public static Vector3L Slerp(Vector3L a, Vector3L b, FloatL t)
    {
        if (t <= 0)
        {
            return(a);
        }
        else if (t >= 1)
        {
            return(b);
        }

        Vector3L v = RotateTo(a, b, Vector3L.Angle(a, b) * t);

        //向量的长度,跟线性插值一样计算
        FloatL length = b.magnitude * t + a.magnitude * (1 - t);

        return(v.normalized * length);
    }
    static Vector3L RotateTo(Vector3L from, Vector3L to, FloatL angle)
    {
        //如果两向量角度为0
        if (Vector3L.Angle(from, to) == 0)
        {
            return(from);
        }

        //旋转轴
        Vector3L n = Vector3L.Cross(from, to);

        //旋转轴规范化
        n.Normalize();

        //旋转矩阵
        Matrix4x4L rotateMatrix = new Matrix4x4L();

        //旋转的弧度
        double radian   = (angle * FixPointMath.PI / 180).ToDouble();
        FloatL cosAngle = FixPointMath.Cos(radian);
        FloatL sinAngle = FixPointMath.Sin(radian);

        //矩阵的数据
        //这里看不懂的自行科普矩阵知识
        rotateMatrix.SetRow(0, new Vector4L(n.x * n.x * (1 - cosAngle) + cosAngle, n.x * n.y * (1 - cosAngle) + n.z * sinAngle, n.x * n.z * (1 - cosAngle) - n.y * sinAngle, 0));
        rotateMatrix.SetRow(1, new Vector4L(n.x * n.y * (1 - cosAngle) - n.z * sinAngle, n.y * n.y * (1 - cosAngle) + cosAngle, n.y * n.z * (1 - cosAngle) + n.x * sinAngle, 0));
        rotateMatrix.SetRow(2, new Vector4L(n.x * n.z * (1 - cosAngle) + n.y * sinAngle, n.y * n.z * (1 - cosAngle) - n.x * sinAngle, n.z * n.z * (1 - cosAngle) + cosAngle, 0));
        rotateMatrix.SetRow(3, new Vector4L(0, 0, 0, 1));

        Vector4L v      = Vector3L.ToVector4(from);
        Vector3L vector = new Vector3L();

        for (int i = 0; i < 3; ++i)
        {
            for (int j = 0; j < 3; j++)
            {
                vector[i] += v[j] * rotateMatrix[j, i];
            }
        }
        return(vector);
    }
Esempio n. 3
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    public static QuaternionL FromToRotation(Vector3L v1, Vector3L v2)
    {
        FloatL angle = Vector3L.Angle(v1, v2);

        return(QuaternionL.AngleAxis(angle, Vector3L.Cross(v1, v2)));
    }