public static F64Quat NormalizeFastest(F64Quat a) { long inv_norm = F64.RcpFastest(LengthFastest(a)).Raw; return(new F64Quat( Fixed64.Mul(a.RawX, inv_norm), Fixed64.Mul(a.RawY, inv_norm), Fixed64.Mul(a.RawZ, inv_norm), Fixed64.Mul(a.RawW, inv_norm))); }
public static F64Quat Slerp(F64Quat q1, F64Quat q2, F64 t) { F64 epsilon = F64.Ratio(1, 1000000); F64 cos_omega = q1.X * q2.X + q1.Y * q2.Y + q1.Z * q2.Z + q1.W * q2.W; bool flip = false; if (cos_omega < 0) { flip = true; cos_omega = -cos_omega; } F64 s1, s2; if (cos_omega > (F64.One - epsilon)) { // Too close, do straight linear interpolation. s1 = F64.One - t; s2 = (flip) ? -t : t; } else { F64 omega = F64.AcosFastest(cos_omega); F64 inv_sin_omega = F64.RcpFastest(F64.SinFastest(omega)); s1 = F64.SinFastest((F64.One - t) * omega) * inv_sin_omega; s2 = (flip) ? -F64.SinFastest(t * omega) * inv_sin_omega : F64.SinFastest(t * omega) * inv_sin_omega; } return(new F64Quat( s1 * q1.X + s2 * q2.X, s1 * q1.Y + s2 * q2.Y, s1 * q1.Z + s2 * q2.Z, s1 * q1.W + s2 * q2.W)); }