// linear interpolation
LLQuaternion lerp(F32 t, const LLQuaternion &p, const LLQuaternion &q)
{
LLQuaternion r;
r = t * (q - p) + p;
r.normalize();
return r;
}
// lerp from identity to q
LLQuaternion lerp(F32 t, const LLQuaternion &q)
{
LLQuaternion r;
r.mQ[VX] = t * q.mQ[VX];
r.mQ[VY] = t * q.mQ[VY];
r.mQ[VZ] = t * q.mQ[VZ];
r.mQ[VW] = t * (q.mQ[VZ] - 1.f) + 1.f;
r.normalize();
return r;
}
LLQuaternion lerp(F32 t, const LLQuaternion &p, const LLQuaternion &q)
{
LLQuaternion r;
F32 inv_t;
inv_t = 1.f - t;
r.mQ[VX] = t * q.mQ[VX] + (inv_t * p.mQ[VX]);
r.mQ[VY] = t * q.mQ[VY] + (inv_t * p.mQ[VY]);
r.mQ[VZ] = t * q.mQ[VZ] + (inv_t * p.mQ[VZ]);
r.mQ[VW] = t * q.mQ[VW] + (inv_t * p.mQ[VW]);
r.normalize();
return r;
}
