vec.h: fix incorrect quaternion normalization

NVlabs · Jan 31, 2024 · 235d1fd · 235d1fd
1 parent a8aed0d
commit 235d1fd
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/include/tiny-cuda-nn/vec.h b/include/tiny-cuda-nn/vec.h
@@ -1105,7 +1105,7 @@ template <typename T> TCNN_HOST_DEVICE tquat<T> operator*(const tquat<T>& a, T b
 template <typename T> TCNN_HOST_DEVICE tquat<T> operator/(const tquat<T>& a, T b) { return {a.w / b, a.x / b, a.y / b, a.z / b}; }
 
 template <typename T> TCNN_HOST_DEVICE T dot(const tquat<T>& a, const tquat<T>& b) { return (a.w * b.w + a.x * b.x) + (a.y * b.y + a.z * b.z); }
-template <typename T> TCNN_HOST_DEVICE T length2(const tquat<T>& a) { return sqrt(dot(a, a)); }
+template <typename T> TCNN_HOST_DEVICE T length2(const tquat<T>& a) { return dot(a, a); }
 template <typename T> TCNN_HOST_DEVICE T length(const tquat<T>& a) { return sqrt(length2(a)); }
 
 template <typename T> TCNN_HOST_DEVICE tquat<T> mix(const tquat<T>& a, const tquat<T>& b, T t) { return a * ((T)1 - t) + b * t; }
@@ -1183,7 +1183,7 @@ TCNN_HOST_DEVICE tmat<T, 3, 3> to_mat3(const tquat<T>& q) {
 
 template <typename T>
 TCNN_HOST_DEVICE tmat<T, 3, 3> slerp(const tmat<T, 3, 3>& a, const tmat<T, 3, 3>& b, float t) {
-	return to_mat3(slerp(tquat<T>(a), tquat<T>(b), t));
+	return to_mat3(normalize(slerp(normalize(tquat<T>(a)), normalize(tquat<T>(b)), t)));
 }
 
 template <typename T>