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fix a numerical instability in Quaternion::slerp

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This commit is contained in:
Gael Guennebaud 2008-09-09 15:25:03 +00:00
parent 703539110b
commit d3a70b7fac
1 changed files with 5 additions and 4 deletions
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9
Eigen/src/Geometry/Quaternion.h
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@ -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)
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;
Scalar d = m_coeffs.dot(other.m_coeffs);
// 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;