public static TSQuaternion LerpUnclamped(TSQuaternion a, TSQuaternion b, FP t)
{
TSQuaternion result = TSQuaternion.Multiply(a, (1 - t)) + TSQuaternion.Multiply(b, t);
result.Normalize();
return(result);
}
public static TSQuaternion FromToRotation(TSVector fromVector, TSVector toVector)
{
TSVector w = TSVector.Cross(fromVector, toVector);
TSQuaternion q = new TSQuaternion(w.x, w.y, w.z, TSVector.Dot(fromVector, toVector));
q.w += FP.Sqrt(fromVector.sqrMagnitude * toVector.sqrMagnitude);
q.Normalize();
return(q);
}
/**
* @brief Rotates game object based on provided axis angles and relative space.
*
* If relative space is SELF then the game object will rotate based on its forward vector.
**/
public void Rotate(TSVector eulerAngles, Space relativeTo)
{
TSQuaternion result = TSQuaternion.identity;
if (relativeTo == Space.Self)
{
result = this.rotation * TSQuaternion.Euler(eulerAngles);
}
else
{
result = TSQuaternion.Euler(eulerAngles) * this.rotation;
}
result.Normalize();
this.rotation = result;
}
/**
* @brief Rotates game object based on provided axis, angle of rotation and relative space.
*
* If relative space is SELF then the game object will rotate based on its forward vector.
**/
public void Rotate(TSVector axis, FP angle, Space relativeTo)
{
TSQuaternion result = TSQuaternion.identity;
if (relativeTo == Space.Self)
{
result = this.rotation * TSQuaternion.AngleAxis(angle, axis);
}
else
{
result = TSQuaternion.AngleAxis(angle, axis) * this.rotation;
}
result.Normalize();
this.rotation = result;
}
