Fix matrix slerp function (#568)
* Fix matrix slerp function * Adding slerp doc test
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@ -1480,6 +1480,19 @@ impl<N: Scalar + Zero + One + ClosedAdd + ClosedSub + ClosedMul, D: Dim, S: Stor
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impl<N: Real, D: Dim, S: Storage<N, D>> Unit<Vector<N, D, S>> {
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/// Computes the spherical linear interpolation between two unit vectors.
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///
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/// # Examples:
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///
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/// ```
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/// # use nalgebra::geometry::UnitQuaternion;
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///
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/// let q1 = UnitQuaternion::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
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/// let q2 = UnitQuaternion::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
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///
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/// let q = q1.slerp(&q2, 1.0 / 3.0);
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///
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/// assert_eq!(q.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
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/// ```
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pub fn slerp<S2: Storage<N, D>>(
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&self,
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rhs: &Unit<Vector<N, D, S2>>,
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@ -1513,7 +1526,7 @@ impl<N: Real, D: Dim, S: Storage<N, D>> Unit<Vector<N, D, S>> {
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return Some(Unit::new_unchecked(self.clone_owned()));
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}
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let hang = c_hang.acos();
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let hang = c_hang.abs().acos();
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let s_hang = (N::one() - c_hang * c_hang).sqrt();
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// FIXME: what if s_hang is 0.0 ? The result is not well-defined.
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@ -1522,7 +1535,7 @@ impl<N: Real, D: Dim, S: Storage<N, D>> Unit<Vector<N, D, S>> {
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} else {
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let ta = ((N::one() - t) * hang).sin() / s_hang;
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let tb = (t * hang).sin() / s_hang;
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let res = &**self * ta + &**rhs * tb;
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let res = &**self * ta + &**rhs * tb * c_hang.signum();
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Some(Unit::new_unchecked(res))
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}
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