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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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6
libs/math/include/psemek/math/quaternion.hpp
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@ -265,8 +265,10 @@ namespace psemek::math
auto const d = dot(q0.coords, q1.coords);
// prevent division by zero
if (d >= T{1})
return quaternion<T>{lerp(q0.coords, q1.coords, t)};
if (d >= T{ 1})
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));