diff options
| -rw-r--r-- | Eigen/src/Geometry/Quaternion.h | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h index 876524cc0..97add91d9 100644 --- a/Eigen/src/Geometry/Quaternion.h +++ b/Eigen/src/Geometry/Quaternion.h @@ -369,13 +369,14 @@ Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) // 2 - Quaternion slerp(Scalar t, const Quaternion& other) const // which returns the s-lerp between this and other // ?? - if (m_coeffs == other.m_coeffs) - return *this; - + static const Scalar one = Scalar(1) - precision<Scalar>(); Scalar d = m_coeffs.dot(other.m_coeffs); + Scalar absD = ei_abs(d); + if (d>=one) + return *this; // theta is the angle between the 2 quaternions - Scalar theta = std::acos(ei_abs(d)); + Scalar theta = std::acos(absD); Scalar sinTheta = ei_sin(theta); Scalar scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta; |