Dot() public méthode

Performs a Dot Product operation on 2 Quaternions.
public Dot ( Quaternion quat ) : Real
quat Quaternion
Résultat Real
Quaternion Class Documentation
Exemple #1
0
		public static Quaternion Nlerp( Real fT, Quaternion rkP, Quaternion rkQ, bool shortestPath )
		{
			Quaternion result;
			var fCos = rkP.Dot( rkQ );
			if ( fCos < 0.0f && shortestPath )
			{
				result = rkP + fT*( ( -rkQ ) - rkP );
			}
			else
			{
				result = rkP + fT*( rkQ - rkP );
			}
			result.Normalize();
			return result;
		}
Exemple #2
0
		/// <summary>
		/// 
		/// </summary>
		/// <param name="time"></param>
		/// <param name="quatA"></param>
		/// <param name="quatB"></param>
		/// <param name="useShortestPath"></param>
		/// <returns></returns>
		public static Quaternion Slerp( Real time, Quaternion quatA, Quaternion quatB, bool useShortestPath )
		{
			var cos = quatA.Dot( quatB );

			var angle = (Real)Utility.ACos( cos );

			if ( Utility.Abs( angle ) < EPSILON )
			{
				return quatA;
			}

			var sin = Utility.Sin( angle );
			var inverseSin = 1.0f/sin;
			var coeff0 = Utility.Sin( ( 1.0f - time )*angle )*inverseSin;
			var coeff1 = Utility.Sin( time*angle )*inverseSin;

			Quaternion result;

			if ( cos < 0.0f && useShortestPath )
			{
				coeff0 = -coeff0;
				// taking the complement requires renormalisation
				var t = coeff0*quatA + coeff1*quatB;
				t.Normalize();
				result = t;
			}
			else
			{
				result = ( coeff0*quatA + coeff1*quatB );
			}

			return result;
		}