From 5ddc877a1dc4aea0490982f678ee2894ee7277b1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Vladim=C3=ADr=20Vondru=C5=A1?= <mosra@centrum.cz>
Date: Thu, 1 Sep 2016 19:08:53 +0200
Subject: [PATCH] Math: consider magnitude of translation in
 DualQuaternion::isNormalized().

Fixes the failing tests.
---
 src/Magnum/Math/DualQuaternion.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/Magnum/Math/DualQuaternion.h b/src/Magnum/Math/DualQuaternion.h
index d4b6d35d3..d938f8b0e 100644
--- a/src/Magnum/Math/DualQuaternion.h
+++ b/src/Magnum/Math/DualQuaternion.h
@@ -32,6 +32,7 @@
 #include <cmath>
 
 #include "Magnum/Math/Dual.h"
+#include "Magnum/Math/Functions.h"
 #include "Magnum/Math/Matrix4.h"
 #include "Magnum/Math/Quaternion.h"
 
@@ -254,11 +255,11 @@ template<class T> class DualQuaternion: public Dual<Quaternion<T>> {
          * @todoc Improve the equation as in Quaternion::isNormalized()
          */
         bool isNormalized() const {
-            /* Comparing dual part classically, as comparing sqrt() of it would
-               lead to overly strict precision */
+            /* Comparing dual part to zero considering the magnitude of the
+               translation -- the epsilon be much larger for large values. */
             Dual<T> a = lengthSquared();
             return Implementation::isNormalizedSquared(a.real()) &&
-                   TypeTraits<T>::equals(a.dual(), T(0));
+                   TypeTraits<T>::equalsZero(a.dual(), Math::max(Math::abs(Math::Dual<Quaternion<T>>::dual().vector()).max(), Math::abs(Math::Dual<Quaternion<T>>::dual().scalar())));
         }
 
         /**