/*
================
InterpolateStaticPState
================
*/
staticPState_t InterpolateStaticPState( const staticInterpolatePState_t& previous, const staticInterpolatePState_t& next, float fraction )
{
staticPState_t result;
result.origin = Lerp( previous.origin, next.origin, fraction );
result.axis = idQuat().Slerp( previous.axis, next.axis, fraction ).ToMat3();
result.localOrigin = Lerp( previous.localOrigin, next.localOrigin, fraction );
result.localAxis = idQuat().Slerp( previous.localAxis, next.localAxis, fraction ).ToMat3();
return result;
}
/*
============
idRotation::ToQuat
============
*/
idQuat idRotation::ToQuat( void ) const {
float a, s, c;
a = angle * ( idMath::M_DEG2RAD * 0.5f );
idMath::SinCos( a, s, c );
return idQuat( vec.x * s, vec.y * s, vec.z * s, c );
}
/*
=================
idAngles::ToQuat
=================
*/
idQuat idAngles::ToQuat( void ) const {
float sx, cx, sy, cy, sz, cz;
float sxcy, cxcy, sxsy, cxsy;
idMath::SinCos( DEG2RAD( yaw ) * 0.5f, sz, cz );
idMath::SinCos( DEG2RAD( pitch ) * 0.5f, sy, cy );
idMath::SinCos( DEG2RAD( roll ) * 0.5f, sx, cx );
sxcy = sx * cy;
cxcy = cx * cy;
sxsy = sx * sy;
cxsy = cx * sy;
return idQuat( cxsy*sz - sxcy*cz, -cxsy*cz - sxcy*sz, sxsy*cz - cxcy*sz, cxcy*cz + sxsy*sz );
}
/*
=====================
Slerp
Spherical linear interpolation between two quaternions.
=====================
*/
idQuat Slerp( const idQuat& from, const idQuat& to, const float t )
{
return idQuat().Slerp( from, to, t );
}
