Commit 7760e74b authored by Marek Szczerba's avatar Marek Szczerba
Browse files

Fix for quaternion slerp for very small angles

parent 4010db07

lib_com/options.h

+1 −1
Original line number Diff line number Diff line
@@ -81,7 +81,6 @@ 
#define FIX_785_REMOVE_DEAD_CODE                        /* VA: issue 785: remove dead code */

#define FIX_852_FIX_HANDLE_DEREF                        /* VA: issue 852: Fix missing handle dereferencing of hIsmMetadaData in ivas_ism_metadata_close() */





/* #################### End BE switches ################################## */
@@ -112,6 +111,7 @@ 
#define SIMPLIFY_CODE_BE   // Simplify synthesis loop



#define CR_2109_to_2112_cd0_ce0  /* This is related to the CRs include in the 26.444 package of 21-12. Concerns lead_deindexing and  */

#define NONBE_FIX_738_QUATERNION_SLERP_PRECISION              /* Philips: issue 738: Quaternion spherical linear interpolation precision handling issues */



/* ##################### End NON-BE switches ########################### */

lib_rend/ivas_orient_trk.c

+44 −1
Original line number Diff line number Diff line
@@ -49,7 +49,9 @@ 
 *------------------------------------------------------------------------------------------*/



#define OTR_UPDATE_RATE (float) FRAMES_PER_SEC /* rate of the Process() calls [Hz]; 1x per IVAS frame */



#ifdef NONBE_FIX_738_QUATERNION_SLERP_PRECISION

#define COS_ONE_TENTH_DEGREE ( 0.999998476913288f )

#endif



/*------------------------------------------------------------------------------------------*

 * Local functions
@@ -361,6 +363,46 @@ void QuaternionSlerp( 
    const float t,

    IVAS_QUATERNION *const r )

{

#ifdef NONBE_FIX_738_QUATERNION_SLERP_PRECISION

    IVAS_QUATERNION r1, r2;

    float phi, sinPhi, cosPhi, s1, s2;



    QuaternionNormalize( q1, &r1 );

    QuaternionNormalize( q2, &r2 );



    cosPhi = QuaternionDotProduct( r1, r2 );



    if ( cosPhi < 0 )

    {

        cosPhi = -cosPhi;

        r2.w = -r2.w;

        r2.x = -r2.x;

        r2.y = -r2.y;

        r2.z = -r2.z;

    }



    /* Angle less than one degree, use linear interpolation */

    if ( cosPhi >= COS_ONE_TENTH_DEGREE )

    {

        r->w = r1.w + t * ( r2.w - r1.w );

        r->x = r1.x + t * ( r2.x - r1.x );

        r->y = r1.y + t * ( r2.y - r1.y );

        r->z = r1.z + t * ( r2.z - r1.z );

    }

    else

    {

        phi = acosf( cosPhi );

        sinPhi = sinf( phi );



        s1 = sinf( ( 1 - t ) * phi );

        s2 = sinf( t * phi );



        r->w = ( s1 * r1.w + s2 * r2.w ) / sinPhi;

        r->x = ( s1 * r1.x + s2 * r2.x ) / sinPhi;

        r->y = ( s1 * r1.y + s2 * r2.y ) / sinPhi;

        r->z = ( s1 * r1.z + s2 * r2.z ) / sinPhi;

    }

#else

    float angle, denom, s, s2;



    s = QuaternionDotProduct( q1, q2 );
@@ -382,6 +424,7 @@ void QuaternionSlerp( 
    r->z = ( q1.z * s + q2.z * s2 ) / denom;

    r->w = ( q1.w * s + q2.w * s2 ) / denom;



#endif

    QuaternionNormalize( *r, r );



    return;