public static FVec3 SlerpUnclamped(FVec3 from, FVec3 to, Fix64 t)
{
Fix64 scale0, scale1;
Fix64 len2 = to.Magnitude();
Fix64 len1 = from.Magnitude();
FVec3 v2 = to / len2;
FVec3 v1 = from / len1;
Fix64 len = (len2 - len1) * t + len1;
Fix64 cosom = Dot(v1, v2);
if (cosom > ( Fix64 )(1 - 1e-6))
{
scale0 = Fix64.One - t;
scale1 = t;
}
else if (cosom < ( Fix64 )(-1 + 1e-6))
{
FVec3 axis = OrthoNormalVector(from);
FQuat q = FQuat.AngleAxis(( Fix64 )180 * t, axis);
FVec3 v = q * from * len;
return(v);
}
else
{
Fix64 omega = Fix64.Acos(cosom);
Fix64 sinom = Fix64.Sin(omega);
scale0 = Fix64.Sin((Fix64.One - t) * omega) / sinom;
scale1 = Fix64.Sin(t * omega) / sinom;
}
v2 = (v2 * scale1 + v1 * scale0) * len;
return(v2);
}