public static TSQuaternion Slerp(TSQuaternion from, TSQuaternion to, FP t)
{
t = TSMath.Clamp(t, 0, 1);
//t = 0.5f;
//if (t == 0)
// return from;
FP dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
if (dot >= FP.NearOne)
{
// If the inputs are too close for comfort, linearly interpolate
// and normalize the result.
TSQuaternion result = Lerp(from, to, t);
return(result);
}
FP halfTheta = FP.Acos(dot);
//UnityEngine.Debug.LogWarning("halfTheta:"+ halfTheta+" dot:"+dot+ " FP.Sin(halfTheta):"+ FP.Sin(halfTheta));
return(Multiply(Multiply(from, FP.Sin((1 - t) * halfTheta)) + Multiply(to, FP.Sin(t * halfTheta)), 1 / FP.Sin(halfTheta)));
}
public static FP Angle(TSQuaternion a, TSQuaternion b)
{
TSQuaternion value = TSQuaternion.Inverse(a);
TSQuaternion tSQuaternion = b * value;
FP result = FP.Acos(tSQuaternion.w) * 2 * FP.Rad2Deg;
bool flag = result > 180;
if (flag)
{
result = 360 - result;
}
return(result);
}
public static FP Angle(TSQuaternion a, TSQuaternion b)
{
TSQuaternion aInv = TSQuaternion.Inverse(a);
TSQuaternion f = b * aInv;
FP angle = FP.Acos(f.w) * 2 * FP.Rad2Deg;
if (angle > 180)
{
angle = 360 - angle;
}
return(angle);
}
public static TSQuaternion Slerp(TSQuaternion from, TSQuaternion to, FP t)
{
t = TSMath.Clamp(t, 0, 1);
FP dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
FP halfTheta = FP.Acos(dot);
return(Multiply(Multiply(from, FP.Sin((1 - t) * halfTheta)) + Multiply(to, FP.Sin(t * halfTheta)), 1 / FP.Sin(halfTheta)));
}
public static TSQuaternion RotateTowards(TSQuaternion from, TSQuaternion to, FP maxDegreesDelta)
{
FP dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
FP halfTheta = FP.Acos(dot);
FP theta = halfTheta * 2;
maxDegreesDelta *= FP.Deg2Rad;
if (maxDegreesDelta >= theta)
{
return(to);
}
maxDegreesDelta /= theta;
return(Multiply(Multiply(from, FP.Sin((1 - maxDegreesDelta) * halfTheta)) + Multiply(to, FP.Sin(maxDegreesDelta * halfTheta)), 1 / FP.Sin(halfTheta)));
}
/// <summary>
/// Returns the arc cosine of value.
/// </summary>
public static FP Acos(FP value)
{
return(FP.Acos(value));
}
public static FP Angle(TSVector a, TSVector b)
{
return(FP.Acos(a.normalized * b.normalized) * FP.Rad2Deg);
}