small fix

This commit is contained in:
Marius Eggert 2023-12-06 09:26:22 +01:00
parent c648229c99
commit 94de483836

View File

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