fmt and test fixes

dimforge · Mar 29, 2024 · 0c343fd · 0c343fd
1 parent 3235751
commit 0c343fd
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Showing 2 changed files with 24 additions and 19 deletions.
diff --git a/src/geometry/rotation_interpolation.rs b/src/geometry/rotation_interpolation.rs
@@ -113,7 +113,6 @@ where
     #[inline]
     #[must_use]
     pub fn slerp(&self, other: &Self, t: T) -> Self {
-
         //The best option here would be to use #[feature(specialization)], but until
         //that's stabilized, this is the best we can do. Theoretically, the compiler should
         //pretty thoroughly optimize away all the excess checks and conversions
@@ -125,29 +124,35 @@ where
 
             2 => {
                 let self2d = Rotation2::from_matrix_unchecked(
-                    self.clone().into_inner().fixed_resize(T::zero())
+                    self.clone().into_inner().fixed_resize(T::zero()),
                 );
                 let other2d = Rotation2::from_matrix_unchecked(
-                    other.clone().into_inner().fixed_resize(T::zero())
+                    other.clone().into_inner().fixed_resize(T::zero()),
                 );
 
                 Self::from_matrix_unchecked(
-                    self2d.slerp_2d(&other2d, t).into_inner().fixed_resize(T::zero())
+                    self2d
+                        .slerp_2d(&other2d, t)
+                        .into_inner()
+                        .fixed_resize(T::zero()),
                 )
-            },
+            }
 
             3 => {
                 let self3d = Rotation3::from_matrix_unchecked(
-                    self.clone().into_inner().fixed_resize(T::zero())
+                    self.clone().into_inner().fixed_resize(T::zero()),
                 );
                 let other3d = Rotation3::from_matrix_unchecked(
-                    other.clone().into_inner().fixed_resize(T::zero())
+                    other.clone().into_inner().fixed_resize(T::zero()),
                 );
 
                 Self::from_matrix_unchecked(
-                    self3d.slerp_3d(&other3d, t).into_inner().fixed_resize(T::zero())
+                    self3d
+                        .slerp_3d(&other3d, t)
+                        .into_inner()
+                        .fixed_resize(T::zero()),
                 )
-            },
+            }
 
             //the multiplication order matters here
             _ => (other / self).powf(t) * self,

diff --git a/tests/geometry/rotation.rs b/tests/geometry/rotation.rs
@@ -341,16 +341,16 @@ mod proptest_tests {
 
             //ambiguous when at ends of angle range, so we don't really care here
             if let Some(axis) = q.axis() {
-
-                //make two quaternions separated by an angle between -pi and pi
-                let (q1, q2) = (q, q * UnitQuaternion::from_axis_angle(&axis, dtheta));
-                let q3 = q1.slerp(&q2, t);
-
-                //since the angle is no larger than a half-turn, and t is between 0 and 1,
-                //the shortest path just corresponds to adding the scaled angle
-                let q4 = q1 * UnitQuaternion::from_axis_angle(&axis, dtheta*t);
-                prop_assert!(relative_eq!(q3, q4, epsilon=1e-10));
-
+                if dtheta.abs() != f64::pi() {
+                    //make two quaternions separated by an angle between -pi and pi
+                    let (q1, q2) = (q, q * UnitQuaternion::from_axis_angle(&axis, dtheta));
+                    let q3 = q1.slerp(&q2, t);
+
+                    //since the angle is no larger than a half-turn, and t is between 0 and 1,
+                    //the shortest path just corresponds to adding the scaled angle
+                    let q4 = q1 * UnitQuaternion::from_axis_angle(&axis, dtheta*t);
+                    prop_assert!(relative_eq!(q3, q4, epsilon=1e-9));
+                }
             }
 
         }