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Optimize slerp() as proposed by Gopinath Vasalamarri.

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This commit is contained in:
Rasmus Munk Larsen 2025-04-21 14:11:42 -07:00
parent 66d8111ac1
commit d2dce37767
1 changed files with 1 additions and 1 deletions
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Eigen/src/Geometry/Quaternion.h
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@ -793,7 +793,7 @@ EIGEN_DEVICE_FUNC Quaternion<typename internal::traits<Derived>::Scalar> Quatern
} else {
// theta is the angle between the 2 quaternions
Scalar theta = acos(absD);
Scalar sinTheta = sin(theta);
Scalar sinTheta = numext::sqrt(Scalar(1) - absD * absD);
scale0 = sin((Scalar(1) - t) * theta) / sinTheta;
scale1 = sin((t * theta)) / sinTheta;