예제 #1
0
    //Get an average (mean) from more then two quaternions (with two, slerp would be used).
    //Note: this only works if all the quaternions are relatively close together.
    //Usage:
    //-Cumulative is an external Vector4 which holds all the added x y z and w components.
    //-newRotation is the next rotation to be added to the average pool
    //-firstRotation is the first quaternion of the array to be averaged
    //-addAmount holds the total amount of quaternions which are currently added
    //This function returns the current average quaternion
    public static void AverageQuaternion(ref Vector4 cumulative, Quaternion newRotation, Quaternion firstRotation, int addAmount)
    {
        float w = 0.0f;
        float x = 0.0f;
        float y = 0.0f;
        float z = 0.0f;

        //Before we add the new rotation to the average (mean), we have to check whether the quaternion has to be inverted. Because
        //q and -q are the same rotation, but cannot be averaged, we have to make sure they are all the same.
        if (!Math3d.AreQuaternionsClose(newRotation, firstRotation))
        {
            newRotation = Math3d.InverseSignQuaternion(newRotation);
        }

        //Average the values
        float addDet = 1f / (float)addAmount;

        cumulative.w += newRotation.w;
        w             = cumulative.w * addDet;
        cumulative.x += newRotation.x;
        x             = cumulative.x * addDet;
        cumulative.y += newRotation.y;
        y             = cumulative.y * addDet;
        cumulative.z += newRotation.z;
        z             = cumulative.z * addDet;

        //note: if speed is an issue, you can skip the normalization step
        //return NormalizeQuaternion(x, y, z, w);
    }
예제 #2
0
    //Get an average (mean) from more then two quaternions (with two, slerp would be used).
    //Note: this only works if all the quaternions are relatively close together.
    //Usage:
    //-Cumulative is an external Vector4 which holds all the added x y z and w components.
    //-newRotation is the next rotation to be added to the average pool
    //-firstRotation is the first quaternion of the array to be averaged
    //-addAmount holds the total amount of quaternions which are currently added
    //This function returns the current average quaternion
    public static void AverageQuaternion(ref Vector4 cumulative, Quaternion newRotation, Quaternion firstRotation, int addAmount)
    {//Before we add the new rotation to the average (mean), we have to check whether the quaternion has to be inverted. Because
        //q and -q are the same rotation, but cannot be averaged, we have to make sure they are all the same.
        if (!Math3d.AreQuaternionsClose(newRotation, firstRotation))
        {
            newRotation = Math3d.InverseSignQuaternion(newRotation);
        }

        //Average the values
        cumulative.w += newRotation.w;
        cumulative.x += newRotation.x;
        cumulative.y += newRotation.y;
        cumulative.z += newRotation.z;
    }