Math: fuzzy compare for division-by-zero in quaternion s(c)lerp.

Also remove a totally unneeded conversion.
mosra · Sep 3, 2018 · eadf898 · eadf898
1 parent 880bf7a
commit eadf898
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/src/Magnum/Math/DualQuaternion.h b/src/Magnum/Math/DualQuaternion.h
@@ -84,7 +84,7 @@ template<class T> inline DualQuaternion<T> sclerp(const DualQuaternion<T>& norma
 
     /* Avoid division by zero: interpolate just the translation part */
     /** @todo could this be optimized somehow? */
-    if(std::abs(cosHalfAngle) >= T(1))
+    if(std::abs(cosHalfAngle) >= T(1) - TypeTraits<T>::epsilon())
         return DualQuaternion<T>::translation(Implementation::lerp(normalizedA.translation(), normalizedB.translation(), t))*DualQuaternion<T>{normalizedA.real()};
 
     /* l + εm = q_A^**q_B */
@@ -151,7 +151,7 @@ template<class T> inline DualQuaternion<T> sclerpShortestPath(const DualQuaterni
 
     /* Avoid division by zero: interpolate just the translation part */
     /** @todo could this be optimized somehow? */
-    if(std::abs(cosHalfAngle) >= T(1))
+    if(std::abs(cosHalfAngle) >= T(1) - TypeTraits<T>::epsilon())
         return DualQuaternion<T>::translation(Implementation::lerp(normalizedA.translation(), normalizedB.translation(), t))*DualQuaternion<T>{normalizedA.real()};
 
     /* l + εm = q_A^**q_B, multiplying with -1 ensures shortest path when dot < 0 */

diff --git a/src/Magnum/Math/Quaternion.h b/src/Magnum/Math/Quaternion.h
@@ -163,7 +163,8 @@ template<class T> inline Quaternion<T> slerp(const Quaternion<T>& normalizedA, c
     const T cosHalfAngle = dot(normalizedA, normalizedB);
 
     /* Avoid division by zero */
-    if(std::abs(cosHalfAngle) >= T(1)) return Quaternion<T>{normalizedA};
+    if(std::abs(cosHalfAngle) >= T(1) - TypeTraits<T>::epsilon())
+        return normalizedA;
 
     const T a = std::acos(cosHalfAngle);
     return (std::sin((T(1) - t)*a)*normalizedA + std::sin(t*a)*normalizedB)/std::sin(a);
@@ -206,7 +207,8 @@ template<class T> inline Quaternion<T> slerpShortestPath(const Quaternion<T>& no
     const T cosHalfAngle = dot(normalizedA, normalizedB);
 
     /* Avoid division by zero */
-    if(std::abs(cosHalfAngle) >= T(1)) return Quaternion<T>{normalizedA};
+    if(std::abs(cosHalfAngle) >= T(1) - TypeTraits<T>::epsilon())
+        return normalizedA;
 
     const Quaternion<T> shortestNormalizedA = cosHalfAngle < 0 ? -normalizedA : normalizedA;