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Fix NaN in quaternion slerp when slerping opposite quaternions
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Nikita Lisitsa 2026-08-20 21:52:38 +03:00
parent 28126518d5
commit 6601824986
1 changed files with 4 additions and 2 deletions
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libs/math/include/psemek/math/quaternion.hpp
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@ -267,6 +267,8 @@ namespace psemek::math
// prevent division by zero // prevent division by zero
if (d >= T{ 1}) if (d >= T{ 1})
return quaternion<T>{lerp(q0.coords, q1.coords, t)}; return quaternion<T>{lerp(q0.coords, q1.coords, t)};
if (d <= T{-1})
return quaternion<T>{lerp(q0.coords, -q1.coords, t)};
auto const omega = acos(abs(d)); auto const omega = acos(abs(d));