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Fix geom::shortest_arc in case of 180 degree rotation

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This commit is contained in:
Nikita Lisitsa 2022-07-09 11:53:39 +03:00
parent d157ba1cd5
commit 3b509fb358
1 changed files with 9 additions and 2 deletions
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11
libs/geom/include/psemek/geom/quaternion.hpp
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@ -226,14 +226,21 @@ namespace psemek::geom
// v0 & v1 assumed to be normalized
template <typename T>
quaternion<T> shortest_arc(vector<T, 3> const & v0, vector<T, 3> const & v1)
quaternion<T> shortest_arc(vector<T, 3> const & v0, vector<T, 3> const & v1, T const eps = T{1e-6})
{
auto axis = cross(v0, v1);
auto d = dot(v0, v1);
if (d + T{1} < eps)
axis = ort(v0);
quaternion<T> result;
result[0] = axis[0];
result[1] = axis[1];
result[2] = axis[2];
result[3] = T{1} + dot(v0, v1);
result[3] = T{1} + d;
result.coords = normalized(result.coords);
return result;
}