public override void finalize(WalkEnding end, ulong _time)
{
switch (end)
{
case WalkEnding.Identity:
break;
case WalkEnding.TargetParentOfSource:
result_vec = source_to_top_vec;
result_quat = source_to_top_quat;
break;
case WalkEnding.SourceParentOfTarget:
{
emQuaternion inv_target_quat = target_to_top_quat.inverse();
emVector3 inv_target_vec = quatRotate(inv_target_quat, -1 * target_to_top_vec);
result_quat = inv_target_quat;
result_vec = inv_target_vec;
}
break;
case WalkEnding.FullPath:
{
emQuaternion inv_target_quat = target_to_top_quat.inverse();
emVector3 inv_target_vec = quatRotate(inv_target_quat, new emVector3(-target_to_top_vec.x, -target_to_top_vec.y, -target_to_top_vec.z));
result_vec = quatRotate(inv_target_quat, source_to_top_vec) + inv_target_vec;
result_quat = inv_target_quat * source_to_top_quat;
}
break;
}
time = _time;
}
