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  • David Gobbi's avatar
    16002: Fix incorrect math in vtkQuaternion · 451e3631
    David Gobbi authored
    This corrects the math for UnitLog and UnitExp and adds a test to verify
    that UnitExp(UnitLog(quat)) is an identity operation.  It also improves
    the Slerp() accuracy by using atan2(y,x) to compute the angle rather than
    acos(x).  The reason for avoiding acos(x) is that, if x is close to 1,
    then small numerical errors in x can give rise to larger numerical errors
    in the computed angle.
    451e3631