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aux/math: Use dt in calculation of ang vel between quat diference

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Mateo de Mayo 2021-12-13 09:35:42 -03:00 committed by Jakob Bornecrantz
parent 3e8a070e93
commit bcb4cd82cd
1 changed files with 1 additions and 1 deletions
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src/xrt/auxiliary/math/m_quatexpmap.cpp
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@ -162,5 +162,5 @@ math_quat_finite_difference(const struct xrt_quat *quat0,
Eigen::Quaternionf inc_quat = map_quat(*quat1) * map_quat(*quat0).conjugate();
map_vec3(*out_ang_vel) = 2.f * quat_ln(inc_quat);
map_vec3(*out_ang_vel) = 2.f * quat_ln(inc_quat) / dt;
}