public bool Compare(ref idQuat a, float epsilon)
{
return (
idMath.Fabs(x - a.x) <= epsilon &&
idMath.Fabs(y - a.y) <= epsilon &&
idMath.Fabs(z - a.z) <= epsilon &&
idMath.Fabs(w - a.w) <= epsilon);
}
public bool Compare(ref idQuat a, float epsilon)
{
return(
idMath.Fabs(x - a.x) <= epsilon &&
idMath.Fabs(y - a.y) <= epsilon &&
idMath.Fabs(z - a.z) <= epsilon &&
idMath.Fabs(w - a.w) <= epsilon);
}
// Spherical linear interpolation between two quaternions.
public idQuat Slerp(ref idQuat from, ref idQuat to, float t)
{
//float omega, cosom, sinom, scale0, scale1;
if (t <= 0.0f)
{
this = from; return(this);
}
if (t >= 1.0f)
{
this = to; return(this);
}
if (from == to)
{
this = to; return(this);
}
float cosom = from.x * to.x + from.y * to.y + from.z * to.z + from.w * to.w;
idQuat temp;
if (cosom < 0.0f)
{
temp = -to;
cosom = -cosom;
}
else
{
temp = to;
}
float scale0, scale1;
if (1.0f - cosom > 1e-6f)
{
#if false
float omega = Math.Acos(cosom);
float sinom = 1.0f / Math.Sin(omega);
scale0 = idMath.Sin((1.0f - t) * omega) * sinom;
scale1 = idMath.Sin(t * omega) * sinom;
#else
scale0 = 1.0f - cosom * cosom;
float sinom = idMath.InvSqrt(scale0);
float omega = idMath.ATan16(scale0 * sinom, cosom);
scale0 = idMath.Sin16((1.0f - t) * omega) * sinom;
scale1 = idMath.Sin16(t * omega) * sinom;
#endif
}
else
{
scale0 = 1.0f - t;
scale1 = t;
}
this = (from * scale0) + (temp * scale1);
return(this);
}
public bool Compare(ref idQuat a) { return (x == a.x && y == a.y && z == a.z && w == a.w); }
public idQuat opMul(idQuat a) { this = this * a; return this; }
public idQuat opSub(idQuat a) { x -= a.x; y -= a.y; z -= a.z; w -= a.w; return this; }
public idQuat opAdd(idQuat a) { x += a.x; y += a.y; z += a.z; w += a.w; return this; }
// Spherical linear interpolation between two quaternions.
public idQuat Slerp(ref idQuat from, ref idQuat to, float t)
{
//float omega, cosom, sinom, scale0, scale1;
if (t <= 0.0f) { this = from; return this; }
if (t >= 1.0f) { this = to; return this; }
if (from == to) { this = to; return this; }
float cosom = from.x * to.x + from.y * to.y + from.z * to.z + from.w * to.w;
idQuat temp;
if (cosom < 0.0f)
{
temp = -to;
cosom = -cosom;
}
else
temp = to;
float scale0, scale1;
if (1.0f - cosom > 1e-6f)
{
#if false
float omega = Math.Acos(cosom);
float sinom = 1.0f / Math.Sin(omega);
scale0 = idMath.Sin((1.0f - t) * omega) * sinom;
scale1 = idMath.Sin(t * omega) * sinom;
#else
scale0 = 1.0f - cosom * cosom;
float sinom = idMath.InvSqrt(scale0);
float omega = idMath.ATan16(scale0 * sinom, cosom);
scale0 = idMath.Sin16((1.0f - t) * omega) * sinom;
scale1 = idMath.Sin16(t * omega) * sinom;
#endif
}
else
{
scale0 = 1.0f - t;
scale1 = t;
}
this = (from * scale0) + (temp * scale1);
return this;
}
public bool Compare(ref idQuat a)
{
return(x == a.x && y == a.y && z == a.z && w == a.w);
}
public idQuat opMul(idQuat a)
{
this = this * a; return(this);
}
public idQuat opSub(idQuat a)
{
x -= a.x; y -= a.y; z -= a.z; w -= a.w; return(this);
}
public idQuat opAdd(idQuat a)
{
x += a.x; y += a.y; z += a.z; w += a.w; return(this);
}