rot.norm();
 		float var_len = variable().norm();
 
+		static const Eigen::Vector3f Z = {0.0f, 0.0f, 1.0f};
+
 		Eigen::AngleAxisf result;
-		Eigen::Matrix3f mat = Eigen::AngleAxisf(rot_len, rot).toRotationMatrix() * Eigen::AngleAxisf(var_len, variable()/var_len).toRotationMatrix();
+		Eigen::Matrix3f mat = Eigen::AngleAxisf(-rot_len, rot_len > 0 ? rot/rot_len : Z).toRotationMatrix() * Eigen::AngleAxisf(var_len, var_len > 0 ? variable()/var_len : Z).toRotationMatrix();
 		result.fromRotationMatrix(mat);
 		m_state.variable = result.axis() * result.angle();
 	}