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BLI_math: use fallback for compatible quaternion calculation

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Copy the new value when the compatible quaternion isn't usable.
This commit is contained in:
Campbell Barton
2019-03-19 17:39:14 +11:00
parent 40e85a603c
commit 4db7842a72
1 changed files with 12 additions and 6 deletions
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18
source/blender/blenlib/intern/math_rotation.c
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@@ -207,14 +207,20 @@ void pow_qt_fl_normalized(float q[4], const float fac)
*/
void quat_to_compatible_quat(float q[4], const float a[4], const float old[4])
{
const float eps = 1e-4f;
BLI_ASSERT_UNIT_QUAT(a);
float delta[4];
float old_unit[4];
normalize_qt_qt(old_unit, old);
rotation_between_quats_to_quat(delta, old_unit, a);
mul_qt_qtqt(q, old, delta);
if ((q[0] < 0.0f) != (old[0] < 0.0f)) {
negate_v4(q);
/* Skips `!finite_v4(old)` case too. */
if (normalize_qt_qt(old_unit, old) > eps) {
float delta[4];
rotation_between_quats_to_quat(delta, old_unit, a);
mul_qt_qtqt(q, old, delta);
if ((q[0] < 0.0f) != (old[0] < 0.0f)) {
negate_v4(q);
}
}
else {
copy_qt_qt(q, a);
}
}