/// <summary>
/// 球面插值
/// </summary>
/// <param name="q1">单位四元数</param>
/// <param name="q2">单位四元数</param>
/// <param name="t">0--1</param>
/// <returns>单位四元数</returns>
public static Quaternion Slerp(Quaternion q1, Quaternion q2, float t)
{
Quaternion uq = q1;
t = MathS.Clamp(t, 0, 1);
float dot = Quaternion.Dot(q1, q2);
if ((1 - dot) > Threshold)
{
float radian = MathS.Acos(dot);
if (radian < 0)
{
radian = MathS.PI - radian;
}
float sin = MathS.Sin(radian);
float t1 = MathS.Sin((1 - t) * radian) / sin;
float t2 = MathS.Sin(t * radian) / sin;
uq = q1 * t1 + q2 * t2;
}
return(uq);
}
public static float Angle(Vector2 lhs, Vector2 rhs)
{
lhs.Normalize();
rhs.Normalize();
return(MathS.Acos(lhs.Dot(rhs)) * MathS.RadToDeg);
}