/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="value1">The first quaternion.</param>
/// <param name="value2">The second quaternion.</param>
/// <returns>The product of both quaternions.</returns>
#region public static FP operator *(JQuaternion value1, JQuaternion value2)
public static FPQuaternion operator *(FPQuaternion value1, FPQuaternion value2)
{
FPQuaternion result;
FPQuaternion.Multiply(ref value1, ref value2, out result);
return(result);
}
/// <summary>
/// Scale a quaternion
/// </summary>
/// <param name="quaternion1">The quaternion to scale.</param>
/// <param name="scaleFactor">Scale factor.</param>
/// <returns>The scaled quaternion.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, FP scaleFactor)
public static FPQuaternion Multiply(FPQuaternion quaternion1, FP scaleFactor)
{
FPQuaternion result;
FPQuaternion.Multiply(ref quaternion1, scaleFactor, out result);
return(result);
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The product of both quaternions.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, JQuaternion quaternion2)
public static FPQuaternion Multiply(FPQuaternion quaternion1, FPQuaternion quaternion2)
{
FPQuaternion result;
FPQuaternion.Multiply(ref quaternion1, ref quaternion2, out result);
return(result);
}
public static FPQuaternion LerpUnclamped(FPQuaternion a, FPQuaternion b, FP t)
{
FPQuaternion result = FPQuaternion.Multiply(a, (1 - t)) + FPQuaternion.Multiply(b, t);
result.Normalize();
return(result);
}
public static FPQuaternion LerpUnclamped(FPQuaternion a, FPQuaternion b, FP t)
{
FPQuaternion tmpQuat;
// if (dot < 0), q1 and q2 are more than 360 deg apart.
// The problem is that quaternions are 720deg of freedom.
// so we - all components when lerping
if (Dot(a, b) < 0.0F)
{
tmpQuat = FPQuaternion.Multiply(b, -1);
}
else
{
tmpQuat = b;
}
FPQuaternion result = FPQuaternion.Multiply(a, (1 - t)) + FPQuaternion.Multiply(tmpQuat, t);
result.Normalize();
return(result);
}
public static FPQuaternion Inverse(FPQuaternion rotation)
{
FP invNorm = FP.One / ((rotation.x * rotation.x) + (rotation.y * rotation.y) + (rotation.z * rotation.z) + (rotation.w * rotation.w));
return(FPQuaternion.Multiply(FPQuaternion.Conjugate(rotation), invNorm));
}