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math.quaternions: slerp function

db4
Joe Groff 2010-02-04 20:08:37 -08:00
parent 037dcdd735
commit 60561dd490
1 changed files with 8 additions and 1 deletions
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basis/math/quaternions/quaternions.factor
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@ -1,6 +1,7 @@
! Copyright (C) 2005, 2007 Slava Pestov.
! See http://factorcode.org/license.txt for BSD license.
USING: arrays combinators kernel math math.functions math.libm math.vectors sequences ;
USING: arrays combinators kernel locals math math.functions
math.libm math.order math.vectors sequences ;
IN: math.quaternions
: q+ ( u v -- u+v )
@ -67,3 +68,9 @@ PRIVATE>
: euler ( phi theta psi -- q )
{ } euler-like ; inline
:: slerp ( q0 q1 t -- qt )
q0 q1 v. -1.0 1.0 clamp :> dot
dot facos t * :> omega
q1 dot q0 n*v v- normalize :> qt'
omega fcos q0 n*v omega fsin qt' n*v v+ ; inline