public static F64Quat NormalizeFastest(F64Quat a)
{
long inv_norm = F64.RcpFastest(LengthFastest(a)).Raw;
return(new F64Quat(
Fixed64.Mul(a.RawX, inv_norm),
Fixed64.Mul(a.RawY, inv_norm),
Fixed64.Mul(a.RawZ, inv_norm),
Fixed64.Mul(a.RawW, inv_norm)));
}
public static F64Quat Slerp(F64Quat q1, F64Quat q2, F64 t)
{
F64 epsilon = F64.Ratio(1, 1000000);
F64 cos_omega = q1.X * q2.X + q1.Y * q2.Y + q1.Z * q2.Z + q1.W * q2.W;
bool flip = false;
if (cos_omega < 0)
{
flip = true;
cos_omega = -cos_omega;
}
F64 s1, s2;
if (cos_omega > (F64.One - epsilon))
{
// Too close, do straight linear interpolation.
s1 = F64.One - t;
s2 = (flip) ? -t : t;
}
else
{
F64 omega = F64.AcosFastest(cos_omega);
F64 inv_sin_omega = F64.RcpFastest(F64.SinFastest(omega));
s1 = F64.SinFastest((F64.One - t) * omega) * inv_sin_omega;
s2 = (flip)
? -F64.SinFastest(t * omega) * inv_sin_omega
: F64.SinFastest(t * omega) * inv_sin_omega;
}
return(new F64Quat(
s1 * q1.X + s2 * q2.X,
s1 * q1.Y + s2 * q2.Y,
s1 * q1.Z + s2 * q2.Z,
s1 * q1.W + s2 * q2.W));
}
