public void SquadDoublePrecision()
{
QuaternionD q0 = QuaternionD.CreateRotation(new Vector3D(1, 1, 1), 0.3);
QuaternionD q1 = QuaternionD.CreateRotation(new Vector3D(1, 0, 1), 0.4);
QuaternionD q2 = QuaternionD.CreateRotation(new Vector3D(1, 0, -1), -0.6);
QuaternionD q3 = QuaternionD.CreateRotation(new Vector3D(0, 1, 1), 0.2);
QuaternionD q, a, b, p;
QuaternionD expected;
InterpolationHelper.SquadSetup(q0, q1, q2, q3, out q, out a, out b, out p);
// t = 0
QuaternionD result = InterpolationHelper.Squad(q, a, b, p, 0.0);
Assert.IsTrue(QuaternionD.AreNumericallyEqual(q1, result));
// t = 1.0f
result = InterpolationHelper.Squad(q, a, b, p, 1.0);
Assert.IsTrue(QuaternionD.AreNumericallyEqual(q2, result));
// Check series (just for debugging)
QuaternionD r1, r2, r3, r4, r5, r6, r7, r8, r9;
r1 = InterpolationHelper.Squad(q, a, b, p, 0.1);
r2 = InterpolationHelper.Squad(q, a, b, p, 0.2);
r3 = InterpolationHelper.Squad(q, a, b, p, 0.3);
r4 = InterpolationHelper.Squad(q, a, b, p, 0.4);
r5 = InterpolationHelper.Squad(q, a, b, p, 0.5);
r6 = InterpolationHelper.Squad(q, a, b, p, 0.6);
r7 = InterpolationHelper.Squad(q, a, b, p, 0.7);
r8 = InterpolationHelper.Squad(q, a, b, p, 0.8);
r9 = InterpolationHelper.Squad(q, a, b, p, 0.9);
// q0 = q1, q2 = q3
InterpolationHelper.SquadSetup(q1, q1, q2, q2, out q, out a, out b, out p);
result = InterpolationHelper.Squad(q, a, b, p, 0.5);
expected = InterpolationHelper.Slerp(q1, q2, 0.5);
Assert.IsTrue(QuaternionD.AreNumericallyEqual(expected, result));
}
public void SquadSinglePrecision()
{
Quaternion q0 = Quaternion.CreateFromRotationMatrix(new Vector3(1, 1, 1), 0.3f);
Quaternion q1 = Quaternion.CreateFromRotationMatrix(new Vector3(1, 0, 1), 0.4f);
Quaternion q2 = Quaternion.CreateFromRotationMatrix(new Vector3(1, 0, -1), -0.6f);
Quaternion q3 = Quaternion.CreateFromRotationMatrix(new Vector3(0, 1, 1), 0.2f);
Quaternion q, a, b, p;
Quaternion expected;
InterpolationHelper.SquadSetup(q0, q1, q2, q3, out q, out a, out b, out p);
// t = 0
Quaternion result = InterpolationHelper.Squad(q, a, b, p, 0.0f);
Assert.IsTrue(Quaternion.AreNumericallyEqual(q1, result));
// t = 1.0f
result = InterpolationHelper.Squad(q, a, b, p, 1.0f);
Assert.IsTrue(Quaternion.AreNumericallyEqual(q2, result));
// Check series (just for debugging)
Quaternion r1, r2, r3, r4, r5, r6, r7, r8, r9;
r1 = InterpolationHelper.Squad(q, a, b, p, 0.1f);
r2 = InterpolationHelper.Squad(q, a, b, p, 0.2f);
r3 = InterpolationHelper.Squad(q, a, b, p, 0.3f);
r4 = InterpolationHelper.Squad(q, a, b, p, 0.4f);
r5 = InterpolationHelper.Squad(q, a, b, p, 0.5f);
r6 = InterpolationHelper.Squad(q, a, b, p, 0.6f);
r7 = InterpolationHelper.Squad(q, a, b, p, 0.7f);
r8 = InterpolationHelper.Squad(q, a, b, p, 0.8f);
r9 = InterpolationHelper.Squad(q, a, b, p, 0.9f);
// q0 = q1, q2 = q3
InterpolationHelper.SquadSetup(q1, q1, q2, q2, out q, out a, out b, out p);
result = InterpolationHelper.Squad(q, a, b, p, 0.5f);
expected = InterpolationHelper.Slerp(q1, q2, 0.5f);
Assert.IsTrue(Quaternion.AreNumericallyEqual(expected, result));
}