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fix setFromTwoVectors because of the change in sorting of the the singular values

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Gael Guennebaud 2009-08-15 10:24:27 +02:00
parent 109a4f650b
commit bff4238d15
1 changed files with 1 additions and 1 deletions
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2
Eigen/src/Geometry/Quaternion.h
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@ -373,7 +373,7 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
c = std::max<Scalar>(c,-1); c = std::max<Scalar>(c,-1);
Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose(); Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
SVD<Matrix<Scalar,2,3> > svd(m); SVD<Matrix<Scalar,2,3> > svd(m);
Vector3 axis = svd.matrixV().col(2); Vector3 axis = svd.matrixV().col(0);
Scalar w2 = (Scalar(1)+c)*Scalar(0.5); Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
this->w() = ei_sqrt(w2); this->w() = ei_sqrt(w2);