/// <summary>
/// 球形插值(无限制)
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <param name="t"></param>
/// <returns></returns>
public static LQuaternion SlerpUnclamped(LQuaternion q1, LQuaternion q2, LFloat t)
{
LFloat dot = Dot(q1, q2);
LQuaternion tmpQuat = new LQuaternion();
if (dot < 0)
{
dot = -dot;
tmpQuat.Set(-q2.x, -q2.y, -q2.z, -q2.w);
}
else
{
tmpQuat = q2;
}
if (dot < 1)
{
LFloat angle = LMath.Acos(dot);
LFloat sinadiv, sinat, sinaomt;
sinadiv = 1 / LMath.Sin(angle);
sinat = LMath.Sin(angle * t);
sinaomt = LMath.Sin(angle * (1 - t));
tmpQuat.Set((q1.x * sinaomt + tmpQuat.x * sinat) * sinadiv,
(q1.y * sinaomt + tmpQuat.y * sinat) * sinadiv,
(q1.z * sinaomt + tmpQuat.z * sinat) * sinadiv,
(q1.w * sinaomt + tmpQuat.w * sinat) * sinadiv);
return(tmpQuat);
}
else
{
return(Lerp(q1, tmpQuat, t));
}
}
/// <summary>
/// 线性插值(无限制)
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <param name="t"></param>
/// <returns></returns>
public static LQuaternion LerpUnclamped(LQuaternion a, LQuaternion b, LFloat t)
{
LQuaternion tmpQuat = new LQuaternion();
if (Dot(a, b) < 0)
{
tmpQuat.Set(a.x + t * (-b.x - a.x),
a.y + t * (-b.y - a.y),
a.z + t * (-b.z - a.z),
a.w + t * (-b.w - a.w));
}
else
{
tmpQuat.Set(a.x + t * (b.x - a.x),
a.y + t * (b.y - a.y),
a.z + t * (b.z - a.z),
a.w + t * (b.w - a.w));
}
LFloat nor = LMath.Sqrt(Dot(tmpQuat, tmpQuat));
return(new LQuaternion(tmpQuat.x / nor, tmpQuat.y / nor, tmpQuat.z / nor, tmpQuat.w / nor));
}
