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backport quaternion slerp precision fix

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This commit is contained in:
Gael Guennebaud 2009-12-05 18:28:17 +01:00
parent f36650b00a
commit 72fc81dd9d
1 changed files with 20 additions and 11 deletions
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21
Eigen/src/Geometry/Quaternion.h
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@ -450,22 +450,31 @@ inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
template <typename Scalar>
Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const
{
static const Scalar one = Scalar(1) - precision<Scalar>();
static const Scalar one = Scalar(1) - machine_epsilon<Scalar>();
Scalar d = this->dot(other);
Scalar absD = ei_abs(d);
if (absD>=one)
return *this;
Scalar scale0;
Scalar scale1;
if (absD>=one)
{
scale0 = Scalar(1) - t;
scale1 = t;
}
else
{
// theta is the angle between the 2 quaternions
Scalar theta = std::acos(absD);
Scalar sinTheta = ei_sin(theta);
Scalar scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
Scalar scale1 = ei_sin( ( t * theta) ) / sinTheta;
scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
scale1 = ei_sin( ( t * theta) ) / sinTheta;
if (d<0)
scale1 = -scale1;
}
return Quaternion(scale0 * m_coeffs + scale1 * other.m_coeffs);
return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
}
// set from a rotation matrix