From 686ed10624ad9b878c468167aea69bf20dc7c7f0 Mon Sep 17 00:00:00 2001
From: Joshua Smith <jsmith62831@gmail.com>
Date: Tue, 29 Mar 2022 12:28:11 -0500
Subject: [PATCH] fixed general slerp formula

---
 src/geometry/rotation_interpolation.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/geometry/rotation_interpolation.rs b/src/geometry/rotation_interpolation.rs
index 7d475dc7..56a55f17 100644
--- a/src/geometry/rotation_interpolation.rs
+++ b/src/geometry/rotation_interpolation.rs
@@ -140,7 +140,8 @@ impl<T:RealField, const D: usize> Rotation<T,D> where
                 transmute::<&Rotation3<T>,&Self>(&self3d.slerp_3d(other3d, t)).clone()
             },
 
-            _ => self * (self/other).powf(t)
+            //the multiplication order matters here
+            _ => (other/self).powf(t) * self
         }
 
     }