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update libomv

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This commit is contained in:
UbitUmarov
2021-09-08 21:03:04 +01:00
parent 076c87914d
commit 9d60ceb85f
5 changed files with 43 additions and 13 deletions
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56
OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Quaternion.cs
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@@ -147,26 +147,56 @@ namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
return (a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z);
}
public static Quaternion slerp(Quaternion a, Quaternion b, float interp)
public static Quaternion slerp(Quaternion q1, Quaternion q2, float amount)
{
if (dot(a, b) < 0.0)
float angle = (q1.x * q2.x) + (q1.y * q2.y) + (q1.z * q2.z) + (q1.w * q2.w);
if (angle < 0f)
{
a.w = -a.w;
a.x = -a.x;
a.y = -a.y;
a.z = -a.z;
q1.x = -q1.x;
q1.y = -q1.y;
q1.z = -q1.z;
q1.w = -q1.w;
angle = -angle;
}
float d = dot(a, b);
if (d >= 1.0)
float scale;
float invscale;
if ((angle + 1.0) > 0.0005)
{
return a;
if ((1f - angle) >= 0.0005)
{
// slerp
float theta = (float)Math.Acos(angle);
float invsintheta = 1.0f / (float)Math.Sin(theta);
scale = (float)Math.Sin(theta * (1.0 - amount)) * invsintheta;
invscale = (float)Math.Sin(theta * amount) * invsintheta;
}
else
{
// lerp
scale = 1.0f - amount;
invscale = amount;
}
}
float theta = (float)Math.Acos(d);
if (theta == 0.0f)
else
{
return (a);
q2.x = -q1.y;
q2.y = q1.x;
q2.z = -q1.w;
q2.w = q1.z;
scale = (float)Math.Sin(Math.PI * (0.5f - amount));
invscale = (float)Math.Sin(Math.PI * amount);
}
return a * ((float)Math.Sin(theta - interp * theta) / (float)Math.Sin(theta)) + b * ((float)Math.Sin(interp * theta) / (float)Math.Sin(theta));
return new Quaternion(
q1.x * scale + q2.x * invscale,
q1.y * scale + q2.y * invscale,
q1.z * scale + q2.z * invscale,
q1.w * scale + q2.w * invscale
);
}
public static Quaternion Interpolate(Quaternion q0, Quaternion q1, float alpha)