mirror of
https://github.com/openharmony/ace_ace_engine.git
synced 2026-07-19 14:43:36 -04:00
zhongjianfei
83819e6e06
Signed-off-by: zhongjianfei <zhongjianfei@huawei.com> Change-Id: I9b8fb68aac65e450cc408aa579f22bc446ea81ec
68 lines
2.1 KiB
C++
68 lines
2.1 KiB
C++
/*
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* Copyright (c) 2021 Huawei Device Co., Ltd.
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "base/geometry/quaternion.h"
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#include <cmath>
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namespace OHOS::Ace {
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namespace {
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constexpr double KEPSILON = 1e-5;
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} // namespace
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Quaternion Quaternion::Slerp(const Quaternion& to, double t) const
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{
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if (t < 0.0 || t > 1.0) {
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// https://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/index.htm
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// a scalar between 0.0 (at from) and 1.0 (at to)
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return *this;
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}
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Quaternion from = *this;
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double cosHalfAngle = from.x_ * to.x_ + from.y_ * to.y_ + from.z_ * to.z_ + from.w_ * to.w_;
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if (cosHalfAngle < 0.0) {
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// Since the half angle is > 90 degrees, the full rotation angle would
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// exceed 180 degrees. The quaternions (x, y, z, w) and (-x, -y, -z, -w)
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// represent the same rotation. Flipping the orientation of either
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// quaternion ensures that the half angle is less than 90 and that we are
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// taking the shortest path.
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from = from.flip();
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cosHalfAngle = -cosHalfAngle;
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}
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// Ensure that acos is well behaved at the boundary.
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if (cosHalfAngle > 1.0) {
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cosHalfAngle = 1.0;
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}
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double sinHalfAngle = std::sqrt(1.0 - cosHalfAngle * cosHalfAngle);
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if (sinHalfAngle < KEPSILON) {
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// Quaternions share common axis and angle.
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return *this;
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}
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double half_angle = std::acos(cosHalfAngle);
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double scaleA = std::sin((1.0 - t) * half_angle) / sinHalfAngle;
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double scaleB = std::sin(t * half_angle) / sinHalfAngle;
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return (scaleA * from) + (scaleB * to);
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}
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} // namespace OHOS::Ace
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