small fix
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@ -51,15 +51,17 @@ void QuaternionOperations::slerp(const double q1[4], const double q2[4], const d
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multiply(q1s, q2I, qD);
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angle = std::acos(qD[3]);
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if (std::cos(angle) < 0.0) {
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// we need to invert one quaternion
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VectorOperations<double>::mulScalar(q1s, -1, q1s, 4);
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multiply(q1s, q2I, qD);
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angle = std::acos(qD[3]);
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}
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if (std::sin(angle) == 0.0) {
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// nothing to calculate here
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std::memcpy(q, q1s, 4 * sizeof(double));
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return;
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} else if (std::cos(angle) < 0.0) {
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// we need to invert one quaternione
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VectorOperations<double>::mulScalar(q1s, -1, q1s, 4);
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multiply(q1s, q2I, qD);
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angle = std::acos(qD[3]);
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}
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VectorOperations<double>::mulScalar(q1s, std::sin((1 - weight) * angle) / std::sin(angle), left,
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