added regularization in analytic exp

gravitino · Mar 4, 2015 · 7ca67fb · 7ca67fb
1 parent 873e752
commit 7ca67fb
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/dualquat.hpp b/dualquat.hpp
@@ -87,7 +87,7 @@ struct quat {
 
         assert(w*w < EPS(value_t));
 
-        value_t dst = std::sqrt(x*x+y*y+z*z);
+        value_t dst = std::sqrt(x*x+y*y+z*z+EPS(value_t));
         value_t fac = std::sin(dst)/dst;        
 
         return quat<value_t>(std::cos(dst), x*fac, y*fac, z*fac);