/// <summary>
/// Scale a quaternion
/// </summary>
/// <param name="quaternion1">The quaternion to scale.</param>
/// <param name="scaleFactor">Scale factor.</param>
/// <returns>The scaled quaternion.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, FP scaleFactor)
public static Fixed64Quaternion Multiply(Fixed64Quaternion quaternion1, Fixed64 scaleFactor)
{
Multiply(ref quaternion1, scaleFactor, out Fixed64Quaternion result);
return(result);
}
public static Fixed64Quaternion LerpUnclamped(Fixed64Quaternion a, Fixed64Quaternion b, Fixed64 t)
{
Fixed64Quaternion result = Multiply(a, (1 - t)) + Multiply(b, t);
result.Normalize();
return(result);
}
public static Fixed64Quaternion Lerp(Fixed64Quaternion a, Fixed64Quaternion b, Fixed64 t)
{
t = FixedMath.Clamp(t, Fixed64.Zero, Fixed64.One);
return(LerpUnclamped(a, b, t));
}
public static Fixed64Quaternion Inverse(Fixed64Quaternion rotation)
{
Fixed64 invNorm = Fixed64.One / ((rotation.x * rotation.x) + (rotation.y * rotation.y) + (rotation.z * rotation.z) + (rotation.w * rotation.w));
return(Multiply(Conjugate(rotation), invNorm));
}
public static Fixed64Quaternion RotateTowards(Fixed64Quaternion from, Fixed64Quaternion to, Fixed64 maxDegreesDelta)
{
Fixed64 dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
Fixed64 halfTheta = Fixed64.Acos(dot);
Fixed64 theta = halfTheta * 2;
maxDegreesDelta *= Fixed64.Deg2Rad;
if (maxDegreesDelta >= theta)
{
return(to);
}
maxDegreesDelta /= theta;
return(Multiply(Multiply(from, Fixed64.Sin((1 - maxDegreesDelta) * halfTheta)) + Multiply(to, Fixed64.Sin(maxDegreesDelta * halfTheta)), 1 / Fixed64.Sin(halfTheta)));
}
public static Fixed64Quaternion Slerp(Fixed64Quaternion from, Fixed64Quaternion to, Fixed64 t)
{
t = FixedMath.Clamp(t, 0, 1);
Fixed64 dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
Fixed64 halfTheta = Fixed64.Acos(dot);
return(Multiply(Multiply(from, Fixed64.Sin((1 - t) * halfTheta)) + Multiply(to, Fixed64.Sin(t * halfTheta)), 1 / Fixed64.Sin(halfTheta)));
}
