Commit d631e089 authored by Sandesh Venkatesh's avatar Sandesh Venkatesh
Browse files

Fix for quaternion slerp for very small angles

parent 4dad94a7

lib_com/options.h

+1 −1
Original line number Diff line number Diff line
@@ -60,7 +60,7 @@ 


#define NON_BE_FIX_1048_THRESHOLD_COH_BASOP             /* Nokia: Fix 1048 replace comparison with 0 with comparison to threshold, to align with BASOP*/

#define NONBE_FIX_1054_NEGATIVE_LVQ_INDEX               /* Nokia: issue 1054: Input to decode_comb in deindex_lvq_SHB should be positive */



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

/* #################### End FIXES switches ############################ */



#define BASOP_NOGLOB                                    /* Disable global symbols in BASOPs, Overflow/Carry in BASOPs disabled, additional BASOPs in case of Overflow */

lib_rend/ivas_orient_trk.c

+45 −1
Original line number Diff line number Diff line
@@ -46,6 +46,9 @@ 
 *------------------------------------------------------------------------------------------*/



#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





/*------------------------------------------------------------------------------------------*
@@ -154,6 +157,47 @@ 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 );
@@ -173,7 +217,7 @@ void QuaternionSlerp( 
    r->y = ( q1.y * s + q2.y * s2 ) / denom;

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

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



#endif

    QuaternionNormalize( *r, r );



    return;