/// <summary>
/// Creates a matrix that represents a spherical linear interpolation from one
/// matrix to another.
/// </summary>
/// <remarks>
/// <para>This is an implementation of interpolation without quaternions.</para>
/// <para>
/// Given two orthonormal 3x3 matrices this function calculates the shortest
/// possible interpolation-path between the two rotations. The interpolation curve
/// forms the shortest great arc on the rotation sphere (geodesic).
/// </para>
/// <para>Angular velocity of the interpolation is constant.</para>
/// <para>Possible stability problems:</para>
/// <para>
/// There are two singularities at angle = 0 and angle = <see cref="Math.PI"/> .
/// At 0 the interpolation-axis is arbitrary, which means any axis will produce
/// the same result because we have no rotation. (1,0,0) axis is used in this
/// case. At <see cref="Math.PI"/> the rotations point away from each other and
/// the interpolation-axis is unpredictable. In this case axis (1,0,0) is used as
/// well. If the angle is ~0 or ~PI, then a very small vector has to be normalized
/// and this can cause numerical instability.
/// </para>
/// </remarks>
/// <param name="m">First matrix.</param>
/// <param name="n">Second matrix.</param>
/// <param name="t">Interpolation parameter.</param>
public void SetSlerp(Matrix34 m, Matrix34 n, float t)
{
// calculate delta-rotation between m and n (=39 flops)
Matrix33 d = new Matrix33(), i = new Matrix33();
d.M00 = m.M00 * n.M00 + m.M10 * n.M10 + m.M20 * n.M20; d.M01 = m.M00 * n.M01 + m.M10 * n.M11 + m.M20 * n.M21; d.M02 = m.M00 * n.M02 + m.M10 * n.M12 + m.M20 * n.M22;
d.M10 = m.M01 * n.M00 + m.M11 * n.M10 + m.M21 * n.M20; d.M11 = m.M01 * n.M01 + m.M11 * n.M11 + m.M21 * n.M21; d.M12 = m.M01 * n.M02 + m.M11 * n.M12 + m.M21 * n.M22;
d.M20 = d.M01 * d.M12 - d.M02 * d.M11; d.M21 = d.M02 * d.M10 - d.M00 * d.M12; d.M22 = d.M00 * d.M11 - d.M01 * d.M10;
// extract angle and axis
double cosine = MathHelpers.Clamp((d.M00 + d.M11 + d.M22 - 1.0) * 0.5, -1.0, +1.0);
double angle = Math.Atan2(Math.Sqrt(1.0 - cosine * cosine), cosine);
var axis = new Vector3(d.M21 - d.M12, d.M02 - d.M20, d.M10 - d.M01);
double l = Math.Sqrt(axis | axis); if (l > 0.00001)
{
axis /= (float)l;
}
else
{
axis = new Vector3(1, 0, 0);
}
i.SetRotationAroundAxis((float)angle * t, axis); // angle interpolation and calculation of new delta-matrix (=26 flops)
// final concatenation (=39 flops)
this.M00 = m.M00 * i.M00 + m.M01 * i.M10 + m.M02 * i.M20; this.M01 = m.M00 * i.M01 + m.M01 * i.M11 + m.M02 * i.M21; this.M02 = m.M00 * i.M02 + m.M01 * i.M12 + m.M02 * i.M22;
this.M10 = m.M10 * i.M00 + m.M11 * i.M10 + m.M12 * i.M20; this.M11 = m.M10 * i.M01 + m.M11 * i.M11 + m.M12 * i.M21; this.M12 = m.M10 * i.M02 + m.M11 * i.M12 + m.M12 * i.M22;
this.M20 = this.M01 * this.M12 - this.M02 * this.M11; this.M21 = this.M02 * this.M10 - this.M00 * this.M12; this.M22 = this.M00 * this.M11 - this.M01 * this.M10;
this.M03 = m.M03 * (1 - t) + n.M03 * t;
this.M13 = m.M13 * (1 - t) + n.M13 * t;
this.M23 = m.M23 * (1 - t) + n.M23 * t;
}
/// <summary>
/// Creates new matrix that is set to represent rotation around given axis.
/// </summary>
/// <param name="rot">
/// <see cref="Vector3"/> which length represents an angle of rotation, and that,
/// once normalized, represents an axis of rotation.
/// </param>
/// <returns>New matrix.</returns>
public static Matrix33 CreateRotationAroundAxis(Vector3 rot)
{
var matrix = new Matrix33();
matrix.SetRotationAroundAxis(rot);
return(matrix);
}
/// <summary>
/// Creates new matrix that is set to represent rotation around given axis.
/// </summary>
/// <param name="c"> Cosine of angle of rotation.</param>
/// <param name="s"> Sine of angle of rotation.</param>
/// <param name="axis">Axis of rotation.</param>
/// <returns>New matrix.</returns>
public static Matrix33 CreateRotationAroundAxis(float c, float s, Vector3 axis)
{
var matrix = new Matrix33();
matrix.SetRotationAroundAxis(c, s, axis);
return(matrix);
}
