From bf4b92f1c01a0a4ee7f057a9ee709c9439465cab Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Tue, 28 Feb 2006 16:14:58 +0000
Subject: [PATCH] cover the case normV==0
[[Imported from SVN: r741]]
---
src/quaternion.hh | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/src/quaternion.hh b/src/quaternion.hh
index 00a0f214..0e97c3ab 100644
--- a/src/quaternion.hh
+++ b/src/quaternion.hh
@@ -17,6 +17,10 @@ public:
T normV = std::sqrt(v0*v0 + v1*v1 + v2*v2);
T sin = std::sin(normV/2)/normV;
+ // if normV == 0 then q = (0,0,0,1)
+ if (isnan(sin))
+ sin = 0;
+
q[0] = sin * v0;
q[1] = sin * v1;
q[2] = sin * v2;
--
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