/// ３頂点からラジアンを返す
static private float getRadian(Vector3 posBase, Vector3 pos1, Vector3 pos2)
{
Vector3 calA = pos1 - posBase;
Vector3 calB = pos2 - posBase;
float lba = calA.Length();
float lca = calB.Length();
float radian = FMath.Acos(calA.Dot(calB) / (lba * lca));
return(radian);
}
public void TestAcos()
{
var a = Fixed.FromFloat(0.54646f);
var r = Fixed.FromFloat(0.992664887f);
AssertApproximately(r, FMath.Acos(a));
a = Fixed.FromFloat(-0.154787f);
r = Fixed.FromFloat(1.726208178f);
AssertApproximately(r, FMath.Acos(a));
}
/// ３頂点から角度を返す
static private float getAngles(Vector3 posBase, Vector3 pos1, Vector3 pos2)
{
Vector3 calA = pos1 - posBase;
Vector3 calB = pos2 - posBase;
float lba = calA.Length();
float lca = calB.Length();
float radian = FMath.Acos(calA.Dot(calB) / (lba * lca));
float angle = (float)(180.0f / pi * radian);
return(angle);
}
public static Quatf Slerp_NoInvert(Quatf q0, Quatf q1, float t)
{
float dot = q0 % q1;
if (dot > -0.95f && dot < 0.95f)
{
float ang = FMath.Acos(dot);
return((q0 * FMath.Sin(ang * (1.0f - t)) + q1 * FMath.Sin(ang * t)) / FMath.Sin(ang));
}
else
{
return(Lerp(q0, q1, t));
}
}
public static Quatf Slerp(Quatf q0, Quatf q1, float t)
{
Quatf q2;
float dot = q0 % q1;
if (dot < 0.00f)
{
dot = -dot; q2 = q1 * -1.0f;
}
else
{
q2 = q1;
}
if (dot < 0.95f)
{
float ang = FMath.Acos(dot);
return((q0 * FMath.Sin(ang * (1.0f - t)) + q2 * FMath.Sin(ang * t)) / FMath.Sin(ang));
}
else
{
return(Lerp(q0, q2, t));
}
}
public static float SafeAcos(float x)
{
Common.Assert(FMath.Abs(x) - 1f < 1E-05f);
return(FMath.Acos(FMath.Clamp(x, -1f, 1f)));
}