public static Quaternion Slerp(Quaternion start, Quaternion end, decimal blend)
{
// Clone to avoid modifying the parameters
var q1 = start.Clone();
var q2 = end.Clone();
// if either input is zero, return the other.
if (q1.Magnitude() == 0)
{
return(q2.Magnitude() == 0 ? Identity : q2);
}
if (q2.Magnitude() == 0)
{
return(q1);
}
var cosHalfAngle = q1.Dot(q2);
if (cosHalfAngle >= 1 || cosHalfAngle <= -1)
{
return(q1);
}
if (cosHalfAngle < 0)
{
q2.Vector = -q2.Vector;
q2.Scalar = -q2.Scalar;
cosHalfAngle = -cosHalfAngle;
}
decimal blendA;
decimal blendB;
if (cosHalfAngle < 0.99m)
{
// do proper slerp for big angles
var halfAngle = DMath.Acos(cosHalfAngle);
var sinHalfAngle = DMath.Sin(halfAngle);
var oneOverSinHalfAngle = 1 / sinHalfAngle;
blendA = DMath.Sin(halfAngle * (1 - blend)) * oneOverSinHalfAngle;
blendB = DMath.Sin(halfAngle * blend) * oneOverSinHalfAngle;
}
else
{
// do lerp if angle is really small.
blendA = 1 - blend;
blendB = blend;
}
var result = new Quaternion(blendA * q1.Vector + blendB * q2.Vector, blendA * q1.W + blendB * q2.W);
return(result.Magnitude() > 0 ? result.Normalise() : Identity);
}
public static Quaternion Lerp(Quaternion start, Quaternion end, decimal blend)
{
// Clone to avoid modifying the parameters
var q1 = start.Clone();
var q2 = end.Clone();
// if either input is zero, return the other.
if (q1.Magnitude() == 0)
{
return(q2.Magnitude() == 0 ? Identity : q2);
}
if (q2.Magnitude() == 0)
{
return(q1);
}
var blendA = 1 - blend;
var blendB = blend;
var result = new Quaternion(blendA * q1.Vector + blendB * q2.Vector, blendA * q1.W + blendB * q2.W);
return(result.Magnitude() > 0 ? result.Normalise() : Identity);
}
public static Quaternion Slerp(Quaternion start, Quaternion end, decimal blend)
{
// Clone to avoid modifying the parameters
var q1 = start.Clone();
var q2 = end.Clone();
// if either input is zero, return the other.
if (q1.Magnitude() == 0) return q2.Magnitude() == 0 ? Identity : q2;
if (q2.Magnitude() == 0) return q1;
var cosHalfAngle = q1.Dot(q2);
if (cosHalfAngle >= 1 || cosHalfAngle <= -1) return q1;
if (cosHalfAngle < 0)
{
q2.Vector = -q2.Vector;
q2.Scalar = -q2.Scalar;
cosHalfAngle = -cosHalfAngle;
}
decimal blendA;
decimal blendB;
if (cosHalfAngle < 0.99m)
{
// do proper slerp for big angles
var halfAngle = DMath.Acos(cosHalfAngle);
var sinHalfAngle = DMath.Sin(halfAngle);
var oneOverSinHalfAngle = 1 / sinHalfAngle;
blendA = DMath.Sin(halfAngle * (1 - blend)) * oneOverSinHalfAngle;
blendB = DMath.Sin(halfAngle * blend) * oneOverSinHalfAngle;
}
else
{
// do lerp if angle is really small.
blendA = 1 - blend;
blendB = blend;
}
var result = new Quaternion(blendA * q1.Vector + blendB * q2.Vector, blendA * q1.W + blendB * q2.W);
return result.Magnitude() > 0 ? result.Normalise() : Identity;
}
public static Quaternion Lerp(Quaternion start, Quaternion end, decimal blend)
{
// Clone to avoid modifying the parameters
var q1 = start.Clone();
var q2 = end.Clone();
// if either input is zero, return the other.
if (q1.Magnitude() == 0) return q2.Magnitude() == 0 ? Identity : q2;
if (q2.Magnitude() == 0) return q1;
var blendA = 1 - blend;
var blendB = blend;
var result = new Quaternion(blendA * q1.Vector + blendB * q2.Vector, blendA * q1.W + blendB * q2.W);
return result.Magnitude() > 0 ? result.Normalise() : Identity;
}
