public static FPQuaternion LerpUnclamped(FPQuaternion a, FPQuaternion b, Fix64 t)
{
FPQuaternion result = FPQuaternion.Multiply(a, (1 - t)) + FPQuaternion.Multiply(b, t);
result.Normalize();
return(result);
}
public static FPQuaternion FromToRotation(FPVector fromVector, FPVector toVector)
{
FPVector w = FPVector.Cross(fromVector, toVector);
FPQuaternion q = new FPQuaternion(w.x, w.y, w.z, FPVector.Dot(fromVector, toVector));
q.w += Fix64.Sqrt(fromVector.sqrMagnitude * toVector.sqrMagnitude);
q.Normalize();
return(q);
}
public void Rotate(FPVector eulerAngles, Space relativeTo)
{
FPQuaternion result = FPQuaternion.identity;
if (relativeTo == Space.Self)
{
result = this.rotation * FPQuaternion.Euler(eulerAngles);
}
else
{
result = FPQuaternion.Euler(eulerAngles) * this.rotation;
}
result.Normalize();
this.rotation = result;
}
public void Rotate(FPVector axis, Fix64 angle, Space relativeTo)
{
FPQuaternion result = FPQuaternion.identity;
if (relativeTo == Space.Self)
{
result = this.rotation * FPQuaternion.AngleAxis(angle, axis);
}
else
{
result = FPQuaternion.AngleAxis(angle, axis) * this.rotation;
}
result.Normalize();
this.rotation = result;
}