Merge branch 'master-public' into dev

# Conflicts:
#	Cargo.toml
#	src/base/matrix.rs
#	src/geometry/quaternion.rs

src/base/cg.rs

@@ -294,7 +294,8 @@ impl<N: Scalar + Ring, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S>
     {
         for i in 0..D::dim() {
             for j in 0..D::dim() - 1 {
-                self[(j, i)] += shift[j] * self[(D::dim() - 1, i)];
+                let add = shift[j] * self[(D::dim() - 1, i)];
+                self[(j, i)] += add;
             }
         }
     }

src/base/matrix.rs

@@ -1594,6 +1594,19 @@ impl<N: Scalar + Zero + One + ClosedAdd + ClosedSub + ClosedMul, D: Dim, S: Stor
 
 impl<N: ComplexField, D: Dim, S: Storage<N, D>> Unit<Vector<N, D, S>> {
     /// Computes the spherical linear interpolation between two unit vectors.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::geometry::UnitQuaternion;
+    ///
+    /// let q1 = UnitQuaternion::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
+    /// let q2 = UnitQuaternion::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
+    ///
+    /// let q = q1.slerp(&q2, 1.0 / 3.0);
+    ///
+    /// assert_eq!(q.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
+    /// ```
     pub fn slerp<S2: Storage<N, D>>(
         &self,
         rhs: &Unit<Vector<N, D, S2>>,

src/geometry/quaternion.rs

@@ -945,13 +945,7 @@ impl<N: RealField> UnitQuaternion<N> {
     #[inline]
     pub fn angle(&self) -> N {
         let w = self.quaternion().scalar().abs();
-
-        // Handle inaccuracies that make break `.acos`.
-        if w >= N::one() {
-            N::zero()
-        } else {
-            w.acos() * crate::convert(2.0f64)
-        }
+	    self.quaternion().imag().norm().atan2(w) * crate::convert(2.0f64)
     }
 
     /// The underlying quaternion.