void n_tentacle::computeSlerp(const MMatrix &matrix1, const MMatrix &matrix2, const MFnNurbsCurve &curve, double parameter, double blendRot, double iniLength, double curveLength, double stretch, double globalScale, int tangentAxis, MVector &outPos, MVector &outRot)
{
//curveLength = curve.length()
double lenRatio = iniLength / curveLength;
MQuaternion quat1;
quat1 = matrix1;
MQuaternion quat2;
quat2 = matrix2;
this->bipolarityCheck(quat1, quat2);
//need to adjust the parameter in order to maintain the length between elements, also for the stretch
MVector tangent;
MPoint pointAtParam;
MPoint finaPos;
double p = lenRatio * parameter * globalScale;
double finalParam = p + (parameter - p) * stretch;
if(curveLength * finalParam > curveLength)
{
double lengthDiff = curveLength - (iniLength * parameter);
double param = curve.knot(curve.numKnots() - 1);
tangent = curve.tangent(param, MSpace::kWorld);
tangent.normalize();
curve.getPointAtParam(param, pointAtParam, MSpace::kWorld);
finaPos = pointAtParam;
pointAtParam += (- tangent) * lengthDiff;
//MGlobal::displayInfo("sdf");
}
else
{
double param = curve.findParamFromLength(curveLength * finalParam);
tangent = curve.tangent(param, MSpace::kWorld);
tangent.normalize();
curve.getPointAtParam(param, pointAtParam, MSpace::kWorld);
}
MQuaternion slerpQuat = slerp(quat1, quat2, blendRot);
MMatrix slerpMatrix = slerpQuat.asMatrix();
int axisId = abs(tangentAxis) - 1;
MVector slerpMatrixYAxis = MVector(slerpMatrix(axisId, 0), slerpMatrix(axisId, 1), slerpMatrix(axisId, 2));
slerpMatrixYAxis.normalize();
if(tangentAxis < 0)
slerpMatrixYAxis = - slerpMatrixYAxis;
double angle = tangent.angle(slerpMatrixYAxis);
MVector axis = slerpMatrixYAxis ^ tangent;
axis.normalize();
MQuaternion rotationToSnapOnCurve(angle, axis);
MQuaternion finalQuat = slerpQuat * rotationToSnapOnCurve;
MEulerRotation finalEuler = finalQuat.asEulerRotation();
outRot.x = finalEuler.x;
outRot.y = finalEuler.y;
outRot.z = finalEuler.z;
outPos = pointAtParam;
}
