File size: 1,221 Bytes
18a519f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 | using UnityEngine;
namespace Timeline.Samples
{
public static class QuaternionUtils
{
const float k_FloatMin = 1e-10f;
public static readonly Quaternion zero = new Quaternion(0f, 0f, 0f, 0f);
public static Quaternion Scale(this Quaternion q, float scale)
{
return new Quaternion(q.x * scale, q.y * scale, q.z * scale, q.w * scale);
}
public static Quaternion NormalizeSafe(this Quaternion q)
{
float dot = Quaternion.Dot(q, q);
if (dot > k_FloatMin)
{
float rsqrt = 1.0f / Mathf.Sqrt(dot);
return new Quaternion(q.x * rsqrt, q.y * rsqrt, q.z * rsqrt, q.w * rsqrt);
}
return Quaternion.identity;
}
public static Quaternion Blend(this Quaternion q1, Quaternion q2, float weight)
{
return q1.Add(q2.Scale(weight));
}
public static Quaternion Add(this Quaternion rhs, Quaternion lhs)
{
float sign = Mathf.Sign(Quaternion.Dot(rhs, lhs));
return new Quaternion(rhs.x + sign * lhs.x, rhs.y + sign * lhs.y, rhs.z + sign * lhs.z, rhs.w + sign * lhs.w);
}
}
}
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