/// <summary>
/// 球形插值(无限制)
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <param name="t"></param>
/// <returns></returns>
public static Quaterniond SlerpUnclamped(Quaterniond q1, Quaterniond q2, double t)
{
double dot = Dot(q1, q2);
Quaterniond tmpQuat = new Quaterniond();
if (dot < 0)
{
dot = -dot;
tmpQuat.Set(-q2.x, -q2.y, -q2.z, -q2.w);
}
else
{
tmpQuat = q2;
}
if (dot < 1)
{
double angle = Math.Acos(dot);
double sinadiv, sinat, sinaomt;
sinadiv = 1 / Math.Sin(angle);
sinat = Math.Sin(angle * t);
sinaomt = Math.Sin(angle * (1 - t));
tmpQuat.Set((q1.x * sinaomt + tmpQuat.x * sinat) * sinadiv,
(q1.y * sinaomt + tmpQuat.y * sinat) * sinadiv,
(q1.z * sinaomt + tmpQuat.z * sinat) * sinadiv,
(q1.w * sinaomt + tmpQuat.w * sinat) * sinadiv);
return(tmpQuat);
}
else
{
return(Lerp(q1, tmpQuat, t));
}
}
/// <summary>
/// 线性插值(无限制)
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <param name="t"></param>
/// <returns></returns>
public static Quaterniond LerpUnclamped(Quaterniond a, Quaterniond b, double t)
{
Quaterniond tmpQuat = new Quaterniond();
if (Dot(a, b) < 0.0F)
{
tmpQuat.Set(a.x + t * (-b.x - a.x),
a.y + t * (-b.y - a.y),
a.z + t * (-b.z - a.z),
a.w + t * (-b.w - a.w));
}
else
{
tmpQuat.Set(a.x + t * (b.x - a.x),
a.y + t * (b.y - a.y),
a.z + t * (b.z - a.z),
a.w + t * (b.w - a.w));
}
double nor = Math.Sqrt(Dot(tmpQuat, tmpQuat));
return(new Quaterniond(tmpQuat.x / nor, tmpQuat.y / nor, tmpQuat.z / nor, tmpQuat.w / nor));
}