void q_as_axisangle(const float q[4], float u[3], float *a)
{
- *a = V_DEG(2.0f * facosf(q[0]));
+ *a = 2.0f * facosf(q[0]);
v_nrm(u, q + 1);
}
v[2] = fatan2f(m23, m33);
}
+/*
+ * Spherical linear interpolation
+ */
+void q_slerp(float q[4], const float a[4], const float b[4], float t)
+{
+ float c, r, s, u, v;
+ int i = +1;
+
+ if (t <= 0.0f)
+ {
+ q_cpy(q, a);
+ return;
+ }
+
+ if (1.0f <= t)
+ {
+ q_cpy(q, b);
+ return;
+ }
+
+ /*
+ * a . b = |a||b| cos A
+ * |a| = |b| = 1
+ */
+
+ c = q_dot(a, b);
+
+ /* Ensure the shortest path. */
+
+ if (c < 0)
+ {
+ c = -c;
+ i = -1;
+ }
+
+ /* Fall back to normalized lerp for very similar orientations. */
+
+ if (1.0f - c < TINY)
+ {
+ u = 1.0f - t;
+ v = t;
+
+ i = 1;
+ }
+ else
+ {
+ r = facosf(c);
+ s = fsinf(r);
+ u = fsinf((1.0f - t) * r) / s;
+ v = fsinf((t) * r) / s * i;
+
+ i = 0;
+ }
+
+ q[0] = a[0] * u + b[0] * v;
+ q[1] = a[1] * u + b[1] * v;
+ q[2] = a[2] * u + b[2] * v;
+ q[3] = a[3] * u + b[3] * v;
+
+ if (i) q_nrm(q, q);
+}
+
/*---------------------------------------------------------------------------*/