GitHub-Proxy/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2025-04-29 07:14:12 +08:00
Code Issues Packages Projects Releases Wiki Activity

Optimize slerp() as proposed by Gopinath Vasalamarri.

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Eigen/src/Geometry/Quaternion.h
View File

@ -793,7 +793,7 @@ EIGEN_DEVICE_FUNC Quaternion<typename internal::traits<Derived>::Scalar> Quatern
} else { } else {
// theta is the angle between the 2 quaternions // theta is the angle between the 2 quaternions
Scalar theta = acos(absD); Scalar theta = acos(absD);
Scalar sinTheta = sin(theta); Scalar sinTheta = numext::sqrt(Scalar(1) - absD * absD);
scale0 = sin((Scalar(1) - t) * theta) / sinTheta; scale0 = sin((Scalar(1) - t) * theta) / sinTheta;
scale1 = sin((t * theta)) / sinTheta; scale1 = sin((t * theta)) / sinTheta;