From 21b0eb15c849f7ede95be03f8e7669198ea1f089 Mon Sep 17 00:00:00 2001
From: Jack Andersen <jackoalan@gmail.com>
Date: Fri, 5 May 2017 19:21:14 -1000
Subject: [PATCH] Add CQuaternion::slerpShort

---
 include/zeus/CQuaternion.hpp | 1 +
 src/CQuaternion.cpp          | 5 +++++
 2 files changed, 6 insertions(+)

diff --git a/include/zeus/CQuaternion.hpp b/include/zeus/CQuaternion.hpp
index 6466656..10d549b 100644
--- a/include/zeus/CQuaternion.hpp
+++ b/include/zeus/CQuaternion.hpp
@@ -256,6 +256,7 @@ public:
 
     static CQuaternion lerp(const CQuaternion& a, const CQuaternion& b, double t);
     static CQuaternion slerp(const CQuaternion& a, const CQuaternion& b, double t);
+    static CQuaternion slerpShort(const CQuaternion& a, const CQuaternion& b, double t);
     static CQuaternion nlerp(const CQuaternion& a, const CQuaternion& b, double t);
 
     inline float roll() const { return std::atan2(2.f * (x * y + w * z), w * w + x * x - y * y - z * z); }
diff --git a/src/CQuaternion.cpp b/src/CQuaternion.cpp
index 7634cef..7d7a339 100644
--- a/src/CQuaternion.cpp
+++ b/src/CQuaternion.cpp
@@ -206,6 +206,11 @@ CQuaternion CQuaternion::slerp(const CQuaternion& a, const CQuaternion& b, doubl
     return a;
 }
 
+CQuaternion CQuaternion::slerpShort(const CQuaternion& a, const CQuaternion& b, double t)
+{
+    return zeus::CQuaternion::slerp((b.dot(a) >= 0.f) ? a : a.buildEquivalent(), b, t);
+}
+
 CQuaternion operator+(float lhs, const CQuaternion& rhs)
 {
     return CQuaternion(lhs + rhs.w, lhs * rhs.x, lhs * rhs.y, lhs * rhs.z);