public static fp3 Slerp(fp3 lhs, fp3 rhs, fp t)
{
var lhsMag = fpmath.length(lhs);
var rhsMag = fpmath.length(rhs);
if (lhsMag < VecMath.VECTOR3_EPSILON || rhsMag < VecMath.VECTOR3_EPSILON)
{
return(VecMath.Lerp(lhs, rhs, t));
}
var lerpedMagnitude = fpmath.lerp(lhsMag, rhsMag, t);
var dot = fpmath.dot(lhs, rhs) / (lhsMag * rhsMag);
// direction is almost the same
if (dot > 1.0F - VecMath.VECTOR3_EPSILON)
{
return(VecMath.Lerp(lhs, rhs, t));
}
// directions are almost opposite
else if (dot < -1.0F + VecMath.VECTOR3_EPSILON)
{
var lhsNorm = lhs / lhsMag;
var axis = VecMath.OrthoNormalVectorFast(lhsNorm);
var m = fpmatrix3x3.zero;
m.SetAxisAngle(axis, fpmath.PI * t);
var slerped = m.MultiplyVector3(lhsNorm);
slerped *= lerpedMagnitude;
return(slerped);
}
// normal case
else
{
var axis = fpmath.cross(lhs, rhs);
var lhsNorm = lhs / lhsMag;
axis = fpmath.normalizesafe(axis);
var angle = fpmath.acos(dot) * t;
var m = fpmatrix3x3.zero;
m.SetAxisAngle(axis, angle);
var slerped = m.MultiplyVector3(lhsNorm);
slerped *= lerpedMagnitude;
return(slerped);
}
}
public static Vector2 Lerp(Vector2 lhs, Vector2 rhs, float t)
{
return(VecMath.Lerp((fp2)lhs, (fp2)rhs, (fp)t));
}
public static Vector3 Lerp(Vector3 lhs, Vector3 rhs, float t)
{
return(VecMath.Lerp((fp3)lhs, (fp3)rhs, (fp)t));
}
