} // not public
/**
* @brief 独自の球面線形補間（回転角度を保つ）。y軸90度、z軸90度の回転をSLERPで計算する場合、t が変化した時、軸は最小距離を移動するが、角度は、90度ではなく小さな値となる。この計算を 90度の回転を保って、中心を通る計算についてテスト実装
* @param &q1 クォータニオン(EQuat)をセットする
* @param t 補間位置を表す数値をセットする
* @return 補間結果を返す
*/
LDQuat mySlerp(LDQuat q1, ld_float t)
{
LDQuat q0 = this;
// 範囲外の時は端点を返す
if (t <= 0.0f)
{
return(q0);
}
if (t >= 1.0f)
{
return(q1);
}
LDVector3 n0 = q0.getAxis();
LDVector3 n1 = q1.getAxis();
ld_float a0 = q0.getAngle();
ld_float a1 = q1.getAngle();
//
ld_float adiff = LDMathUtil.getAngleDiff(a1, a0);
ld_float at = a0 + adiff * t;
LDVector3 nt = LDVector3.blend(n0, n1, 1 - t, t);
nt.normalize();
LDQuat ret = new LDQuat();
ret.setToRotateAxis(nt, at);
return(ret);
}
/**
* @brief 独自の球面線形補間（回転角度を保つ）。y軸90度、z軸90度の回転をSLERPで計算する場合、t が変化した時、軸は最小距離を移動するが、角度は、90度ではなく小さな値となる。この計算を 90度の回転を保って、中心を通る計算についてテスト実装
* @param &q1 クォータニオン(EQuat)をセットする
* @param t 補間位置を表す数値をセットする
* @return 補間結果を返す
*/
public LDQuat mySlerp(LDQuat q1, ld_float t)
{
LDQuat q0 = this;
// 範囲外の時は端点を返す
if (t <= 0.0f)
{
return q0;
}
if (t >= 1.0f)
{
return q1;
}
LDVector3 n0 = q0.getAxis();
LDVector3 n1 = q1.getAxis();
ld_float a0 = q0.getAngle();
ld_float a1 = q1.getAngle();
//
ld_float adiff = LDMathUtil.getAngleDiff(a1, a0);
ld_float at = a0 + adiff * t;
LDVector3 nt = LDVector3.blend(n0, n1, 1 - t, t);
nt.normalize();
LDQuat ret = new LDQuat();
ret.setToRotateAxis(nt, at);
return ret;
}
public void mySlerpTest()
{
LDQuat quat1 = new LDQuat();
LDQuat quat2 = new LDQuat();
LDQuat actual = new LDQuat();
LDQuat expected = new LDQuat();
//ld_float delta = 0.00001f;
ld_float t;
// Input : quat1{x = 1.0, y = 2.0, z = 3.0, w = 0.1}, quat2{x = 4.0, y = 5.0, z = 6.0, w = 0.2}, t = 0.0
// 範囲外t <= 0.0fのケース
quat1.x = 1.0f;
quat1.y = 2.0f;
quat1.z = 3.0f;
quat1.w = 0.1f;
quat2.x = 4.0f;
quat2.y = 5.0f;
quat2.z = 6.0f;
quat2.w = 0.2f;
t = 0.0f;
expected.x = 4.0f;
expected.y = 5.0f;
expected.z = 6.0f;
expected.w = 0.2f;
actual = quat2.mySlerp(quat1, t);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
// Input : quat1{x = 1.0, y = 2.0, z = 3.0, w = 0.1}, quat2{x = 4.0, y = 5.0, z = 6.0, w = 0.2}, t = 1.0
// 範囲外t >= 1.0fのケース
quat1.x = 1.0f;
quat1.y = 2.0f;
quat1.z = 3.0f;
quat1.w = 0.1f;
quat2.x = 4.0f;
quat2.y = 5.0f;
quat2.z = 6.0f;
quat2.w = 0.2f;
t = 1.0f;
expected.x = 1.0f;
expected.y = 2.0f;
expected.z = 3.0f;
expected.w = 0.1f;
actual = quat2.mySlerp(quat1, t);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
// Input : quat1{x = 0.49, y = 0.5, z = 0.5, w = 0.5}, quat2{x = 0.5, y = 0.49, z = 0.5, w = 0.5}, t = 0.5
// cosOmega <= 0.9999fのケース
quat1.x = 0.49f;
quat1.y = 0.5f;
quat1.z = 0.5f;
quat1.w = 0.5f;
quat2.x = 0.5f;
quat2.y = 0.49f;
quat2.z = 0.5f;
quat2.w = 0.5f;
t = 0.5f;
LDVector3 n0 = quat2.getAxis();
LDVector3 n1 = quat1.getAxis();
ld_float a0 = quat2.getAngle();
ld_float a1 = quat1.getAngle();
ld_float adiff = LDMathUtil.getAngleDiff(a1, a0);
ld_float at = a0 + adiff * t;
LDVector3 nt = LDVector3.blend(n0, n1, 1 - t, t);
nt.normalize();
expected.setToRotateAxis(nt, at);
actual = quat2.mySlerp(quat1, t);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
}
public void mySlerpTest()
{
LDQuat quat1 = new LDQuat();
LDQuat quat2 = new LDQuat();
LDQuat actual = new LDQuat();
LDQuat expected = new LDQuat();
//ld_float delta = 0.00001f;
ld_float t;
// Input : quat1{x = 1.0, y = 2.0, z = 3.0, w = 0.1}, quat2{x = 4.0, y = 5.0, z = 6.0, w = 0.2}, t = 0.0
// 範囲外t <= 0.0fのケース
quat1.x = 1.0f;
quat1.y = 2.0f;
quat1.z = 3.0f;
quat1.w = 0.1f;
quat2.x = 4.0f;
quat2.y = 5.0f;
quat2.z = 6.0f;
quat2.w = 0.2f;
t = 0.0f;
expected.x = 4.0f;
expected.y = 5.0f;
expected.z = 6.0f;
expected.w = 0.2f;
actual = quat2.mySlerp(quat1, t);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
// Input : quat1{x = 1.0, y = 2.0, z = 3.0, w = 0.1}, quat2{x = 4.0, y = 5.0, z = 6.0, w = 0.2}, t = 1.0
// 範囲外t >= 1.0fのケース
quat1.x = 1.0f;
quat1.y = 2.0f;
quat1.z = 3.0f;
quat1.w = 0.1f;
quat2.x = 4.0f;
quat2.y = 5.0f;
quat2.z = 6.0f;
quat2.w = 0.2f;
t = 1.0f;
expected.x = 1.0f;
expected.y = 2.0f;
expected.z = 3.0f;
expected.w = 0.1f;
actual = quat2.mySlerp(quat1, t);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
// Input : quat1{x = 0.49, y = 0.5, z = 0.5, w = 0.5}, quat2{x = 0.5, y = 0.49, z = 0.5, w = 0.5}, t = 0.5
// cosOmega <= 0.9999fのケース
quat1.x = 0.49f;
quat1.y = 0.5f;
quat1.z = 0.5f;
quat1.w = 0.5f;
quat2.x = 0.5f;
quat2.y = 0.49f;
quat2.z = 0.5f;
quat2.w = 0.5f;
t = 0.5f;
LDVector3 n0 = quat2.getAxis();
LDVector3 n1 = quat1.getAxis();
ld_float a0 = quat2.getAngle();
ld_float a1 = quat1.getAngle();
ld_float adiff = LDMathUtil.getAngleDiff(a1, a0);
ld_float at = a0 + adiff * t;
LDVector3 nt = LDVector3.blend(n0, n1, 1 - t, t);
nt.normalize();
expected.setToRotateAxis(nt, at);
actual = quat2.mySlerp(quat1, t);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
}
