IC void key_add(CKey &res, const CKey &k0, const CKey &k1)//add right
{
res.Q.set(Fquaternion().mul(k0.Q,k1.Q));
//res.Q.normalize();
res.T.add(k0.T,k1.T);
}
poses_interpolation::poses_interpolation (const Fmatrix &m0, const Fmatrix &m1 ):
p0( m0.c ), p1( m1.c ),
q0( Fquaternion().set( m0 ) ), q1( Fquaternion().set( m1 ) )
{
}
void poses_interpolation::pose ( Fmatrix &p, float factor ) const
{
p.rotation( Fquaternion().slerp( q0, q1, factor ) );
p.c.lerp( p0, p1, factor );
}