Ejemplo n.º 1
0
 public Quaternion4d(Quaternion4d q)
 {
     this.x = q.x;
     this.y = q.y;
     this.z = q.z;
     this.w = q.w;
 }
Ejemplo n.º 2
0
        public Quaternion4d Slerp(Quaternion4d @from, Quaternion4d to, double t)
        {
            if (t <= 0)
            {
                return(new Quaternion4d(@from));
            }
            else if (t >= 1)
            {
                return(new Quaternion4d(to));
            }
            else
            {
                var cosom    = @from.x * to.x + @from.y * to.y + @from.z * to.z + @from.w * to.w;
                var absCosom = Math.Abs(cosom);

                double scale0;
                double scale1;

                if ((1 - absCosom) > 1e-6)
                {
                    var omega = MathUtility.Safe_Acos(absCosom);
                    var sinom = 1.0 / Math.Sin(omega);

                    scale0 = Math.Sin((1.0 - t) * omega) * sinom;
                    scale1 = Math.Sin(t * omega) * sinom;
                }
                else
                {
                    scale0 = 1 - t;
                    scale1 = t;
                }

                return(new Quaternion4d(scale0 * @from.x + scale1 * to.x,
                                        scale0 * @from.y + scale1 * to.y,
                                        scale0 * @from.z + scale1 * to.z,
                                        scale0 * @from.w + scale1 * to.w).Normalized());
            }
        }
Ejemplo n.º 3
0
 public static double Dot(Quaternion4d a, Quaternion4d b)
 {
     return(a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w);
 }
Ejemplo n.º 4
0
 public static bool operator ==(Quaternion4d lhs, Quaternion4d rhs)
 {
     return(Quaternion4d.Dot(lhs, rhs) > 0.999999f);
 }