// master sterp function
public static Quaternion Sterp
(
Quaternion a,
Quaternion b,
Vector3 twistAxis,
float tSwing,
float tTwist,
SterpMode mode,
out Quaternion swing,
out Quaternion twist
)
{
Quaternion q = b * Quaternion.Inverse(a);
Quaternion swingFull;
Quaternion twistFull;
QuaternionUtil.DecomposeSwingTwist(q, twistAxis, out swingFull, out twistFull);
switch (mode)
{
default:
case SterpMode.Nlerp:
swing = Nlerp(Quaternion.identity, swingFull, tSwing);
twist = Nlerp(Quaternion.identity, twistFull, tTwist);
break;
case SterpMode.Slerp:
swing = Quaternion.Slerp(Quaternion.identity, swingFull, tSwing);
twist = Quaternion.Slerp(Quaternion.identity, twistFull, tTwist);
break;
}
return(twist * swing);
}
// same swing & twist parameters with individual interpolated swing & twist outputs
public static Quaternion Sterp
(
Quaternion a,
Quaternion b,
Vector3 twistAxis,
float t,
out Quaternion swing,
out Quaternion twist,
SterpMode mode = SterpMode.Slerp
)
{
return(Sterp(a, b, twistAxis, t, t, out swing, out twist, mode));
}
