public static Fix64 Angle(FPQuaternion a, FPQuaternion b)
{
FPQuaternion aInv = FPQuaternion.Inverse(a);
FPQuaternion f = b * aInv;
Fix64 angle = Fix64.Acos(f.w) * 2 * Fix64.Rad2Deg;
if (angle > 180)
{
angle = 360 - angle;
}
return(angle);
}
public static FPQuaternion Slerp(FPQuaternion from, FPQuaternion to, Fix64 t)
{
t = FPMath.Clamp(t, 0, 1);
Fix64 dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
Fix64 halfTheta = Fix64.Acos(dot);
return(Multiply(Multiply(from, Fix64.Sin((1 - t) * halfTheta)) + Multiply(to, Fix64.Sin(t * halfTheta)), 1 / Fix64.Sin(halfTheta)));
}
public static FPQuaternion RotateTowards(FPQuaternion from, FPQuaternion to, Fix64 maxDegreesDelta)
{
Fix64 dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
Fix64 halfTheta = Fix64.Acos(dot);
Fix64 theta = halfTheta * 2;
maxDegreesDelta *= Fix64.Deg2Rad;
if (maxDegreesDelta >= theta)
{
return(to);
}
maxDegreesDelta /= theta;
return(Multiply(Multiply(from, Fix64.Sin((1 - maxDegreesDelta) * halfTheta)) + Multiply(to, Fix64.Sin(maxDegreesDelta * halfTheta)), 1 / Fix64.Sin(halfTheta)));
}
public static Fix64 Angle(FPVector a, FPVector b)
{
return(Fix64.Acos(a.normalized * b.normalized) * Fix64.Rad2Deg);
}
