public static Fixed64 Angle(Fixed64Quaternion a, Fixed64Quaternion b)
{
Fixed64Quaternion aInv = Inverse(a);
Fixed64Quaternion f = b * aInv;
Fixed64 angle = Fixed64.Acos(f.w) * 2 * Fixed64.Rad2Deg;
if (angle > 180)
{
angle = 360 - angle;
}
return(angle);
}
public static Fixed64Quaternion Slerp(Fixed64Quaternion from, Fixed64Quaternion to, Fixed64 t)
{
t = FixedMath.Clamp(t, 0, 1);
Fixed64 dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
Fixed64 halfTheta = Fixed64.Acos(dot);
return(Multiply(Multiply(from, Fixed64.Sin((1 - t) * halfTheta)) + Multiply(to, Fixed64.Sin(t * halfTheta)), 1 / Fixed64.Sin(halfTheta)));
}
public static Fixed64Quaternion RotateTowards(Fixed64Quaternion from, Fixed64Quaternion to, Fixed64 maxDegreesDelta)
{
Fixed64 dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
Fixed64 halfTheta = Fixed64.Acos(dot);
Fixed64 theta = halfTheta * 2;
maxDegreesDelta *= Fixed64.Deg2Rad;
if (maxDegreesDelta >= theta)
{
return(to);
}
maxDegreesDelta /= theta;
return(Multiply(Multiply(from, Fixed64.Sin((1 - maxDegreesDelta) * halfTheta)) + Multiply(to, Fixed64.Sin(maxDegreesDelta * halfTheta)), 1 / Fixed64.Sin(halfTheta)));
}
public static Fixed64 Angle(Fixed64Vector3 a, Fixed64Vector3 b)
{
return(Fixed64.Acos(a.Normalized * b.Normalized) * Fixed64.Rad2Deg);
}