public static LFloat Angle(LQuaternion a, LQuaternion b)
{
LQuaternion q = b * LQuaternion.Inverse(a);
q.Normalize();
return(LMath.Acos(q.w));
}
public static LVector3 ToEulerAngles(LQuaternion rotation)
{
rotation.Normalize();
return(new LVector3(
LMath.Atan2(2 * (rotation.w * rotation.z + rotation.x * rotation.y), 1 - 2 * (rotation.z * rotation.z + rotation.x * rotation.x)),
LMath.Asin(2 * (rotation.w * rotation.x - rotation.y * rotation.z)),
LMath.Atan2(2 * (rotation.w * rotation.y + rotation.z * rotation.x), 1 - 2 * (rotation.x * rotation.x + rotation.y * rotation.y))
));
}
public static LQuaternion Slerp(LQuaternion from, LQuaternion to, LFloat t)
{
t = LMath.Clamp(t, 0, 1);
LFloat diff = Angle(from, to) * LMath.DegToRad;
LFloat sind = LMath.Sin(diff);
LFloat sintd = LMath.Sin(t * diff);
LFloat sin1td = LMath.Sin((1 - t) * diff);
return((sin1td / sind) * from + (sintd / sind) * to);
}
public static LQuaternion Inverse(LQuaternion rotation)
{
LQuaternion inv = rotation.conjugation;
if (rotation.sqrtMagnitude != 1)
{
inv *= (1 / rotation.sqrtMagnitude);
}
return(inv);
}
public void Write(LQuaternion val)
{
Write(val.x); Write(val.y); Write(val.z); Write(val.w);
}
public static LQuaternion Lerp(LQuaternion from, LQuaternion to, LFloat t)
{
t = LMath.Clamp(t, 0, 1);
return((1 - t) * from + t * to);
}
public static LQuaternion RotateTowards(LQuaternion from, LQuaternion to, LFloat maxDegreesDelta)
{
LFloat angle = Angle(from, to);
return(Slerp(from, to, maxDegreesDelta / angle));
}
public static LFloat Dot(LQuaternion a, LQuaternion b)
{
return(a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w);
}
public static LVector3 operator *(LQuaternion rotation, LVector3 point)
{
LQuaternion p = rotation * new LQuaternion(point.x, point.y, point.z, 0) * rotation.conjugation;
return(new LVector3(p.x, p.y, p.z));
}
