public static LDQuat slerp(LDQuat q0, LDQuat q1, ld_float t)
{
return(q0.slerp(q1, t));
}
public static LDQuat slerp(LDQuat q0, LDQuat q1, ld_float t)
{
return q0.slerp(q1, t);
}
public void slerpTest()
{
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.slerp(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.slerp(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 = 0.0, y = 0.0, z = 0.0, w = 1.0}, quat2{x = 0.0, y = 0.0, z = 0.0, w = 1.0}, t = 0.5
// cosOmega > 0.9999fのケース
quat1.x = 0.0f;
quat1.y = 0.0f;
quat1.z = 0.0f;
quat1.w = 1.0f;
quat2.x = 0.0f;
quat2.y = 0.0f;
quat2.z = 0.0f;
quat2.w = 1.0f;
t = 0.5f;
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
expected.w = 1.0f;
actual = quat2.slerp(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;
ld_float cosOmega = quat2.dot(quat1);
ld_float sinOmega = (float)Math.Sqrt(1.0f - cosOmega * cosOmega);
ld_float omega = (ld_float)Math.Atan2(sinOmega, cosOmega);
ld_float one_overSinOmega = 1.0f / sinOmega;
ld_float k0 = (float)Math.Sin((1.0f - t) * omega) * one_overSinOmega;
ld_float k1 = (float)Math.Sin(t * omega) * one_overSinOmega;
expected.x = k0 * quat2.x + k1 * quat1.x;
expected.y = k0 * quat2.y + k1 * quat1.y;
expected.z = k0 * quat2.z + k1 * quat1.z;
expected.w = k0 * quat2.w + k1 * quat1.w;
actual = quat2.slerp(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 slerpTest()
{
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.slerp(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.slerp(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 = 0.0, y = 0.0, z = 0.0, w = 1.0}, quat2{x = 0.0, y = 0.0, z = 0.0, w = 1.0}, t = 0.5
// cosOmega > 0.9999fのケース
quat1.x = 0.0f;
quat1.y = 0.0f;
quat1.z = 0.0f;
quat1.w = 1.0f;
quat2.x = 0.0f;
quat2.y = 0.0f;
quat2.z = 0.0f;
quat2.w = 1.0f;
t = 0.5f;
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
expected.w = 1.0f;
actual = quat2.slerp(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;
ld_float cosOmega = quat2.dot(quat1);
ld_float sinOmega = (float)Math.Sqrt(1.0f - cosOmega * cosOmega);
ld_float omega = (ld_float)Math.Atan2(sinOmega, cosOmega);
ld_float one_overSinOmega = 1.0f / sinOmega;
ld_float k0 = (float)Math.Sin((1.0f - t) * omega) * one_overSinOmega;
ld_float k1 = (float)Math.Sin(t * omega) * one_overSinOmega;
expected.x = k0 * quat2.x + k1 * quat1.x;
expected.y = k0 * quat2.y + k1 * quat1.y;
expected.z = k0 * quat2.z + k1 * quat1.z;
expected.w = k0 * quat2.w + k1 * quat1.w;
actual = quat2.slerp(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);
}
