> so, for example a function that calculates axis angle, coule do a > check if that argument to acos is higher that 1.0. And if yes - then > perform a normalization, to bring back down that quaternion to an > identity quaternion. This method will prevent quaternions from growin > bigger than indentity, but will not catch quaternions that get > smaller than identity - and that should be prevented too somehow (but > will not produce NaNs).
I think it should be fixed in eigen, if that is a pure numerics problem. That's why we use libs, to not do everything ourselves. What happens if you re-normalize all quaternions before computing the product? (just to check; I am not suggesting to do it all the time) _______________________________________________ Mailing list: https://launchpad.net/~yade-dev Post to : [email protected] Unsubscribe : https://launchpad.net/~yade-dev More help : https://help.launchpad.net/ListHelp
