8000 Fix dqs not checking if quaternions are on the same hemisphere by PeizhuoLi · Pull Request #2390 · libigl/libigl · GitHub
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Fix dqs not checking if quaternions are on the same hemisphere #2390

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Merged
merged 2 commits into from
May 15, 2025
Merged

Fix dqs not checking if quaternions are on the same hemisphere #2390

merged 2 commits into from
May 15, 2025

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PeizhuoLi
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@PeizhuoLi PeizhuoLi commented May 16, 2024 •
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Fixes dual quaternion skinning not checking if the quaternions are on the same hemisphere. For quaternions $q$ and $-q$ represents the same rotation.

One trivial example is when randomly negate one of the rotations in vQ in tutorial 404, the current implementaion yields unplausible result. It works in tutorial 404 because the input rotations happens to be on the same hemisphere, but this is not guaranteed in general. Similar check is also used in Blender for DQS here.

Checklist

  • All changes meet libigl style-guidelines.
  • Adds new .cpp file.
  • Adds corresponding unit test.
  • This is a minor change.

@alecjacobson alecjacobson merged commit 40e7900 into libigl:main May 15, 2025
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@alecjacobson alecjacobson mentioned this pull request May 19, 2025
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@PeizhuoLi @alecjacobson
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