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improvements in slerp

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thanks to Tully Foote:

http://code.google.com/p/bullet/issues/detail?id=140

minor warning fix in btHashMap.h
This commit is contained in:
erwin.coumans
2009-11-03 06:22:51 +00:00
parent 836234696d
commit 992c5eafa4
2 changed files with 12 additions and 5 deletions
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15
src/LinearMath/btQuaternion.h
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@@ -285,10 +285,17 @@ public:
btScalar d = btScalar(1.0) / btSin(theta);
btScalar s0 = btSin((btScalar(1.0) - t) * theta);
btScalar s1 = btSin(t * theta);
return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
(m_floats[1] * s0 + q.y() * s1) * d,
(m_floats[2] * s0 + q.z() * s1) * d,
(m_floats[3] * s0 + q.m_floats[3] * s1) * d);
if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
return btQuaternion((m_floats[0] * s0 + -q.x() * s1) * d,
(m_floats[1] * s0 + -q.y() * s1) * d,
(m_floats[2] * s0 + -q.z() * s1) * d,
(m_floats[3] * s0 + -q.m_floats[3] * s1) * d);
else
return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
(m_floats[1] * s0 + q.y() * s1) * d,
(m_floats[2] * s0 + q.z() * s1) * d,
(m_floats[3] * s0 + q.m_floats[3] * s1) * d);
}
else
{