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Fix poor Quaternion::slerp snapping

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This commit is contained in:
Gael Guennebaud 2009-12-04 15:01:17 +01:00
parent ea684af6b4
commit c68c695b87
1 changed files with 19 additions and 10 deletions
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29
Eigen/src/Geometry/Quaternion.h
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@ -583,20 +583,29 @@ template <class OtherDerived>
Quaternion<typename ei_traits<Derived>::Scalar> Quaternion<typename ei_traits<Derived>::Scalar>
QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const
{ {
static const Scalar one = Scalar(1) - dummy_precision<Scalar>(); static const Scalar one = Scalar(1) - epsilon<Scalar>();
Scalar d = this->dot(other); Scalar d = this->dot(other);
Scalar absD = ei_abs(d); Scalar absD = ei_abs(d);
Scalar scale0;
Scalar scale1;
if (absD>=one) if (absD>=one)
return Quaternion<Scalar>(derived()); {
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);
// theta is the angle between the 2 quaternions scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
Scalar theta = std::acos(absD); scale1 = ei_sin( ( t * theta) ) / sinTheta;
Scalar sinTheta = ei_sin(theta); if (d<0)
scale1 = -scale1;
Scalar scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta; }
Scalar scale1 = ei_sin( ( t * theta) ) / sinTheta;
if (d<0)
scale1 = -scale1;
return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs()); return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
} }