public AwQuaternion(AwVector a, AwVector b)
{
w = 1.0;
x = 0.0;
y = 0.0;
z = 0.0;
double factor = a.length() * b.length();
if (Math.Abs(factor) > AwMath.kFloatEpsilon)
{
// Vectors have length > 0
AwVector pivotVector = new AwVector();
double dot = a.dotProduct(b) / factor;
double theta = Math.Acos(AwMath.clamp(dot, -1.0, 1.0));
pivotVector = a.crossProduct(b);
if (dot < 0.0 && pivotVector.length() < AwMath.kFloatEpsilon)
{
// Vectors parallel and opposite direction, therefore a rotation
// of 180 degrees about any vector perpendicular to this vector
// will rotate vector a onto vector b.
//
// The following guarantees the dot-product will be 0.0.
//
uint dominantIndex = (uint)a.dominantAxis();
uint index = ( dominantIndex + 1) % 3;
double value = -a.getIndex( index) ;
pivotVector.setIndex(dominantIndex, value);
pivotVector.setIndex((dominantIndex + 1) % 3, a.getIndex(dominantIndex));
pivotVector.setIndex((dominantIndex + 2) % 3, 0);
}
setAxisAngle(pivotVector, theta);
}
}
public AwQuaternion(AwVector a, AwVector b)
{
w = 1.0;
x = 0.0;
y = 0.0;
z = 0.0;
double factor = a.length() * b.length();
if (Math.Abs(factor) > AwMath.kFloatEpsilon)
{
// Vectors have length > 0
AwVector pivotVector = new AwVector();
double dot = a.dotProduct(b) / factor;
double theta = Math.Acos(AwMath.clamp(dot, -1.0, 1.0));
pivotVector = a.crossProduct(b);
if (dot < 0.0 && pivotVector.length() < AwMath.kFloatEpsilon)
{
// Vectors parallel and opposite direction, therefore a rotation
// of 180 degrees about any vector perpendicular to this vector
// will rotate vector a onto vector b.
//
// The following guarantees the dot-product will be 0.0.
//
uint dominantIndex = (uint)a.dominantAxis();
uint index = (dominantIndex + 1) % 3;
double value = -a.getIndex(index);
pivotVector.setIndex(dominantIndex, value);
pivotVector.setIndex((dominantIndex + 1) % 3, a.getIndex(dominantIndex));
pivotVector.setIndex((dominantIndex + 2) % 3, 0);
}
setAxisAngle(pivotVector, theta);
}
}
