Beispiel #1
0
 public Quat(Quat _q)
 {
     qs = _q.qs; qv.Set(_q.qv);
 }
Beispiel #2
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 public void                                     Set(Quat _q)
 {
     qs = _q.qs; qv.Set(_q.qv);
 }
Beispiel #3
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 public static Quat operator/(Quat _Op0, Quat _Op1)
 {
     Quat InvQuat = new Quat(_Op1); InvQuat.Invert(); return(InvQuat * _Op0);
 }
Beispiel #4
0
        public void                                     MakeSQUADRev(AngleAxis _aa, Quat _q0, Quat _q1, Quat _t0, Quat _t1, float _t)
        {
            float s, v;
            float fOmega = _aa.Angle * 0.5f;
            float fNbRevs = 0.0f;
            Quat  pp, qq;

            if (fOmega < System.Math.PI - float.Epsilon)
            {
                MakeSQUAD(_q0, _q1, _t0, _t1, _t);
                return;
            }

            while (fOmega > System.Math.PI - float.Epsilon)
            {
                fOmega  -= (float)System.Math.PI;
                fNbRevs += 1.0f;
            }

            if (fOmega < 0.0f)
            {
                fOmega = 0.0f;
            }

            s = _t * _aa.Angle / (float)System.Math.PI;                                                 // 2t(omega + N.PI) / PI

            if (s < 1.0f)
            {
                pp = _q0;
                pp.MakeOrtho(_aa.Axis);
                MakeSQUAD(_q0, pp, _t0, pp, s);                         // In first 90 degrees
            }
            else if ((v = s + 1.0f - 2.0f * (fNbRevs + (fOmega / (float)System.Math.PI))) <= 0.0f)
            {                   // middle part, on great circle(p,q)
                while (s >= 2.0f)
                {
                    s -= 2.0f;
                }
                pp = _q0;
                pp.MakeOrtho(_aa.Axis);
                MakeSLERP(_q0, pp, s);
            }
            else
            {                   // in last 90 degrees
                qq = _q0;
                qq.MakeOrtho(_aa.Axis);
                qq = -qq;
                MakeSQUAD(qq, _q1, qq, _t1, v);
            }
        }
Beispiel #5
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        }                                                                                                                                                                                                                               // Same as "MakeSlerp" except it makes a SLERP between 2 quaternions on the same hemisphere.

        public void                                     MakeSQUAD(Quat _q0, Quat _q1, Quat _t0, Quat _t1, float _t)
        {
            Quat Slerp0 = new Quat();

            Slerp0.MakeSLERP(_q0, _q1, _t);
            Quat Slerp1 = new Quat();

            Slerp1.MakeSLERP(_t0, _t1, _t);
            MakeSLERP(Slerp0, Slerp1, 2.0f * _t * (1.0f - _t));
        }
Beispiel #6
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 public void                                     MakeShortestSLERP(Quat _q0, Quat _q1, float _t)
 {
     Quat ShortQ0 = new Quat(_q0); ShortQ0.MakeClosest(_q1); MakeSLERP(ShortQ0, _q1, _t);
 }                                                                                                                                                                                                                               // Same as "MakeSlerp" except it makes a SLERP between 2 quaternions on the same hemisphere.
Beispiel #7
0
 public void                                     LnDiff(Quat _q)
 {
     Set(_q / this); LogN();
 }