public static Quaternion Blend(float t, Quaternion a, Quaternion b)
{
float norm = Quaternion.Dot(a, b);
bool flip = norm < 0;
if (flip) norm = -norm;
float inv_t;
if (1 - norm < 1e-6f)
inv_t = 1 - t;
else
{
float theta = (float)Math.Acos(norm);
float s = (1 / (float)Math.Sin(theta));
inv_t = (float)Math.Sin((1 - t) * theta) * s;
}
if (flip)
t = -t;
return new Quaternion(
inv_t * a.x + t * b.x,
inv_t * a.y + t * b.y,
inv_t * a.z + t * b.z,
inv_t * a.w + t * b.w);
}
public static float Dot(Quaternion a, Quaternion b)
{
return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
}
public Transform(Quaternion r, Vector3 t)
{
rotation = r;
translation = t;
}
