/// <summary>
/// Returns the unit quaternion dot product.
/// This is the cosine of the angle between the 2 rotations.
/// </summary>
/// <param name="r0"></param>
/// <param name="r1"></param>
/// <returns></returns>
public static double Dot(Quaterniond r0, Quaterniond r1)
{
return(r0.X * r1.X + r0.Y * r1.Y + r0.Z * r1.Z + r0.W * r1.W);
}
/// <summary>
///
/// </summary>
/// <param name="r0"></param>
/// <param name="r1"></param>
/// <param name="factor"></param>
/// <returns></returns>
public static Quaterniond Nlerp(Quaterniond r0, Quaterniond r1, double factor)
{
return(r0.NlerpTo(r1, factor));
}
/// <summary>
/// Normalized linear interpolation between this quaternion and another.
/// </summary>
/// <param name="other"></param>
/// <param name="factor"></param>
/// <returns></returns>
public Quaterniond NlerpTo(Quaterniond other, double factor)
{
return(LerpTo(other, factor).Unit);
}
/// <summary>
///
/// </summary>
/// <param name="r0"></param>
/// <param name="r1"></param>
/// <returns></returns>
public static Quaterniond CreateFromTo(Quaterniond r0, Quaterniond r1)
{
return(r1.Apply(r0.Inverse));
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
public AxisAngle3d(Quaterniond rotation)
: this()
{
Set(rotation);
}
/// <summary>
/// Applies the given rotation to this object.
/// </summary>
/// <param name="rotation"></param>
public void Rotate(Quaterniond rotation)
{
SetOrthoXY(rotation.Apply(_x), rotation.Apply(_y));
}
/// <summary>
///
/// </summary>
public OrthoBasis3d(Quaterniond quaternion)
: this()
{
Set(quaternion);
}
