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1 | // Copyright (c) 1999-2014 OPEN CASCADE SAS |
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2 | // |
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3 | // This file is part of Open CASCADE Technology software library. |
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4 | // |
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5 | // This library is free software; you can redistribute it and/or modify it under |
6 | // the terms of the GNU Lesser General Public License version 2.1 as published |
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7 | // by the Free Software Foundation, with special exception defined in the file |
8 | // OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT |
9 | // distribution for complete text of the license and disclaimer of any warranty. |
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10 | // |
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11 | // Alternatively, this file may be used under the terms of Open CASCADE |
12 | // commercial license or contractual agreement. |
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13 | |
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14 | #ifndef _gp_QuaternionSLerp_HeaderFile |
15 | #define _gp_QuaternionSLerp_HeaderFile |
16 | |
17 | #include <gp_Quaternion.hxx> |
18 | |
19 | /** |
20 | * Perform Spherical Linear Interpolation of the quaternions, |
21 | * return unit length quaternion. |
22 | */ |
23 | class gp_QuaternionSLerp |
24 | { |
25 | |
26 | public: |
27 | |
28 | gp_QuaternionSLerp() {} |
29 | |
30 | gp_QuaternionSLerp (const gp_Quaternion& theQStart, const gp_Quaternion& theQEnd) |
31 | { |
32 | Init (theQStart, theQEnd); |
33 | } |
34 | |
35 | void Init (const gp_Quaternion& theQStart, const gp_Quaternion& theQEnd) |
36 | { |
37 | InitFromUnit (theQStart.Normalized(), theQEnd.Normalized()); |
38 | } |
39 | |
40 | void InitFromUnit (const gp_Quaternion& theQStart, const gp_Quaternion& theQEnd) |
41 | { |
42 | myQStart = theQStart; |
43 | myQEnd = theQEnd; |
44 | Standard_Real cosOmega = myQStart.Dot (myQEnd); |
45 | if (cosOmega < 0.0) |
46 | { |
47 | cosOmega = -cosOmega; |
48 | myQEnd = -myQEnd; |
49 | } |
50 | if (cosOmega > 0.9999) |
51 | { |
52 | cosOmega = 0.9999; |
53 | } |
54 | myOmega = ACos (cosOmega); |
55 | Standard_Real invSinOmega = (1.0 / Sin (myOmega)); |
56 | myQStart.Scale (invSinOmega); |
57 | myQEnd.Scale (invSinOmega); |
58 | } |
59 | |
60 | //! Set interpolated quaternion for theT position (from 0.0 to 1.0) |
61 | void Interpolate (Standard_Real theT, gp_Quaternion& theResultQ) const |
62 | { |
63 | theResultQ = myQStart * Sin((1.0 - theT) * myOmega) + myQEnd * Sin (theT * myOmega); |
64 | } |
65 | |
66 | private: |
67 | |
68 | gp_Quaternion myQStart; |
69 | gp_Quaternion myQEnd; |
70 | Standard_Real myOmega; |
71 | |
72 | }; |
73 | |
74 | #endif //_gp_QuaternionSLerp_HeaderFile |