public static aQuat Slerp(aQuat start, aQuat end, float percent)
{
var cos = aQuat.DotProduct(start, end);
if (cos < 0.0f)
{
cos = -cos;
end = -end;
}
if ((1.0f - cos) > Single.Epsilon)
{
var angle = (float)SystemMath.Acos(cos);
var vector = new aVec3(
(float)SystemMath.Sin(angle * (1.0f - percent)),
(float)SystemMath.Sin(angle * percent),
(float)SystemMath.Sin(angle)
);
return(new aQuat(
(start.x * vector.x + end.x * vector.y) / vector.z,
(start.y * vector.x + end.y * vector.y) / vector.z,
(start.z * vector.x + end.z * vector.y) / vector.z,
(start.w * vector.x + end.w * vector.y) / vector.z
));
}
return(aQuat.Lerp(start, end, percent));
}
public static bool Approximately(aQuat first, aQuat second, float deviation)
{
return(aMath.Approximately(first.x, second.x, deviation) &&
aMath.Approximately(first.y, second.y, deviation) &&
aMath.Approximately(first.z, second.z, deviation) &&
aMath.Approximately(first.w, second.w, deviation));
}
public static aQuat Lerp(aQuat start, aQuat end, float percent)
{
return(new aQuat(
aMath.Lerp(start.x, end.x, percent),
aMath.Lerp(start.y, end.y, percent),
aMath.Lerp(start.z, end.z, percent),
aMath.Lerp(start.w, end.w, percent)
));
}
public static aQuat Slerp(aQuat start, aQuat end, float percent)
{
var cos = aQuat.DotProduct(start, end);
if (cos < 0.0f) {
cos = -cos;
end = -end;
}
if ((1.0f - cos) > Single.Epsilon) {
var angle = (float)SystemMath.Acos(cos);
var vector = new aVec3(
(float)SystemMath.Sin(angle * (1.0f - percent)),
(float)SystemMath.Sin(angle * percent),
(float)SystemMath.Sin(angle)
);
return new aQuat(
(start.x * vector.x + end.x * vector.y) / vector.z,
(start.y * vector.x + end.y * vector.y) / vector.z,
(start.z * vector.x + end.z * vector.y) / vector.z,
(start.w * vector.x + end.w * vector.y) / vector.z
);
}
return aQuat.Lerp(start, end, percent);
}
public static aQuat Lerp(aQuat start, aQuat end, float percent)
{
return new aQuat(
aMath.Lerp(start.x, end.x, percent),
aMath.Lerp(start.y, end.y, percent),
aMath.Lerp(start.z, end.z, percent),
aMath.Lerp(start.w, end.w, percent)
);
}
public static float DotProduct(aQuat a, aQuat b)
{
return (a.x * b.x + a.y * b.y + a.z * b.z * a.w * b.w);
}
public static bool Approximately(aQuat first, aQuat second, float deviation)
{
return (aMath.Approximately(first.x, second.x, deviation) &&
aMath.Approximately(first.y, second.y, deviation) &&
aMath.Approximately(first.z, second.z, deviation) &&
aMath.Approximately(first.w, second.w, deviation));
}
public static bool Approximately(aQuat first, aQuat second)
{
return Approximately(first, second, Single.Epsilon);
}
public static float DotProduct(aQuat a, aQuat b)
{
return(a.x * b.x + a.y * b.y + a.z * b.z * a.w * b.w);
}
public static bool Approximately(aQuat first, aQuat second)
{
return(Approximately(first, second, Single.Epsilon));
}